Hi Mihai, Thanks for the heads up on the trimesh geom. I just put back the changes, and made a few slight changes to the trimesh.world file. Everything works on my end. Let me know if it's still broken on your machine.
The only thing I changed in the trimesh.world file was the global cfm and erp parameters. -nate On Jan 16, 2008 5:01 AM, Mihai Emanuel Dolha <[EMAIL PROTECTED]> wrote: > Hi, > > > since in the latest revisions Gazebo uses the same coordinate frames as > Ogre the TimeshGeom class needs a small update: > > *(vertPtr+0) = (*pFloat++) * scale.x; > *(vertPtr+1) = (*pFloat++) * scale.y; > *(vertPtr+2) = (*pFloat++) * scale.z; > > instead of: > > *(vertPtr+1) = (*pFloat++) * scale.x; > *(vertPtr+2) = (*pFloat++) * scale.y; > *(vertPtr+0) = (*pFloat++) * scale.z; > > > Also I've found another problem with the TrimeshGeoms: if I run the > worlds/trimesh.world as it is everything is all right. But if I modify > the scale of the trimesh from .2 .2 .2 to .1 .1.1 for example and run > the simulation, as soon as the body touches the floor Gazebo crashes > because of an assert in Ogre: > > gazebo: ../../OgreMain/include/OgreAxisAlignedBox.h:239: void > Ogre::AxisAlignedBox::setExtents(const Ogre::Vector3&, const > Ogre::Vector3&): Assertion `(min.x <= max.x && min.y <= max.y && min.z > <= max.z) && "The minimum corner of the box must be less than or equal > to maximum corner"' failed. > > I've noticed that right before the crash, in the update cycle, the > /Body::GetPosition/ returns /nan/ (actually it gets NULL from > /dBodyGetPosition/). I'm not sure if this is the cause. > > Also with: > > // TODO: This should probably be true....but "true" breaks trimesh > postions. > this->SetPose(pose, false); > > in Geom.cc line 117 it doesn't crash, but then I think the positioning > of the geoms messes up. > > I'm having trouble finding the source of this crash. I would appreciate > any ideas or advices where to look further. > > Mihai > > ------------------------------------------------------------------------- > This SF.net email is sponsored by: Microsoft > Defy all challenges. Microsoft(R) Visual Studio 2008. > http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ > _______________________________________________ > Playerstage-gazebo mailing list > [email protected] > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ------------------------------------------------------------------------- This SF.net email is sponsored by: Microsoft Defy all challenges. Microsoft(R) Visual Studio 2008. http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
