OpenDEEnvironment.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/extensions/ode/OpenDEEnvironment.h"
38 
39 unsigned int ompl::control::OpenDEEnvironment::getMaxContacts(dGeomID /*geom1*/, dGeomID /*geom2*/) const
40 {
41  return maxContacts_;
42 }
43 
44 bool ompl::control::OpenDEEnvironment::isValidCollision(dGeomID /*geom1*/, dGeomID /*geom2*/,
45  const dContact & /*contact*/) const
46 {
47  return false;
48 }
49 
50 void ompl::control::OpenDEEnvironment::setupContact(dGeomID /*geom1*/, dGeomID /*geom2*/, dContact &contact) const
51 {
52  contact.surface.mode = dContactBounce | dContactSoftCFM;
53  contact.surface.mu = 0.1;
54  contact.surface.mu2 = 0;
55  contact.surface.bounce = 0.01;
56  contact.surface.bounce_vel = 0.001;
57  contact.surface.soft_cfm = 0.01;
58 }
59 
60 std::string ompl::control::OpenDEEnvironment::getGeomName(dGeomID geom) const
61 {
62  auto it = geomNames_.find(geom);
63  if (it == geomNames_.end())
64  return std::to_string(reinterpret_cast<unsigned long>(geom));
65  return it->second;
66 }
67 
68 void ompl::control::OpenDEEnvironment::setGeomName(dGeomID geom, const std::string &name)
69 {
70  geomNames_[geom] = name;
71 }
virtual bool isValidCollision(dGeomID geom1, dGeomID geom2, const dContact &contact) const
Decide whether a collision is a valid one or not. In some cases, collisions between some bodies can b...
std::string getGeomName(dGeomID geom) const
Get the name of a body.
unsigned int maxContacts_
The maximum number of contacts to create between two bodies when a collision occurs.
virtual unsigned int getMaxContacts(dGeomID geom1, dGeomID geom2) const
Get the maximum number of contacts to set up between two colliding geoms. By default,...
void setGeomName(dGeomID geom, const std::string &name)
Set the name of a body.
virtual void setupContact(dGeomID geom1, dGeomID geom2, dContact &contact) const
Parameters to set when contacts are created between geom1 and geom2.