Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4002/src/ODE
Modified Files:
ODESimulator.cpp ODESimulator.h
Log Message:
added a Simulator option to change the "max correcting velocity" for penetrating objects
Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.70
retrieving revision 1.71
diff -C2 -d -r1.70 -r1.71
*** ODESimulator.h 12 Apr 2005 06:46:44 -0000 1.70
--- ODESimulator.h 12 Apr 2005 21:23:46 -0000 1.71
***************
*** 64,67 ****
--- 64,69 ----
virtual void OPAL_CALL destroy();
+ virtual void OPAL_CALL setMaxCorrectingVel(real vel);
+
// SOLIDS
Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.98
retrieving revision 1.99
diff -C2 -d -r1.98 -r1.99
*** ODESimulator.cpp 12 Apr 2005 06:46:44 -0000 1.98
--- ODESimulator.cpp 12 Apr 2005 21:23:45 -0000 1.99
***************
*** 70,75 ****
defaults::ode::minERP));
- dWorldSetContactMaxCorrectingVel(mWorldID,
- defaults::ode::maxCorrectingVel);
dWorldSetContactSurfaceLayer(mWorldID, defaults::ode::surfaceLayer);
--- 70,73 ----
***************
*** 85,88 ****
--- 83,92 ----
}
+ void ODESimulator::setMaxCorrectingVel(real vel)
+ {
+ Simulator::setMaxCorrectingVel(vel);
+ dWorldSetContactMaxCorrectingVel(mWorldID, vel);
+ }
+
Solid* ODESimulator::createSolid()
{
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