[Opal-commits] opal/samples/src CarObject.cpp,1.20,1.21

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

Update of /cvsroot/opal/opal/samples/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27467/samples/src

Modified Files:
	CarObject.cpp 
Log Message:
added Solid init function; fixed sample apps

Index: CarObject.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/src/CarObject.cpp,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** CarObject.cpp	22 Feb 2005 19:46:26 -0000	1.20
--- CarObject.cpp	23 Feb 2005 04:56:48 -0000	1.21
***************
*** 53,60 ****
  
  	// Setup a JointData object to reuse for several Joints.
! 	opal::JointData jd;
! 	jd.solid0 = mBody;
! 	jd.axis[0] = suspensionAxis;
! 	jd.axis[1] = wheelAxis;
  
  	// Setup a SphereData object to reuse for the wheels.
--- 53,60 ----
  
  	// Setup a JointData object to reuse for several Joints.
! 	opal::JointData jointData;
! 	jointData.solid0 = mBody;
! 	jointData.axis[0] = suspensionAxis;
! 	jointData.axis[1] = wheelAxis;
  
  	// Setup a SphereData object to reuse for the wheels.
***************
*** 72,79 ****
  	// Add front left Joint.
  	mFLJoint = sim->createJoint();
! 	jd.type = opal::HINGE_2_JOINT;
! 	jd.solid1 = mFLWheel;
! 	jd.anchor = M.getPosition();
! 	mFLJoint->init(jd);
  
  	// Add front right wheel Solid.
--- 72,79 ----
  	// Add front left Joint.
  	mFLJoint = sim->createJoint();
! 	jointData.setType(opal::HINGE_2_JOINT);
! 	jointData.solid1 = mFLWheel;
! 	jointData.anchor = M.getPosition();
! 	mFLJoint->init(jointData);
  
  	// Add front right wheel Solid.
***************
*** 86,93 ****
  	// Add front right Joint.
  	mFRJoint = sim->createJoint();
! 	jd.type = opal::HINGE_2_JOINT;
! 	jd.solid1 = mFRWheel;
! 	jd.anchor = M.getPosition();
! 	mFRJoint->init(jd);
  
  	// Add rear left wheel.
--- 86,93 ----
  	// Add front right Joint.
  	mFRJoint = sim->createJoint();
! 	jointData.setType(opal::HINGE_2_JOINT);
! 	jointData.solid1 = mFRWheel;
! 	jointData.anchor = M.getPosition();
! 	mFRJoint->init(jointData);
  
  	// Add rear left wheel.
***************
*** 100,108 ****
  	// Add rear left Joint.
  	mRLJoint = sim->createJoint();
! 	jd.type = opal::HINGE_JOINT;
! 	jd.solid1 = mRLWheel;
! 	jd.anchor = M.getPosition();
! 	jd.axis[0] = wheelAxis;
! 	mRLJoint->init(jd);
  
  	// Add rear right wheel.
--- 100,108 ----
  	// Add rear left Joint.
  	mRLJoint = sim->createJoint();
! 	jointData.setType(opal::HINGE_JOINT);
! 	jointData.solid1 = mRLWheel;
! 	jointData.anchor = M.getPosition();
! 	jointData.axis[0] = wheelAxis;
! 	mRLJoint->init(jointData);
  
  	// Add rear right wheel.
***************
*** 115,123 ****
  	// Add rear right Joint.
  	mRRJoint = sim->createJoint();
! 	jd.type = opal::HINGE_JOINT;
! 	jd.solid1 = mRRWheel;
! 	jd.anchor = M.getPosition();
! 	jd.axis[0] = wheelAxis;
! 	mRRJoint->init(jd);
  
  	//translate mass downward to keep car from rolling
--- 115,123 ----
  	// Add rear right Joint.
  	mRRJoint = sim->createJoint();
! 	jointData.setType(opal::HINGE_JOINT);
! 	jointData.solid1 = mRRWheel;
! 	jointData.anchor = M.getPosition();
! 	jointData.axis[0] = wheelAxis;
! 	mRRJoint->init(jointData);
  
  	//translate mass downward to keep car from rolling
***************
*** 133,146 ****
  	//mRRHinge->setBreakParams(opal::THRESHOLD, 2000.0, 0.0);
  
  	mFLMotor = sim->createGearedMotor();
! 	mFLMotor->init(mFLJoint, 1);
! 	mFLMotor->setMaxTorque(15);
! 	mFLMotor->setMaxVelocity(5000);
! 	mFRMotor = sim->createGearedMotor();
! 	mFRMotor->init(mFRJoint, 1);
! 	mFRMotor->setMaxTorque(15);
! 	mFRMotor->setMaxVelocity(5000);
  
! 	//mBody->setTransform(transform);
  }
  
--- 133,151 ----
  	//mRRHinge->setBreakParams(opal::THRESHOLD, 2000.0, 0.0);
  
+ 	// Setup a GearedMotorData object to reuse for both front wheels.
+ 	opal::GearedMotorData motorData;
+ 	motorData.joint = mFLJoint;
+ 	motorData.jointAxisNum = 1;
+ 	motorData.maxTorque = 15;
+ 	motorData.maxVelocity = 5000;
+ 
+ 	// Create and setup the front left Motor.
  	mFLMotor = sim->createGearedMotor();
! 	mFLMotor->init(motorData);
  
! 	// Create and setup the front right Motor.
! 	mFRMotor = sim->createGearedMotor();
! 	motorData.joint = mFRJoint;
! 	mFRMotor->init(motorData);
  }