[Opal-commits] opal/src AttractorMotorData.h,NONE,1.1 GearedMotorData.h,NONE,1.1 JointData.h,NONE,1.

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

Modified Files:
	AttractorMotor.cpp AttractorMotor.h Blueprint.cpp Blueprint.h 
	BlueprintManager.cpp Defines.h GearedMotor.cpp GearedMotor.h 
	Joint.cpp Joint.h Motor.cpp Motor.h ServoMotor.cpp 
	ServoMotor.h ShapeData.h Solid.h SolidData.h SpringMotor.cpp 
	SpringMotor.h ThrusterMotor.cpp ThrusterMotor.h opal.h 
Added Files:
	AttractorMotorData.h GearedMotorData.h JointData.h MotorData.h 
	SensorData.h ServoMotorData.h SpringMotorData.h 
	ThrusterMotorData.h 
Log Message:
added MotorData and JointData classes

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -d -r1.24 -r1.25
*** BlueprintManager.cpp	22 Feb 2005 01:25:55 -0000	1.24
--- BlueprintManager.cpp	23 Feb 2005 03:58:23 -0000	1.25
***************
*** 473,481 ****
  			// The JointData automatically gets initialized to default values 
  			// in its constructor.
! 			JointData jd;

  #ifdef OPAL_USE_XML

! 			//jd.name = getAttributeString(nodePtr, "name");

  			std::string type = getAttributeString(nodePtr, "type");
--- 473,481 ----
  			// The JointData automatically gets initialized to default values 
  			// in its constructor.
! 			JointData data;

  #ifdef OPAL_USE_XML

! 			//data.name = getAttributeString(nodePtr, "name");

  			std::string type = getAttributeString(nodePtr, "type");
***************
*** 483,507 ****
  			if ("hinge" == type)
  			{
! 				jd.type = HINGE_JOINT;
  			}
  			else if ("universal" == type)
  			{
! 				jd.type = UNIVERSAL_JOINT;
  			}
  			else if ("ball" == type)
  			{
! 				jd.type = BALL_JOINT;
  			}
  			else if ("slider" == type)
  			{
! 				jd.type = SLIDER_JOINT;
  			}
  			else if ("hinge2" == type)
  			{
! 				jd.type = HINGE_2_JOINT;
  			}
  			else if ("fixed" == type)
  			{
! 				jd.type = FIXED_JOINT;
  			}
  			else
--- 483,507 ----
  			if ("hinge" == type)
  			{
! 				data.setType(HINGE_JOINT);
  			}
  			else if ("universal" == type)
  			{
! 				data.setType(UNIVERSAL_JOINT);
  			}
  			else if ("ball" == type)
  			{
! 				data.setType(BALL_JOINT);
  			}
  			else if ("slider" == type)
  			{
! 				data.setType(SLIDER_JOINT);
  			}
  			else if ("hinge2" == type)
  			{
! 				data.setType(HINGE_2_JOINT);
  			}
  			else if ("fixed" == type)
  			{
! 				data.setType(FIXED_JOINT);
  			}
  			else
***************
*** 510,514 ****
  							 Invalid joint type requested" 
  					<< " in " << filename << std::endl;
! 				return jd;
  			}

--- 510,514 ----
  							 Invalid joint type requested" 
  					<< " in " << filename << std::endl;
! 				return data;
  			}

***************
*** 518,526 ****
  			if (NULL != paramsNodePtr)
  			{
! 				//jd.kd = getAttributeReal(paramsNodePtr, "kd");
! 				//jd.ks = getAttributeReal(paramsNodePtr, "ks");
! 				jd.breakThresh = getAttributeReal(paramsNodePtr, 
  					"breakThresh");
! 				jd.accumThresh = getAttributeReal(paramsNodePtr, 
  					"accumThresh");
  				std::string breakMode = 
--- 518,526 ----
  			if (NULL != paramsNodePtr)
  			{
! 				//data.kd = getAttributeReal(paramsNodePtr, "kd");
! 				//data.ks = getAttributeReal(paramsNodePtr, "ks");
! 				data.breakThresh = getAttributeReal(paramsNodePtr, 
  					"breakThresh");
! 				data.accumThresh = getAttributeReal(paramsNodePtr, 
  					"accumThresh");
  				std::string breakMode = 
***************
*** 529,541 ****
  				if ("unbreakable" == breakMode)
  				{
! 					jd.breakMode = UNBREAKABLE;
  				}
  				else if ("threshold" == breakMode)
  				{
! 					jd.breakMode = THRESHOLD;
  				}
  				else if ("accumulated" == breakMode)
  				{
! 					jd.breakMode = ACCUMULATED;
  				}
  				else
--- 529,541 ----
  				if ("unbreakable" == breakMode)
  				{
! 					data.breakMode = UNBREAKABLE;
  				}
  				else if ("threshold" == breakMode)
  				{
! 					data.breakMode = THRESHOLD;
  				}
  				else if ("accumulated" == breakMode)
  				{
! 					data.breakMode = ACCUMULATED;
  				}
  				else
***************
*** 544,548 ****
  								 Invalid joint break mode requested" 
  						<< " in " << filename << std::endl;
! 					return jd;
  				}
  			}
--- 544,548 ----
  								 Invalid joint break mode requested" 
  						<< " in " << filename << std::endl;
! 					return data;
  				}
  			}
***************
*** 556,560 ****
  							 Anchor element missing" 
  					<< " in " << filename << std::endl;
! 				return jd;
  			}
  			else
--- 556,560 ----
  							 Anchor element missing" 
  					<< " in " << filename << std::endl;
! 				return data;
  			}
  			else
***************
*** 563,567 ****
  				real y = getAttributeReal(anchorNodePtr, "y");
  				real z = getAttributeReal(anchorNodePtr, "z");
! 				jd.anchor.set((real)x, (real)y, (real)z);
  			}

--- 563,567 ----
  				real y = getAttributeReal(anchorNodePtr, "y");
  				real z = getAttributeReal(anchorNodePtr, "z");
! 				data.anchor.set((real)x, (real)y, (real)z);
  			}

***************
*** 580,584 ****
  								 Axis0 element missing" 
  						<< " in " << filename << std::endl;
! 					return jd;
  				}
  				else
--- 580,584 ----
  								 Axis0 element missing" 
  						<< " in " << filename << std::endl;
! 					return data;
  				}
  				else
***************
*** 593,597 ****
  									missing from Axis0 element" 
  							<< " in " << filename << std::endl;
! 						return jd;
  					}
  					else
--- 593,597 ----
  									missing from Axis0 element" 
  							<< " in " << filename << std::endl;
! 						return data;
  					}
  					else
***************
*** 600,604 ****
  						real y = getAttributeReal(directionNodePtr, "y");
  						real z = getAttributeReal(directionNodePtr, "z");
! 						jd.axis[0].direction.set(x, y, z);
  					}

--- 600,604 ----
  						real y = getAttributeReal(directionNodePtr, "y");
  						real z = getAttributeReal(directionNodePtr, "z");
! 						data.axis[0].direction.set(x, y, z);
  					}

***************
*** 608,614 ****
  					if (NULL != limitsNodePtr)
  					{
! 						jd.axis[0].limits.low = 
  							getAttributeReal(limitsNodePtr, "low");
! 						jd.axis[0].limits.high = 
  							getAttributeReal(limitsNodePtr, "high");
  					}
--- 608,614 ----
  					if (NULL != limitsNodePtr)
  					{
! 						data.axis[0].limits.low = 
  							getAttributeReal(limitsNodePtr, "low");
! 						data.axis[0].limits.high = 
  							getAttributeReal(limitsNodePtr, "high");
  					}
***************
*** 626,630 ****
  									 loadJoint: Axis1 element missing" 
  							<< " in " << filename << std::endl;
! 						return jd;
  					}
  					else
--- 626,630 ----
  									 loadJoint: Axis1 element missing" 
  							<< " in " << filename << std::endl;
! 						return data;
  					}
  					else
***************
*** 639,643 ****
  										missing from Axis1 element" 
  								<< " in " << filename << std::endl;
! 							return jd;
  						}
  						else
--- 639,643 ----
  										missing from Axis1 element" 
  								<< " in " << filename << std::endl;
! 							return data;
  						}
  						else
***************
*** 646,650 ****
  							real y = getAttributeReal(directionNodePtr, "y");
  							real z = getAttributeReal(directionNodePtr, "z");
! 							jd.axis[1].direction.set(x, y, z);
  						}

--- 646,650 ----
  							real y = getAttributeReal(directionNodePtr, "y");
  							real z = getAttributeReal(directionNodePtr, "z");
! 							data.axis[1].direction.set(x, y, z);
  						}

***************
*** 654,660 ****
  						if (NULL != limitsNodePtr)
  						{
! 							jd.axis[1].limits.low = 
  								getAttributeReal(limitsNodePtr, "low");
! 							jd.axis[1].limits.high = 
  								getAttributeReal(limitsNodePtr, "high");
  						}
--- 654,660 ----
  						if (NULL != limitsNodePtr)
  						{
! 							data.axis[1].limits.low = 
  								getAttributeReal(limitsNodePtr, "low");
! 							data.axis[1].limits.high = 
  								getAttributeReal(limitsNodePtr, "high");
  						}
***************
*** 672,676 ****
  										 loadJoint: Axis2 element missing" 
  								<< " in " << filename << std::endl;
! 							return jd;
  						}
  						else
--- 672,676 ----
  										 loadJoint: Axis2 element missing" 
  								<< " in " << filename << std::endl;
! 							return data;
  						}
  						else
***************
*** 685,689 ****
  									element missing from Axis2 element" 
  									<< " in " << filename << std::endl;
! 								return jd;
  							}
  							else
--- 685,689 ----
  									element missing from Axis2 element" 
  									<< " in " << filename << std::endl;
! 								return data;
  							}
  							else
***************
*** 695,699 ****
  								real z = getAttributeReal(directionNodePtr, 
  									"z");
! 								jd.axis[2].direction.set(x, y, z);
  							}

--- 695,699 ----
  								real z = getAttributeReal(directionNodePtr, 
  									"z");
! 								data.axis[2].direction.set(x, y, z);
  							}

***************
*** 703,709 ****
  							if (NULL != limitsNodePtr)
  							{
! 								jd.axis[2].limits.low = 
  									getAttributeReal(limitsNodePtr, "low");
! 								jd.axis[2].limits.high = 
  									getAttributeReal(limitsNodePtr, "high");
  							}
--- 703,709 ----
  							if (NULL != limitsNodePtr)
  							{
! 								data.axis[2].limits.low = 
  									getAttributeReal(limitsNodePtr, "low");
! 								data.axis[2].limits.high = 
  									getAttributeReal(limitsNodePtr, "high");
  							}
***************
*** 725,737 ****
  							 Solids element missing" 
  					<< " in " << filename << std::endl;
! 				return jd;
  			}
  			else
  			{
! 				//jd.solid0Name = getAttributeString(solidsNodePtr, "name0");
! 				//jd.solid1Name = getAttributeString(solidsNodePtr, "name1");

  				//std::cout << "Warning in opal::BlueprintManager::loadJoint: \
! 				//			 Joint " << jd.name << " refers to the same Solid \
  				//			 twice in " << filename << std::endl;
  			}
--- 725,737 ----
  							 Solids element missing" 
  					<< " in " << filename << std::endl;
! 				return data;
  			}
  			else
  			{
! 				//data.solid0Name = getAttributeString(solidsNodePtr, "name0");
! 				//data.solid1Name = getAttributeString(solidsNodePtr, "name1");

  				//std::cout << "Warning in opal::BlueprintManager::loadJoint: \
! 				//			 Joint " << data.name << " refers to the same Solid \
  				//			 twice in " << filename << std::endl;
  			}
***************
*** 739,743 ****
  #endif

! 			return jd;
  		}

--- 739,743 ----
  #endif

! 			return data;
  		}

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** opal.h	22 Feb 2005 04:28:11 -0000	1.15
--- opal.h	23 Feb 2005 03:58:23 -0000	1.16
***************
*** 32,35 ****
--- 32,36 ----
  #include "Solid.h"
  #include "SolidData.h"
+ #include "ShapeData.h"
  #include "BoxShapeData.h"
  #include "SphereShapeData.h"
***************
*** 39,48 ****
--- 40,53 ----
  #include "MeshShapeData.h"
  #include "Motor.h"
+ #include "MotorData.h"
  #include "AttractorMotor.h"
+ #include "AttractorMotorData.h"
  #include "ServoMotor.h"
  #include "ThrusterMotor.h"
  #include "GearedMotor.h"
  #include "Joint.h"
+ #include "JointData.h"
  #include "Sensor.h"
+ #include "SensorData.h"
  #include "EventHandler.h"
  #include "Blueprint.h"
***************
*** 57,59 ****

  #endif
- 
--- 62,63 ----

Index: Motor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.h,v
retrieving revision 1.33
retrieving revision 1.34
diff -C2 -d -r1.33 -r1.34
*** Motor.h	21 Feb 2005 15:54:38 -0000	1.33
--- Motor.h	23 Feb 2005 03:58:23 -0000	1.34
***************
*** 46,50 ****
  	/// functions, and adding Motor instances to the simulation via the 
  	/// Simulator class (see Simulator for details).  All Motors start out 
! 	/// disabled  and must be initialized via init) before they can be 
  	/// enabled.  
  	class Motor
--- 46,50 ----
  	/// functions, and adding Motor instances to the simulation via the 
  	/// Simulator class (see Simulator for details).  All Motors start out 
! 	/// disabled and must be initialized via init before they can be 
  	/// enabled.  
  	class Motor
***************
*** 56,64 ****

  		/// Returns true if the Motor is enabled.  
! 		virtual bool OPAL_CALL isEnabled()const;

  		/// Sets whether the Motor has any effect.  If the Motor has not 
  		/// yet been initialized, this will have no effect.
! 		virtual void OPAL_CALL setEnabled(bool e);

  		/// Set the user data pointer to some external data.  The user data 
--- 56,64 ----

  		/// Returns true if the Motor is enabled.  
! 		virtual bool OPAL_CALL isEnabled()const = 0;

  		/// Sets whether the Motor has any effect.  If the Motor has not 
  		/// yet been initialized, this will have no effect.
! 		virtual void OPAL_CALL setEnabled(bool e) = 0;

  		/// Set the user data pointer to some external data.  The user data 
***************
*** 92,96 ****

  		/// True if the Motor is enabled.
! 		bool mEnabled;

  		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 
--- 92,96 ----

  		/// True if the Motor is enabled.
! 		//bool mEnabled;

  		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 

Index: ShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ShapeData.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** ShapeData.h	22 Feb 2005 19:46:30 -0000	1.2
--- ShapeData.h	23 Feb 2005 03:58:23 -0000	1.3
***************
*** 33,37 ****
  namespace opal
  {
! 	/// The types of collision shapes currently supported.
  	enum ShapeType
  	{
--- 33,37 ----
  namespace opal
  {
! 	/// The types of Shapes currently available.
  	enum ShapeType
  	{

--- NEW FILE: GearedMotorData.h ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_GEARED_MOTOR_DATA_H
#define OPAL_GEARED_MOTOR_DATA_H

#include "Defines.h"
#include "MotorData.h"

namespace opal
{
	/// A data structure describing a GearedMotor.
	class GearedMotorData : public MotorData
	{
	public:
		GearedMotorData()
		: MotorData()
		{
			mType = GEARED_MOTOR;
			joint = NULL;
			jointAxisNum = 0;
			maxTorque = defaults::motor::geared::maxTorque;
			maxVelocity = defaults::motor::geared::maxVelocity;
			throttle = 0;
		}

		/// Copy constructor.
		GearedMotorData(const GearedMotorData& data)
		{
			(*this) = data;
		}

		virtual ~GearedMotorData()
		{
		}

		/// Makes a deep copy.
		virtual void OPAL_CALL operator=(const GearedMotorData& data)
		{
			mType = data.mType;
			enabled = data.enabled;
			joint = data.joint;
			jointAxisNum = data.jointAxisNum;
			maxTorque = data.maxTorque;
			maxVelocity = data.maxVelocity;
			throttle = data.throttle;
		}

		/// Pointer to the Joint affected by this Motor.
		Joint* joint;

		/// The index of the specific Joint axis affected by this Motor.
		int jointAxisNum;

		/// The maximum amount of torque that can be applied to the Joint 
		/// axis.
		real maxTorque;

		/// The  maximum velocity that can be achieved by the Motor.
		real maxVelocity;

		/// The throttle (i.e. the "gas") affects how much of the available 
		/// torque is applied to the Joint axis.
		real throttle;

	protected:

	private:
	};
}

#endif

--- NEW FILE: AttractorMotorData.h ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_ATTRACTOR_MOTOR_DATA_H
#define OPAL_ATTRACTOR_MOTOR_DATA_H

#include "Defines.h"
#include "MotorData.h"

namespace opal
{
	/// A data structure describing an AttractorMotor.
	class AttractorMotorData : public MotorData
	{
	public:
		AttractorMotorData()
		: MotorData()
		{
			mType = ATTRACTOR_MOTOR;
			solid0 = NULL;
			solid1 = NULL;
			strength = defaults::motor::attractor::strength;
			exponent = defaults::motor::attractor::exponent;
		}

		/// Copy constructor.
		AttractorMotorData(const AttractorMotorData& data)
		{
			(*this) = data;
		}

		virtual ~AttractorMotorData()
		{
		}

		/// Makes a deep copy.
		virtual void OPAL_CALL operator=(const AttractorMotorData& data)
		{
			mType = data.mType;
			enabled = data.enabled;
			solid0 = data.solid0;
			solid1 = data.solid1;
			strength = data.strength;
			exponent = data.exponent;
		}

		/// Pointer to Solid 0.
		Solid* solid0;

		/// Pointer to Solid 1.
		Solid* solid1;

		/// Constant used to scale attraction (repulsion if strength < 0).  
		real strength;

		/// Determines exponential relationship of attraction/repulsion.  
		real exponent;

	protected:

	private:
	};
}

#endif

Index: SpringMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** SpringMotor.h	18 Feb 2005 23:59:37 -0000	1.5
--- SpringMotor.h	23 Feb 2005 03:58:23 -0000	1.6
***************
*** 31,34 ****
--- 31,35 ----
  #include "Defines.h"
  #include "Motor.h"
+ #include "SpringMotorData.h"

  namespace opal
***************
*** 41,58 ****
  	{
  	public:
- 		/// The different SpringMotor modes of operation.  
- 		enum Mode
- 		{
- 			/// Makes the Motor work to achieve a desired position.  
- 			LINEAR_MODE,
- 
- 			/// Makes the Motor work to achieve a desired orientation.  
- 			ANGULAR_MODE,
- 
- 			/// Makes the Motor work to achieve a desired position and 
- 			/// orientation.
- 			LINEAR_AND_ANGULAR_MODE
- 		};
- 
  		SpringMotor();

--- 42,45 ----
***************
*** 63,67 ****
  		/// enable the Motor.  Calling this more than once will detach the 
  		/// Motor from its Solid and attach it to a new Solid.
! 		virtual void OPAL_CALL init(Mode m, Solid* s);

  		/// Sets the desired position and orientation.  
--- 50,64 ----
  		/// enable the Motor.  Calling this more than once will detach the 
  		/// Motor from its Solid and attach it to a new Solid.
! 		//virtual void OPAL_CALL init(Mode m, Solid* s);
! 
! 		/// Initializes the Motor with the given data structure.
! 		virtual void OPAL_CALL init(const SpringMotorData& data);
! 
! 		/// Returns all data describing the Motor.
! 		virtual const SpringMotorData& OPAL_CALL getMotorData();
! 
! 		virtual bool OPAL_CALL isEnabled()const;
! 
! 		virtual void OPAL_CALL setEnabled(bool e);

  		/// Sets the desired position and orientation.  
***************
*** 104,140 ****

  	protected:
! 		/// Pointer to the Solid affected by this Motor.  
! 		Solid* mSolid;

! 		/// The Motor's mode of operation.  
! 		Mode mMode;

! 		/// The Motor's desired position.  This is only used if the 
! 		/// appropriate mode is set.
! 		Point3r mDesiredPos;

! 		/// The Motor's desired forward direction, part of the desired 
! 		/// orientation.  This is only used if the appropriate mode is set.
! 		Vec3r mDesiredForward;

! 		/// The Motor's desired up direction, part of the desired 
! 		/// orientation.  This is only used if the appropriate mode is set.
! 		Vec3r mDesiredUp;

! 		/// The Motor's desired right direction, part of the desired 
! 		/// orientation.  This is only used if the appropriate mode is set.
! 		Vec3r mDesiredRight;

! 		/// The damping constant for linear mode.  
! 		real mLinearKd;

! 		/// The spring constant for linear mode.  
! 		real mLinearKs;

! 		/// The damping constant for angular mode.  
! 		real mAngularKd;

! 		/// The spring constant for angular mode.  
! 		real mAngularKs;

  	private:
--- 101,140 ----

  	protected:
! 		/// Stores data describing the Motor.
! 		SpringMotorData mData;

! 		///// Pointer to the Solid affected by this Motor.  
! 		//Solid* mSolid;

! 		///// The Motor's mode of operation.  
! 		//Mode mMode;

! 		///// The Motor's desired position.  This is only used if the 
! 		///// appropriate mode is set.
! 		//Point3r mDesiredPos;

! 		///// The Motor's desired forward direction, part of the desired 
! 		///// orientation.  This is only used if the appropriate mode is set.
! 		//Vec3r mDesiredForward;

! 		///// The Motor's desired up direction, part of the desired 
! 		///// orientation.  This is only used if the appropriate mode is set.
! 		//Vec3r mDesiredUp;

! 		///// The Motor's desired right direction, part of the desired 
! 		///// orientation.  This is only used if the appropriate mode is set.
! 		//Vec3r mDesiredRight;

! 		///// The damping constant for linear mode.  
! 		//real mLinearKd;

! 		///// The spring constant for linear mode.  
! 		//real mLinearKs;

! 		///// The damping constant for angular mode.  
! 		//real mAngularKd;
! 
! 		///// The spring constant for angular mode.  
! 		//real mAngularKs;

  	private:

--- NEW FILE: ServoMotorData.h ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_SERVO_MOTOR_DATA_H
#define OPAL_SERVO_MOTOR_DATA_H

#include "Defines.h"
#include "MotorData.h"

namespace opal
{
	/// The different ServoMotor modes of operation.  
	enum ServoMotorMode
	{
		/// The ServoMotor tries to achieve a desired position for 
		/// the Joint axis.
		DESIRED_POS_MODE,

		/// The ServoMotor tries to achieve a desired velocity for 
		/// the Joint axis.
		DESIRED_VEL_MODE
	};

	/// A data structure describing a ServoMotor.
	class ServoMotorData : public MotorData
	{
	public:
		ServoMotorData()
		: MotorData()
		{
			mType = SERVO_MOTOR;
			joint = NULL;
			mode = DESIRED_POS_MODE;
			jointAxisNum = 0;
			desiredPos = 0;
			desiredVel = 0;
			maxForce = defaults::motor::servo::maxForce;
			restoreSpeed = defaults::motor::servo::restoreSpeed;
		}

		/// Copy constructor.
		ServoMotorData(const ServoMotorData& data)
		{
			(*this) = data;
		}

		virtual ~ServoMotorData()
		{
		}

		/// Makes a deep copy.
		virtual void OPAL_CALL operator=(const ServoMotorData& data)
		{
			mType = data.mType;
			enabled = data.enabled;
			joint = data.joint;
			mode = data.mode;
			jointAxisNum = data.jointAxisNum;
			desiredPos = data.desiredPos;
			desiredVel = data.desiredVel;
			maxForce = data.maxForce;
			restoreSpeed = data.restoreSpeed;
		}

		/// Pointer to the Joint affected by this Motor.  
		Joint* joint;

		/// The Motor's mode of operation.
		ServoMotorMode mode;

		/// The index of the Joint axes affected by this Motor.
		int jointAxisNum;

		/// The Motor's desired position.  This is only used if the 
		/// appropriate mode is set.
		real desiredPos;

		/// The Motor's desired position.  This is only used if the 
		/// appropriate mode is set.		
		real desiredVel;

		/// The maximum amount of force that can be used to help the 
		/// Joint axis achieve its desired position or velocity.
		real maxForce;

		/// A constant used in desired position mode that scaled how fast 
		/// the Joint axis will achieve its desired position.
		real restoreSpeed;

	protected:

	private:
	};
}

#endif

Index: ServoMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.h,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** ServoMotor.h	18 Feb 2005 23:59:37 -0000	1.19
--- ServoMotor.h	23 Feb 2005 03:58:23 -0000	1.20
***************
*** 32,35 ****
--- 32,36 ----
  #include "Motor.h"
  #include "Joint.h"
+ #include "ServoMotorData.h"

  namespace opal
***************
*** 44,59 ****
  	{
  	public:
- 		/// The different ServoMotor modes of operation.  
- 		enum Mode
- 		{
- 			/// The ServoMotor tries to achieve a desired position for 
- 			/// the Joint axis.
- 			DESIRED_POS_MODE,
- 
- 			/// The ServoMotor tries to achieve a desired velocity for 
- 			/// the Joint axis.
- 			DESIRED_VEL_MODE
- 		};
- 
  		ServoMotor();

--- 45,48 ----
***************
*** 63,67 ****
  		/// enable the Motor.  Calling this more than once will detach the 
  		/// Motor from its Joint and attach it to a new Joint.
! 		virtual void OPAL_CALL init(Mode m, Joint* j, int axisNum);

  		virtual void OPAL_CALL setEnabled(bool e);
--- 52,64 ----
  		/// enable the Motor.  Calling this more than once will detach the 
  		/// Motor from its Joint and attach it to a new Joint.
! 		//virtual void OPAL_CALL init(Mode m, Joint* j, int axisNum);
! 
! 		/// Initializes the Motor with the given data structure.
! 		virtual void OPAL_CALL init(const ServoMotorData& data);
! 
! 		/// Returns all data describing the Motor.
! 		virtual const ServoMotorData& OPAL_CALL getMotorData();
! 
! 		virtual bool OPAL_CALL isEnabled()const;

  		virtual void OPAL_CALL setEnabled(bool e);
***************
*** 104,131 ****

  	protected:
! 		/// Pointer to the Joint affected by this Motor.  
! 		Joint* mJoint;

! 		/// The Motor's mode of operation.
! 		Mode mMode;

! 		/// The index of the Joint axes affected by this Motor.
! 		int mJointAxis;

! 		/// The Motor's desired position.  This is only used if the 
! 		/// appropriate mode is set.
! 		real mDesiredPos;
! 		
! 		/// The Motor's desired position.  This is only used if the 
! 		/// appropriate mode is set.		
! 		real mDesiredVel;

! 		/// The maximum amount of force that can be used to help the 
! 		/// Joint axis achieve its desired position or velocity.
! 		real mMaxForce;

! 		/// A constant used in desired position mode that scaled how fast 
! 		/// the Joint axis will achieve its desired position.
! 		real mRestoreSpeed;

  	private:
--- 101,131 ----

  	protected:
! 		/// Stores data describing the Motor.
! 		ServoMotorData mData;

! 		///// Pointer to the Joint affected by this Motor.  
! 		//Joint* mJoint;

! 		///// The Motor's mode of operation.
! 		//Mode mMode;

! 		///// The index of the Joint axes affected by this Motor.
! 		//int mJointAxis;

! 		///// The Motor's desired position.  This is only used if the 
! 		///// appropriate mode is set.
! 		//real mDesiredPos;
! 		//
! 		///// The Motor's desired position.  This is only used if the 
! 		///// appropriate mode is set.		
! 		//real mDesiredVel;

! 		///// The maximum amount of force that can be used to help the 
! 		///// Joint axis achieve its desired position or velocity.
! 		//real mMaxForce;
! 
! 		///// A constant used in desired position mode that scaled how fast 
! 		///// the Joint axis will achieve its desired position.
! 		//real mRestoreSpeed;

  	private:

Index: ThrusterMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** ThrusterMotor.h	18 Feb 2005 23:59:37 -0000	1.5
--- ThrusterMotor.h	23 Feb 2005 03:58:23 -0000	1.6
***************
*** 31,34 ****
--- 31,35 ----
  #include "Defines.h"
  #include "Motor.h"
+ #include "ThrusterMotorData.h"

  namespace opal
***************
*** 40,44 ****
  	class ThrusterMotor : public Motor
  	{
- 
  	public:
  		ThrusterMotor();
--- 41,44 ----
***************
*** 49,53 ****
  		/// Calling this more than once will detach the Motor from its Solid 
  		/// and attach it to a new Solid.
! 		virtual void OPAL_CALL init(Solid* solid);

  		/// Sets the Force applied by this Motor every time step.  
--- 49,63 ----
  		/// Calling this more than once will detach the Motor from its Solid 
  		/// and attach it to a new Solid.
! 		//virtual void OPAL_CALL init(Solid* solid);
! 
! 		/// Initializes the Motor with the given data structure.
! 		virtual void OPAL_CALL init(const ThrusterMotorData& data);
! 
! 		/// Returns all data describing the Motor.
! 		virtual const ThrusterMotorData& OPAL_CALL getMotorData();
! 
! 		virtual bool OPAL_CALL isEnabled()const;
! 
! 		virtual void OPAL_CALL setEnabled(bool e);

  		/// Sets the Force applied by this Motor every time step.  
***************
*** 62,70 ****

  	protected:
  		/// Pointer to the Solid affected by this Motor.  
! 		Solid* mSolid;

  		/// The Force that gets applied to the Solid every time step.  
! 		Force mForce;

  	private:
--- 72,83 ----

  	protected:
+ 		/// Stores data describing the Motor.
+ 		ThrusterMotorData mData;
+ 
  		/// Pointer to the Solid affected by this Motor.  
! 		//Solid* mSolid;

  		/// The Force that gets applied to the Solid every time step.  
! 		//Force mForce;

  	private:

Index: Blueprint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Blueprint.h,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** Blueprint.h	22 Feb 2005 01:25:55 -0000	1.20
--- Blueprint.h	23 Feb 2005 03:58:23 -0000	1.21
***************
*** 50,56 ****
  		virtual const std::string& OPAL_CALL getName()const;

! 		//virtual void OPAL_CALL addSolid(const SolidDescription& sd);

! 		//virtual void OPAL_CALL addJoint(const JointData& jd);

  		virtual void OPAL_CALL addSpace(const SpaceDescription& sd);
--- 50,56 ----
  		virtual const std::string& OPAL_CALL getName()const;

! 		//virtual void OPAL_CALL addSolid(const SolidDescription& data);

! 		//virtual void OPAL_CALL addJoint(const JointData& data);

  		virtual void OPAL_CALL addSpace(const SpaceDescription& sd);

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.74
retrieving revision 1.75
diff -C2 -d -r1.74 -r1.75
*** Solid.h	22 Feb 2005 01:25:55 -0000	1.74
--- Solid.h	23 Feb 2005 03:58:23 -0000	1.75
***************
*** 116,120 ****

  	//	/// Copy constructor.
! 	//	ShapeData(const ShapeData& sd)
  	//	{
  	//		(*this) = sd;
--- 116,120 ----

  	//	/// Copy constructor.
! 	//	ShapeData(const ShapeData& data)
  	//	{
  	//		(*this) = sd;
***************
*** 122,134 ****

  	//	/// Makes a deep copy.
! 	//	void operator=(const ShapeData& sd)
  	//	{
! 	//		type = sd.type;
! 	//		offset = sd.offset;
! 	//		material = sd.material;

  	//		for (int i=0; i<globals::numShapeDimensions; ++i)
  	//		{
! 	//			dimensions[i] = sd.dimensions[i];
  	//		}
  	//	}
--- 122,134 ----

  	//	/// Makes a deep copy.
! 	//	void operator=(const ShapeData& data)
  	//	{
! 	//		type = data.type;
! 	//		offset = data.offset;
! 	//		material = data.material;

  	//		for (int i=0; i<globals::numShapeDimensions; ++i)
  	//		{
! 	//			dimensions[i] = data.dimensions[i];
  	//		}
  	//	}
***************
*** 174,180 ****

  	//	/// Copy constructor.
! 	//	SolidData(const SolidData& sd)
  	//	{
! 	//		(*this) = sd;
  	//	}

--- 174,180 ----

  	//	/// Copy constructor.
! 	//	SolidData(const SolidData& data)
  	//	{
! 	//		(*this) = data;
  	//	}

***************
*** 187,191 ****

  	//	/// Makes a deep copy.
! 	//	void operator=(const SolidData& sd)
  	//	{
  	//		enabled = sd.enabled;
--- 187,191 ----

  	//	/// Makes a deep copy.
! 	//	void operator=(const SolidData& data)
  	//	{
  	//		enabled = sd.enabled;
***************
*** 304,308 ****

  		/// Adds a Shape to this Solid.
! 		virtual void OPAL_CALL addShape(const ShapeData& sd) = 0;

  		///// Adds a box Shape to this Solid.  
--- 304,308 ----

  		/// Adds a Shape to this Solid.
! 		virtual void OPAL_CALL addShape(const ShapeData& data) = 0;

  		///// Adds a box Shape to this Solid.  

Index: SolidData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SolidData.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** SolidData.h	22 Feb 2005 19:46:30 -0000	1.2
--- SolidData.h	23 Feb 2005 03:58:23 -0000	1.3
***************
*** 52,58 ****

  		/// Copy constructor.
! 		SolidData(const SolidData& sd)
  		{
! 			(*this) = sd;
  		}

--- 52,58 ----

  		/// Copy constructor.
! 		SolidData(const SolidData& data)
  		{
! 			(*this) = data;
  		}

***************
*** 67,85 ****

  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const SolidData& sd)
  		{
! 			enabled = sd.enabled;
! 			sleeping = sd.sleeping;
! 			isStatic = sd.isStatic;
! 			transform = sd.transform;
! 			globalLinearVel = sd.globalLinearVel;
! 			globalAngularVel = sd.globalAngularVel;
! 			linearDamping = sd.linearDamping;
! 			angularDamping = sd.angularDamping;

  			shapes.clear();
! 			for (unsigned int i=0; i<sd.shapes.size(); ++i)
  			{
! 				shapes.push_back(sd.shapes[i]);
  			}
  		}
--- 67,85 ----

  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const SolidData& data)
  		{
! 			enabled = data.enabled;
! 			sleeping = data.sleeping;
! 			isStatic = data.isStatic;
! 			transform = data.transform;
! 			globalLinearVel = data.globalLinearVel;
! 			globalAngularVel = data.globalAngularVel;
! 			linearDamping = data.linearDamping;
! 			angularDamping = data.angularDamping;

  			shapes.clear();
! 			for (unsigned int i=0; i<data.shapes.size(); ++i)
  			{
! 				shapes.push_back(data.shapes[i]);
  			}
  		}

Index: GearedMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotor.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** GearedMotor.cpp	16 Feb 2005 21:22:39 -0000	1.5
--- GearedMotor.cpp	23 Feb 2005 03:58:23 -0000	1.6
***************
*** 34,42 ****
  	: Motor()
  	{
! 		mJoint = NULL;
! 		mJointAxisNum = 0;
! 		mMaxTorque = defaults::motor::geared::maxTorque;
! 		mMaxVelInverse = (real)1.0 / defaults::motor::geared::maxVelocity;
! 		mThrottle = 0;
  	}

--- 34,38 ----
  	: Motor()
  	{
! 		// "mData" will be initialized in its own constructor.
  	}

***************
*** 45,59 ****
  	}

! 	void GearedMotor::init(Joint* joint, int axisNum)
  	{
  		Motor::init();
! 		assert(joint->isRotational(axisNum));
! 		mJoint = joint;
! 		mJointAxisNum = axisNum;
  	}

  	void GearedMotor::internal_update()
  	{
! 		if (mEnabled)
  		{
  			// Global/local direction makes no difference here since 
--- 41,82 ----
  	}

! 	//void GearedMotor::init(Joint* joint, int axisNum)
! 	//{
! 	//	Motor::init();
! 	//	assert(joint->isRotational(axisNum));
! 	//	mJoint = joint;
! 	//	mJointAxisNum = axisNum;
! 	//}
! 
! 	void GearedMotor::init(const GearedMotorData& data)
  	{
  		Motor::init();
! 		assert(data.joint->isRotational(data.jointAxisNum));
! 		mData = data;
! 	}
! 
! 	const GearedMotorData& GearedMotor::getMotorData()
! 	{
! 		return mData;
! 	}
! 
! 	bool GearedMotor::isEnabled()const
! 	{
! 		return mData.enabled;
! 	}
! 
! 	void GearedMotor::setEnabled(bool e)
! 	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
! 
! 		mData.enabled = e;
  	}

  	void GearedMotor::internal_update()
  	{
! 		if (mData.enabled)
  		{
  			// Global/local direction makes no difference here since 
***************
*** 63,70 ****
  			// will be an opposing torque at any velocity.

! 			real normalizedVel = mJoint->getVelocity(mJointAxisNum) 
! 				* mMaxVelInverse;
! 			real magnitude = mMaxTorque * (mThrottle - normalizedVel);
! 			mJoint->addTorque(mJointAxisNum, magnitude, 0, true);
  		}
  	}
--- 86,95 ----
  			// will be an opposing torque at any velocity.

! 			real normalizedVel = 
! 				mData.joint->getVelocity(mData.jointAxisNum) / 
! 				mData.maxVelocity;
! 			real magnitude = mData.maxTorque * (mData.throttle - 
! 				normalizedVel);
! 			mData.joint->addTorque(mData.jointAxisNum, magnitude, 0, true);
  		}
  	}
***************
*** 72,81 ****
  	void GearedMotor::setMaxTorque(real max)
  	{
! 		mMaxTorque = max;
  	}

  	real GearedMotor::getMaxTorque()const
  	{
! 		return mMaxTorque;
  	}

--- 97,106 ----
  	void GearedMotor::setMaxTorque(real max)
  	{
! 		mData.maxTorque = max;
  	}

  	real GearedMotor::getMaxTorque()const
  	{
! 		return mData.maxTorque;
  	}

***************
*** 83,92 ****
  	{
  		assert(max != 0);
! 		mMaxVelInverse = (real)1.0 / max;
  	}

  	real GearedMotor::getMaxVelocity()const
  	{
! 		return (real)1.0 / mMaxVelInverse;
  	}

--- 108,117 ----
  	{
  		assert(max != 0);
! 		mData.maxVelocity = max;
  	}

  	real GearedMotor::getMaxVelocity()const
  	{
! 		return mData.maxVelocity;
  	}

***************
*** 94,108 ****
  	{
  		assert(throttle >= -1.0 && throttle <= 1.0);
! 		mThrottle = throttle;
  	}

  	real GearedMotor::getThrottle()const
  	{
! 		return mThrottle;
  	}

  	bool GearedMotor::internal_dependsOn(Joint* joint)
  	{
! 		if (joint == mJoint)
  		{
  			return true;
--- 119,133 ----
  	{
  		assert(throttle >= -1.0 && throttle <= 1.0);
! 		mData.throttle = throttle;
  	}

  	real GearedMotor::getThrottle()const
  	{
! 		return mData.throttle;
  	}

  	bool GearedMotor::internal_dependsOn(Joint* joint)
  	{
! 		if (joint == mData.joint)
  		{
  			return true;

--- NEW FILE: SensorData.h ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_SENSOR_DATA_H
#define OPAL_SENSOR_DATA_H

#include "Defines.h"

namespace opal
{
	/// The types of Sensors currently available.
	enum SensorType
	{
		VELOCITY_SENSOR, 
		ACCELERATION_SENSOR
	};

	/// A data structure describing a Sensor.
	class SensorData
	{
	public:
		SensorData()
		{
			// The initial type doesn't matter since the abstract base 
			// class will never be instantiated.
			mType = VELOCITY_SENSOR;
		}

		virtual ~SensorData()
		{
		}

		/// Returns the Sensor's type.
		virtual SensorData OPAL_CALL getType()const
		{
			return mType;
		}

	protected:
		/// The Sensor type.
		SensorType mType;

	private:
	};
}

#endif

Index: AttractorMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.h,v
retrieving revision 1.21
retrieving revision 1.22
diff -C2 -d -r1.21 -r1.22
*** AttractorMotor.h	18 Feb 2005 23:59:36 -0000	1.21
--- AttractorMotor.h	23 Feb 2005 03:58:23 -0000	1.22
***************
*** 31,34 ****
--- 31,35 ----
  #include "Defines.h"
  #include "Motor.h"
+ #include "AttractorMotorData.h"

  namespace opal
***************
*** 50,54 ****
  		/// enable the Motor.  Calling this more than once will detach the 
  		/// Motor from its Solids and attach it to new Solids.
! 		virtual void OPAL_CALL init(Solid* solid0, Solid* solid1);

  		/// Sets the strength parameter.
--- 51,65 ----
  		/// enable the Motor.  Calling this more than once will detach the 
  		/// Motor from its Solids and attach it to new Solids.
! 		//virtual void OPAL_CALL init(Solid* solid0, Solid* solid1);
! 
! 		/// Initializes the Motor with the given data structure.
! 		virtual void OPAL_CALL init(const AttractorMotorData& data);
! 
! 		/// Returns all data describing the Motor.
! 		virtual const AttractorMotorData& OPAL_CALL getMotorData();
! 
! 		virtual bool OPAL_CALL isEnabled()const;
! 
! 		virtual void OPAL_CALL setEnabled(bool e);

  		/// Sets the strength parameter.
***************
*** 69,77 ****

  	protected:
  		/// Pointer to Solid 0.
! 		Solid* mSolid0;

  		/// Pointer to Solid 1.
! 		Solid* mSolid1;

  		/// Cached copy of Solid 0's mass.
--- 80,91 ----

  	protected:
+ 		/// Stores data describing the Motor.
+ 		AttractorMotorData mData;
+ 
  		/// Pointer to Solid 0.
! 		//Solid* mSolid0;

  		/// Pointer to Solid 1.
! 		//Solid* mSolid1;

  		/// Cached copy of Solid 0's mass.
***************
*** 82,86 ****

  		/// Constant used to scale attraction (repulsion if strength < 0).  
! 		real mStrength;

  		/// Cached copy of strength * m0 * m1.   
--- 96,100 ----

  		/// Constant used to scale attraction (repulsion if strength < 0).  
! 		//real mStrength;

  		/// Cached copy of strength * m0 * m1.   
***************
*** 88,92 ****

  		/// Determines exponential relationship of attraction/repulsion.  
! 		real mExponent;

  	private:
--- 102,106 ----

  		/// Determines exponential relationship of attraction/repulsion.  
! 		//real mExponent;

  	private:

Index: ThrusterMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** ThrusterMotor.cpp	16 Feb 2005 21:22:41 -0000	1.4
--- ThrusterMotor.cpp	23 Feb 2005 03:58:23 -0000	1.5
***************
*** 35,40 ****
  	: Motor()
  	{
! 		mSolid = NULL;
! 		// "mForce" is initialized in its own constructor.
  	}

--- 35,39 ----
  	: Motor()
  	{
! 		// "mData" will be initialized in its own constructor.
  	}

***************
*** 43,57 ****
  	}

! 	void ThrusterMotor::init(Solid* solid)
  	{
  		Motor::init();
! 		mSolid = solid;
  	}

  	void ThrusterMotor::internal_update()
  	{
! 		if (mEnabled)
  		{
! 			mSolid->addForce(mForce);
  		}
  	}
--- 42,82 ----
  	}

! 	//void ThrusterMotor::init(Solid* solid)
! 	//{
! 	//	Motor::init();
! 	//	mSolid = solid;
! 	//}
! 
! 	void ThrusterMotor::init(const ThrusterMotorData& data)
  	{
  		Motor::init();
! 		mData = data;
! 	}
! 
! 	const ThrusterMotorData& ThrusterMotor::getMotorData()
! 	{
! 		return mData;
! 	}
! 
! 	bool ThrusterMotor::isEnabled()const
! 	{
! 		return mData.enabled;
! 	}
! 
! 	void ThrusterMotor::setEnabled(bool e)
! 	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
! 
! 		mData.enabled = e;
  	}

  	void ThrusterMotor::internal_update()
  	{
! 		if (mData.enabled)
  		{
! 			mData.solid->addForce(mData.force);
  		}
  	}
***************
*** 59,73 ****
  	void ThrusterMotor::setForce(const Force& f)
  	{
! 		mForce = f;
  	}

  	const Force& ThrusterMotor::getForce()const
  	{
! 		return mForce;
  	}

  	bool ThrusterMotor::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mSolid)
  		{
  			return true;
--- 84,98 ----
  	void ThrusterMotor::setForce(const Force& f)
  	{
! 		mData.force = f;
  	}

  	const Force& ThrusterMotor::getForce()const
  	{
! 		return mData.force;
  	}

  	bool ThrusterMotor::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mData.solid)
  		{
  			return true;

Index: Blueprint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Blueprint.cpp,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** Blueprint.cpp	22 Feb 2005 01:25:55 -0000	1.12
--- Blueprint.cpp	23 Feb 2005 03:58:23 -0000	1.13
***************
*** 65,79 ****
  	//}

! 	//void Blueprint::addJoint(const JointData& jd)
  	//{
! 	//	if (jointExists(jd.name))
  	//	{
  	//		std::cout << "Warning in opal::Blueprint::addJoint: Joint " << 
! 	//			jd.name << " already exists in Blueprint " << mName 
  	//			<< "; ignoring Joint" << std::endl;
  	//	}
  	//	else
  	//	{
! 	//		mJointMap[jd.name] = jd;
  	//	}
  	//}
--- 65,79 ----
  	//}

! 	//void Blueprint::addJoint(const JointData& data)
  	//{
! 	//	if (jointExists(data.name))
  	//	{
  	//		std::cout << "Warning in opal::Blueprint::addJoint: Joint " << 
! 	//			data.name << " already exists in Blueprint " << mName 
  	//			<< "; ignoring Joint" << std::endl;
  	//	}
  	//	else
  	//	{
! 	//		mJointMap[data.name] = data;
  	//	}
  	//}

Index: GearedMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotor.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** GearedMotor.h	18 Feb 2005 23:59:37 -0000	1.5
--- GearedMotor.h	23 Feb 2005 03:58:23 -0000	1.6
***************
*** 31,34 ****
--- 31,35 ----
  #include "Defines.h"
  #include "Motor.h"
+ #include "GearedMotorData.h"

  namespace opal
***************
*** 55,59 ****
  		/// than once will detach the Motor from its Joint and attach it 
  		/// to a new Joint.
! 		virtual void OPAL_CALL init(Joint* joint, int axisNum);

  		/// Sets the max torque parameter.
--- 56,70 ----
  		/// than once will detach the Motor from its Joint and attach it 
  		/// to a new Joint.
! 		//virtual void OPAL_CALL init(Joint* joint, int axisNum);
! 
! 		/// Initializes the Motor with the given data structure.
! 		virtual void OPAL_CALL init(const GearedMotorData& data);
! 
! 		/// Returns all data describing the Motor.
! 		virtual const GearedMotorData& OPAL_CALL getMotorData();
! 
! 		virtual bool OPAL_CALL isEnabled()const;
! 
! 		virtual void OPAL_CALL setEnabled(bool e);

  		/// Sets the max torque parameter.
***************
*** 81,101 ****

  	protected:
! 		/// Pointer to the Joint affected by this Motor.
! 		Joint* mJoint;

! 		/// The index of the specific Joint axis affected by this Motor.
! 		int mJointAxisNum;

! 		/// The maximum amount of torque that can be applied to the Joint 
! 		/// axis.
! 		real mMaxTorque;

! 		/// The inverse of the maximum velocity that can be achieved by 
! 		/// the Motor.  The inverse is cached for faster computations.
! 		real mMaxVelInverse;

! 		/// The throttle (i.e. the "gas") affects how much of the available 
! 		/// torque is applied to the Joint axis.
! 		real mThrottle;

  	private:
--- 92,115 ----

  	protected:
! 		/// Stores data describing the Motor.
! 		GearedMotorData mData;

! 		///// Pointer to the Joint affected by this Motor.
! 		//Joint* mJoint;

! 		///// The index of the specific Joint axis affected by this Motor.
! 		//int mJointAxisNum;

! 		///// The maximum amount of torque that can be applied to the Joint 
! 		///// axis.
! 		//real mMaxTorque;

! 		///// The inverse of the maximum velocity that can be achieved by 
! 		///// the Motor.  The inverse is cached for faster computations.
! 		//real mMaxVelInverse;
! 
! 		///// The throttle (i.e. the "gas") affects how much of the available 
! 		///// torque is applied to the Joint axis.
! 		//real mThrottle;

  	private:

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.57
retrieving revision 1.58
diff -C2 -d -r1.57 -r1.58
*** Defines.h	22 Feb 2005 01:25:55 -0000	1.57
--- Defines.h	23 Feb 2005 03:58:23 -0000	1.58
***************
*** 102,111 ****
  		ForceType type;

! 		/// Specifies how long to apply to force.
  		real timeLeft;

  		/// This is mainly used internally by OPAL.  It specifies that 
  		/// the force will be applied across a single time step.  If this 
! 		/// parameter is true, 'timeLeft' will be ignored.
  		bool singleStep;

--- 102,112 ----
  		ForceType type;

! 		/// Specifies how long to apply to force.  This will be ignored 
! 		/// if "singleStep" is true.
  		real timeLeft;

  		/// This is mainly used internally by OPAL.  It specifies that 
  		/// the force will be applied across a single time step.  If this 
! 		/// parameter is true, "timeLeft" will be ignored.
  		bool singleStep;

***************
*** 178,187 ****
  	enum JointBreakMode
  	{
  		UNBREAKABLE,
! 		THRESHOLD, //breaks when force/torque exceeds a threshold
! 		ACCUMULATED //breaks when enough damage is accumulated
  	};

! 	/// The types of Joints currently supported.
  	enum JointType
  	{
--- 179,193 ----
  	enum JointBreakMode
  	{
+ 		/// Joint can never break.
  		UNBREAKABLE,
! 
! 		/// Joint breaks when force/torque exceeds a threshold.
! 		THRESHOLD,
! 
! 		/// Joint breaks when enough damage is accumulated.
! 		ACCUMULATED
  	};

! 	/// The types of Joints currently available.
  	enum JointType
  	{
***************
*** 287,290 ****
--- 293,297 ----
  		{
  			const JointType type = HINGE_JOINT;
+ 			const bool enabled = false;
  			const real lowLimit = 0;
  			const real highLimit = 0;
***************
*** 305,308 ****
--- 312,317 ----
  		namespace motor
  		{
+ 			const bool enabled = false;
+ 
  			/// Default parameters used in AttractorMotor creation.
  			namespace attractor

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** Joint.cpp	22 Feb 2005 01:25:55 -0000	1.19
--- Joint.cpp	23 Feb 2005 03:58:23 -0000	1.20
***************
*** 47,53 ****
  	}

! 	void Joint::init(const JointData& jd)
  	{
! 		mData = jd;
  	}

--- 47,53 ----
  	}

! 	void Joint::init(const JointData& data)
  	{
! 		mData = data;
  	}

***************
*** 59,63 ****
  	JointType Joint::getType()const
  	{
! 		return mData.type;
  	}

--- 59,63 ----
  	JointType Joint::getType()const
  	{
! 		return mData.getType();
  	}

--- NEW FILE: SpringMotorData.h ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_SPRING_MOTOR_DATA_H
#define OPAL_SPRING_MOTOR_DATA_H

#include "Defines.h"
#include "MotorData.h"

namespace opal
{
	/// The different SpringMotor modes of operation.  
	enum SpringMotorMode
	{
		/// Makes the Motor work to achieve a desired position.  
		LINEAR_MODE,

		/// Makes the Motor work to achieve a desired orientation.  
		ANGULAR_MODE,

		/// Makes the Motor work to achieve a desired position and 
		/// orientation.
		LINEAR_AND_ANGULAR_MODE
	};

	/// A data structure describing a SpringMotor.
	class SpringMotorData : public MotorData
	{
	public:
		SpringMotorData()
		: MotorData()
		{
			mType = SPRING_MOTOR;
			solid = NULL;
			mode = LINEAR_MODE;
			// "desiredPos" is initialized in its own constructor.
			// "desiredForward" is initialized in its own constructor.
			// "desiredUp" is initialized in its own constructor.
			// "desiredRight" is initialized in its own constructor.
			linearKd = defaults::motor::spring::linearKd;
			linearKs = defaults::motor::spring::linearKs;
			angularKd = defaults::motor::spring::angularKd;
			angularKs = defaults::motor::spring::angularKs;
		}

		/// Copy constructor.
		SpringMotorData(const SpringMotorData& data)
		{
			(*this) = data;
		}

		virtual ~SpringMotorData()
		{
		}

		/// Makes a deep copy.
		virtual void OPAL_CALL operator=(const SpringMotorData& data)
		{
			mType = data.mType;
			enabled = data.enabled;
			solid = data.solid;
			mode = data.mode;
			desiredPos = data.desiredPos;
			desiredForward = data.desiredForward;
			desiredUp = data.desiredUp;
			desiredRight = data.desiredRight;
			linearKd = data.linearKd;
			linearKs = data.linearKs;
			angularKd = data.angularKd;
			angularKs = data.angularKs;
		}

		/// Pointer to the Solid affected by this Motor.  
		Solid* solid;

		/// The Motor's mode of operation.  
		SpringMotorMode mode;

		/// The Motor's desired position.  This is only used if the 
		/// appropriate mode is set.
		Point3r desiredPos;

		/// The Motor's desired forward direction, part of the desired 
		/// orientation.  This is only used if the appropriate mode is set.
		Vec3r desiredForward;

		/// The Motor's desired up direction, part of the desired 
		/// orientation.  This is only used if the appropriate mode is set.
		Vec3r desiredUp;

		/// The Motor's desired right direction, part of the desired 
		/// orientation.  This is only used if the appropriate mode is set.
		Vec3r desiredRight;

		/// The damping constant for linear mode.  
		real linearKd;

		/// The spring constant for linear mode.  
		real linearKs;

		/// The damping constant for angular mode.  
		real angularKd;

		/// The spring constant for angular mode.  
		real angularKs;

	protected:

	private:
	};
}

#endif

--- NEW FILE: MotorData.h...

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