Revision: 7776
http://playerstage.svn.sourceforge.net/playerstage/?rev=7776&view=rev
Author: hsujohnhsu
Date: 2009-06-03 18:28:48 +0000 (Wed, 03 Jun 2009)
Log Message:
-----------
use ode built-in damping.
preset to 0.
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Body.cc
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-06-03 18:18:02 UTC (rev
7775)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-06-03 18:28:48 UTC (rev
7776)
@@ -86,7 +86,7 @@
this->rpyP = new ParamT<Quatern>("rpy", Quatern(), 0);
this->rpyP->Callback( &Body::SetRotation, this );
- this->dampingFactorP = new ParamT<double>("dampingFactor", 0.03, 0);
+ this->dampingFactorP = new ParamT<double>("dampingFactor", 0.0, 0);
// option to turn gravity off for individual body
this->turnGravityOffP = new ParamT<bool>("turnGravityOff", false, 0);
@@ -382,6 +382,16 @@
{
(*siter)->Init();
}
+
+ // global-inertial damping is implemented in ode svn trunk
+ if(this->GetId() && this->dampingFactorP->GetValue() > 0)
+ {
+ this->physicsEngine->LockMutex();
+ dBodySetLinearDamping(this->GetId(),this->dampingFactorP->GetValue());
+ dBodySetAngularDamping(this->GetId(),this->dampingFactorP->GetValue());
+ this->physicsEngine->UnlockMutex();
+ }
+
}
////////////////////////////////////////////////////////////////////////////////
@@ -449,23 +459,6 @@
(*sensorIter)->Update();
}
- if(this->GetId())
- {
- this->physicsEngine->LockMutex();
-
- force = this->dampingFactorP->GetValue() * this->mass.mass;
- vel = this->GetLinearVel();
- dBodyAddForce(this->GetId(), -((vel.x * fabs(vel.x)) * force),
- -((vel.y * fabs(vel.y)) * force),
- -((vel.z * fabs(vel.z)) * force));
-
- avel = this->GetAngularVel();
- dBodyAddTorque(this->GetId(), -avel.x * force, -avel.y * force,
- -avel.z * force);
-
- this->physicsEngine->UnlockMutex();
- }
-
#ifdef TIMING
double tmpT5 = Simulator::Instance()->GetWallTime();
std::cout << " ALL Sensors Update DT (" << tmpT5-tmpT4 << ")"
<< std::endl;
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