[Opal-commits] opal/src/ODE ODESolid.cpp,1.65,1.66

[tylerstreeter <tyl...@us...>]

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv32471/src/ODE

Modified Files:
	ODESolid.cpp 
Log Message:
added more ShapeData classes

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -d -r1.65 -r1.66
*** ODESolid.cpp	22 Feb 2005 01:25:57 -0000	1.65
--- ODESolid.cpp	22 Feb 2005 04:28:11 -0000	1.66
***************
*** 31,34 ****
--- 31,37 ----
  #include "../SphereShapeData.h"
  #include "../CapsuleShapeData.h"
+ #include "../PlaneShapeData.h"
+ #include "../RayShapeData.h"
+ #include "../MeshShapeData.h"
  
  namespace opal
***************
*** 58,62 ****
  		while (!mGeomDataList.empty())
  		{
! 			// Note: do not delete the solid pointer.  It will get deleted 
  			// elsewhere.
  
--- 61,65 ----
  		while (!mGeomDataList.empty())
  		{
! 			// Note: do not delete the Solid pointer.  It will get deleted 
  			// elsewhere.
  
***************
*** 403,429 ****
  			{
  				BoxShapeData& boxData = (BoxShapeData&)sd;
! 				newGeomID = dCreateBox(spaceID, boxData.dimensions[0], 
! 					boxData.dimensions[1], boxData.dimensions[2]);
! 				dMassSetBox(&newMass, sd.material.density, 
! 					boxData.dimensions[0], boxData.dimensions[1], 
! 					boxData.dimensions[2]);
  				newShape = new BoxShapeData(boxData);
  				break;
  			}
  			case SPHERE_SHAPE:
! 				// TODO
  				break;
  			case CAPSULE_SHAPE:
! 				// TODO
  				break;
  			case PLANE_SHAPE:
! 				// TODO
  				break;
  			case RAY_SHAPE:
! 				// TODO
  				break;
  			case MESH_SHAPE:
! 				// TODO
  				break;
  			default:
  				assert(false);
--- 406,514 ----
  			{
  				BoxShapeData& boxData = (BoxShapeData&)sd;
! 				newGeomID = dCreateBox(spaceID, 
! 					(dReal)boxData.dimensions[0], 
! 					(dReal)boxData.dimensions[1], 
! 					(dReal)boxData.dimensions[2]);
! 				dMassSetBox(&newMass, (dReal)sd.material.density, 
! 					(dReal)boxData.dimensions[0], 
! 					(dReal)boxData.dimensions[1], 
! 					(dReal)boxData.dimensions[2]);
  				newShape = new BoxShapeData(boxData);
  				break;
  			}
  			case SPHERE_SHAPE:
! 			{
! 				SphereShapeData& sphereData = (SphereShapeData&)sd;
! 				newGeomID = dCreateSphere(spaceID, 
! 					(dReal)sphereData.radius);
! 				dMassSetSphere(&newMass, (dReal)sd.material.density, 
! 					(dReal)sphereData.radius);
! 				newShape = new SphereShapeData(sphereData);
  				break;
+ 			}
  			case CAPSULE_SHAPE:
! 			{
! 				CapsuleShapeData& capsuleData = (CapsuleShapeData&)sd;
! 				newGeomID = dCreateCCylinder(spaceID, 
! 					(dReal)capsuleData.radius, (dReal)capsuleData.length);
! 
! 				//The "direction" parameter orients the mass along one of the 
! 				//body's local axes; x=1, y=2, z=3.  TODO: This might be weird 
! 				//if this capsule is not oriented along one of the body's axes.  
! 				//Maybe have a default value in the Simulator that the user can 
! 				//change.
! 				dMassSetCappedCylinder(&newMass, (dReal)sd.material.density, 
! 					3, (dReal)capsuleData.radius, (dReal)capsuleData.length);
! 				newShape = new CapsuleShapeData(capsuleData);
  				break;
+ 			}
  			case PLANE_SHAPE:
! 			{
! 				PlaneShapeData& planeData = (PlaneShapeData&)sd;
! 				if (!mData.isStatic)
! 				{
! 					// TODO: print warning: opal::ODESolid::addPlane: plane 
! 					// Shape added to a non-static Solid.
! 
! 					// ODE planes can't have bodies, so make it static.
! 					setStatic(true);
! 				}
! 
! 				// TODO: make this fail gracefully and print warning: plane 
! 				// offset transform ignored.
! 				assert(!newTransformID);
! 
! 				// ODE planes must have their normal vector (abc) normalized.
! 				Vec3r normal(planeData.abcd[0], planeData.abcd[1], 
! 					planeData.abcd[2]);
! 				normal.normalize();
! 
! 				newGeomID = dCreatePlane(mSpaceID, (dReal)normal[0], 
! 					(dReal)normal[1], (dReal)normal[2], 
! 					(dReal)planeData.abcd[3]);
! 
! 				// Note: ODE planes cannot have mass, but this is already 
! 				// handled since static Solids ignore mass.
! 
! 				// Solids with planes are the only "placeable" Solids.
! 				mIsPlaceable = false;
! 				newShape = new PlaneShapeData(planeData);
  				break;
+ 			}
  			case RAY_SHAPE:
! 			{
! 				RayShapeData& rayData = (RayShapeData&)sd;
! 				newGeomID = dCreateRay(spaceID, 
! 					(dReal)rayData.ray.getLength());
! 				Point3r origin = rayData.ray.getOrigin();
! 				Vec3r dir = rayData.ray.getDir();
! 				dGeomRaySet(newGeomID, (dReal)origin[0], (dReal)origin[1], 
! 					(dReal)origin[2], (dReal)dir[0], (dReal)dir[1], 
! 					(dReal)dir[2]);
! 				// Note: rays don't have mass.
! 				newShape = new RayShapeData(rayData);
  				break;
+ 			}
  			case MESH_SHAPE:
! 			{
! 				MeshShapeData& meshData = (MeshShapeData&)sd;
! 
! 				// Setup trimesh data pointer.  It is critical that the 
! 				// size of OPAL reals at this point match the size of ODE's 
! 				// dReals.
! 				newTrimeshDataID = dGeomTriMeshDataCreate();
! 				dGeomTriMeshDataBuildSimple(newTrimeshDataID, 
! 					(dReal*)meshData.vertexArray, meshData.numVertices, 
! 					meshData.faceArray, 3 * meshData.numFaces);
! 				newGeomID = dCreateTriMesh(spaceID, 
! 					newTrimeshDataID, NULL, NULL, NULL);
! 
! 				// TODO: either do more sophisticated mass calculations, 
! 				// or just enforce that all mesh must be static.
! 				dMassSetSphere(&newMass, (dReal)sd.material.density, 1);
! 
! 				newShape = new MeshShapeData(meshData);
  				break;
+ 			}
  			default:
  				assert(false);
***************
*** 433,438 ****
--- 518,525 ----
  		addMass(newMass, sd.offset);
  
+ 		// Store new Shape.
  		mData.shapes.push_back(newShape);
  
+ 		// Setup GeomData.
  		newGeomData->solid = this;
  		newGeomData->shape = newShape;
***************
*** 442,445 ****
--- 529,533 ----
  		newGeomData->trimeshDataID = newTrimeshDataID;
  
+ 		// Setup the geom.
  		setupNewGeom(newGeomData);
  	}
***************
*** 947,951 ****
  		{
  			setTransform(mData.transform);
- 			//internal_uploadTransformChanges();
  		}
  	}
--- 1035,1038 ----