Revision: 8788
http://playerstage.svn.sourceforge.net/playerstage/?rev=8788&view=rev
Author: natepak
Date: 2010-06-23 16:51:54 +0000 (Wed, 23 Jun 2010)
Log Message:
-----------
Added ability to get the gravity mode of a body
Modified Paths:
--------------
code/gazebo/trunk/server/physics/Body.hh
code/gazebo/trunk/server/physics/bullet/BulletBody.cc
code/gazebo/trunk/server/physics/bullet/BulletBody.hh
code/gazebo/trunk/server/physics/ode/ODEBody.cc
code/gazebo/trunk/server/physics/ode/ODEBody.hh
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2010-06-23 16:39:45 UTC (rev
8787)
+++ code/gazebo/trunk/server/physics/Body.hh 2010-06-23 16:51:54 UTC (rev
8788)
@@ -92,6 +92,10 @@
/// \brief Set whether gravity affects this body
public: virtual void SetGravityMode(bool mode) = 0;
+ /// \brief Get the gravity mode
+ public: virtual bool GetGravityMode() = 0;
+
+
/// \brief Set whether this body will collide with others in the model
public: virtual void SetSelfCollide(bool collide) = 0;
Modified: code/gazebo/trunk/server/physics/bullet/BulletBody.cc
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletBody.cc 2010-06-23
16:39:45 UTC (rev 8787)
+++ code/gazebo/trunk/server/physics/bullet/BulletBody.cc 2010-06-23
16:51:54 UTC (rev 8788)
@@ -209,6 +209,16 @@
}
////////////////////////////////////////////////////////////////////////////////
+/// Get the gravity mode
+bool BulletBody::GetGravityMode()
+{
+ bool result;
+ gzerr(0) << "BulletBody::GetGravityMode not implemented\n";
+
+ return result;
+}
+
+////////////////////////////////////////////////////////////////////////////////
/// Set whether this body will collide with others in the model
void BulletBody::SetSelfCollide(bool collide)
{
Modified: code/gazebo/trunk/server/physics/bullet/BulletBody.hh
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletBody.hh 2010-06-23
16:39:45 UTC (rev 8787)
+++ code/gazebo/trunk/server/physics/bullet/BulletBody.hh 2010-06-23
16:51:54 UTC (rev 8788)
@@ -106,6 +106,10 @@
/// \brief Set whether gravity affects this body
public: virtual void SetGravityMode(bool mode);
+ /// \brief Get the gravity mode
+ public: virtual bool GetGravityMode();
+
+
/// \brief Set whether this body will collide with others in the model
public: void SetSelfCollide(bool collide);
Modified: code/gazebo/trunk/server/physics/ode/ODEBody.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEBody.cc 2010-06-23 16:39:45 UTC
(rev 8787)
+++ code/gazebo/trunk/server/physics/ode/ODEBody.cc 2010-06-23 16:51:54 UTC
(rev 8788)
@@ -147,6 +147,21 @@
}
////////////////////////////////////////////////////////////////////////////////
+// Get the gravity mode
+bool ODEBody::GetGravityMode()
+{
+ int mode = 0;
+ if (this->bodyId)
+ {
+ this->physicsEngine->LockMutex();
+ mode = dBodyGetGravityMode(this->bodyId);
+ this->physicsEngine->UnlockMutex();
+ }
+
+ return mode;
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Set whether this body will collide with others in the model
void ODEBody::SetSelfCollide(bool collide)
{
Modified: code/gazebo/trunk/server/physics/ode/ODEBody.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEBody.hh 2010-06-23 16:39:45 UTC
(rev 8787)
+++ code/gazebo/trunk/server/physics/ode/ODEBody.hh 2010-06-23 16:51:54 UTC
(rev 8788)
@@ -108,6 +108,9 @@
/// \brief Set whether gravity affects this body
public: virtual void SetGravityMode(bool mode);
+ /// \brief Get the gravity mode
+ public: virtual bool GetGravityMode();
+
/// \brief Set whether this body will collide with others in the model
public: void SetSelfCollide(bool collide);
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