[Opal-commits] opal/src/ODE ODESimulator.cpp,1.78,1.79 ODESimulator.h,1.54,1.55 ODESolid.cpp,1.69,1.70

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19126/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h ODESolid.cpp 
Log Message:
minor fixes

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.54
retrieving revision 1.55
diff -C2 -d -r1.54 -r1.55
*** ODESimulator.h	22 Feb 2005 01:25:56 -0000	1.54
--- ODESimulator.h	23 Feb 2005 06:35:46 -0000	1.55
***************
*** 79,88 ****
  
  		//convenience ray casting function
! 		virtual void OPAL_CALL shootRay(const Point3r& origin, 
! 			const Vec3r& dir, real length, RayHit& rayHit);
  
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity);
  
! 		virtual void OPAL_CALL getGravity(Vec3r& gravity)const;
  
  		virtual void OPAL_CALL setSleepiness(real value);
--- 79,88 ----
  
  		//convenience ray casting function
! 		virtual RayHit OPAL_CALL shootRay(const Point3r& origin, 
! 			const Vec3r& dir, real length);
  
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity);
  
! 		virtual Vec3r OPAL_CALL getGravity()const;
  
  		virtual void OPAL_CALL setSleepiness(real value);

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.78
retrieving revision 1.79
diff -C2 -d -r1.78 -r1.79
*** ODESimulator.cpp	22 Feb 2005 01:25:56 -0000	1.78
--- ODESimulator.cpp	23 Feb 2005 06:35:46 -0000	1.79
***************
*** 738,743 ****
  	}
  
! 	void ODESimulator::shootRay(const Point3r& origin, const Vec3r& dir, 
! 		real length, RayHit& rayHit)
  	{
  		mRayHit.solid = NULL;
--- 738,743 ----
  	}
  
! 	RayHit ODESimulator::shootRay(const Point3r& origin, const Vec3r& dir, 
! 		real length)
  	{
  		mRayHit.solid = NULL;
***************
*** 754,757 ****
--- 754,758 ----
  			&ode_hidden::internal_rayCastingCollisionCallback);
  
+ 		RayHit rayHit;
  		rayHit.solid = mRayHit.solid; //note that this may remain NULL
  		rayHit.intersection = mRayHit.intersection;
***************
*** 761,764 ****
--- 762,767 ----
  		// finished with ray, so destroy it
  		dGeomDestroy(rayGeomID);
+ 
+ 		return rayHit;
  	}
  
***************
*** 768,775 ****
  	}
  
! 	void ODESimulator::getGravity(Vec3r& gravity)const
  	{
! 		dReal vec[3] = {gravity[0], gravity[1], gravity[2]};
! 		dWorldGetGravity(mWorldID, vec);
  	}
  
--- 771,780 ----
  	}
  
! 	Vec3r ODESimulator::getGravity()const
  	{
! 		dVector3 g;
! 		dWorldGetGravity(mWorldID, g);
! 		Vec3r gravity(g[0], g[1], g[2]);
! 		return gravity;
  	}
  

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.69
retrieving revision 1.70
diff -C2 -d -r1.69 -r1.70
*** ODESolid.cpp	23 Feb 2005 04:56:49 -0000	1.69
--- ODESolid.cpp	23 Feb 2005 06:35:46 -0000	1.70
***************
*** 103,111 ****
  	{
  		// Destroy the old Shapes.
! 		while (!mData.shapes.empty())
! 		{
! 			delete mData.shapes.back();
! 			mData.shapes.pop_back();
! 		}
  
  		// Destroy the old ODE geoms.
--- 103,107 ----
  	{
  		// Destroy the old Shapes.
! 		mData.destroyShapes();
  
  		// Destroy the old ODE geoms.
***************
*** 119,125 ****
  
  		// Add the new Shapes.
! 		for (unsigned int i=0; i<data.shapes.size(); ++i)
  		{
! 			addShape(*(data.shapes[i]));
  		}
  
--- 115,121 ----
  
  		// Add the new Shapes.
! 		for (int i=0; i<data.getNumShapes(); ++i)
  		{
! 			addShape(*(data.getShapeData(i)));
  		}
  
***************
*** 425,429 ****
  		dSpaceID spaceID = NULL;
  		dMass newMass;
- 		ShapeData* newShape = NULL;
  
  		if(Matrix44r() == data.offset)
--- 421,424 ----
***************
*** 460,464 ****
  					(dReal)boxData.dimensions[1], 
  					(dReal)boxData.dimensions[2]);
- 				newShape = new BoxShapeData(boxData);
  				break;
  			}
--- 455,458 ----
***************
*** 470,474 ****
  				dMassSetSphere(&newMass, (dReal)data.material.density, 
  					(dReal)sphereData.radius);
- 				newShape = new SphereShapeData(sphereData);
  				break;
  			}
--- 464,467 ----
***************
*** 486,490 ****
  				dMassSetCappedCylinder(&newMass, (dReal)data.material.density, 
  					3, (dReal)capsuleData.radius, (dReal)capsuleData.length);
- 				newShape = new CapsuleShapeData(capsuleData);
  				break;
  			}
--- 479,482 ----
***************
*** 519,523 ****
  				// Solids with planes are the only "placeable" Solids.
  				mIsPlaceable = false;
- 				newShape = new PlaneShapeData(planeData);
  				break;
  			}
--- 511,514 ----
***************
*** 533,537 ****
  					(dReal)dir[2]);
  				// Note: rays don't have mass.
- 				newShape = new RayShapeData(rayData);
  				break;
  			}
--- 524,527 ----
***************
*** 553,558 ****
  				// or just enforce that all mesh must be static.
  				dMassSetSphere(&newMass, (dReal)data.material.density, 1);
- 
- 				newShape = new MeshShapeData(meshData);
  				break;
  			}
--- 543,546 ----
***************
*** 565,573 ****
  
  		// Store new Shape.
! 		mData.shapes.push_back(newShape);
  
  		// Setup GeomData.
  		newGeomData->solid = this;
! 		newGeomData->shape = newShape;
  		newGeomData->geomID = newGeomID;
  		newGeomData->transformID = newTransformID;
--- 553,561 ----
  
  		// Store new Shape.
! 		mData.addShape(data);
  
  		// Setup GeomData.
  		newGeomData->solid = this;
! 		newGeomData->shape = mData.getShapeData(mData.getNumShapes() - 1);
  		newGeomData->geomID = newGeomID;
  		newGeomData->transformID = newTransformID;