42 lines
1.2 KiB
Protocol Buffer
42 lines
1.2 KiB
Protocol Buffer
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syntax = "proto2";
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package gazebo.msgs;
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/// \ingroup gazebo_msgs
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/// \interface Physics
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/// \brief A message containing a description of the global physics properties
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import "vector3d.proto";
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message Physics
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{
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enum Type
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{
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ODE = 1;
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BULLET = 2;
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SIMBODY = 3;
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DART = 4;
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}
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optional Type type = 1[default=ODE];
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optional string solver_type = 2;
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optional double min_step_size = 3;
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optional int32 precon_iters = 4;
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optional int32 iters = 5;
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optional double sor = 6;
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optional double cfm = 7;
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optional double erp = 8;
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optional double contact_max_correcting_vel = 9;
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optional double contact_surface_layer = 10;
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optional Vector3d gravity = 11;
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optional bool enable_physics = 12;
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optional double real_time_factor = 13;
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optional double real_time_update_rate = 14;
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optional double max_step_size = 15;
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// The name of this physics profile (not to be confused with type)
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optional string profile_name = 16;
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/// \brief Magnetic field
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optional Vector3d magnetic_field = 17;
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}
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