Revision: 8718
http://playerstage.svn.sourceforge.net/playerstage/?rev=8718&view=rev
Author: natepak
Date: 2010-05-28 02:43:44 +0000 (Fri, 28 May 2010)
Log Message:
-----------
More benchmarks and visualizations
Modified Paths:
--------------
code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
code/gazebo/branches/simpar/libgazebo/Graphics3dIface.cc
code/gazebo/branches/simpar/libgazebo/SimIface.cc
code/gazebo/branches/simpar/libgazebo/gz.h
code/gazebo/branches/simpar/server/GraphicsIfaceHandler.cc
code/gazebo/branches/simpar/server/World.cc
code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc
code/gazebo/branches/simpar/server/rendering/OgreVisual.cc
code/gazebo/branches/simpar/server/rendering/OgreVisual.hh
code/gazebo/branches/simpar/worlds/pioneer2dx.world
Modified: code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
===================================================================
--- code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-27 19:02:34 UTC (rev 8717)
+++ code/gazebo/branches/simpar/benchmarks/pioneer_circle_benchmark.cc
2010-05-28 02:43:44 UTC (rev 8718)
@@ -3,10 +3,12 @@
#include <stdlib.h>
#include <vector>
#include <libgazebo/gz.h>
+#include <boost/lexical_cast.hpp>
gazebo::Client *client = NULL;
gazebo::SimulationIface *simIface = NULL;
gazebo::FactoryIface *factoryIface = NULL;
+gazebo::Graphics3dIface *graphicsIface = NULL;
std::string test_name="Pioneer Circle Benchmark";
std::string data_filename = "/tmp/pioneer_circle_benchmark.data";
@@ -16,11 +18,149 @@
std::ostringstream model;
model << "<model:physical name='pioneer'>";
- model << " <xyz>0 0 1.145</xyz>";
- model << " <rpy>0.0 0.0 90.0</rpy>";
- model << " <include embedded='true'>";
- model << " <xi:include
href='/home/nate/local/share/gazebo/worlds/models/pioneer2dx.model'/>";
- model << " </include>";
+ model << " <xyz>0 0 0.15</xyz>";
+ model << " <rpy>0.0 0.0 0.0</rpy>";
+ model << " <canonicalBody>chassis_body</canonicalBody>";
+ model << " <body:box name='chassis_body'>";
+ model << " <xyz>0.0 0.0 0.0</xyz>";
+ model << " <rpy>0.0 0.0 0.0</rpy>";
+ model << " <geom:box name='chassis_geom'>";
+ model << " <xyz>0 0 0.0</xyz>";
+ model << " <size>0.445 0.277 0.17</size>";
+ model << " <mass>2.0</mass>";
+ model << " <mu1>1</mu1>";
+ model << " <visual>";
+ model << " <size>0.5 0.277 0.17</size>";
+ model << " <xyz>0 0 0.04</xyz>";
+ model << " <rpy>0 180 0</rpy>";
+ model << " <mesh>Pioneer2dx/chassis.mesh</mesh>";
+ model << " <material>Gazebo/Pioneer2Body</material>";
+ model << " </visual>";
+ model << " <visual>";
+ model << " <xyz>0.015 0 0.09</xyz>";
+ model << " <rpy>0 0 0</rpy>";
+ model << " <mesh>Pioneer2at/chassis_top.mesh</mesh>";
+ model << " <material>Gazebo/Black</material>";
+ model << " </visual>";
+ model << " <visual>";
+ model << " <xyz>0.21 0.0 0.068</xyz>";
+ model << " <rpy>0 0 0</rpy>";
+ model << " <size>0.12 0.29 0.034</size>";
+ model << " <mesh>Pioneer2at/sonarbank.mesh</mesh>";
+ model << " <material>Gazebo/Gold</material>";
+ model << " </visual>";
+ model << " <visual>";
+ model << " <xyz>-0.178 0.0 0.068</xyz>";
+ model << " <rpy>0 0 180</rpy>";
+ model << " <size>0.12 0.29 0.034</size>";
+ model << " <mesh>Pioneer2at/sonarbank.mesh</mesh>";
+ model << " <material>Gazebo/Gold</material>";
+ model << " </visual>";
+ model << " </geom:box>";
+ model << " </body:box>";
+ model << " <body:cylinder name='left_wheel'>";
+ model << " <xyz>0.1 -0.17 -0.0725</xyz>";
+ model << " <rpy>0 90 90</rpy>";
+ model << " <geom:cylinder name='left_wheel_geom'>";
+ model << " <size>0.075 0.05</size>";
+ model << " <mass>0.5</mass>";
+ model << " <mu1>0.5</mu1>";
+ model << " <visual>";
+ model << " <rpy>-90 0 0</rpy>";
+ model << " <size>0.15 0.05 0.15</size>";
+ model << " <mesh>Pioneer2dx/tire.mesh</mesh>";
+ model << " <material>Gazebo/Black</material>";
+ model << " </visual>";
+ model << " <visual>";
+ model << " <rpy>-90 0 0</rpy>";
+ model << " <size>0.088 0.05 0.088</size>";
+ model << " <mesh>Pioneer2at/wheel.mesh</mesh>";
+ model << " <material>Gazebo/Gold</material>";
+ model << " </visual>";
+ model << " <visual>";
+ model << " <rpy>0 0 0</rpy>";
+ model << " <xyz>0 0 0.015</xyz>";
+ model << " <size>0.04 0.04 0.08 </size>";
+ model << " <mesh>unit_cylinder</mesh>";
+ model << " <material>Gazebo/Black</material>";
+ model << " </visual>";
+ model << " </geom:cylinder>";
+ model << " </body:cylinder>";
+ model << " <body:cylinder name='right_wheel'>";
+ model << " <xyz>0.1 0.17 -0.0725</xyz>";
+ model << " <rpy>0 90 90</rpy>";
+ model << " <geom:cylinder name='right_wheel_geom'>";
+ model << " <size>0.075 0.05</size>";
+ model << " <mass>0.5</mass>";
+ model << " <mu1>0.5</mu1>";
+ model << " <visual>";
+ model << " <rpy>-90 0 0</rpy>";
+ model << " <size>0.15 0.05 0.15</size>";
+ model << " <mesh>Pioneer2dx/tire.mesh</mesh>";
+ model << " <material>Gazebo/Black</material>";
+ model << " </visual>";
+ model << " <visual>";
+ model << " <rpy>-90 0 0</rpy>";
+ model << " <size>0.088 0.05 0.088</size>";
+ model << " <mesh>Pioneer2at/wheel.mesh</mesh>";
+ model << " <material>Gazebo/Gold</material>";
+ model << " </visual>";
+ model << " <visual>";
+ model << " <rpy>0 0 0</rpy>";
+ model << " <xyz>0 0 -0.015</xyz>";
+ model << " <size>0.04 0.04 0.08</size>";
+ model << " <mesh>unit_cylinder</mesh>";
+ model << " <material>Gazebo/Black</material>";
+ model << " </visual>";
+ model << " </geom:cylinder>";
+ model << " </body:cylinder>";
+ model << " <body:sphere name='castor_body'>";
+ model << " <xyz>-0.200 0 -0.11</xyz>";
+ model << " <rpy>0 0 0</rpy>";
+ model << " <geom:sphere name='castor_geom'>";
+ model << " <size>0.04</size>";
+ model << " <mass>0.5</mass>";
+ model << " <mu1>0.5</mu1>";
+ model << " <visual>";
+ model << " <scale>0.04 0.04 0.04</scale>";
+ model << " <mesh>unit_sphere</mesh>";
+ model << " <material>Gazebo/Black</material>";
+ model << " </visual>";
+ model << " </geom:sphere>";
+ model << " </body:sphere>";
+ model << " <joint:hinge name='left_wheel_hinge'>";
+ model << " <body1>left_wheel</body1>";
+ model << " <body2>chassis_body</body2>";
+ model << " <anchor>left_wheel</anchor>";
+ model << " <anchorOffset>0 0 0.04</anchorOffset>";
+ model << " <axis>0 1 0</axis>";
+ model << " <erp>0.8</erp>";
+ model << " <cfm>10e-5</cfm>";
+ model << " </joint:hinge>";
+ model << " <joint:hinge name='right_wheel_hinge'>";
+ model << " <body1>right_wheel</body1>";
+ model << " <body2>chassis_body</body2>";
+ model << " <anchor>right_wheel</anchor>";
+ model << " <anchorOffset>0 0 -0.04</anchorOffset>";
+ model << " <axis>0 1 0</axis>";
+ model << " <erp>0.8</erp>";
+ model << " <cfm>10e-5</cfm>";
+ model << " </joint:hinge>";
+ model << " <joint:ball name='ball_joint'>";
+ model << " <body1>castor_body</body1>";
+ model << " <body2>chassis_body</body2>";
+ model << " <anchor>castor_body</anchor>";
+ model << " <erp>0.8</erp>";
+ model << " <cfm>10e-5</cfm>";
+ model << " </joint:ball>";
+ model << " <controller:differential_position2d name='controller1'>";
+ model << " <leftJoint>left_wheel_hinge</leftJoint>";
+ model << " <rightJoint>right_wheel_hinge</rightJoint>";
+ model << " <wheelSeparation>0.39</wheelSeparation>";
+ model << " <wheelDiameter>0.15</wheelDiameter>";
+ model << " <torque>5</torque>";
+ model << " <interface:position name='position_iface_0'/>";
+ model << " </controller:differential_position2d>";
model << "</model:physical>";
factoryIface->Lock(1);
@@ -28,11 +168,37 @@
factoryIface->Unlock();
}
+void RunSim(double stepTime)
+{
+ simIface->StartLogEntity("pioneer");
+ simIface->Unpause();
+
+ double left = 0.1/stepTime;
+ if (left > 5)
+ left = 5.0;
+ double right = left * 0.5;
+
+ std::cout << "Left[" << left << "] Right[" << right << "]\n";
+
+ double time = simIface->data->realTime;
+ while(simIface->data->realTime - time < 60)
+ {
+ simIface->SetAngularVel("pioneer::left_wheel", gazebo::Vec3(0,0,left));
+ simIface->SetAngularVel("pioneer::right_wheel", gazebo::Vec3(0,0, right));
+ usleep(10000);
+ }
+
+ simIface->StopLogEntity("pioneer");
+ simIface->Pause();
+ simIface->Reset();
+}
+
int main()
{
client = new gazebo::Client();
simIface = new gazebo::SimulationIface();
factoryIface = new gazebo::FactoryIface();
+ graphicsIface = new gazebo::Graphics3dIface();
try
{
@@ -68,8 +234,71 @@
}
spawn_robot();
+ usleep(100000);
+ /// Open the global graphics Interface
+ try
+ {
+ graphicsIface->Open(client, "pioneer");
+ }
+ catch (std::string e)
+ {
+ std::cerr << "Gazebo error: Unable to connect to an interface\n"
+ << e << "\n";
+ return -1;
+ }
+
+ graphicsIface->DrawRibbonTrail("trail");
+
+ std::vector<std::string > step_types;
+ std::vector<std::string >::iterator iter;
+ //step_types.push_back("robust");
+ step_types.push_back("world");
+ step_types.push_back("quick");
+
+ for (iter = step_types.begin(); iter != step_types.end(); iter++)
+ {
+ std::string path =
std::string("/home/nate/work/simpar/data/pioneer_circle/") + *iter + "/";
+ system((std::string("mkdir -p ")+path).c_str());
+
+
+ FILE *out = fopen(std::string(path+"index.txt").c_str(), "w");
+ fprintf(out,"# index step_time iterations\n");
+
+ int i = 0;
+
+ simIface->SetStepType(*iter);
+ for (double step=0.01; step > 1e-5; step *= 0.5)
+ {
+ unsigned int iterations = 10;
+ if (*iter == "world")
+ iterations = 199;
+ for (; iterations < 200; iterations +=20, i++)
+ {
+ simIface->SetStepTime(step);
+ simIface->SetStepIterations(iterations);
+
+ fprintf(out,"%d %f %d\n",i,step, iterations);
+ std::cout << "Type[" << *iter << "] Step[" << step << "] Iterations["
<< iterations << "]\n";
+ RunSim(step);
+
+ std::string mv_cmd = std::string("mv /tmp/pioneer.log ") + path +
"pioneer_circle_benchmark_" + *iter + "_" + boost::lexical_cast<std::string>(i)
+ ".data";
+ system(mv_cmd.c_str());
+ }
+ }
+
+ fclose(out);
+ }
+
+ // This will make a spiral
+ /*for (int i=0; i < 50; i++)
+ {
+ simIface->ApplyTorque("pioneer::left_wheel",gazebo::Vec3(0,0,-50));
+ usleep(100000);
+ }*/
+
factoryIface->Close();
simIface->Close();
+ graphicsIface->Close();
client->Disconnect();
}
Modified: code/gazebo/branches/simpar/libgazebo/Graphics3dIface.cc
===================================================================
--- code/gazebo/branches/simpar/libgazebo/Graphics3dIface.cc 2010-05-27
19:02:34 UTC (rev 8717)
+++ code/gazebo/branches/simpar/libgazebo/Graphics3dIface.cc 2010-05-28
02:43:44 UTC (rev 8718)
@@ -190,3 +190,21 @@
this->Unlock();
}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Draw a ribbon trail following an entity
+void Graphics3dIface::DrawRibbonTrail(const std::string &name)
+{
+ this->Lock(1);
+ Graphics3dDrawData *cmd = &(this->data->commands[this->data->cmdCount++]);
+
+ cmd->drawMode = Graphics3dDrawData::RIBBONTRAIL;
+
+ // Set the name of the graphics drawable
+ memset( cmd->name, 0, GAZEBO_GRAPHICS3D_MAX_NAME);
+ strcpy( cmd->name, name.c_str());
+
+ cmd->intVar = 1;
+
+ this->Unlock();
+}
Modified: code/gazebo/branches/simpar/libgazebo/SimIface.cc
===================================================================
--- code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-27 19:02:34 UTC
(rev 8717)
+++ code/gazebo/branches/simpar/libgazebo/SimIface.cc 2010-05-28 02:43:44 UTC
(rev 8718)
@@ -499,6 +499,50 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Apply a force to an entity
+void SimulationIface::ApplyForce(const std::string &entityName, Vec3 force)
+{
+ this->Lock(1);
+ this->data->responseCount = 0;
+ SimulationRequestData *request =
&(this->data->requests[this->data->requestCount++]);
+
+ request->type = gazebo::SimulationRequestData::APPLY_FORCE;
+ memset(request->name, 0, 512);
+ strncpy(request->name, entityName.c_str(), 512);
+ request->name[511] = '\0';
+
+ if (isnan(force.x)) force.x = 0.0;
+ if (isnan(force.y)) force.y = 0.0;
+ if (isnan(force.z)) force.z = 0.0;
+
+ request->vec3Value = force;
+
+ this->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Apply a torque to an entity
+void SimulationIface::ApplyTorque(const std::string &entityName, Vec3 torque)
+{
+ this->Lock(1);
+ this->data->responseCount = 0;
+ SimulationRequestData *request =
&(this->data->requests[this->data->requestCount++]);
+
+ request->type = gazebo::SimulationRequestData::APPLY_TORQUE;
+ memset(request->name, 0, 512);
+ strncpy(request->name, entityName.c_str(), 512);
+ request->name[511] = '\0';
+
+ if (isnan(torque.x)) torque.x = 0.0;
+ if (isnan(torque.y)) torque.y = 0.0;
+ if (isnan(torque.z)) torque.z = 0.0;
+
+ request->vec3Value = torque;
+
+ this->Unlock();
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Wait for a post on the go ack semaphore
void SimulationIface::GoAckWait()
{
Modified: code/gazebo/branches/simpar/libgazebo/gz.h
===================================================================
--- code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-27 19:02:34 UTC (rev
8717)
+++ code/gazebo/branches/simpar/libgazebo/gz.h 2010-05-28 02:43:44 UTC (rev
8718)
@@ -452,7 +452,9 @@
SET_STEP_TIME,
SET_STEP_ITERS,
SET_STEP_TYPE,
- GET_STEP_TYPE
+ GET_STEP_TYPE,
+ APPLY_FORCE,
+ APPLY_TORQUE
};
public: Type type;
@@ -607,6 +609,12 @@
/// \brief Set the angular acceleration
public: void SetAngularAccel(const std::string &modelName,Vec3 accel);
+ /// \brief Apply a force to an entity
+ public: void ApplyForce(const std::string &entityName, Vec3 force);
+
+ /// \brief Apply a torque to an entity
+ public: void ApplyTorque(const std::string &entityName, Vec3 torque);
+
/// \brief Get the child interfaces of a model
public: void GetChildInterfaces(const std::string &modelName);
@@ -952,7 +960,7 @@
/// Type of drawing to perform
public: enum DrawMode { POINTS, LINES, LINE_STRIP, TRIANGLES,
TRIANGLE_STRIP,
TRIANGLE_FAN, PLANE, SPHERE, CUBE, CYLINDER, CONE,
- BILLBOARD, TEXT, METERBAR };
+ BILLBOARD, TEXT, METERBAR, RIBBONTRAIL };
/// Drawing mode
public: DrawMode drawMode;
@@ -983,6 +991,8 @@
public: Vec3 size;
public: float fltVar;
+
+ public: int intVar;
};
/// \brief Graphics3d interface data
@@ -1033,6 +1043,8 @@
public: void DrawMeterBar(const char *name, Vec3 pos, Vec2 size, Color clr,
float percent);
+ /// \brief Draw a ribbon trail following an entity
+ public: void DrawRibbonTrail(const std::string &name);
/// Pointer to the graphics3d data
public: Graphics3dData *data;
Modified: code/gazebo/branches/simpar/server/GraphicsIfaceHandler.cc
===================================================================
--- code/gazebo/branches/simpar/server/GraphicsIfaceHandler.cc 2010-05-27
19:02:34 UTC (rev 8717)
+++ code/gazebo/branches/simpar/server/GraphicsIfaceHandler.cc 2010-05-28
02:43:44 UTC (rev 8718)
@@ -144,6 +144,10 @@
this->DrawMeterBar(vis, &this->threeDIface->data->commands[i] );
break;
+ case Graphics3dDrawData::RIBBONTRAIL:
+ vis->SetRibbonTrail(this->threeDIface->data->commands[i].intVar);
+ break;
+
default:
gzerr(0) << "Unknown draw mode["
<< this->threeDIface->data->commands[i].drawMode << "\n";
Modified: code/gazebo/branches/simpar/server/World.cc
===================================================================
--- code/gazebo/branches/simpar/server/World.cc 2010-05-27 19:02:34 UTC (rev
8717)
+++ code/gazebo/branches/simpar/server/World.cc 2010-05-28 02:43:44 UTC (rev
8718)
@@ -845,6 +845,47 @@
break;
}
+ case SimulationRequestData::APPLY_FORCE:
+ {
+ Entity *ent = this->GetEntityByName((char*)req->name);
+
+ if (ent && ent->GetType() == Entity::BODY)
+ {
+ Body *body = (Body*)(ent);
+
+ Vector3 force(req->vec3Value.x, req->vec3Value.y,
req->vec3Value.z);
+
+ body->SetForce(force);
+ }
+ else
+ {
+ gzerr(0) << "Invalid body name[" << req->name
+ << "] in simulation interface Set Force Request.\n";
+ }
+ break;
+
+ }
+
+ case SimulationRequestData::APPLY_TORQUE:
+ {
+ Entity *ent = this->GetEntityByName((char*)req->name);
+
+ if (ent && ent->GetType() == Entity::BODY)
+ {
+ Body *body = (Body*)(ent);
+
+ Vector3 torque(req->vec3Value.x,req->vec3Value.y,
req->vec3Value.z);
+
+ body->SetTorque(torque);
+ }
+ else
+ {
+ gzerr(0) << "Invalid body name[" << req->name
+ << "] in simulation interface Set Torque Request.\n";
+ }
+ break;
+
+ }
case SimulationRequestData::SET_LINEAR_VEL:
{
Entity *ent = this->GetEntityByName((char*)req->name);
@@ -872,16 +913,21 @@
{
Entity *ent = this->GetEntityByName((char*)req->name);
- if (ent && ent->GetType() == Entity::MODEL)
+ if (ent && (ent->GetType() == Entity::MODEL ||
+ ent->GetType() == Entity::BODY))
{
- Model *model = (Model*)(ent);
Vector3 vel( req->modelAngularVel.x, req->modelAngularVel.y,
req->modelAngularVel.z);
- Pose3d pose = model->GetAbsPose();
+ Pose3d pose = ent->GetAbsPose();
vel = pose.rot.RotateVector(vel);
- model->SetAngularVel(vel);
+
+ if (ent->GetType()==Entity::MODEL)
+ ((Model*)ent)->SetAngularVel(vel);
+ else if (ent->GetType() == Entity::BODY)
+ ((Body*)ent)->SetAngularVel(vel);
+
}
else
{
Modified: code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc
===================================================================
--- code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc 2010-05-27
19:02:34 UTC (rev 8717)
+++ code/gazebo/branches/simpar/server/physics/ode/ODEJoint.cc 2010-05-28
02:43:44 UTC (rev 8718)
@@ -200,7 +200,7 @@
/// Set the high stop of an axis(index)
void ODEJoint::SetHighStop(int index, Angle angle)
{
- switch (index)
+ /*switch (index)
{
case 0:
this->SetParam(dParamHiStop, angle.GetAsRadian());
@@ -209,13 +209,14 @@
case 2:
this->SetParam(dParamHiStop3, angle.GetAsRadian());
};
+*/
}
////////////////////////////////////////////////////////////////////////////////
/// Set the low stop of an axis(index)
void ODEJoint::SetLowStop(int index, Angle angle)
{
- switch (index)
+/* switch (index)
{
case 0:
this->SetParam(dParamLoStop, angle.GetAsRadian());
@@ -224,6 +225,7 @@
case 2:
this->SetParam(dParamLoStop3, angle.GetAsRadian());
};
+ */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/simpar/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/branches/simpar/server/rendering/OgreVisual.cc 2010-05-27
19:02:34 UTC (rev 8717)
+++ code/gazebo/branches/simpar/server/rendering/OgreVisual.cc 2010-05-28
02:43:44 UTC (rev 8718)
@@ -70,6 +70,15 @@
this->visible = true;
this->ConstructorHelper(pnode, isStatic);
+ this->ribbonTrail =
(Ogre::RibbonTrail*)OgreAdaptor::Instance()->sceneMgr->createMovableObject("RibbonTrail");
+ this->ribbonTrail->setMaterialName("Gazebo/Red");
+ this->ribbonTrail->setTrailLength(200);
+ this->ribbonTrail->setMaxChainElements(1000);
+ this->ribbonTrail->setNumberOfChains(1);
+ this->ribbonTrail->setVisible(false);
+ this->ribbonTrail->setInitialWidth(0,0.05);
+
OgreAdaptor::Instance()->sceneMgr->getRootSceneNode()->attachObject(this->ribbonTrail);
+
RTShaderSystem::Instance()->AttachEntity(this);
}
@@ -1074,3 +1083,17 @@
this->shaderP->SetValue(shader);
RTShaderSystem::Instance()->UpdateShaders();
}
+
+void OgreVisual::SetRibbonTrail(bool value)
+{
+ if (value)
+ {
+ this->ribbonTrail->addNode(this->sceneNode);
+ }
+ else
+ {
+ this->ribbonTrail->removeNode(this->sceneNode);
+ this->ribbonTrail->clearChain(0);
+ }
+ this->ribbonTrail->setVisible(value);
+}
Modified: code/gazebo/branches/simpar/server/rendering/OgreVisual.hh
===================================================================
--- code/gazebo/branches/simpar/server/rendering/OgreVisual.hh 2010-05-27
19:02:34 UTC (rev 8717)
+++ code/gazebo/branches/simpar/server/rendering/OgreVisual.hh 2010-05-28
02:43:44 UTC (rev 8718)
@@ -184,6 +184,9 @@
/// \brief Set the shader
public: void SetShader(const std::string &shader);
+ /// \brief True on or off a ribbon trail
+ public: void SetRibbonTrail(bool value);
+
private: Ogre::MaterialPtr origMaterial;
private: Ogre::MaterialPtr myMaterial;
private: std::string myMaterialName;
@@ -222,6 +225,8 @@
private: bool visible;
private: static SelectionObj *selectionObj;
+
+ private: Ogre::RibbonTrail *ribbonTrail;
};
}
Modified: code/gazebo/branches/simpar/worlds/pioneer2dx.world
===================================================================
--- code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-27 19:02:34 UTC
(rev 8717)
+++ code/gazebo/branches/simpar/worlds/pioneer2dx.world 2010-05-28 02:43:44 UTC
(rev 8718)
@@ -21,12 +21,14 @@
<physics:ode>
<stepTime>0.001</stepTime>
<gravity>0 0 -9.8</gravity>
- <cfm>10e-5</cfm>
- <erp>0.3</erp>
- <!-- updateRate: <0 == throttle simTime to match realTime.
- 0 == No throttling
- >0 == Frequency at which to throttle the sim -->
- <updateRate>0</updateRate>
+ <cfm>0.0000000001</cfm>
+ <erp>0.2</erp>
+
+ <stepType>robust</stepType>
+ <stepIters>100</stepIters>
+ <stepW>1.3</stepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.001</contactSurfaceLayer>
</physics:ode>
<rendering:gui>
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