[Opal-commits] opal/src/ODE ODEJoint.cpp,1.22,1.23 ODEJoint.h,1.26,1.27 ODESimulator.cpp,1.77,1.78 O

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Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17286/src/ODE

Modified Files:
	ODEJoint.cpp ODEJoint.h ODESimulator.cpp ODESimulator.h 
	ODESolid.cpp ODESolid.h 
Log Message:
added new Data classes

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.77
retrieving revision 1.78
diff -C2 -d -r1.77 -r1.78
*** ODESimulator.cpp	19 Feb 2005 20:54:37 -0000	1.77
--- ODESimulator.cpp	22 Feb 2005 01:25:56 -0000	1.78
***************
*** 27,31 ****

  #include "ODESimulator.h"
! #include <ode/config.h>

  namespace opal
--- 27,32 ----

  #include "ODESimulator.h"
! #include "../ShapeData.h"
! //#include <ode/config.h>

  namespace opal
***************
*** 74,78 ****
  		dWorldSetContactSurfaceLayer(mWorldID, defaults::ode::surfaceLayer);

! 		setAccuracy(defaults::accuracy);
  		setSleepiness(defaults::sleepiness);
  		mCollisionCount = 0;
--- 75,79 ----
  		dWorldSetContactSurfaceLayer(mWorldID, defaults::ode::surfaceLayer);

! 		setSolverAccuracy(defaults::solverAccuracy);
  		setSleepiness(defaults::sleepiness);
  		mCollisionCount = 0;
***************
*** 383,388 ****
  					for(int i=0; i<numContacts; ++i)
  					{
! 						const Material* m0 = &(geomData0->shape.material);
! 						const Material* m1 = &(geomData1->shape.material);

  						tempContact.surface.mode = dContactBounce | 
--- 384,389 ----
  					for(int i=0; i<numContacts; ++i)
  					{
! 						const Material* m0 = &(geomData0->shape->material);
! 						const Material* m1 = &(geomData1->shape->material);

  						tempContact.surface.mode = dContactBounce | 
***************
*** 817,842 ****
  	}

! 	void ODESimulator::setAccuracy(AccuracyLevel level)
  	{
  		switch(level)
  		{
! 			case ACCURACY_VERY_LOW:
  				mSolverType = SOLVER_QUICKSTEP;
  				dWorldSetQuickStepNumIterations(mWorldID, 5);
  				break;
! 			case ACCURACY_LOW:
  				mSolverType = SOLVER_QUICKSTEP;
  				dWorldSetQuickStepNumIterations(mWorldID, 10);
  				break;
! 			case ACCURACY_MEDIUM:
  				mSolverType = SOLVER_QUICKSTEP;
  				// 20 is the default in ODE
  				dWorldSetQuickStepNumIterations(mWorldID, 20);
  				break;
! 			case ACCURACY_HIGH:
  				mSolverType = SOLVER_QUICKSTEP;
  				dWorldSetQuickStepNumIterations(mWorldID, 40);
  				break;
! 			case ACCURACY_VERY_HIGH:
  				mSolverType = SOLVER_WORLDSTEP;
  				break;
--- 818,845 ----
  	}

! 	void ODESimulator::setSolverAccuracy(SolverAccuracyLevel level)
  	{
+ 		Simulator::setSolverAccuracy(level);
+ 
  		switch(level)
  		{
! 			case SOLVER_ACCURACY_VERY_LOW:
  				mSolverType = SOLVER_QUICKSTEP;
  				dWorldSetQuickStepNumIterations(mWorldID, 5);
  				break;
! 			case SOLVER_ACCURACY_LOW:
  				mSolverType = SOLVER_QUICKSTEP;
  				dWorldSetQuickStepNumIterations(mWorldID, 10);
  				break;
! 			case SOLVER_ACCURACY_MEDIUM:
  				mSolverType = SOLVER_QUICKSTEP;
  				// 20 is the default in ODE
  				dWorldSetQuickStepNumIterations(mWorldID, 20);
  				break;
! 			case SOLVER_ACCURACY_HIGH:
  				mSolverType = SOLVER_QUICKSTEP;
  				dWorldSetQuickStepNumIterations(mWorldID, 40);
  				break;
! 			case SOLVER_ACCURACY_VERY_HIGH:
  				mSolverType = SOLVER_WORLDSTEP;
  				break;
***************
*** 845,850 ****
  				break;
  		}
- 
- 		Simulator::setAccuracy(level);
  	}

--- 848,851 ----

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.64
retrieving revision 1.65
diff -C2 -d -r1.64 -r1.65
*** ODESolid.cpp	19 Feb 2005 20:54:37 -0000	1.64
--- ODESolid.cpp	22 Feb 2005 01:25:57 -0000	1.65
***************
*** 28,31 ****
--- 28,34 ----
  #include "ODESolid.h"
  #include "ODESpace.h"
+ #include "../BoxShapeData.h"
+ #include "../SphereShapeData.h"
+ #include "../CapsuleShapeData.h"

  namespace opal
***************
*** 38,42 ****
[...1234 lines suppressed...]
! 		dMassRotate(&newMass, R);
! 		dMassTranslate(&newMass, offset[12], offset[13], offset[14]);
! 
! 		// If this mass is for the first Shape, just set the Solid's mass 
! 		// equal to the new one.  ODE bodies start with an initial mass 
! 		// already setup, but we want to ignore that, not add to it.
! 		if (0 == mGeomDataList.size())
! 		{
! 			dBodySetMass(mBodyID, &newMass);
! 		}
! 		else
! 		{
! 			// Add new mass to the Solid's existing mass.  First get the 
! 			// existing mass struct from ODE.
! 			dMass totalMass;
! 			dBodyGetMass(mBodyID, &totalMass);
! 			dMassAdd(&totalMass, &newMass);
! 			dBodySetMass(mBodyID, &totalMass);
  		}
  	}

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.53
retrieving revision 1.54
diff -C2 -d -r1.53 -r1.54
*** ODESimulator.h	18 Feb 2005 23:59:38 -0000	1.53
--- ODESimulator.h	22 Feb 2005 01:25:56 -0000	1.54
***************
*** 88,92 ****
  		virtual void OPAL_CALL setSleepiness(real value);

! 		virtual void OPAL_CALL setAccuracy(AccuracyLevel level);

  		virtual void OPAL_CALL internal_stepPhysics();
--- 88,92 ----
  		virtual void OPAL_CALL setSleepiness(real value);

! 		virtual void OPAL_CALL setSolverAccuracy(SolverAccuracyLevel level);

  		virtual void OPAL_CALL internal_stepPhysics();

Index: ODEJoint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.h,v
retrieving revision 1.26
retrieving revision 1.27
diff -C2 -d -r1.26 -r1.27
*** ODEJoint.h	19 Feb 2005 20:54:37 -0000	1.26
--- ODEJoint.h	22 Feb 2005 01:25:56 -0000	1.27
***************
*** 44,47 ****
--- 44,50 ----
  		virtual ~ODEJoint();

+ 		/// Note: For a perfect save/restore in ODE, the "warm starting" 
+ 		/// data should be stored in JointData.  However, there is 
+ 		/// currently no easy way to get this data.
  		virtual void OPAL_CALL init(const JointData& jd);

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.59
retrieving revision 1.60
diff -C2 -d -r1.59 -r1.60
*** ODESolid.h	19 Feb 2005 20:54:37 -0000	1.59
--- ODESolid.h	22 Feb 2005 01:25:57 -0000	1.60
***************
*** 38,42 ****
  	/// A data structure used within ODESolids to store data describing 
  	/// ODE geoms.
- 	// TODO: replace this with ShapeData?
  	struct GeomData
  	{
--- 38,41 ----
***************
*** 44,47 ****
--- 43,47 ----
  		{
  			solid = NULL;
+ 			shape = NULL;
  			geomID = 0;
  			spaceID = 0;
***************
*** 50,55 ****
  		}

- 		ShapeDescription shape;
  		Solid* solid;
  		dGeomID geomID;
  		dSpaceID spaceID;
--- 50,55 ----
  		}

  		Solid* solid;
+ 		ShapeData* shape;
  		dGeomID geomID;
  		dSpaceID spaceID;
***************
*** 58,62 ****
  	};

! 	/// The ODE implementation of the Solid class.  
  	class ODESolid : public Solid
  	{
--- 58,63 ----
  	};

! 	/// The ODE implementation of the Solid class.  Each ODE geom's user 
! 	/// data pointer points to its corresponding ShapeData object.
  	class ODESolid : public Solid
  	{
***************
*** 76,107 ****
  		virtual void OPAL_CALL setStatic(bool s);

! 		virtual void OPAL_CALL addBox(const Vec3r& dimensions, 
! 			const Matrix44r& offset = Matrix44r(), 
! 			const Material& m = defaults::material);
! 
! 		virtual void OPAL_CALL addSphere(real radius, 
! 			const Matrix44r& offset = Matrix44r(), 
! 			const Material& m = defaults::material);

! 		virtual void OPAL_CALL addPlane(real abcd[4], 
! 			const Material& m = defaults::material);

! 		//note: normal cylinders are not yet part of standard ODE
! 		//virtual void addCylinder(real radius, real length, 
  		//	const Matrix44r& offset = Matrix44r(), 
  		//	const Material& m = defaults::material);

! 		virtual void OPAL_CALL addCapsule(real radius, real length, 
! 			const Matrix44r& offset = Matrix44r(), 
! 			const Material& m = defaults::material);

! 		virtual void OPAL_CALL addRay(const Point3r& origin, const Vec3r& dir, 
! 			real length, const Matrix44r& offset = Matrix44r(), 
! 			const Material& m = defaults::material);
! 		
! 		virtual void OPAL_CALL addMesh(const real* vertexArray[3], 
! 			int numVertices, const int* faceArray, int numFaces, 
! 			const Matrix44r& offset = Matrix44r(), 
! 			const Material& m = defaults::material);

  		virtual void OPAL_CALL setLocalLinearVel(const Vec3r& vel);
--- 77,110 ----
  		virtual void OPAL_CALL setStatic(bool s);

! 		virtual void OPAL_CALL addShape(const ShapeData& sd);

! 		//virtual void OPAL_CALL addBox(const Vec3r& dimensions, 
! 		//	const Matrix44r& offset = Matrix44r(), 
! 		//	const Material& m = defaults::material);

! 		//virtual void OPAL_CALL addSphere(real radius, 
  		//	const Matrix44r& offset = Matrix44r(), 
  		//	const Material& m = defaults::material);

! 		//virtual void OPAL_CALL addPlane(real abcd[4], 
! 		//	const Material& m = defaults::material);

! 		////note: normal cylinders are not yet part of standard ODE
! 		////virtual void addCylinder(real radius, real length, 
! 		////	const Matrix44r& offset = Matrix44r(), 
! 		////	const Material& m = defaults::material);
! 
! 		//virtual void OPAL_CALL addCapsule(real radius, real length, 
! 		//	const Matrix44r& offset = Matrix44r(), 
! 		//	const Material& m = defaults::material);
! 
! 		//virtual void OPAL_CALL addRay(const Point3r& origin, const Vec3r& dir, 
! 		//	real length, const Matrix44r& offset = Matrix44r(), 
! 		//	const Material& m = defaults::material);
! 		//
! 		//virtual void OPAL_CALL addMesh(const real* vertexArray[3], 
! 		//	int numVertices, const int* faceArray, int numFaces, 
! 		//	const Matrix44r& offset = Matrix44r(), 
! 		//	const Material& m = defaults::material);

  		virtual void OPAL_CALL setLocalLinearVel(const Vec3r& vel);
***************
*** 152,160 ****

  	protected:
! 		//void addNewGeom(dGeomID geomID, dGeomID transformID, 
! 		//	const Matrix44r& offset, const Material& material, ShapeType type);
! 
! 		/// Adds a new geom data object to the internal list.  
! 		void addNewGeom(GeomData* newGeom);

  		virtual void applyForce(const Force& f);
--- 155,161 ----

  	protected:
! 		/// Adds a new GeomData object to the internal list and sets up the 
! 		/// ODE geom.
! 		void setupNewGeom(GeomData* newGeom);

  		virtual void applyForce(const Force& f);
***************
*** 162,166 ****
  		/// Adds the given mass to this Solid's existing mass.  The offset is 
  		/// relative to the Solid's center.  This must be called before 
! 		/// addNewGeom is called.
  		void addMass(dMass& newMass, const Matrix44r& offset);

--- 163,167 ----
  		/// Adds the given mass to this Solid's existing mass.  The offset is 
  		/// relative to the Solid's center.  This must be called before 
! 		/// setupNewGeom is called.
  		void addMass(dMass& newMass, const Matrix44r& offset);

Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.22
retrieving revision 1.23
diff -C2 -d -r1.22 -r1.23
*** ODEJoint.cpp	19 Feb 2005 20:54:37 -0000	1.22
--- ODEJoint.cpp	22 Feb 2005 01:25:56 -0000	1.23
***************
*** 647,651 ****
  		}

! 		if (NULL == mSolid0 && NULL == mSolid1)
  		{
  			return;
--- 647,651 ----
  		}

! 		if (NULL == mData.solid0 && NULL == mData.solid1)
  		{
  			return;
***************
*** 658,662 ****
  			{
  				// Enable the joint.
! 				attachODEBodies((ODESolid*)mSolid0, (ODESolid*)mSolid1);
  			}
  			else
--- 658,663 ----
  			{
  				// Enable the joint.
! 				attachODEBodies((ODESolid*)mData.solid0, 
! 					(ODESolid*)mData.solid1);
  			}
  			else

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.22,1.23 ODEJoint.h,1.26,1.27 ODESimulator.cpp,1.77,1.78 O

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.22,1.23 ODEJoint.h,1.26,1.27 ODESimulator.cpp,1.77,1.78 ODESimulator.h,1.53,1.54 ODESolid.cpp,1.64,1.65 ODESolid.h,1.59,1.60