I've posted a patch (https://sourceforge.net/tracker/index.php?func=detail&aid=1674168&group_id=42445&atid=433166) to resolve a ray/cylinder collision issue present in Gazebo 0.7 (and still present in SVN head, as far as I can tell):
Rays that originate inside the inifinite extension of the cylinder are always assumed to hit the cylinder end cap, regardless of the ray's direction. This causes obvious problems with RayProximity-derived sensors (such as the SICK). The patch simply adds a check to ensure that the ray-plane intersection is within a radius of the center of the end cap. Performance impact should be minimal (a few additions and a dot product). A test case for the problem can be found at: http://ginger.autonomy.ri.cmu.edu/trestle/cylRay.world. Screenshots of a slightly different test case are at: http://ginger.autonomy.ri.cmu.edu/trestle/GazeboCylinder/ Cheers, -Brennan ------------------------------------------------------------------------- Take Surveys. Earn Cash. Influence the Future of IT Join SourceForge.net's Techsay panel and you'll get the chance to share your opinions on IT & business topics through brief surveys-and earn cash http://www.techsay.com/default.php?page=join.php&p=sourceforge&CID=DEVDEV _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
