actor-collisions.zip文件

# Actor Collisions Plugin This plugin example demonstates how to enable collisions for an animated actor and scale them. Key points: * The plugin must call `Link::Init` on each of the actor's links so collisions are enabled on the physics engine * When using ODE as the physics engine, it is necessary to set `<allow_auto_disable>` to false on models which should collide with the actor. This does not mean that setting it to true will prevent collisions. * The collision names used on the SDF file take the following format: <node_name>_<node_name>_collision Where the nodes are described on the skeleton's COLLADA file. ## Build plugin From this directory mkdir build cd build cmake .. make ## Run example world An example world is provided where an actor is walking in circles and there are objects on the way for it to collide with. Run it as follows: cd build gazebo ../actor_collisions.world ## Generate new worlds The example world was generated from a template that randomizes various shapes parameters. You can generate new ones from this directory as follows: erb actor_collisions.world.erb > actor_collisions.world ## Reference https://blog.csdn.net/tanjia6999/article/details/102629735#comments_13170403