pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/msgs/physics.proto

42 lines
1.2 KiB
Protocol Buffer
Raw Permalink Normal View History

2019-03-28 10:57:49 +08:00
syntax = "proto2";
package gazebo.msgs;
/// \ingroup gazebo_msgs
/// \interface Physics
/// \brief A message containing a description of the global physics properties
import "vector3d.proto";
message Physics
{
enum Type
{
ODE = 1;
BULLET = 2;
SIMBODY = 3;
DART = 4;
}
optional Type type = 1[default=ODE];
optional string solver_type = 2;
optional double min_step_size = 3;
optional int32 precon_iters = 4;
optional int32 iters = 5;
optional double sor = 6;
optional double cfm = 7;
optional double erp = 8;
optional double contact_max_correcting_vel = 9;
optional double contact_surface_layer = 10;
optional Vector3d gravity = 11;
optional bool enable_physics = 12;
optional double real_time_factor = 13;
optional double real_time_update_rate = 14;
optional double max_step_size = 15;
// The name of this physics profile (not to be confused with type)
optional string profile_name = 16;
/// \brief Magnetic field
optional Vector3d magnetic_field = 17;
}