Revision: 8278
http://playerstage.svn.sourceforge.net/playerstage/?rev=8278&view=rev
Author: natepak
Date: 2009-10-06 13:09:14 +0000 (Tue, 06 Oct 2009)
Log Message:
-----------
Removed some print statements
Modified Paths:
--------------
code/gazebo/trunk/server/MeshLoader.cc
code/gazebo/trunk/server/Model.cc
code/gazebo/trunk/server/physics/TrimeshGeom.cc
code/gazebo/trunk/worlds/trimesh.world
Modified: code/gazebo/trunk/server/MeshLoader.cc
===================================================================
--- code/gazebo/trunk/server/MeshLoader.cc 2009-10-06 00:17:13 UTC (rev
8277)
+++ code/gazebo/trunk/server/MeshLoader.cc 2009-10-06 13:09:14 UTC (rev
8278)
@@ -21,16 +21,12 @@
gazeboPaths = Simulator::Instance()->GetGazeboConfig()->GetGazeboPaths();
- printf("Num Paths[%d]\n",gazeboPaths.size());
for (std::list<std::string>::iterator iter=gazeboPaths.begin();
iter!=gazeboPaths.end(); ++iter)
{
fullname = (*iter)+"/Media/models/"+filename;
- std::cout << "Fullname[" << fullname << "]\n";
if (stat(fullname.c_str(), &st) == 0)
{
- printf("Loading mesh from file[%s]\n",fullname.c_str());
-
std::string extension = fullname.substr(fullname.rfind(".")+1,
fullname.size());
if (extension == "mesh")
Modified: code/gazebo/trunk/server/Model.cc
===================================================================
--- code/gazebo/trunk/server/Model.cc 2009-10-06 00:17:13 UTC (rev 8277)
+++ code/gazebo/trunk/server/Model.cc 2009-10-06 13:09:14 UTC (rev 8278)
@@ -196,7 +196,6 @@
this->laserFiducialP->Load(node);
this->laserRetroP->Load(node);
-
this->xmlNode = node;
this->type=node->GetName();
@@ -415,6 +414,9 @@
Pose3d bodyPose, newPose, oldPose;
+ if (this->GetName() == "wood_pallet")
+ std::cout << "Pose[" << this->GetPose().pos << "]\n";
+
#ifdef TIMING
double tmpT1 = Simulator::Instance()->GetWallTime();
#endif
Modified: code/gazebo/trunk/server/physics/TrimeshGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshGeom.cc 2009-10-06 00:17:13 UTC
(rev 8277)
+++ code/gazebo/trunk/server/physics/TrimeshGeom.cc 2009-10-06 13:09:14 UTC
(rev 8278)
@@ -58,7 +58,7 @@
/// Update function.
void TrimeshGeom::UpdateChild()
{
-/* /// FIXME: use below to update trimesh geometry for collision without
using above Ogre codes
+ /// FIXME: use below to update trimesh geometry for collision without using
above Ogre codes
// tell the tri-tri collider the current transform of the trimesh --
// this is fairly important for good results.
@@ -89,7 +89,6 @@
dGeomTriMeshSetLastTransform( this->geomId,
*(dMatrix4*)( this->matrix_dblbuff + this->last_matrix_index * 16) );
- */
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/worlds/trimesh.world
===================================================================
--- code/gazebo/trunk/worlds/trimesh.world 2009-10-06 00:17:13 UTC (rev
8277)
+++ code/gazebo/trunk/worlds/trimesh.world 2009-10-06 13:09:14 UTC (rev
8278)
@@ -17,10 +17,16 @@
<verbosity>5</verbosity>
<physics:ode>
- <stepTime>0.001</stepTime>
+ <stepTime>0.0001</stepTime>
<gravity>0 0 -9.80665</gravity>
- <cfm>10e-5</cfm>
+ <cfm>10e-8</cfm>
<erp>0.3</erp>
+ <quickStep>true</quickStep>
+ <quickStepIters>50</quickStepIters>
+ <quickStepW>1.3</quickStepW>
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>
+ <contactSurfaceLayer>0.001</contactSurfaceLayer>
+
<updateRate>0</updateRate>
</physics:ode>
@@ -62,7 +68,7 @@
<geom:trimesh name="pallet_geom">
<mesh>WoodPallet.mesh</mesh>
<scale>.2 .2 .2</scale>
- <mass>0.1</mass>
+ <mass>1.0</mass>
<visual>
<scale>.2 .2 .2</scale>
@@ -95,7 +101,6 @@
</body:sphere>
</model:physical>
-
<!-- White Directional light -->
<model:renderable name="directional_white">
<enableGravity>false</enableGravity>
@@ -106,7 +111,6 @@
<specularColor>0.0 0.0 0.0</specularColor>
<range>100</range>
- <!-- Constant(0-1) Linear(0-1) Quadratic -->
<attenuation>0.0 1.0 0.4</attenuation>
</light>
</model:renderable>
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