[PlayerStage-Gazebo] ODE 0.5 / cvs issues? [was Re: gazebo configuration: cannot find ode.h (fwd)]

[Mr A. F. <pla...@st...>]

Hi Nate,

Some time back you mentioned that Gazebo doesn't do ODE 0.5... 

I just tried using ODE from cvs, and had (the expected) compilation errors... 
Tracing those errors led me to two changes to the ODE API, which allow the 
compilation to go ahead, and Gazebo then appears to work... 

I was wondering if there were specific known problems/bugs associated with the 
newer ODE versions, or it was simply the API changes which were pending?

My setup: Gazebo cvs, ODE cvs with included OPCODE and configured for DOUBLE 
precision.
(For single precision ODE, probably use FLT_MAX and 
dGeomTriMeshDataBuildSingle)

Cheers,

Allwyn.


Index: server/ContactParams.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/ContactParams.cc,v
retrieving revision 1.3
diff -u -r1.3 ContactParams.cc
--- server/ContactParams.cc     1 Sep 2003 18:06:00 -0000       1.3
+++ server/ContactParams.cc     6 Aug 2004 20:01:49 -0000
@@ -27,6 +27,8 @@
 #include <ode/ode.h>
 #include "ContactParams.hh"
 
+#define dInfinity DBL_MAX
+
 
//////////////////////////////////////////////////////////////////////////////
 // Default constructor
 ContactParams::ContactParams()
Index: server/bodies/TerrainPatch.cc
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/server/bodies/TerrainPatch.cc,v
retrieving revision 1.6
diff -u -r1.6 TerrainPatch.cc
--- server/bodies/TerrainPatch.cc       25 Jun 2004 00:02:23 -0000      1.6
+++ server/bodies/TerrainPatch.cc       6 Aug 2004 20:01:49 -0000
@@ -264,7 +264,7 @@
   }
 
   // Build the ODE triangle mesh for collision detection
-  dGeomTriMeshDataBuild(this->odeData,
+  dGeomTriMeshDataBuildDouble(this->odeData,
       this->terrainGeom->GetVertices()+9,
       12*sizeof(GLfloat), this->terrainGeom->GetNumVertices(),
       this->odeIndices,this->numODEIndices, 3*sizeof(int));




On Wednesday 16 June 2004 07:55, Nate Koenig wrote:
> Hi Yiannis,
>
> Gazebo currently doesn't support ODE version 0.5 yet. It's best to stick
> with version 0.39 for now.
>
>
> If that doesn't solve your problem then I have a feeling you need to set
> your LIBRARY_PATH and LD_LIBRARY_PATH environment varaibles to include the
> places you installed the ODE libraries.
>
> If that doesn't work, could you post the output from your configure script
> as well as the config.log file?
>
> Thanks,
>
> -nate

-- 
Allwyn Fernandes
Monash University
School of Applied Sciences and Engineering
Gippsland, Australia

Mobile: +61 414 470 392