Use the actor tension parameter (#1091)

* Use the actor tension parameter Signed-off-by: Nate Koenig <[email protected]> * bump to ign-common 4.4 Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]>
gazebosim · Oct 20, 2021 · 3a1adb3 · 3a1adb3
1 parent 614340c
commit 3a1adb3
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Showing 3 changed files with 56 additions and 2 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -68,7 +68,7 @@ set(IGN_MSGS_VER ${ignition-msgs8_VERSION_MAJOR})
 #--------------------------------------
 # Find ignition-common
 # Always use the profiler component to get the headers, regardless of status.
-ign_find_package(ignition-common4 VERSION 4.2
+ign_find_package(ignition-common4 VERSION 4.4
  COMPONENTS
  profiler
  events

diff --git a/examples/worlds/actor.sdf b/examples/worlds/actor.sdf
@@ -165,5 +165,59 @@
  </link>
  </model>
 
+ <actor name="actor_walking">
+ <skin>
+ <filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
+ <scale>1.0</scale>
+ </skin>
+ <animation name="walk">
+ <filename>https://fuel.ignitionrobotics.org/1.0/Mingfei/models/actor/tip/files/meshes/walk.dae</filename>
+ <interpolate_x>true</interpolate_x>
+ </animation>
+ <script>
+ <loop>true</loop>
+ <delay_start>0.000000</delay_start>
+ <auto_start>true</auto_start>
+ <trajectory id="0" type="walk" tension="0.6">
+ <waypoint>
+ <time>0</time>
+ <pose>3 4 1.0 0 0 0</pose>
+ </waypoint>
+ <waypoint>
+ <time>2</time>
+ <pose>5 4 1.0 0 0 0</pose>
+ </waypoint>
+ <waypoint>
+ <time>2.5</time>
+ <pose>5 4 1.0 0 0 1.57</pose>
+ </waypoint>
+ <waypoint>
+ <time>4</time>
+ <pose>5 6 1.0 0 0 1.57</pose>
+ </waypoint>
+ <waypoint>
+ <time>4.5</time>
+ <pose>5 6 1.0 0 0 3.142</pose>
+ </waypoint>
+ <waypoint>
+ <time>6</time>
+ <pose>3 6 1 0 0 3.142</pose>
+ </waypoint>
+ <waypoint>
+ <time>6.5</time>
+ <pose>3 6 1 0 0 -1.57</pose>
+ </waypoint>
+ <waypoint>
+ <time>8</time>
+ <pose>3 4 1.0 0 0 -1.57</pose>
+ </waypoint>
+ <waypoint>
+ <time>8.5</time>
+ <pose>3 4 1.0 0 0 0</pose>
+ </waypoint>
+ </trajectory>
+ </script>
+ </actor>
+
  </world>
 </sdf>
diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
@@ -894,7 +894,7 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id,
  static_cast<int>(point->Time()*1000)));
  waypoints[pointTp] = point->Pose();
  }
- trajInfo.SetWaypoints(waypoints);
+ trajInfo.SetWaypoints(waypoints, trajSdf->Tension());
  // Animations are offset by 1 because index 0 is taken by the mesh name
  auto animation = _actor.AnimationByIndex(trajInfo.AnimIndex()-1);