uji-ros-pkg/underwater_simulation — pull request #18 by tut-yury (2013-11-04 18:26:54+00:00)
Title: Changed physics simulation step logic and made simulatedDevices/SimulatedDeviceROS parent tags optional

Physics:
* Changed stepSimulation call to be framerate-independent. Two parameters are parsed in the config file to tweak it:
- physicsFrequency: simulation rate (default is 60, as in Bullet)
- physicsSubSteps: in case the framerate is lower than 60, a max number of physics calculation steps to be done
0 (default) for automatic number of substeps, i.e. ceil (elapsed/(1/physicsFrequency))
For example if physicsSubSteps is set to 10 and physicsFrequency is 60, physics will be correct if FPS is higher than 6 (60/10).

Simuated devices:
* Changed cirs.xml and UWSimScene.dtd to showcase both types of simulated device configuration options.