[Opal-commits] opal/src/ODE ODEJoint.cpp,1.24,1.25 ODEJoint.h,1.28,1.29 ODESimulator.cpp,1.79,1.80 O

SourceForge Headquarters 1320 Columbia Street Suite 310 San Diego, CA 92101 +1 (858) 422-6466

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5241/src/ODE

Modified Files:
	ODEJoint.cpp ODEJoint.h ODESimulator.cpp ODESimulator.h 
	ODESolid.cpp ODESolid.h 
Log Message:
updated XML parsing to reflect new object creation method

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.79
retrieving revision 1.80
diff -C2 -d -r1.79 -r1.80
*** ODESimulator.cpp	23 Feb 2005 06:35:46 -0000	1.79
--- ODESimulator.cpp	25 Feb 2005 06:40:26 -0000	1.80
***************
*** 76,80 ****

  		setSolverAccuracy(defaults::solverAccuracy);
! 		setSleepiness(defaults::sleepiness);
  		mCollisionCount = 0;
  	}
--- 76,80 ----

  		setSolverAccuracy(defaults::solverAccuracy);
! 		//setDefaultSleepiness(defaults::sleepiness);
  		mCollisionCount = 0;
  	}
***************
*** 711,740 ****
  	}

! 	void ODESimulator::collide(const Solid* solid, std::vector<Solid*>* solids)
! 	{
! 		mCollisionCount++;
! 		mCollidedSolids.clear();
! 		const std::vector<GeomData*>* geomList = 
! 			((ODESolid*)solid)->internal_getGeomDataList();
! 		
! 		//check for collisions; this will fill up mCollidedSolids
! 		std::vector<GeomData*>::const_iterator iter;
! 		for (iter = geomList->begin(); iter != geomList->end(); ++iter)
! 		{
! 			dSpaceCollide2((*iter)->geomID, (dGeomID)mRootSpaceID, this, 
! 				&ode_hidden::internal_pickingCollisionCallback);
! 		}

! 		std::vector<Solid*>::iterator solidIter;
! 		for (solidIter = mCollidedSolids.begin(); 
! 			solidIter != mCollidedSolids.end(); ++solidIter)
! 		{
! 			//we don't want the picking solid to be added
! 			if (*solidIter != solid)
! 			{
! 				solids->push_back(*solidIter);
! 			}
! 		}
! 	}

  	RayHit ODESimulator::shootRay(const Point3r& origin, const Vec3r& dir, 
--- 711,740 ----
  	}

! 	//void ODESimulator::collide(const Solid* solid, std::vector<Solid*>* solids)
! 	//{
! 	//	mCollisionCount++;
! 	//	mCollidedSolids.clear();
! 	//	const std::vector<GeomData*>* geomList = 
! 	//		((ODESolid*)solid)->internal_getGeomDataList();
! 	//	
! 	//	//check for collisions; this will fill up mCollidedSolids
! 	//	std::vector<GeomData*>::const_iterator iter;
! 	//	for (iter = geomList->begin(); iter != geomList->end(); ++iter)
! 	//	{
! 	//		dSpaceCollide2((*iter)->geomID, (dGeomID)mRootSpaceID, this, 
! 	//			&ode_hidden::internal_pickingCollisionCallback);
! 	//	}

! 	//	std::vector<Solid*>::iterator solidIter;
! 	//	for (solidIter = mCollidedSolids.begin(); 
! 	//		solidIter != mCollidedSolids.end(); ++solidIter)
! 	//	{
! 	//		//we don't want the picking solid to be added
! 	//		if (*solidIter != solid)
! 	//		{
! 	//			solids->push_back(*solidIter);
! 	//		}
! 	//	}
! 	//}

  	RayHit ODESimulator::shootRay(const Point3r& origin, const Vec3r& dir, 
***************
*** 779,825 ****
  	}

! 	void ODESimulator::setSleepiness(real value)
! 	{
! 		assert(value >= 0.0 && value <= 1.0);
! 
! 		if (0.0 == value)
! 		{
! 			//no sleeping at all
! 			dWorldSetAutoDisableFlag(mWorldID, false);
! 		}
! 		else
! 		{
! 			//enable sleeping
! 			dWorldSetAutoDisableFlag(mWorldID, true);
! 		}

! 		//as value goes from 0.0 to 1.0:
! 		//AutoDisableLinearThreshold goes from min to max,
! 		//AutoDisableAngularThreshold goes from min to max,
! 		//AutoDisableSteps goes from max to min,
! 		//AutoDisableTime goes from max to min

! 		real range = defaults::ode::autoDisableLinearMax - 
! 			defaults::ode::autoDisableLinearMin;
! 		dWorldSetAutoDisableLinearThreshold(mWorldID, value * range + 
! 			defaults::ode::autoDisableLinearMin);

! 		range = defaults::ode::autoDisableAngularMax - 
! 			defaults::ode::autoDisableAngularMin;
! 		dWorldSetAutoDisableAngularThreshold(mWorldID, value * range + 
! 			defaults::ode::autoDisableAngularMin);

! 		range = (real)(defaults::ode::autoDisableStepsMax - 
! 			defaults::ode::autoDisableStepsMin);
! 		dWorldSetAutoDisableSteps(mWorldID, 
! 			(int)((real)defaults::ode::autoDisableStepsMax - value * range));

! 		range = defaults::ode::autoDisableTimeMax - 
! 			defaults::ode::autoDisableTimeMin;
! 		dWorldSetAutoDisableTime(mWorldID, 
! 			defaults::ode::autoDisableTimeMax - value * range);

! 		Simulator::setSleepiness(value);
! 	}

  	void ODESimulator::setSolverAccuracy(SolverAccuracyLevel level)
--- 779,823 ----
  	}

! 	//void ODESimulator::setDefaultSleepiness(real value)
! 	//{
! 	//	Simulator::setDefaultSleepiness(value);

! 	//	if (0 == value)
! 	//	{
! 	//		// No default sleeping for new Solids.
! 	//		dWorldSetAutoDisableFlag(mWorldID, false);
! 	//	}
! 	//	else
! 	//	{
! 	//		// Enable default sleeping for new Solids.
! 	//		dWorldSetAutoDisableFlag(mWorldID, true);
! 	//	}

! 	//	// As value goes from 0.0 to 1.0:
! 	//	// AutoDisableLinearThreshold goes from min to max,
! 	//	// AutoDisableAngularThreshold goes from min to max,
! 	//	// AutoDisableSteps goes from max to min,
! 	//	// AutoDisableTime goes from max to min.

! 	//	real range = defaults::ode::autoDisableLinearMax - 
! 	//		defaults::ode::autoDisableLinearMin;
! 	//	dWorldSetAutoDisableLinearThreshold(mWorldID, value * range + 
! 	//		defaults::ode::autoDisableLinearMin);

! 	//	range = defaults::ode::autoDisableAngularMax - 
! 	//		defaults::ode::autoDisableAngularMin;
! 	//	dWorldSetAutoDisableAngularThreshold(mWorldID, value * range + 
! 	//		defaults::ode::autoDisableAngularMin);

! 	//	range = (real)(defaults::ode::autoDisableStepsMax - 
! 	//		defaults::ode::autoDisableStepsMin);
! 	//	dWorldSetAutoDisableSteps(mWorldID, 
! 	//		(int)((real)defaults::ode::autoDisableStepsMax - value * range));

! 	//	range = defaults::ode::autoDisableTimeMax - 
! 	//		defaults::ode::autoDisableTimeMin;
! 	//	dWorldSetAutoDisableTime(mWorldID, 
! 	//		defaults::ode::autoDisableTimeMax - value * range);
! 	//}

  	void ODESimulator::setSolverAccuracy(SolverAccuracyLevel level)

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.70
retrieving revision 1.71
diff -C2 -d -r1.70 -r1.71
*** ODESolid.cpp	23 Feb 2005 06:35:46 -0000	1.70
--- ODESolid.cpp	25 Feb 2005 06:40:26 -0000	1.71
***************
*** 123,126 ****
--- 123,129 ----
  		setSleeping(data.sleeping);

+ 		// Set the Solid's sleepiness level.
+ 		setSleepiness(data.sleepiness);
+ 
  		// Set whether the Solid is enabled.
  		setEnabled(data.enabled);
***************
*** 267,270 ****
--- 270,277 ----
  				mBodyID = dBodyCreate(mWorldID);

+ 				// Set the ODE sleepiness params using the stored Solid 
+ 				// sleepiness param.
+ 				setSleepiness(mData.sleepiness);
+ 
  				// Set the position of the new body.
  				dMatrix3 R = 
***************
*** 403,406 ****
--- 410,463 ----
  	}

+ 	void ODESolid::setSleepiness(real s)
+ 	{
+ 		Solid::setSleepiness(s);
+ 
+ 		/// If this Solid has no ODE body, just return.  The sleepiness 
+ 		/// level will still be saved and applied if this Solid ever 
+ 		/// becomes dynamic.
+ 		if (mData.isStatic)
+ 		{
+ 			return;
+ 		}
+ 
+ 		if (0 == s)
+ 		{
+ 			// No sleeping at all for the Solid.
+ 			dBodySetAutoDisableFlag(mBodyID, false);
+ 		}
+ 		else
+ 		{
+ 			// Enable sleeping for the Solid..
+ 			dBodySetAutoDisableFlag(mBodyID, true);
+ 		}
+ 
+ 		// As value goes from 0.0 to 1.0: 
+ 		// AutoDisableLinearThreshold goes from min to max, 
+ 		// AutoDisableAngularThreshold goes from min to max, 
+ 		// AutoDisableSteps goes from max to min, 
+ 		// AutoDisableTime goes from max to min.
+ 
+ 		real range = defaults::ode::autoDisableLinearMax - 
+ 			defaults::ode::autoDisableLinearMin;
+ 		dBodySetAutoDisableLinearThreshold(mBodyID, s * range + 
+ 			defaults::ode::autoDisableLinearMin);
+ 
+ 		range = defaults::ode::autoDisableAngularMax - 
+ 			defaults::ode::autoDisableAngularMin;
+ 		dBodySetAutoDisableAngularThreshold(mBodyID, s * range + 
+ 			defaults::ode::autoDisableAngularMin);
+ 
+ 		range = (real)(defaults::ode::autoDisableStepsMax - 
+ 			defaults::ode::autoDisableStepsMin);
+ 		dBodySetAutoDisableSteps(mBodyID, 
+ 			(int)((real)defaults::ode::autoDisableStepsMax - s * range));
+ 
+ 		range = defaults::ode::autoDisableTimeMax - 
+ 			defaults::ode::autoDisableTimeMin;
+ 		dBodySetAutoDisableTime(mBodyID, 
+ 			defaults::ode::autoDisableTimeMax - s * range);
+ 	}
+ 
  	void ODESolid::translateMass(const Vec3r& offset)
  	{
***************
*** 979,983 ****
  	//}

! 	//bool ODESolid::getFastRotation()
  	//{
  	//	if (mStatic)
--- 1036,1040 ----
  	//}

! 	//bool ODESolid::getFastRotation()const
  	//{
  	//	if (mStatic)
***************
*** 1001,1005 ****
  	//}

! 	real ODESolid::getMass()
  	{
  		if (mData.isStatic)
--- 1058,1062 ----
  	//}

! 	real ODESolid::getMass()const
  	{
  		if (mData.isStatic)

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.55
retrieving revision 1.56
diff -C2 -d -r1.55 -r1.56
*** ODESimulator.h	23 Feb 2005 06:35:46 -0000	1.55
--- ODESimulator.h	25 Feb 2005 06:40:26 -0000	1.56
***************
*** 75,80 ****

  		//convenience collision check function
! 		virtual void OPAL_CALL collide(const Solid* solid, 
! 			std::vector<Solid*>* solids);

  		//convenience ray casting function
--- 75,80 ----

  		//convenience collision check function
! 		//virtual void OPAL_CALL collide(const Solid* solid, 
! 		//	std::vector<Solid*>* solids);

  		//convenience ray casting function
***************
*** 86,90 ****
  		virtual Vec3r OPAL_CALL getGravity()const;

! 		virtual void OPAL_CALL setSleepiness(real value);

  		virtual void OPAL_CALL setSolverAccuracy(SolverAccuracyLevel level);
--- 86,90 ----
  		virtual Vec3r OPAL_CALL getGravity()const;

! 		//virtual void OPAL_CALL setDefaultSleepiness(real value);

  		virtual void OPAL_CALL setSolverAccuracy(SolverAccuracyLevel level);

Index: ODEJoint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.h,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** ODEJoint.h	23 Feb 2005 03:58:23 -0000	1.28
--- ODEJoint.h	25 Feb 2005 06:40:26 -0000	1.29
***************
*** 57,61 ****
  		//virtual void OPAL_CALL setLimits(int axisNum, JointLimits l);

! 		//virtual const JointLimits& OPAL_CALL getLimits(int axisNum);

  		virtual void OPAL_CALL setEnabled(bool e);
--- 57,61 ----
  		//virtual void OPAL_CALL setLimits(int axisNum, JointLimits l);

! 		//virtual const JointLimits& OPAL_CALL getLimits(int axisNum)const;

  		virtual void OPAL_CALL setEnabled(bool e);
***************
*** 87,93 ****
  		/// Helper function to make it easier to get parameters for 
  		/// various ODE Joint types.
! 		//real getJointParam(int parameter);

! 		/// Returns the current amount of stress on this Joint.  
  		virtual real calcStress();

--- 87,93 ----
  		/// Helper function to make it easier to get parameters for 
  		/// various ODE Joint types.
! 		//real getJointParam(int parameter)const;

! 		/// Returns the current amount of stress on this Joint.
  		virtual real calcStress();

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.62
retrieving revision 1.63
diff -C2 -d -r1.62 -r1.63
*** ODESolid.h	23 Feb 2005 04:56:49 -0000	1.62
--- ODESolid.h	25 Feb 2005 06:40:26 -0000	1.63
***************
*** 77,80 ****
--- 77,82 ----
  		virtual bool OPAL_CALL isSleeping()const;

+ 		virtual void OPAL_CALL setSleepiness(real s);
+ 
  		virtual void OPAL_CALL setStatic(bool s);

***************
*** 132,136 ****
  		//virtual void OPAL_CALL setFastRotation(bool fast);

! 		//virtual bool OPAL_CALL getFastRotation();

  		//virtual void OPAL_CALL setFastRotationAxis(Vec3r axis);
--- 134,138 ----
  		//virtual void OPAL_CALL setFastRotation(bool fast);

! 		//virtual bool OPAL_CALL getFastRotation()const;

  		//virtual void OPAL_CALL setFastRotationAxis(Vec3r axis);
***************
*** 138,142 ****
  		/// Returns the Solid's mass.  This will return 0 if the Solid 
  		/// is static.
! 		virtual real OPAL_CALL getMass();

  		virtual void OPAL_CALL internal_updateOPALTransform();
--- 140,144 ----
  		/// Returns the Solid's mass.  This will return 0 if the Solid 
  		/// is static.
! 		virtual real OPAL_CALL getMass()const;

  		virtual void OPAL_CALL internal_updateOPALTransform();

Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -d -r1.24 -r1.25
*** ODEJoint.cpp	23 Feb 2005 03:58:23 -0000	1.24
--- ODEJoint.cpp	25 Feb 2005 06:40:26 -0000	1.25
***************
*** 310,314 ****
  	//}

! 	//const JointLimits& ODEJoint::getLimits(int axisNum)
  	//{

--- 310,314 ----
  	//}

! 	//const JointLimits& ODEJoint::getLimits(int axisNum)const
  	//{

***************
*** 752,756 ****
  	}

! 	//real ODEJoint::getJointParam(int parameter)
  	//{
  	//	real value = 0;
--- 752,756 ----
  	}

! 	//real ODEJoint::getJointParam(int parameter)const
  	//{
  	//	real value = 0;
***************
*** 793,801 ****
  		switch(mData.breakMode)
  		{
! 			case UNBREAKABLE:
! 				//don't waste time calculating the stress here
  				break;
! 			case THRESHOLD: //fall through...
! 			case ACCUMULATED:
  			{
  				dJointFeedback* jf = dJointGetFeedback(mJointID);
--- 793,802 ----
  		switch(mData.breakMode)
  		{
! 			case UNBREAKABLE_MODE:
! 				// Nothing to do.
  				break;
! 			case THRESHOLD_MODE:
! 				// Fall through...
! 			case ACCUMULATED_MODE:
  			{
  				dJointFeedback* jf = dJointGetFeedback(mJointID);
***************
*** 805,809 ****
  				Vec3r t2(jf->t2[0], jf->t2[1], jf->t2[2]);

! 				//this is a simplification, but it should still work
  				currentStress = f1.length() + t1.length() + f2.length() + 
  					t2.length();
--- 806,810 ----
  				Vec3r t2(jf->t2[0], jf->t2[1], jf->t2[2]);

! 				// This is a simplification, but it should still work.
  				currentStress = f1.length() + t1.length() + f2.length() + 
  					t2.length();

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.24,1.25 ODEJoint.h,1.28,1.29 ODESimulator.cpp,1.79,1.80 O

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.24,1.25 ODEJoint.h,1.28,1.29 ODESimulator.cpp,1.79,1.80 ODESimulator.h,1.55,1.56 ODESolid.cpp,1.70,1.71 ODESolid.h,1.62,1.63