[Opal-commits] opal/src/ODE ODEJoint.cpp,1.26,1.27 ODESimulator.cpp,1.80,1.81 ODESimulator.h,1.56,1.57 ODESolid.cpp,1.72,1.73

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21242/src/ODE

Modified Files:
	ODEJoint.cpp ODESimulator.cpp ODESimulator.h ODESolid.cpp 
Log Message:
fixed bugs in xml blueprint loading; added ragdoll xml file to sample app

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.56
retrieving revision 1.57
diff -C2 -d -r1.56 -r1.57
*** ODESimulator.h	25 Feb 2005 06:40:26 -0000	1.56
--- ODESimulator.h	1 Mar 2005 05:04:23 -0000	1.57
***************
*** 135,139 ****
  	namespace ode_hidden
  	{
! 		// They don't use the OPAL_CALL calling convention 
  		// because they are functors passed to ODE which expects a different 
  		// calling convention.
--- 135,139 ----
  	namespace ode_hidden
  	{
! 		// These function don't use the OPAL_CALL calling convention 
  		// because they are functors passed to ODE which expects a different 
  		// calling convention.
***************
*** 144,152 ****
  		/// Special collision callback functor for volume collision 
  		/// checking.
! 		void internal_pickingCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1);
  
  		/// Collision callback functor for ray casting.  
! 		void internal_rayCastingCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1);
  
--- 144,152 ----
  		/// Special collision callback functor for volume collision 
  		/// checking.
! 		void internal_volumeCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1);
  
  		/// Collision callback functor for ray casting.  
! 		void internal_raycastCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1);
  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.80
retrieving revision 1.81
diff -C2 -d -r1.80 -r1.81
*** ODESimulator.cpp	25 Feb 2005 06:40:26 -0000	1.80
--- ODESimulator.cpp	1 Mar 2005 05:04:23 -0000	1.81
***************
*** 255,262 ****
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				//colliding a space with either a geom or another space
  				dSpaceCollide2(o0, o1, data, &internal_collisionCallback);
  				
! 				//colliding all geoms internal to the space
  				if (dGeomIsSpace(o0))
  				{
--- 255,262 ----
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				// Colliding a space with either a geom or another space.
  				dSpaceCollide2(o0, o1, data, &internal_collisionCallback);
  				
! 				// Colliding all geoms internal to the space.
  				if (dGeomIsSpace(o0))
  				{
***************
*** 273,279 ****
  			else
  			{
! 				//colliding two geoms
  
! 				//use category/collide bitfields here, if applicable
  
  				dBodyID o0BodyID = dGeomGetBody(o0);
--- 273,279 ----
  			else
  			{
! 				// Colliding two geoms.
  
! 				// Use category/collide bitfields here?
  
  				dBodyID o0BodyID = dGeomGetBody(o0);
***************
*** 311,315 ****
  				}
  
! 				//now actually test for collision between the two geoms
  				ODESimulator* sim = (ODESimulator*)data;
  				dWorldID theWorldID = sim->internal_getWorldID();
--- 311,315 ----
  				}
  
! 				// Now actually test for collision between the two geoms.
  				ODESimulator* sim = (ODESimulator*)data;
  				dWorldID theWorldID = sim->internal_getWorldID();
***************
*** 318,322 ****
  				dContactGeom contactArray[defaults::ode::maxContactPoints];
  				int numContacts = dCollide(o0, o1, 
! 					defaults::ode::maxContactPoints, contactArray, sizeof(dContactGeom));
  
  				if (0 == numContacts)
--- 318,323 ----
  				dContactGeom contactArray[defaults::ode::maxContactPoints];
  				int numContacts = dCollide(o0, o1, 
! 					defaults::ode::maxContactPoints, contactArray, 
! 					sizeof(dContactGeom));
  
  				if (0 == numContacts)
***************
*** 326,331 ****
  
  				dContact tempContact;
! 				bool generateContacts0 = true; // default to true
! 				bool generateContacts1 = true; // default to true
  				GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
  				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
--- 327,332 ----
  
  				dContact tempContact;
! 				bool generateContacts0 = true; // Default to true.
! 				bool generateContacts1 = true; // Default to true.
  				GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
  				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
***************
*** 333,343 ****
  				Solid* solid1 = geomData1->solid;
  
! 				// early check to save some time
  				if (solid0->getEventHandler() || solid1->getEventHandler())
  				{
! 					//call the event handlers - they will return true if they 
! 					//want contacts generated; note: we only generate two 
! 					//events per object/object collision; just use the
! 					//first contact to pass data to the event handlers
  
  					CollisionEvent e;
--- 334,344 ----
  				Solid* solid1 = geomData1->solid;
  
! 				// Early check to save some time.
  				if (solid0->getEventHandler() || solid1->getEventHandler())
  				{
! 					// Call the event handlers - they will return true if 
! 					// they want contacts generated.  Note: we only want up to 
! 					// two events per object/object collision; just use the 
! 					// first contact to pass data to the event handlers.
  
  					CollisionEvent e;
***************
*** 359,368 ****
  					}
  
! 					e.normal *= -1; //invert normal
! 					e.solid0 = solid1; //swap solid pointers
  					e.solid1 = solid0;
  
  					eventHandler = solid1->getEventHandler();
! 					if (solid1->getEventHandler())
  					{
  						generateContacts1 = 
--- 360,369 ----
  					}
  
! 					e.normal *= -1; // Invert normal.
! 					e.solid0 = solid1; // Swap solid pointers.
  					e.solid1 = solid0;
  
  					eventHandler = solid1->getEventHandler();
! 					if (eventHandler)
  					{
  						generateContacts1 = 
***************
*** 371,375 ****
  				}
  
! 				// handle one-sided contacts for two cases: 1) only one of 
  				// the above event handlers actually wants contacts generated, 
  				// 2) if the mass ratio is above some threshold, treat it as 
--- 372,376 ----
  				}
  
! 				// Handle one-sided contacts for two cases: 1) only one of 
  				// the above event handlers actually wants contacts generated, 
  				// 2) if the mass ratio is above some threshold, treat it as 
***************
*** 378,382 ****
  				// (with the massive one being static), then also add the 
  				// massive object's velocity to the smaller one (velocity 
! 				// calculated at the point of collision)
  
  				if (true == generateContacts0 || true == generateContacts1)
--- 379,383 ----
  				// (with the massive one being static), then also add the 
  				// massive object's velocity to the smaller one (velocity 
! 				// calculated at the point of collision).
  
  				if (true == generateContacts0 || true == generateContacts1)
***************
*** 545,549 ****
  		// Note: o0 should always be the main object (the geom to check against
  		// everything else).
! 		void internal_pickingCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1)
  		{
--- 546,550 ----
  		// Note: o0 should always be the main object (the geom to check against
  		// everything else).
! 		void internal_volumeCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1)
  		{
***************
*** 552,556 ****
  				//colliding a space with either a geom or another space
  				dSpaceCollide2(o0, o1, data, 
! 					&internal_pickingCollisionCallback);
  			}
  			else
--- 553,557 ----
  				//colliding a space with either a geom or another space
  				dSpaceCollide2(o0, o1, data, 
! 					&internal_volumeCollisionCallback);
  			}
  			else
***************
*** 590,594 ****
  					ODESimulator* sim = (ODESimulator*)data;
  
! 					// TODO: not sure if we can know that o1 is the picking 
  					// object, so we'll
  					// just call this twice for now
--- 591,595 ----
  					ODESimulator* sim = (ODESimulator*)data;
  
! 					// TODO: not sure if we can know that o1 is the volume 
  					// object, so we'll
  					// just call this twice for now
***************
*** 604,608 ****
  
  		// Note: o1 is the ray geom.
! 		void internal_rayCastingCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1)
  		{
--- 605,609 ----
  
  		// Note: o1 is the ray geom.
! 		void internal_raycastCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1)
  		{
***************
*** 611,615 ****
  				//colliding a space with either a geom or another space
  				dSpaceCollide2(o0, o1, data, 
! 					&internal_pickingCollisionCallback);
  			}
  			else
--- 612,616 ----
  				//colliding a space with either a geom or another space
  				dSpaceCollide2(o0, o1, data, 
! 					&internal_volumeCollisionCallback);
  			}
  			else
***************
*** 730,734 ****
  	//		solidIter != mCollidedSolids.end(); ++solidIter)
  	//	{
! 	//		//we don't want the picking solid to be added
  	//		if (*solidIter != solid)
  	//		{
--- 731,735 ----
  	//		solidIter != mCollidedSolids.end(); ++solidIter)
  	//	{
! 	//		//we don't want the volume solid to be added
  	//		if (*solidIter != solid)
  	//		{
***************
*** 752,756 ****
  		//check for collisions; this will fill mRayHit (if a collision occurs)
  		dSpaceCollide2(rayGeomID, (dGeomID)mRootSpaceID, this, 
! 			&ode_hidden::internal_rayCastingCollisionCallback);
  
  		RayHit rayHit;
--- 753,757 ----
  		//check for collisions; this will fill mRayHit (if a collision occurs)
  		dSpaceCollide2(rayGeomID, (dGeomID)mRootSpaceID, this, 
! 			&ode_hidden::internal_raycastCollisionCallback);
  
  		RayHit rayHit;

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.72
retrieving revision 1.73
diff -C2 -d -r1.72 -r1.73
*** ODESolid.cpp	26 Feb 2005 10:22:24 -0000	1.72
--- ODESolid.cpp	1 Mar 2005 05:04:23 -0000	1.73
***************
*** 138,141 ****
--- 138,144 ----
  		setGlobalLinearVel(data.globalLinearVel);
  		setGlobalAngularVel(data.globalAngularVel);
+ 
+ 		// Set the Solid's name.
+ 		setName(data.name);
  	}
  

Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.26
retrieving revision 1.27
diff -C2 -d -r1.26 -r1.27
*** ODEJoint.cpp	26 Feb 2005 10:22:24 -0000	1.26
--- ODEJoint.cpp	1 Mar 2005 05:04:23 -0000	1.27
***************
*** 165,171 ****
  		}
  
! 		// Allocate an ODE JointFeedback struct for this Joint.
  		// TODO: for ball joints, should this get the joint id or the 
  		// amotor id?
  		dJointSetFeedback(mJointID, &mJointFeedback);
  
--- 165,183 ----
  		}
  
! 		// Tell ODE about the JointFeedback struct for this Joint.
  		// TODO: for ball joints, should this get the joint id or the 
  		// amotor id?
+ 		mJointFeedback.f1[0] = 0;
+ 		mJointFeedback.f1[1] = 0;
+ 		mJointFeedback.f1[2] = 0;
+ 		mJointFeedback.t1[0] = 0;
+ 		mJointFeedback.t1[1] = 0;
+ 		mJointFeedback.t1[2] = 0;
+ 		mJointFeedback.f2[0] = 0;
+ 		mJointFeedback.f2[1] = 0;
+ 		mJointFeedback.f2[2] = 0;
+ 		mJointFeedback.t2[0] = 0;
+ 		mJointFeedback.t2[1] = 0;
+ 		mJointFeedback.t2[2] = 0;
  		dJointSetFeedback(mJointID, &mJointFeedback);
  
***************
*** 861,864 ****
--- 873,880 ----
  		{
  			dJointAttach(mJointID, 0, 0);
+ 			if (BALL_JOINT == mData.getType())
+ 			{
+ 				dJointAttach(mAMotorID, 0, 0);
+ 			}
  		}
  		else
***************
*** 867,874 ****
--- 883,898 ----
  			{
  				dJointAttach(mJointID, 0, solid1->internal_getBodyID());
+ 				if (BALL_JOINT == mData.getType())
+ 				{
+ 					dJointAttach(mAMotorID, 0, solid1->internal_getBodyID());
+ 				}
  			}
  			else if (NULL == solid1)
  			{
  				dJointAttach(mJointID, solid0->internal_getBodyID(), 0);
+ 				if (BALL_JOINT == mData.getType())
+ 				{
+ 					dJointAttach(mAMotorID, solid0->internal_getBodyID(), 0);
+ 				}
  			}
  			else
***************
*** 876,879 ****
--- 900,908 ----
  				dJointAttach(mJointID, solid0->internal_getBodyID(), 
  					solid1->internal_getBodyID());
+ 				if (BALL_JOINT == mData.getType())
+ 				{
+ 					dJointAttach(mAMotorID, solid0->internal_getBodyID(), 
+ 					solid1->internal_getBodyID());
+ 				}
  			}