// configurations for ODE
public SetPhysicsPropertiesRequest()
{
this.time_step = 0.001;
this.max_update_rate = 1000.0;
this.gravity = new Vector3(0f, 0f, -9.81f);
this.ode_config = new ODEPhysics();
}
public SetPhysicsPropertiesRequest(double time_step, double max_update_rate, Vector3 gravity, ODEPhysics ode_config)
{
this.time_step = time_step;
this.max_update_rate = max_update_rate;
this.gravity = gravity;
this.ode_config = ode_config;
}
public GetPhysicsPropertiesResponse(double time_step, bool pause, double max_update_rate, Vector3 gravity, ODEPhysics ode_config, bool success, string status_message)
{
this.time_step = time_step;
this.pause = pause;
this.max_update_rate = max_update_rate;
this.gravity = gravity;
this.ode_config = ode_config;
this.success = success;
this.status_message = status_message;
}
// comments if available
public GetPhysicsPropertiesResponse()
{
this.time_step = 0.0;
this.pause = false;
this.max_update_rate = 0.0;
this.gravity = new Vector3();
this.ode_config = new ODEPhysics();
this.success = false;
this.status_message = "";
}
//clones the settings provided in new messages that can be modified without changing the currently saved default
private MessageTypes.Gazebo.SetPhysicsPropertiesRequest createCloneForPhysics(MessageTypes.Gazebo.SetPhysicsPropertiesRequest orig)
{
MessageTypes.Gazebo.ODEPhysics clonedOEDPhzsics = new MessageTypes.Gazebo.ODEPhysics(orig.ode_config.auto_disable_bodies,
orig.ode_config.sor_pgs_precon_iters,
orig.ode_config.sor_pgs_iters,
orig.ode_config.sor_pgs_w,
orig.ode_config.sor_pgs_rms_error_tol,
orig.ode_config.contact_surface_layer,
orig.ode_config.contact_max_correcting_vel,
orig.ode_config.cfm,
orig.ode_config.erp,
orig.ode_config.max_contacts);
MessageTypes.Gazebo.SetPhysicsPropertiesRequest clone =
new MessageTypes.Gazebo.SetPhysicsPropertiesRequest(orig.time_step,
orig.max_update_rate, orig.gravity, clonedOEDPhzsics);
return(clone);
}
