Re: [PlayerStage-Gazebo] Visual broke Trimesh(?)

[Nate K. <nk...@us...>]

Hello,

I think I have fixed the problem. Try getting the latest SVN version.
This is the pyramid xml code I have used:


<model:physical name="pyramid">
    <xyz>0 0 2.0</xyz>
    <rpy>0 -90 0</rpy>
    <static>false</static>
    <body:trimesh name="pyramid_body">
      <geom:trimesh name="pyramid_geom">
        <xyz>0 0 0</xyz>
        <mesh>pyramid.mesh</mesh>
        <mass>1</mass>

        <visual>
          <material>Gazebo/WoodPallet</material>
          <mesh>pyramid.mesh</mesh>
        </visual>

      </geom:trimesh>
    </body:trimesh>
</model:physical>

-nate

On Dec 17, 2007 2:46 AM, Hendrik Skubch <hen...@un...> wrote:
> Hello,
>
> It seems to me the latest svn revision broke trimesh geoms.
> There are three problems:
> 1)
> property meshName is no longer loaded from the xml file, resulting in a
> crash once ogre tries to load a non-existant mesh.
>
> Can be fixed by inserting
> this->meshName = node->GetString("mesh","",0);
> in
> TrimeshGeom::LoadChild
> as 2nd line
>
> 2) The ode mesh can no longer be positioned via xyz relative to the ogre
>   mesh. (This is needed for instance with the pyramid mesh attached).
>
> 3) If meshName is provided, ODE behaves unstable and eventually crashes
> I got the following error message:
> ODE Message 2: center of mass inconsistent with mass parameters in
> dMassCheck() File mass.cpp Line 73
>
> I think that repeated calls to Body::UpdateCoM are responsible for that.
> Any ideas on how to fix this problem?
>
> I used the unit pyramid mesh that was posted on this list some days ago
> for testing (see attached files).
>
>
> hendrik.
>
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