[Opal-commits] opal/src/ODE ODEJoint.cpp,1.23,1.24 ODEJoint.h,1.27,1.28 ODESolid.cpp,1.67,1.68 ODESo

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Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10148/src/ODE

Modified Files:
	ODEJoint.cpp ODEJoint.h ODESolid.cpp ODESolid.h 
Log Message:
added MotorData and JointData classes

Index: ODEJoint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.h,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** ODEJoint.h	22 Feb 2005 01:25:56 -0000	1.27
--- ODEJoint.h	23 Feb 2005 03:58:23 -0000	1.28
***************
*** 47,51 ****
  		/// 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);

  		virtual real OPAL_CALL getState(int axisNum)const;
--- 47,51 ----
  		/// data should be stored in JointData.  However, there is 
  		/// currently no easy way to get this data.
! 		virtual void OPAL_CALL init(const JointData& data);

  		virtual real OPAL_CALL getState(int axisNum)const;

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.60
retrieving revision 1.61
diff -C2 -d -r1.60 -r1.61
*** ODESolid.h	22 Feb 2005 01:25:57 -0000	1.60
--- ODESolid.h	23 Feb 2005 03:58:23 -0000	1.61
***************
*** 77,81 ****
  		virtual void OPAL_CALL setStatic(bool s);

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

  		//virtual void OPAL_CALL addBox(const Vec3r& dimensions, 
--- 77,81 ----
  		virtual void OPAL_CALL setStatic(bool s);

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

  		//virtual void OPAL_CALL addBox(const Vec3r& dimensions, 

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.67
retrieving revision 1.68
diff -C2 -d -r1.67 -r1.68
*** ODESolid.cpp	22 Feb 2005 19:46:40 -0000	1.67
--- ODESolid.cpp	23 Feb 2005 03:58:23 -0000	1.68
***************
*** 372,376 ****
  	}

! 	void ODESolid::addShape(const ShapeData& sd)
  	{
  		dGeomID newGeomID = NULL;
--- 372,376 ----
  	}

! 	void ODESolid::addShape(const ShapeData& data)
  	{
  		dGeomID newGeomID = NULL;
***************
*** 381,385 ****
  		ShapeData* newShape = NULL;

! 		if(Matrix44r() == sd.offset)
  		{
  			// No offset transform.
--- 381,385 ----
  		ShapeData* newShape = NULL;

! 		if(Matrix44r() == data.offset)
  		{
  			// No offset transform.
***************
*** 401,414 ****
  		GeomData* newGeomData = new GeomData;

! 		switch(sd.getType())
  		{
  			case BOX_SHAPE:
  			{
! 				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], 
--- 401,414 ----
  		GeomData* newGeomData = new GeomData;

! 		switch(data.getType())
  		{
  			case BOX_SHAPE:
  			{
! 				BoxShapeData& boxData = (BoxShapeData&)data;
  				newGeomID = dCreateBox(spaceID, 
  					(dReal)boxData.dimensions[0], 
  					(dReal)boxData.dimensions[1], 
  					(dReal)boxData.dimensions[2]);
! 				dMassSetBox(&newMass, (dReal)data.material.density, 
  					(dReal)boxData.dimensions[0], 
  					(dReal)boxData.dimensions[1], 
***************
*** 419,426 ****
  			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);
--- 419,426 ----
  			case SPHERE_SHAPE:
  			{
! 				SphereShapeData& sphereData = (SphereShapeData&)data;
  				newGeomID = dCreateSphere(spaceID, 
  					(dReal)sphereData.radius);
! 				dMassSetSphere(&newMass, (dReal)data.material.density, 
  					(dReal)sphereData.radius);
  				newShape = new SphereShapeData(sphereData);
***************
*** 429,433 ****
  			case CAPSULE_SHAPE:
  			{
! 				CapsuleShapeData& capsuleData = (CapsuleShapeData&)sd;
  				newGeomID = dCreateCCylinder(spaceID, 
  					(dReal)capsuleData.radius, (dReal)capsuleData.length);
--- 429,433 ----
  			case CAPSULE_SHAPE:
  			{
! 				CapsuleShapeData& capsuleData = (CapsuleShapeData&)data;
  				newGeomID = dCreateCCylinder(spaceID, 
  					(dReal)capsuleData.radius, (dReal)capsuleData.length);
***************
*** 438,442 ****
  				//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);
--- 438,442 ----
  				//Maybe have a default value in the Simulator that the user can 
  				//change.
! 				dMassSetCappedCylinder(&newMass, (dReal)data.material.density, 
  					3, (dReal)capsuleData.radius, (dReal)capsuleData.length);
  				newShape = new CapsuleShapeData(capsuleData);
***************
*** 445,449 ****
  			case PLANE_SHAPE:
  			{
! 				PlaneShapeData& planeData = (PlaneShapeData&)sd;
  				if (!mData.isStatic)
  				{
--- 445,449 ----
  			case PLANE_SHAPE:
  			{
! 				PlaneShapeData& planeData = (PlaneShapeData&)data;
  				if (!mData.isStatic)
  				{
***************
*** 478,482 ****
  			case RAY_SHAPE:
  			{
! 				RayShapeData& rayData = (RayShapeData&)sd;
  				newGeomID = dCreateRay(spaceID, 
  					(dReal)rayData.ray.getLength());
--- 478,482 ----
  			case RAY_SHAPE:
  			{
! 				RayShapeData& rayData = (RayShapeData&)data;
  				newGeomID = dCreateRay(spaceID, 
  					(dReal)rayData.ray.getLength());
***************
*** 492,496 ****
  			case MESH_SHAPE:
  			{
! 				MeshShapeData& meshData = (MeshShapeData&)sd;

  				// Setup trimesh data pointer.  It is critical that the 
--- 492,496 ----
  			case MESH_SHAPE:
  			{
! 				MeshShapeData& meshData = (MeshShapeData&)data;

  				// Setup trimesh data pointer.  It is critical that the 
***************
*** 506,510 ****
  				// 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);
--- 506,510 ----
  				// TODO: either do more sophisticated mass calculations, 
  				// or just enforce that all mesh must be static.
! 				dMassSetSphere(&newMass, (dReal)data.material.density, 1);

  				newShape = new MeshShapeData(meshData);
***************
*** 516,520 ****

  		// This will do nothing if this is a static Solid.
! 		addMass(newMass, sd.offset);

  		// Store new Shape.
--- 516,520 ----

  		// This will do nothing if this is a static Solid.
! 		addMass(newMass, data.offset);

  		// Store new Shape.

Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** ODEJoint.cpp	22 Feb 2005 01:25:56 -0000	1.23
--- ODEJoint.cpp	23 Feb 2005 03:58:23 -0000	1.24
***************
*** 46,50 ****
  	}

! 	void ODEJoint::init(const JointData& jd)
  	{
  		if (mInitCalled)
--- 46,50 ----
  	}

! 	void ODEJoint::init(const JointData& data)
  	{
  		if (mInitCalled)
***************
*** 62,69 ****
  		}

! 		Joint::init(jd);
  		mInitCalled = true;

! 		switch(jd.type)
  		{
  			case HINGE_JOINT:
--- 62,69 ----
  		}

! 		Joint::init(data);
  		mInitCalled = true;

! 		switch(data.getType())
  		{
  			case HINGE_JOINT:
***************
*** 173,179 ****
  		// Note that this handles the cases when either both are being set 
  		// to NULL or both are the same Solid.
! 		if (jd.solid0 == jd.solid1 || 
! 			(jd.solid0 && jd.solid0->isStatic()) || 
! 			(jd.solid1 && jd.solid1->isStatic()))
  		{
  			Joint::setSolids(NULL, NULL);
--- 173,179 ----
  		// Note that this handles the cases when either both are being set 
  		// to NULL or both are the same Solid.
! 		if (data.solid0 == data.solid1 || 
! 			(data.solid0 && data.solid0->isStatic()) || 
! 			(data.solid1 && data.solid1->isStatic()))
  		{
  			Joint::setSolids(NULL, NULL);
***************
*** 182,186 ****
  		else
  		{
! 			Joint::setSolids(jd.solid0, jd.solid1);
  			mData.enabled = true;
  		}
--- 182,186 ----
  		else
  		{
! 			Joint::setSolids(data.solid0, data.solid1);
  			mData.enabled = true;
  		}
***************
*** 190,199 ****

  		// Setup the Joint's anchor.
! 		setAnchor(jd.anchor);

  		// Setup the Joint's axes.
! 		setAxis(0, jd.axis[0]);
! 		setAxis(1, jd.axis[1]);
! 		setAxis(2, jd.axis[2]);
  	}

--- 190,199 ----

  		// Setup the Joint's anchor.
! 		setAnchor(data.anchor);

  		// Setup the Joint's axes.
! 		setAxis(0, data.axis[0]);
! 		setAxis(1, data.axis[1]);
! 		setAxis(2, data.axis[2]);
  	}

***************
*** 204,208 ****
  		real value = 0;

! 		switch(mData.type)
  		{
  			case HINGE_JOINT:
--- 204,208 ----
  		real value = 0;

! 		switch(mData.getType())
  		{
  			case HINGE_JOINT:
***************
*** 257,261 ****
  		real value = 0;

! 		switch(mData.type)
  		{
  			case HINGE_JOINT:
--- 257,261 ----
  		real value = 0;

! 		switch(mData.getType())
  		{
  			case HINGE_JOINT:
***************
*** 343,347 ****
  		// ODE's Hinge2 Joint also has a suspension parameter.  Use axis 1 
  		// for this since axis 1 doesn't use limits anyway.
! 		if (1 == axisNum && HINGE_2_JOINT == mData.type)
  		{
  			setJointParam(dParamSuspensionERP, value);
--- 343,347 ----
  		// ODE's Hinge2 Joint also has a suspension parameter.  Use axis 1 
  		// for this since axis 1 doesn't use limits anyway.
! 		if (1 == axisNum && HINGE_2_JOINT == mData.getType())
  		{
  			setJointParam(dParamSuspensionERP, value);
***************
*** 448,452 ****

  		// Set the ODE Joint axis direction vector.
! 		switch(mData.type)
  		{
  			case HINGE_JOINT:
--- 448,452 ----

  		// Set the ODE Joint axis direction vector.
! 		switch(mData.getType())
  		{
  			case HINGE_JOINT:
***************
*** 529,533 ****
  			(dReal)anchor[2]};

! 		switch(mData.type)
  		{
  			case HINGE_JOINT:
--- 529,533 ----
  			(dReal)anchor[2]};

! 		switch(mData.getType())
  		{
  			case HINGE_JOINT:
***************
*** 726,730 ****
  	void ODEJoint::setJointParam(int parameter, dReal value)
  	{
! 		switch(mData.type)
  		{
  			case HINGE_JOINT:
--- 726,730 ----
  	void ODEJoint::setJointParam(int parameter, dReal value)
  	{
! 		switch(mData.getType())
  		{
  			case HINGE_JOINT:
***************
*** 845,849 ****
  			// relationship between the Solids or between a Solid and the 
  			// static environment.
! 			if (FIXED_JOINT == mData.type)
  			{
  				dJointSetFixed(mJointID);
--- 845,849 ----
  			// relationship between the Solids or between a Solid and the 
  			// static environment.
! 			if (FIXED_JOINT == mData.getType())
  			{
  				dJointSetFixed(mJointID);

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.23,1.24 ODEJoint.h,1.27,1.28 ODESolid.cpp,1.67,1.68 ODESo

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.23,1.24 ODEJoint.h,1.27,1.28 ODESolid.cpp,1.67,1.68 ODESolid.h,1.60,1.61