Revision: 7995
http://playerstage.svn.sourceforge.net/playerstage/?rev=7995&view=rev
Author: hsujohnhsu
Date: 2009-07-11 22:49:28 +0000 (Sat, 11 Jul 2009)
Log Message:
-----------
added options to set ODE's
contactMaxCorrectingVel
contactSurfaceLayer
Modified Paths:
--------------
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-07-11 22:36:19 UTC
(rev 7994)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-07-11 22:49:28 UTC
(rev 7995)
@@ -65,18 +65,14 @@
this->contactGroup = dJointGroupCreate(0);
- // Help prevent "popping of deeply embedded object
- dWorldSetContactMaxCorrectingVel(this->worldId, 10.0);
-
- // This helps prevent jittering problems.
- dWorldSetContactSurfaceLayer(this->worldId, 0.01);
-
Param::Begin(&this->parameters);
this->globalCFMP = new ParamT<double>("cfm", 10e-5, 0);
this->globalERPP = new ParamT<double>("erp", 0.2, 0);
this->quickStepP = new ParamT<bool>("quickStep", false, 0);
this->quickStepItersP = new ParamT<int>("quickStepIters", 20, 0);
this->quickStepWP = new ParamT<double>("quickStepW", 1.3, 0); ///
over_relaxation value for SOR
+ this->contactMaxCorrectingVelP = new
ParamT<double>("contactMaxCorrectingVel", 10.0, 0);
+ this->contactSurfaceLayerP = new ParamT<double>("contactSurfaceLayer", 0.01,
0);
Param::End();
}
@@ -114,6 +110,15 @@
this->quickStepP->Load(cnode);
this->quickStepItersP->Load(cnode);
this->quickStepWP->Load(cnode);
+ this->contactMaxCorrectingVelP->Load(cnode);
+ this->contactSurfaceLayerP->Load(cnode);
+
+ // Help prevent "popping of deeply embedded object
+ dWorldSetContactMaxCorrectingVel(this->worldId,
contactMaxCorrectingVelP->GetValue());
+
+ // This helps prevent jittering problems.
+ dWorldSetContactSurfaceLayer(this->worldId,
contactSurfaceLayerP->GetValue());
+
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2009-07-11 22:36:19 UTC
(rev 7994)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2009-07-11 22:49:28 UTC
(rev 7995)
@@ -145,6 +145,8 @@
private: ParamT<bool> *quickStepP;
private: ParamT<int> *quickStepItersP;
private: ParamT<double> *quickStepWP;
+ private: ParamT<double> *contactMaxCorrectingVelP;
+ private: ParamT<double> *contactSurfaceLayerP;
};
/** \}*/
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