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gazebo / plugins / ContactPlugin.cc

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/*
 * Copyright 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/*
 * Desc: Contact plugin
 * Author: Nate Koenig mod by John Hsu
 */
#include "ContactPlugin.hh"

using namespace gazebo;
GZ_REGISTER_SENSOR_PLUGIN(ContactPlugin)

/////////////////////////////////////////////////
ContactPlugin::ContactPlugin() : SensorPlugin()
{
}

/////////////////////////////////////////////////
ContactPlugin::~ContactPlugin()
{
}

/////////////////////////////////////////////////
void ContactPlugin::Load(sensors::SensorPtr _sensor, sdf::ElementPtr /*_sdf*/)
{
  // Get the parent sensor.
  this->parentSensor =
    boost::shared_dynamic_cast<sensors::ContactSensor>(_sensor);

  // Make sure the parent sensor is valid.
  if (!this->parentSensor)
  {
    gzerr << "ContactPlugin requires a ContactSensor.\n";
    return;
  }

  // Connect to the sensor update event.
  this->updateConnection = this->parentSensor->ConnectUpdated(
      boost::bind(&ContactPlugin::OnUpdate, this));

  // Make sure the parent sensor is active.
  this->parentSensor->SetActive(true);
}

/////////////////////////////////////////////////
void ContactPlugin::OnUpdate()
{
  // Get all the contacts.
  msgs::Contacts contacts;
  contacts = this->parentSensor->GetContacts();
  for (int i = 0; i < contacts.contact_size(); ++i)
  {
    std::cout << "Collision between[" << contacts.contact(i).collision1()
              << "] and [" << contacts.contact(i).collision2() << "]\n";

    for (int j = 0; j < contacts.contact(i).position_size(); ++j)
    {
      std::cout << j << "  Position:"
                << contacts.contact(i).position(j).x() << " "
                << contacts.contact(i).position(j).y() << " "
                << contacts.contact(i).position(j).z() << "\n";
      std::cout << "   Normal:"
                << contacts.contact(i).normal(j).x() << " "
                << contacts.contact(i).normal(j).y() << " "
                << contacts.contact(i).normal(j).z() << "\n";
      std::cout << "   Depth:" << contacts.contact(i).depth(j) << "\n";
      std::cout << "   Normal force 1: "
                << contacts.contact(i).normal(j).x() *
                   contacts.contact(i).wrench(j).body_1_force().x() +
                   contacts.contact(i).normal(j).y() *
                   contacts.contact(i).wrench(j).body_1_force().y() +
                   contacts.contact(i).normal(j).z() *
                   contacts.contact(i).wrench(j).body_1_force().z() << "\n";
    }
  }
}