// 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); }