Revision: 8737
http://playerstage.svn.sourceforge.net/playerstage/?rev=8737&view=rev
Author: natepak
Date: 2010-05-29 20:50:41 +0000 (Sat, 29 May 2010)
Log Message:
-----------
Added better contact callback
Modified Paths:
--------------
code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
code/gazebo/branches/simpar/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
code/gazebo/branches/simpar/server/physics/Geom.cc
code/gazebo/branches/simpar/server/physics/Geom.hh
code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
Modified: code/gazebo/branches/simpar/plugins/pioneer_spiral.cc
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
20:08:58 UTC (rev 8736)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.cc 2010-05-29
20:50:41 UTC (rev 8737)
@@ -39,6 +39,17 @@
this->leftWheel = (Body*)this->robot->GetChild("left_wheel");
this->rightWheel = (Body*)this->robot->GetChild("right_wheel");
+ Geom *leftWheelGeom = this->leftWheel->GetGeom("left_wheel_geom");
+ Geom *rightWheelGeom = this->rightWheel->GetGeom("right_wheel_geom");
+
+ leftWheelGeom->SetContactsEnabled(true);
+ rightWheelGeom->SetContactsEnabled(true);
+
+ leftWheelGeom->ConnectContactCallback(
+ boost::bind(&PioneerSpiral::LeftContactCB, this, _1));
+ rightWheelGeom->ConnectContactCallback(
+ boost::bind(&PioneerSpiral::RightContactCB, this, _1));
+
World::Instance()->ConnectWorldUpdateStartSignal(
boost::bind(&PioneerSpiral::UpdateCB, this));
}
@@ -50,3 +61,25 @@
{
this->leftWheel->SetTorque(Vector3(0,0,0.5));
}
+
+void PioneerSpiral::LeftContactCB(const Contact &contact)
+{
+ std::cout << "Left contact\n";
+ for (unsigned int i=0; i < contact.positions.size(); i++)
+ {
+ std::cout << " Pos[" << contact.positions[i] << "] "
+ << "Norm[" << contact.normals[i] << "] "
+ << "Depth[" << contact.depths[i] << "]\n";
+ }
+}
+
+void PioneerSpiral::RightContactCB(const Contact &contact)
+{
+ std::cout << "Right contact\n";
+ for (unsigned int i=0; i < contact.positions.size(); i++)
+ {
+ std::cout << " Pos[" << contact.positions[i] << "] "
+ << "Norm[" << contact.normals[i] << "] "
+ << "Depth[" << contact.depths[i] << "]\n";
+ }
+}
Modified: code/gazebo/branches/simpar/plugins/pioneer_spiral.hh
===================================================================
--- code/gazebo/branches/simpar/plugins/pioneer_spiral.hh 2010-05-29
20:08:58 UTC (rev 8736)
+++ code/gazebo/branches/simpar/plugins/pioneer_spiral.hh 2010-05-29
20:50:41 UTC (rev 8737)
@@ -16,6 +16,9 @@
public: void UpdateCB();
+ public: void LeftContactCB(const Contact &contact);
+ public: void RightContactCB(const Contact &contact);
+
private: Model *robot;
private: Body *leftWheel;
private: Body *rightWheel;
Modified:
code/gazebo/branches/simpar/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
===================================================================
---
code/gazebo/branches/simpar/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2010-05-29 20:08:58 UTC (rev 8736)
+++
code/gazebo/branches/simpar/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2010-05-29 20:50:41 UTC (rev 8737)
@@ -62,6 +62,9 @@
// Destructor
Pioneer2_Gripper::~Pioneer2_Gripper()
{
+
this->paddles[LEFT]->DisconnectContactCallback(boost::bind(&Pioneer2_Gripper::LeftPaddleCB,
this));
+
this->paddles[RIGHT]->DisconnectContactCallback(boost::bind(&Pioneer2_Gripper::RightPaddleCB,
this));
+
if (this->holdJoint)
delete this->holdJoint;
this->holdJoint = NULL;
@@ -191,8 +194,10 @@
this->holdJoint =
World::Instance()->GetPhysicsEngine()->CreateJoint(Joint::SLIDER);
this->holdJoint->SetName(this->GetName() + "_Hold_Joint");
- this->paddles[LEFT]->ContactCallback(&Pioneer2_Gripper::LeftPaddleCB, this);
- this->paddles[RIGHT]->ContactCallback(&Pioneer2_Gripper::RightPaddleCB,
this);
+ this->paddles[LEFT]->ConnectContactCallback(
+ boost::bind(&Pioneer2_Gripper::LeftPaddleCB, this, _1));
+ this->paddles[RIGHT]->ConnectContactCallback(
+ boost::bind(&Pioneer2_Gripper::RightPaddleCB, this, _1));
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/simpar/server/physics/Geom.cc
===================================================================
--- code/gazebo/branches/simpar/server/physics/Geom.cc 2010-05-29 20:08:58 UTC
(rev 8736)
+++ code/gazebo/branches/simpar/server/physics/Geom.cc 2010-05-29 20:50:41 UTC
(rev 8737)
@@ -489,6 +489,7 @@
if (this->GetShapeType() == Shape::RAY || this->GetShapeType() ==
Shape::PLANE)
return;
+ std::cout << "Contact\n";
this->contacts.push_back( contact.Clone() );
this->contactSignal( contact );
}
Modified: code/gazebo/branches/simpar/server/physics/Geom.hh
===================================================================
--- code/gazebo/branches/simpar/server/physics/Geom.hh 2010-05-29 20:08:58 UTC
(rev 8736)
+++ code/gazebo/branches/simpar/server/physics/Geom.hh 2010-05-29 20:50:41 UTC
(rev 8737)
@@ -180,12 +180,14 @@
/// \brief Get the angular acceleration of the model
public: virtual Vector3 GetAngularAccel() const;
- public: template< typename C>
- void ContactCallback( void (C::*func)(const Contact&), C *c )
- {
- contactSignal.connect( boost::bind(func, c, _1) );
- }
+ public: template< typename T>
+ boost::signals::connection ConnectContactCallback( T subscriber )
+ { return contactSignal.connect(subscriber); }
+ public: template< typename T>
+ void DisconnectContactCallback( T subscriber )
+ { contactSignal.disconnect(subscriber); }
+
/// \brief Enable callback: Called when the body changes
private: void EnabledCB(bool enabled);
Modified: code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
2010-05-29 20:08:58 UTC (rev 8736)
+++ code/gazebo/branches/simpar/server/physics/ode/ODEPhysics.cc
2010-05-29 20:50:41 UTC (rev 8737)
@@ -758,10 +758,8 @@
contact.surface.slip2 = 0.1;
}
- contact.surface.bounce = 0;
- /*contact.surface.bounce = std::min(geom1->surface->bounce,
+ contact.surface.bounce = std::min(geom1->surface->bounce,
geom2->surface->bounce);
- */
contact.surface.bounce_vel = std::min(geom1->surface->bounceVel,
geom2->surface->bounceVel);
dJointID c = dJointCreateContact (self->worldId,
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