52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include <gazebo/gazebo.hh>
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#include <gazebo/physics/physics.hh>
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namespace gazebo
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{
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class Issue1208Plugin : public WorldPlugin
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{
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public: Issue1208Plugin() : WorldPlugin(), initCount(0)
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{
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}
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public: void Load(physics::WorldPtr _world, sdf::ElementPtr /*_sdf*/)
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{
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this->world = _world;
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this->physics = this->world->GetPhysicsEngine();
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}
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public: void Init()
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{
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++initCount;
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physics->SetRealTimeUpdateRate(initCount);
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}
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private: physics::WorldPtr world;
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private: physics::PhysicsEnginePtr physics;
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private: int initCount;
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};
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GZ_REGISTER_WORLD_PLUGIN(Issue1208Plugin)
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}
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