102 lines
3.0 KiB
C++
102 lines
3.0 KiB
C++
/*
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* Copyright (C) 2012 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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#include "gazebo/common/Console.hh"
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#include "gazebo/physics/bullet/BulletSurfaceParams.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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BulletSurfaceParams::BulletSurfaceParams()
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: SurfaceParams()
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, frictionPyramid(new physics::FrictionPyramid())
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{
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}
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//////////////////////////////////////////////////
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BulletSurfaceParams::~BulletSurfaceParams()
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{
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}
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//////////////////////////////////////////////////
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void BulletSurfaceParams::Load(sdf::ElementPtr _sdf)
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{
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// Load parent class
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SurfaceParams::Load(_sdf);
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if (!_sdf)
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gzerr << "Surface _sdf is NULL" << std::endl;
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else
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{
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sdf::ElementPtr frictionElem = _sdf->GetElement("friction");
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if (!frictionElem)
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gzerr << "Surface friction sdf member is NULL" << std::endl;
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{
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// Note this should not be looking in the "ode" block
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// Update this when sdformat has bullet friction parameters
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// See sdformat issue #31
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// https://bitbucket.org/osrf/sdformat/issue/31
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sdf::ElementPtr frictionOdeElem = frictionElem->GetElement("ode");
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if (!frictionOdeElem)
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gzerr << "Surface friction ode sdf member is NULL" << std::endl;
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else
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{
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this->frictionPyramid->SetMuPrimary(
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frictionOdeElem->Get<double>("mu"));
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this->frictionPyramid->SetMuSecondary(
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frictionOdeElem->Get<double>("mu2"));
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}
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}
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}
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}
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/////////////////////////////////////////////////
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void BulletSurfaceParams::FillMsg(msgs::Surface &_msg)
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{
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SurfaceParams::FillMsg(_msg);
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_msg.mutable_friction()->set_mu(this->frictionPyramid->MuPrimary());
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_msg.mutable_friction()->set_mu2(this->frictionPyramid->MuSecondary());
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}
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/////////////////////////////////////////////////
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void BulletSurfaceParams::ProcessMsg(const msgs::Surface &_msg)
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{
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SurfaceParams::ProcessMsg(_msg);
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if (_msg.has_friction())
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{
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if (_msg.friction().has_mu())
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this->frictionPyramid->SetMuPrimary(_msg.friction().mu());
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if (_msg.friction().has_mu2())
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this->frictionPyramid->SetMuSecondary(_msg.friction().mu2());
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}
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}
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/////////////////////////////////////////////////
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FrictionPyramidPtr BulletSurfaceParams::GetFrictionPyramid() const
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{
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return this->frictionPyramid;
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}
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/////////////////////////////////////////////////
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FrictionPyramidPtr BulletSurfaceParams::FrictionPyramid() const
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{
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return this->frictionPyramid;
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}
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