Hello,
You're second scenario is probably the best way to go. You can create
create you model, and disable each body. Look in the ODE documentation
for disabling bodies. You can also turn off collision detection for
each geom using SetCollideBits and SetCategoryBits. The ODE
documentation has more info on those bit fields.
Then you can put your custom code in the model's update function. Let
me know if you have any troubles.
-nate
On 5/4/07, Jonathan Sprinkle <[EMAIL PROTECTED]> wrote:
> Hi,
>
> We're interested to substitute the compositional body simulation for changes
> in position with one of our own which is optimized for speed. However, we'd
> like to still maintain the Gazebo interface so that we can have
> visualization of the object, but most importantly, to be able to attach
> other objects like lasers to the top of the vehicle.
>
> Specifically, our goal is to replace the rigid body dynamics with our own
> equations.
>
> Our first thought was to edit a model (CarChassis.{cc,hh}) and to replace
> the position/pose output from the timestep with that of our own calculation;
> however, it seems that this can't be done without losing visualization.
>
> Is this the case? One scenario for us might be to duplicate the car chassis,
> but have all objects be 'dummy' objects that don't get calculated when doing
> positional updates (we will provide the position update at each timestep for
> the CoM). We're just not sure whether dummy objects are displayed at all?
>
> Does this make sense to anyone, or are there any comments?
>
> Thanks,
> Jonathan
>
> ==============================
> Jonathan Sprinkle, Ph.D.
> [EMAIL PROTECTED]
> +1 510 642-0348 (work)
> ---
> Executive Director
> Center for Hybrid and Embedded Software Systems
> University of California, Berkeley
> ---
> http://www.eecs.berkeley.edu/~sprinkle/
> ==============================
>
>
>
> -------------------------------------------------------------------------
> This SF.net email is sponsored by DB2 Express
> Download DB2 Express C - the FREE version of DB2 express and take
> control of your XML. No limits. Just data. Click to get it now.
> http://sourceforge.net/powerbar/db2/
> _______________________________________________
> Playerstage-gazebo mailing list
> [email protected]
> https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
>
-------------------------------------------------------------------------
This SF.net email is sponsored by DB2 Express
Download DB2 Express C - the FREE version of DB2 express and take
control of your XML. No limits. Just data. Click to get it now.
http://sourceforge.net/powerbar/db2/
_______________________________________________
Playerstage-gazebo mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
