42 lines
1.2 KiB
Protocol Buffer
42 lines
1.2 KiB
Protocol Buffer
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;
|
|
}
|