Revision: 8429
http://playerstage.svn.sourceforge.net/playerstage/?rev=8429&view=rev
Author: natepak
Date: 2009-11-21 21:26:54 +0000 (Sat, 21 Nov 2009)
Log Message:
-----------
Fixed up the contact sensor
Modified Paths:
--------------
code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.hh
code/gazebo/trunk/server/physics/CMakeLists.txt
code/gazebo/trunk/server/physics/Geom.cc
code/gazebo/trunk/server/physics/Geom.hh
code/gazebo/trunk/server/physics/bullet/BulletGeom.cc
code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc
code/gazebo/trunk/server/physics/ode/ODEGeom.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
code/gazebo/trunk/server/sensors/contact/ContactSensor.cc
code/gazebo/trunk/server/sensors/contact/ContactSensor.hh
Added Paths:
-----------
code/gazebo/trunk/server/physics/Contact.cc
code/gazebo/trunk/server/physics/Contact.hh
code/gazebo/trunk/server/physics/JointFeedback.hh
code/gazebo/trunk/server/physics/SurfaceParams.cc
code/gazebo/trunk/server/physics/SurfaceParams.hh
Removed Paths:
-------------
code/gazebo/trunk/server/physics/ContactParams.cc
code/gazebo/trunk/server/physics/ContactParams.hh
Modified: code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
===================================================================
--- code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
2009-11-21 00:13:10 UTC (rev 8428)
+++ code/gazebo/trunk/server/controllers/bumper/generic/Generic_Bumper.cc
2009-11-21 21:26:54 UTC (rev 8429)
@@ -74,17 +74,16 @@
{
this->myIface->Lock(1);
- this->myIface->data->bumper_count = this->myParent->GetContactCount();
+ this->myIface->data->bumper_count = this->myParent->GetGeomCount();
this->myIface->data->head.time = Simulator::Instance()->GetRealTime();
- for (unsigned int i=0; i < this->myParent->GetContactCount(); i++)
+ for (unsigned int i=0; i < this->myParent->GetGeomCount(); i++)
{
- this->myIface->data->bumpers[i] = this->myParent->GetContactState(i);
+ this->myIface->data->bumpers[i] =
+ this->myParent->GetGeomContactCount(i) > 0 ? 1 : 0;
}
- this->myParent->ResetContactStates();
-
this->myIface->Unlock();
}
Modified:
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
===================================================================
--- code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2009-11-21 00:13:10 UTC (rev 8428)
+++ code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.cc
2009-11-21 21:26:54 UTC (rev 8429)
@@ -29,7 +29,6 @@
#include "PhysicsEngine.hh"
#include "Geom.hh"
-#include "ContactParams.hh"
#include "Simulator.hh"
#include "RaySensor.hh"
#include "Global.hh"
@@ -193,8 +192,8 @@
this->holdJoint =
World::Instance()->GetPhysicsEngine()->CreateJoint(Joint::SLIDER);
this->holdJoint->SetName(this->GetName() + "_Hold_Joint");
- this->paddles[LEFT]->contact->Callback(&Pioneer2_Gripper::LeftPaddleCB,
this);
- this->paddles[RIGHT]->contact->Callback(&Pioneer2_Gripper::RightPaddleCB,
this);
+ this->paddles[LEFT]->ContactCallback(&Pioneer2_Gripper::LeftPaddleCB, this);
+ this->paddles[RIGHT]->ContactCallback(&Pioneer2_Gripper::RightPaddleCB,
this);
}
////////////////////////////////////////////////////////////////////////////////
@@ -366,20 +365,20 @@
////////////////////////////////////////////////////////////////////////////////
// Left paddle contact callback
-void Pioneer2_Gripper::LeftPaddleCB(Geom *g1, Geom *g2)
+void Pioneer2_Gripper::LeftPaddleCB(const Contact &contact)
{
- if (g1->GetName() != this->paddles[LEFT]->GetName())
- this->contactGeoms[LEFT] = g1;
+ if (contact.geom1->GetName() != this->paddles[LEFT]->GetName())
+ this->contactGeoms[LEFT] = contact.geom1;
else
- this->contactGeoms[LEFT] = g2;
+ this->contactGeoms[LEFT] = contact.geom2;
}
////////////////////////////////////////////////////////////////////////////////
// Right paddle contact callback
-void Pioneer2_Gripper::RightPaddleCB(Geom *g1, Geom *g2)
+void Pioneer2_Gripper::RightPaddleCB(const Contact &contact)
{
- if (g1->GetName() != this->paddles[RIGHT]->GetName())
- this->contactGeoms[RIGHT] = g1;
+ if (contact.geom1->GetName() != this->paddles[RIGHT]->GetName())
+ this->contactGeoms[RIGHT] = contact.geom1;
else
- this->contactGeoms[RIGHT] = g2;
+ this->contactGeoms[RIGHT] = contact.geom2;
}
Modified:
code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.hh
===================================================================
--- code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.hh
2009-11-21 00:13:10 UTC (rev 8428)
+++ code/gazebo/trunk/server/controllers/gripper/pioneer2/Pioneer2_Gripper.hh
2009-11-21 21:26:54 UTC (rev 8429)
@@ -68,10 +68,10 @@
public: virtual ~Pioneer2_Gripper();
/// \brief Left paddle contact callback
- public: void LeftPaddleCB(Geom *g1, Geom *g2);
+ public: void LeftPaddleCB(const Contact &contact);
/// \brief Right paddle contact callback
- public: void RightPaddleCB(Geom *g1, Geom *g2);
+ public: void RightPaddleCB(const Contact &contact);
/// \brief Load the controller
/// \param node XML config node
Modified: code/gazebo/trunk/server/physics/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/physics/CMakeLists.txt 2009-11-21 00:13:10 UTC
(rev 8428)
+++ code/gazebo/trunk/server/physics/CMakeLists.txt 2009-11-21 21:26:54 UTC
(rev 8429)
@@ -11,7 +11,7 @@
set (sources Body.cc
PhysicsFactory.cc
PhysicsEngine.cc
- ContactParams.cc
+ SurfaceParams.cc
Mass.cc
Joint.cc
Geom.cc
@@ -25,12 +25,13 @@
TrimeshShape.cc
MapShape.cc
HeightmapShape.cc
+ Contact.cc
)
set (headers BallJoint.hh
Body.hh
PhysicsFactory.hh
- ContactParams.hh
+ SurfaceParams.hh
Hinge2Joint.hh
HingeJoint.hh
Joint.hh
@@ -49,6 +50,8 @@
SphereShape.hh
TrimeshShape.hh
HeightmapShape.hh
+ Contact.hh
+
)
add_library(gazebo_physics SHARED ${sources})
Added: code/gazebo/trunk/server/physics/Contact.cc
===================================================================
--- code/gazebo/trunk/server/physics/Contact.cc (rev 0)
+++ code/gazebo/trunk/server/physics/Contact.cc 2009-11-21 21:26:54 UTC (rev
8429)
@@ -0,0 +1,71 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Specification of a contact
+ * Author: Nate Koenig
+ * Date: 10 Nov 2009
+ * SVN: $Id$
+ */
+
+#include "Contact.hh"
+
+using namespace gazebo;
+
+////////////////////////////////////////////////////////////////////////////////
+/// Constructor
+Contact::Contact()
+{
+ this->geom1 = NULL;
+ this->geom2 = NULL;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Copy constructor
+Contact::Contact(const Contact &c)
+{
+ *this = c;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Destructor
+Contact::~Contact()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Clone the contact
+Contact Contact::Clone() const
+{
+ Contact c = *this;
+ return c;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+// Operator =
+const Contact &Contact::operator=(const Contact &contact)
+{
+ this->geom1 = contact.geom1;
+ this->geom2 = contact.geom2;
+ this->forces = contact.forces;
+ this->pos = contact.pos;
+ this->normal = contact.normal;
+ this->depth = contact.depth;
+ return *this;
+}
Added: code/gazebo/trunk/server/physics/Contact.hh
===================================================================
--- code/gazebo/trunk/server/physics/Contact.hh (rev 0)
+++ code/gazebo/trunk/server/physics/Contact.hh 2009-11-21 21:26:54 UTC (rev
8429)
@@ -0,0 +1,66 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Specification of a contact
+ * Author: Nate Koenig
+ * Date: 10 Nov 2009
+ * SVN: $Id$
+ */
+
+#ifndef CONTACT_HH
+#define CONTACT_HH
+
+#include "Vector3.hh"
+#include "JointFeedback.hh"
+
+namespace gazebo
+{
+ class Geom;
+
+ class Contact
+ {
+ /// \brief Constructor
+ public: Contact();
+
+ /// \brief Copy constructor
+ public: Contact(const Contact &c);
+
+ /// \brief Destructor
+ public: virtual ~Contact();
+
+ /// \brief Clone the contact
+ public: Contact Clone() const;
+
+ /// \brief Operator =
+ public: const Contact &operator=(const Contact &contact);
+
+ public: Geom *geom1;
+ public: Geom *geom2;
+
+ public: JointFeedback forces;
+
+ public: Vector3 pos;
+ public: Vector3 normal;
+
+ public: double depth;
+ };
+}
+
+#endif
Deleted: code/gazebo/trunk/server/physics/ContactParams.cc
===================================================================
--- code/gazebo/trunk/server/physics/ContactParams.cc 2009-11-21 00:13:10 UTC
(rev 8428)
+++ code/gazebo/trunk/server/physics/ContactParams.cc 2009-11-21 21:26:54 UTC
(rev 8429)
@@ -1,73 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- */
-/* Desc: Parameters for contact joints
- * Author: Nate Koenig
- * Date: 30 July 2003
- * CVS: $Id$
- */
-
-#include <float.h>
-#include "XMLConfig.hh"
-#include "ContactParams.hh"
-
-using namespace gazebo;
-
-//////////////////////////////////////////////////////////////////////////////
-// Default constructor
-ContactParams::ContactParams()
-{
- this->kp = 100000000.0;
-
- // Damping constraint
- this->kd = 1.0;
-
- // Bounce param
- this->bounce = 0.0;
-
- // Minumum velocity before bouce is applied
- this->bounceVel = 10.0;
-
- this->softCfm = 0.01;
-
- this->mu1 = FLT_MAX;
- this->mu2 = FLT_MAX;
- this->slip1 = 0.01;
- this->slip2 = 0.01;
-
- this->enableFriction = true;
-}
-
-//////////////////////////////////////////////////////////////////////////////
-/// Load the contact params
-void ContactParams::Load(XMLConfigNode *node)
-{
- this->kp = node->GetDouble("kp",this->kp);
- this->kd = node->GetDouble("kd",this->kd);
- this->bounce = node->GetDouble("bounce",this->bounce);
- this->bounceVel = node->GetDouble("bounceVel",this->bounceVel);
-
- this->mu1 = node->GetDouble("mu1",this->mu1);
- this->mu2 = node->GetDouble("mu2",this->mu2);
- this->slip1 = node->GetDouble("slip1",this->slip1);
- this->slip2 = node->GetDouble("slip2",this->slip2);
-
- this->softCfm = node->GetDouble("softCFM",this->softCfm);
-}
Deleted: code/gazebo/trunk/server/physics/ContactParams.hh
===================================================================
--- code/gazebo/trunk/server/physics/ContactParams.hh 2009-11-21 00:13:10 UTC
(rev 8428)
+++ code/gazebo/trunk/server/physics/ContactParams.hh 2009-11-21 21:26:54 UTC
(rev 8429)
@@ -1,93 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- */
-/* Desc: Parameters for contact joints
- * Author: Nate Koenig
- * Date: 30 July 2003
- * SVN: $Id$
- */
-
-#ifndef CONTACTPARAMS_HH
-#define CONTACTPARAMS_HH
-
-#include <boost/signal.hpp>
-#include <boost/bind.hpp>
-
-namespace gazebo
-{
-
- class Geom;
-
- class XMLConfigNode;
-
- /// \brief Contact params
- class ContactParams
- {
- /// Constructor
- public: ContactParams();
-
- /// \brief Load the contact params
- public: void Load(XMLConfigNode *node);
-
- public: template< typename C>
- void Callback( void (C::*func)(Geom *, Geom*), C *c )
- {
- contactSignal.connect( boost::bind( func, c, _1, _2 ) );
- }
-
- /// Spring constant
- public: double kp;
-
- /// Damping constant
- public: double kd;
-
- /// 0..1, 0=no bounciness
- public: double bounce;
-
- /// first coefficient of friction
- public: double mu1;
-
- /// second coefficient of friction
- public: double mu2;
-
- /// Force-dependent-slip direction 1
- public: double slip1;
-
- /// Force-dependent-slip direction 2
- public: double slip2;
-
- /// \brief bounce vel
- public: double bounceVel;
-
- /// \brief soft constraint force mixing
- public: double softCfm;
-
- public: bool enableFriction;
-
- public: Vector3 body1Force;
- public: Vector3 body1Torque;
- public: Vector3 body2Force;
- public: Vector3 body2Torque;
-
- public: boost::signal< void (Geom*, Geom*)> contactSignal;
- };
-}
-
-#endif
Modified: code/gazebo/trunk/server/physics/Geom.cc
===================================================================
--- code/gazebo/trunk/server/physics/Geom.cc 2009-11-21 00:13:10 UTC (rev
8428)
+++ code/gazebo/trunk/server/physics/Geom.cc 2009-11-21 21:26:54 UTC (rev
8429)
@@ -33,7 +33,7 @@
#include "OgreCreator.hh"
#include "Global.hh"
#include "GazeboMessage.hh"
-#include "ContactParams.hh"
+#include "SurfaceParams.hh"
#include "World.hh"
#include "Body.hh"
#include "Geom.hh"
@@ -53,7 +53,7 @@
this->body = body;
// Create the contact parameters
- this->contact = new ContactParams();
+ this->surface = new SurfaceParams();
this->bbVisual = NULL;
@@ -112,7 +112,7 @@
this->mass.SetMass( **this->massP );
- this->contact->Load(node);
+ this->surface->Load(node);
this->shape->Load(node);
@@ -240,6 +240,7 @@
// Update
void Geom::Update()
{
+ this->ClearContacts();
}
////////////////////////////////////////////////////////////////////////////////
@@ -250,43 +251,6 @@
}
////////////////////////////////////////////////////////////////////////////////
-/// Get the mass of the geom
-/*const dMass *Geom::GetBodyMassMatrix()
-{
-
- Pose3d pose;
- dQuaternion q;
- dMatrix3 r;
-
- if (!this->placeable)
- return NULL;
-
- this->physicsEngine->LockMutex();
- pose = this->GetPose(); // get pose of the geometry
-
- q[0] = pose.rot.u;
- q[1] = pose.rot.x;
- q[2] = pose.rot.y;
- q[3] = pose.rot.z;
-
- dQtoR(q,r); // turn quaternion into rotation matrix
-
- // this->mass was init to zero at start,
- // read user specified mass into this->dblMass and dMassAdd in this->mass
- this->bodyMass = this->mass;
-
-
- if (dMassCheck(&this->bodyMass))
- {
- dMassRotate(&this->bodyMass, r);
- dMassTranslate( &this->bodyMass, pose.pos.x, pose.pos.y, pose.pos.z);
- }
- this->physicsEngine->UnlockMutex();
-
- return &this->bodyMass;
-}*/
-
-////////////////////////////////////////////////////////////////////////////////
/// Set the laser fiducial integer id
void Geom::SetLaserFiducialId(int id)
{
@@ -425,7 +389,7 @@
/// Set the friction mode of the geom
void Geom::SetFrictionMode( const bool &v )
{
- this->contact->enableFriction = v;
+ this->surface->enableFriction = v;
}
@@ -457,5 +421,36 @@
return this->shape;
}
+////////////////////////////////////////////////////////////////////////////////
+/// Add an occurance of a contact to this geom
+void Geom::AddContact(const Contact &contact)
+{
+ this->contacts.push_back( contact.Clone() );
+ this->contactSignal( contact );
+}
+////////////////////////////////////////////////////////////////////////////////
+/// Clear all contact info
+void Geom::ClearContacts()
+{
+ this->contacts.clear();
+}
+////////////////////////////////////////////////////////////////////////////////
+/// Get the number of contacts
+unsigned int Geom::GetContactCount() const
+{
+ return this->contacts.size();
+}
+
+////////////////////////////////////////////////////////////////////////////////
+/// Get a specific contact
+Contact Geom::GetContact(unsigned int i) const
+{
+ if (i < this->contacts.size())
+ return this->contacts[i];
+ else
+ gzerr(0) << "Invalid contact index\n";
+
+ return Contact();
+}
Modified: code/gazebo/trunk/server/physics/Geom.hh
===================================================================
--- code/gazebo/trunk/server/physics/Geom.hh 2009-11-21 00:13:10 UTC (rev
8428)
+++ code/gazebo/trunk/server/physics/Geom.hh 2009-11-21 21:26:54 UTC (rev
8429)
@@ -27,6 +27,10 @@
#ifndef GEOM_HH
#define GEOM_HH
+#include <boost/signal.hpp>
+#include <boost/bind.hpp>
+
+#include "Contact.hh"
#include "Shape.hh"
#include "Param.hh"
#include "Entity.hh"
@@ -38,7 +42,7 @@
{
class Model;
class Body;
- class ContactParams;
+ class SurfaceParams;
class XMLConfigNode;
class OgreVisual;
class PhysicsEngine;
@@ -143,11 +147,31 @@
/// \brief Get the attached shape
public: Shape *GetShape() const;
+ /// \brief Add an occurance of a contact to this geom
+ public: void AddContact(const Contact &contact);
+
+ /// \brief Clear all contact info
+ public: void ClearContacts();
+
+ /// \brief Get the number of contacts
+ public: unsigned int GetContactCount() const;
+
+ /// \brief Get a specific contact
+ public: Contact GetContact(unsigned int i) const;
+
+ public: template< typename C>
+ void ContactCallback( void (C::*func)(const Contact&), C *c )
+ {
+ contactSignal.connect( boost::bind(func, c, _1) );
+ }
+
/// \brief Create the bounding box for the geom
private: void CreateBoundingBox();
/// Contact parameters
- public: ContactParams *contact;
+ public: SurfaceParams *surface;
+
+ public: std::vector<Contact> contacts;
/// The body this geom belongs to
protected: Body *body;
@@ -181,6 +205,8 @@
protected: PhysicsEngine *physicsEngine;
protected: Shape *shape;
+
+ public: boost::signal< void (const Contact &)> contactSignal;
};
/// \}
Added: code/gazebo/trunk/server/physics/JointFeedback.hh
===================================================================
--- code/gazebo/trunk/server/physics/JointFeedback.hh
(rev 0)
+++ code/gazebo/trunk/server/physics/JointFeedback.hh 2009-11-21 21:26:54 UTC
(rev 8429)
@@ -0,0 +1,55 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Specification of a contact
+ * Author: Nate Koenig
+ * Date: 10 Nov 2009
+ * SVN: $Id$
+ */
+
+#ifndef JOINTFEEDBACK_HH
+#define JOINTFEEDBACK_HH
+
+#include "Vector3.hh"
+
+namespace gazebo
+{
+ class JointFeedback
+ {
+ /// \brief Operator =
+ public: const JointFeedback &operator=(const JointFeedback &f)
+ {
+ this->body1Force = f.body1Force;
+ this->body2Force = f.body2Force;
+
+ this->body1Torque = f.body1Torque;
+ this->body2Torque = f.body2Torque;
+ return *this;
+ }
+
+ public: Vector3 body1Force;
+ public: Vector3 body2Force;
+
+ public: Vector3 body1Torque;
+ public: Vector3 body2Torque;
+ };
+}
+
+#endif
Copied: code/gazebo/trunk/server/physics/SurfaceParams.cc (from rev 8427,
code/gazebo/trunk/server/physics/ContactParams.cc)
===================================================================
--- code/gazebo/trunk/server/physics/SurfaceParams.cc
(rev 0)
+++ code/gazebo/trunk/server/physics/SurfaceParams.cc 2009-11-21 21:26:54 UTC
(rev 8429)
@@ -0,0 +1,73 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Parameters for contact joints
+ * Author: Nate Koenig
+ * Date: 30 July 2003
+ * CVS: $Id$
+ */
+
+#include <float.h>
+#include "XMLConfig.hh"
+#include "SurfaceParams.hh"
+
+using namespace gazebo;
+
+//////////////////////////////////////////////////////////////////////////////
+// Default constructor
+SurfaceParams::SurfaceParams()
+{
+ this->kp = 100000000.0;
+
+ // Damping constraint
+ this->kd = 1.0;
+
+ // Bounce param
+ this->bounce = 0.0;
+
+ // Minumum velocity before bouce is applied
+ this->bounceVel = 10.0;
+
+ this->softCfm = 0.01;
+
+ this->mu1 = FLT_MAX;
+ this->mu2 = FLT_MAX;
+ this->slip1 = 0.01;
+ this->slip2 = 0.01;
+
+ this->enableFriction = true;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+/// Load the contact params
+void SurfaceParams::Load(XMLConfigNode *node)
+{
+ this->kp = node->GetDouble("kp",this->kp);
+ this->kd = node->GetDouble("kd",this->kd);
+ this->bounce = node->GetDouble("bounce",this->bounce);
+ this->bounceVel = node->GetDouble("bounceVel",this->bounceVel);
+
+ this->mu1 = node->GetDouble("mu1",this->mu1);
+ this->mu2 = node->GetDouble("mu2",this->mu2);
+ this->slip1 = node->GetDouble("slip1",this->slip1);
+ this->slip2 = node->GetDouble("slip2",this->slip2);
+
+ this->softCfm = node->GetDouble("softCFM",this->softCfm);
+}
Property changes on: code/gazebo/trunk/server/physics/SurfaceParams.cc
___________________________________________________________________
Added: svn:keywords
+ Id Revision
Added: svn:mergeinfo
+ /code/branches/federation/gazebo/server/physics/ContactParams.cc:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.cc:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.cc:7137-7636
Copied: code/gazebo/trunk/server/physics/SurfaceParams.hh (from rev 8427,
code/gazebo/trunk/server/physics/ContactParams.hh)
===================================================================
--- code/gazebo/trunk/server/physics/SurfaceParams.hh
(rev 0)
+++ code/gazebo/trunk/server/physics/SurfaceParams.hh 2009-11-21 21:26:54 UTC
(rev 8429)
@@ -0,0 +1,77 @@
+/*
+ * Gazebo - Outdoor Multi-Robot Simulator
+ * Copyright (C) 2003
+ * Nate Koenig & Andrew Howard
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+/* Desc: Parameters for contact joints
+ * Author: Nate Koenig
+ * Date: 30 July 2003
+ * SVN: $Id$
+ */
+
+#ifndef CONTACTPARAMS_HH
+#define CONTACTPARAMS_HH
+
+namespace gazebo
+{
+ class Geom;
+
+ class XMLConfigNode;
+
+ /// \brief Surface params
+ class SurfaceParams
+ {
+ /// Constructor
+ public: SurfaceParams();
+
+ /// \brief Load the contact params
+ public: void Load(XMLConfigNode *node);
+
+ /// Spring constant
+ public: double kp;
+
+ /// Damping constant
+ public: double kd;
+
+ /// 0..1, 0=no bounciness
+ public: double bounce;
+
+ /// first coefficient of friction
+ public: double mu1;
+
+ /// second coefficient of friction
+ public: double mu2;
+
+ /// Force-dependent-slip direction 1
+ public: double slip1;
+
+ /// Force-dependent-slip direction 2
+ public: double slip2;
+
+ /// \brief bounce vel
+ public: double bounceVel;
+
+ /// \brief soft constraint force mixing
+ public: double softCfm;
+
+ public: bool enableFriction;
+
+ };
+}
+
+#endif
Property changes on: code/gazebo/trunk/server/physics/SurfaceParams.hh
___________________________________________________________________
Added: svn:keywords
+ Id Revision
Added: svn:mergeinfo
+ /code/branches/federation/gazebo/server/physics/ContactParams.hh:7371-7550
/code/gazebo/branches/bullet2/server/physics/ContactParams.hh:8281-8355
/code/gazebo/branches/ogre-1.4.9/server/physics/ContactParams.hh:7137-7636
Modified: code/gazebo/trunk/server/physics/bullet/BulletGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletGeom.cc 2009-11-21
00:13:10 UTC (rev 8428)
+++ code/gazebo/trunk/server/physics/bullet/BulletGeom.cc 2009-11-21
21:26:54 UTC (rev 8429)
@@ -33,7 +33,6 @@
#include "OgreCreator.hh"
#include "Global.hh"
#include "GazeboMessage.hh"
-#include "ContactParams.hh"
#include "World.hh"
#include "BulletBody.hh"
#include "Simulator.hh"
Modified: code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc 2009-11-21
00:13:10 UTC (rev 8428)
+++ code/gazebo/trunk/server/physics/bullet/BulletPhysics.cc 2009-11-21
21:26:54 UTC (rev 8429)
@@ -45,7 +45,6 @@
#include "GazeboError.hh"
#include "World.hh"
#include "Vector3.hh"
-#include "ContactParams.hh"
#include "Entity.hh"
#include "XMLConfig.hh"
Modified: code/gazebo/trunk/server/physics/ode/ODEGeom.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEGeom.cc 2009-11-21 00:13:10 UTC
(rev 8428)
+++ code/gazebo/trunk/server/physics/ode/ODEGeom.cc 2009-11-21 21:26:54 UTC
(rev 8429)
@@ -33,7 +33,7 @@
#include "OgreCreator.hh"
#include "Global.hh"
#include "GazeboMessage.hh"
-#include "ContactParams.hh"
+#include "SurfaceParams.hh"
#include "World.hh"
#include "ODEBody.hh"
#include "Simulator.hh"
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-21 00:13:10 UTC
(rev 8428)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-21 21:26:54 UTC
(rev 8429)
@@ -34,9 +34,9 @@
#include "Vector3.hh"
#include "ODEGeom.hh"
#include "ODEBody.hh"
-#include "ContactParams.hh"
#include "Entity.hh"
#include "XMLConfig.hh"
+#include "SurfaceParams.hh"
#include "ODEHingeJoint.hh"
#include "ODEHinge2Joint.hh"
@@ -211,25 +211,24 @@
iter != this->contactFeedbackIter; iter++)
{
- if ((*iter).geom1 == NULL)
- printf("Geom1 is null\n");
+ if ((*iter).contact.geom1 == NULL)
+ gzerr(0) << "collision update Geom1 is null\n";
- if ((*iter).geom2 == NULL)
- printf("Geom2 is null\n");
+ if ((*iter).contact.geom2 == NULL)
+ gzerr(0) << "Collision update Geom2 is null\n";
- (*iter).geom1->contact->body1Force.Set(
- (*iter).feedback.f1[0], (*iter).feedback.f1[1],
(*iter).feedback.f1[2]);
- (*iter).geom2->contact->body2Force.Set(
- (*iter).feedback.f2[0], (*iter).feedback.f2[1],
(*iter).feedback.f2[2]);
+ (*iter).contact.forces.body1Force.Set( (*iter).feedback.f1[0],
+ (*iter).feedback.f1[1], (*iter).feedback.f1[2]);
+ (*iter).contact.forces.body2Force.Set( (*iter).feedback.f2[0],
+ (*iter).feedback.f2[1], (*iter).feedback.f2[2]);
+ (*iter).contact.forces.body1Torque.Set((*iter).feedback.t1[0],
+ (*iter).feedback.t1[1], (*iter).feedback.t1[2]);
+ (*iter).contact.forces.body2Torque.Set((*iter).feedback.t2[0],
+ (*iter).feedback.t2[1], (*iter).feedback.t2[2]);
- (*iter).geom1->contact->body1Torque.Set(
- (*iter).feedback.t1[0], (*iter).feedback.t1[1],
(*iter).feedback.t1[2]);
- (*iter).geom1->contact->body2Torque.Set(
- (*iter).feedback.t2[0], (*iter).feedback.t2[1],
(*iter).feedback.t2[2]);
-
- // Call the geom's contact callbacks
- (*iter).geom1->contact->contactSignal( (*iter).geom1, (*iter).geom2 );
- (*iter).geom2->contact->contactSignal( (*iter).geom2, (*iter).geom1 );
+ // Add the contact to each geom
+ (*iter).contact.geom1->AddContact( (*iter).contact );
+ (*iter).contact.geom2->AddContact( (*iter).contact );
}
// Reset the contact pointer
@@ -423,6 +422,8 @@
return this->spaceId;
}
+////////////////////////////////////////////////////////////////////////////////
+// Handle a collision
void ODEPhysics::CollisionCallback( void *data, dGeomID o1, dGeomID o2)
{
ODEPhysics *self;
@@ -449,7 +450,6 @@
}
else
{
-
// We should never test two geoms in the same space
assert(dGeomGetSpace(o1) != dGeomGetSpace(o2));
@@ -491,21 +491,21 @@
// Compute the CFM and ERP by assuming the two bodies form a
// spring-damper system.
h = self->stepTimeP->GetValue();
- kp = 1.0 / (1.0 / geom1->contact->kp + 1.0 / geom2->contact->kp);
- kd = geom1->contact->kd + geom2->contact->kd;
+ kp = 1.0 / (1.0 / geom1->surface->kp + 1.0 / geom2->surface->kp);
+ kd = geom1->surface->kd + geom2->surface->kd;
contact.surface.soft_erp = h * kp / (h * kp + kd);
contact.surface.soft_cfm = 1.0 / (h * kp + kd);
- if (geom1->contact->enableFriction && geom2->contact->enableFriction)
+ if (geom1->surface->enableFriction && geom2->surface->enableFriction)
{
- contact.surface.mu = std::min(geom1->contact->mu1,
- geom2->contact->mu1);
- contact.surface.mu2 = std::min(geom1->contact->mu2,
- geom2->contact->mu2);
- contact.surface.slip1 = std::min(geom1->contact->slip1,
- geom2->contact->slip1);
- contact.surface.slip2 = std::min(geom1->contact->slip2,
- geom2->contact->slip2);
+ contact.surface.mu = std::min(geom1->surface->mu1,
+ geom2->surface->mu1);
+ contact.surface.mu2 = std::min(geom1->surface->mu2,
+ geom2->surface->mu2);
+ contact.surface.slip1 = std::min(geom1->surface->slip1,
+ geom2->surface->slip1);
+ contact.surface.slip2 = std::min(geom1->surface->slip2,
+ geom2->surface->slip2);
}
else
{
@@ -515,10 +515,10 @@
contact.surface.slip2 = 0.1;
}
- contact.surface.bounce = std::min(geom1->contact->bounce,
- geom2->contact->bounce);
- contact.surface.bounce_vel = std::min(geom1->contact->bounceVel,
- geom2->contact->bounceVel);
+ contact.surface.bounce = std::min(geom1->surface->bounce,
+ geom2->surface->bounce);
+ contact.surface.bounce_vel = std::min(geom1->surface->bounceVel,
+ geom2->surface->bounceVel);
dJointID c = dJointCreateContact (self->worldId,
self->contactGroup, &contact);
@@ -526,9 +526,17 @@
{
self->contactFeedbacks.resize( self->contactFeedbacks.size() + 500);
}
-
- (*self->contactFeedbackIter).geom1 = geom1;
- (*self->contactFeedbackIter).geom2 = geom2;
+
+ // Store the contact info
+ (*self->contactFeedbackIter).contact.geom1 = geom1;
+ (*self->contactFeedbackIter).contact.geom2 = geom2;
+ (*self->contactFeedbackIter).contact.depth = contact.geom.depth;
+ (*self->contactFeedbackIter).contact.pos.x = contact.geom.pos[0];
+ (*self->contactFeedbackIter).contact.pos.y = contact.geom.pos[1];
+ (*self->contactFeedbackIter).contact.pos.z = contact.geom.pos[2];
+ (*self->contactFeedbackIter).contact.normal.x = contact.geom.normal[0];
+ (*self->contactFeedbackIter).contact.normal.y = contact.geom.normal[1];
+ (*self->contactFeedbackIter).contact.normal.z = contact.geom.normal[2];
dJointSetFeedback(c, &(*self->contactFeedbackIter).feedback);
self->contactFeedbackIter++;
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2009-11-21 00:13:10 UTC
(rev 8428)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2009-11-21 21:26:54 UTC
(rev 8429)
@@ -163,8 +163,7 @@
private: class ContactFeedback
{
public: dJointFeedback feedback;
- public: Geom *geom1;
- public: Geom *geom2;
+ public: Contact contact;
};
private: std::vector<ContactFeedback> contactFeedbacks;
Modified: code/gazebo/trunk/server/sensors/contact/ContactSensor.cc
===================================================================
--- code/gazebo/trunk/server/sensors/contact/ContactSensor.cc 2009-11-21
00:13:10 UTC (rev 8428)
+++ code/gazebo/trunk/server/sensors/contact/ContactSensor.cc 2009-11-21
21:26:54 UTC (rev 8429)
@@ -35,7 +35,6 @@
#include "Simulator.hh"
#include "SensorFactory.hh"
#include "Geom.hh"
-#include "ContactParams.hh"
#include "ContactSensor.hh"
#include "Vector3.hh"
@@ -59,96 +58,16 @@
ContactSensor::~ContactSensor()
{
std::vector< ParamT<std::string> *>::iterator iter;
- std::vector<ContactState>::iterator citer;
+ std::vector<Contact>::iterator citer;
for (iter = this->geomNamesP.begin(); iter != this->geomNamesP.end(); iter++)
delete *iter;
this->geomNamesP.clear();
- this->contacts.clear();
+ this->geoms.clear();
}
//////////////////////////////////////////////////////////////////////////////
-/// Get the contact time
-double ContactSensor::GetContactTime(unsigned int index) const
-{
- if (index < this->contacts.size())
- return this->contacts[index].time;
-
- return 0;
-}
-
-//////////////////////////////////////////////////////////////////////////////
-/// Return the number of contacts
-unsigned int ContactSensor::GetContactCount() const
-{
- return this->contacts.size();
-}
-
-//////////////////////////////////////////////////////////////////////////////
-/// Return the contact states
-uint8_t ContactSensor::GetContactState(unsigned int index) const
-{
- if (index < this->contacts.size())
- return this->contacts[index].state;
-
- return 0;
-}
-
-//////////////////////////////////////////////////////////////////////////////
-/// Return the contact geom name
-std::string ContactSensor::GetContactGeomName(unsigned int index) const
-{
- if (index < this->contacts.size())
- return this->contacts[index].name;
-
- return std::string("");
-}
-
-//////////////////////////////////////////////////////////////////////////////
-/// Return contact force on the first body
-Vector3 ContactSensor::GetContactBody1Force(unsigned int index) const
-{
- Vector3 result;
-
- if (index < this->contacts.size())
- result = this->contacts[index].body1Force;
-
- return result;
-}
-
-//////////////////////////////////////////////////////////////////////////////
-/// Return contact force on the second body
-Vector3 ContactSensor::GetContactBody2Force(unsigned int index) const
-{
- Vector3 result;
-
- if (index < this->contacts.size())
- result = this->contacts[index].body2Force;
-
- return result;
-}
-
-//////////////////////////////////////////////////////////////////////////////
-/// Return the self geom name
-std::string ContactSensor::GetGeomName(unsigned int index) const
-{
- if (index < this->contacts.size())
- return this->contacts[index].name;
-
- return std::string("");
-}
-
-//////////////////////////////////////////////////////////////////////////////
-/// Reset the contact states
-void ContactSensor::ResetContactStates()
-{
- std::vector<ContactState>::iterator iter;
- for (iter = this->contacts.begin(); iter != this->contacts.end(); iter++)
- (*iter).state = 0;
-}
-
-//////////////////////////////////////////////////////////////////////////////
/// Load the ray using parameter from an XMLConfig node
void ContactSensor::LoadChild(XMLConfigNode *node)
{
@@ -159,6 +78,7 @@
Param::Begin(&this->parameters);
geomNode = node->GetChild("geom");
+
while (geomNode)
{
ParamT<std::string> *geomName = new ParamT<std::string>("geom","",1);
@@ -170,32 +90,34 @@
}
//////////////////////////////////////////////////////////////////////////////
-/// Save the sensor info in XML format
-void ContactSensor::SaveChild(std::string &prefix, std::ostream &stream)
+// Init the contact
+void ContactSensor::InitChild()
{
std::vector< ParamT<std::string> *>::iterator iter;
for (iter = this->geomNamesP.begin(); iter != this->geomNamesP.end(); iter++)
- stream << prefix << " " << *(iter) << "\n";
+ {
+ // Get the geom from the body
+ Geom *geom = this->body->GetGeom( **(*iter) );
+ this->geoms.push_back(geom);
+ }
}
//////////////////////////////////////////////////////////////////////////////
-// Init the contact
-void ContactSensor::InitChild()
+/// Save the sensor info in XML format
+void ContactSensor::SaveChild(std::string &prefix, std::ostream &stream)
{
std::vector< ParamT<std::string> *>::iterator iter;
for (iter = this->geomNamesP.begin(); iter != this->geomNamesP.end(); iter++)
- {
- // Get the geom from the body
- Geom *geom = this->body->GetGeom( **(*iter) );
+ stream << prefix << " " << *(iter) << "\n";
+}
- // Set the callback
- if (geom)
- geom->contact->Callback( &ContactSensor::ContactCallback, this );
- else
- gzthrow("Unable to find geom[" + **(*iter) + "]");
- }
+//////////////////////////////////////////////////////////////////////////////
+// Update the sensor information
+void ContactSensor::UpdateChild()
+{
+ //this->contacts.clear();
}
//////////////////////////////////////////////////////////////////////////////
@@ -205,38 +127,28 @@
}
//////////////////////////////////////////////////////////////////////////////
-// Update the sensor information
-void ContactSensor::UpdateChild()
+/// Get the number of geoms that the sensor is observing
+unsigned int ContactSensor::GetGeomCount() const
{
+ return this->geoms.size();
}
//////////////////////////////////////////////////////////////////////////////
-/// Contact callback
-void ContactSensor::ContactCallback(Geom *g1, Geom *g2)
+/// Return the number of contacts for an observed geom
+unsigned int ContactSensor::GetGeomContactCount(unsigned int geomIndex) const
{
- // somehow here, extract contact information when user requests it
- //
- std::vector< ParamT<std::string> *>::iterator iter;
- unsigned int i = 0;
+ if (geomIndex < this->geoms.size())
+ return this->geoms[geomIndex]->GetContactCount();
- for (iter = this->geomNamesP.begin(); iter != this->geomNamesP.end(); iter++)
- {
- if ( **(*iter) == g1->GetName() || **(*iter) == g2->GetName() )
- {
- if (i >= this->contacts.size())
- this->contacts.resize( this->contacts.size() + 10);
-
- this->contacts[i].state = 1;
- this->contacts[i].time = Simulator::Instance()->GetRealTime();
- this->contacts[i].name = **(*iter)==g1->GetName()? g2->GetName() :
g1->GetName();
- this->contacts[i].body1Force = g1->contact->body1Force;
- this->contacts[i].body2Force = g1->contact->body2Force;
- this->contacts[i].body1Torque = g1->contact->body1Torque;
- this->contacts[i].body2Torque = g1->contact->body2Torque;
- i++;
- }
- }
-
+ return 0;
}
+//////////////////////////////////////////////////////////////////////////////
+/// Get a contact for a geom by index
+Contact ContactSensor::GetContact(unsigned int geom, unsigned int index) const
+{
+ if (geom < this->geoms.size())
+ return this->geoms[geom]->GetContact( index );
+ return Contact();
+}
Modified: code/gazebo/trunk/server/sensors/contact/ContactSensor.hh
===================================================================
--- code/gazebo/trunk/server/sensors/contact/ContactSensor.hh 2009-11-21
00:13:10 UTC (rev 8428)
+++ code/gazebo/trunk/server/sensors/contact/ContactSensor.hh 2009-11-21
21:26:54 UTC (rev 8429)
@@ -34,12 +34,12 @@
#include "Angle.hh"
#include "Sensor.hh"
#include "Body.hh"
+#include "Contact.hh"
namespace gazebo
{
class XMLConfigNode;
- class ContactParams;
/// \addtogroup gazebo_sensor
/// \brief Contact sensor.
@@ -61,64 +61,35 @@
/// \brief Destructor
public: virtual ~ContactSensor();
- /// \brief Return the number of contacts
- public: unsigned int GetContactCount() const;
-
- /// \brief Get a contact time
- public: double GetContactTime(unsigned int index) const;
-
- /// \brief Return a contact state
- public: uint8_t GetContactState(unsigned int index) const;
-
- /// \brief Return contact geometry name
- public: std::string GetContactGeomName(unsigned int index) const;
-
- /// \brief Return contact force on the first body
- public: Vector3 GetContactBody1Force(unsigned int index) const;
-
- /// \brief Return contact force on the second body
- public: Vector3 GetContactBody2Force(unsigned int index) const;
-
- /// \brief Return geometry name
- public: std::string GetGeomName(unsigned int index) const;
-
- /// \brief Reset the contact states
- public: void ResetContactStates();
-
/// Load the contact sensor using parameter from an XMLConfig node
/// \param node The XMLConfig node
protected: virtual void LoadChild(XMLConfigNode *node);
- /// \brief Save the sensor info in XML format
- protected: virtual void SaveChild(std::string &prefix,std::ostream
&stream);
-
/// Initialize the sensor
protected: virtual void InitChild();
/// Update sensed values
protected: virtual void UpdateChild();
-
+
+ /// \brief Save the sensor info in XML format
+ protected: virtual void SaveChild(std::string &prefix,std::ostream
&stream);
+
/// Finalize the sensor
protected: virtual void FiniChild();
- /// \brief Contact callback
- private: void ContactCallback(Geom *g1, Geom *g2);
+ /// \brief Get the number of geoms that the sensor is observing
+ public: unsigned int GetGeomCount() const;
+ /// \brief Return the number of contacts for an observed geom
+ public: unsigned int GetGeomContactCount(unsigned int geomIndex) const;
+
+ /// \brief Get a contact for a geom by index
+ public: Contact GetContact(unsigned int geom, unsigned int index) const;
+
/// Geom name parameter
private: std::vector< ParamT<std::string> *> geomNamesP;
- private: class ContactState
- {
- public: std::string name;
- public: Vector3 body1Force;
- public: Vector3 body2Force;
- public: Vector3 body1Torque;
- public: Vector3 body2Torque;
- public: double time;
- public: uint8_t state;
- };
-
- private: std::vector<ContactState> contacts;
+ private: std::vector<Geom *> geoms;
};
/// \}
/// \}
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