[Opal-commits] opal/src AttractorMotor.cpp,1.17,1.18 AttractorMotor.h,1.24,1.25 Defines.h,1.62,1.63 GearedMotor.cpp,1.8,1.9 GearedMotor.h,1.8,1.9 Joint.cpp,1.22,1.23 Joint.h,1.57,1.58 ServoMotor.cpp,1.12,1.13 ServoMotor.h,1.22,1.23 ShapeData.h,1.3,1.4 Solid.cpp,1.24,1.25 Solid.h,1.78,1.79 SolidData.cpp,1.1,1.2 SpringMotor.cpp,1.7,1.8 SpringMotor.h,1.8,1.9 ThrusterMotor.cpp,1.7,1.8 ThrusterMotor.h,1.8,1.9

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

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

Modified Files:
	AttractorMotor.cpp AttractorMotor.h Defines.h GearedMotor.cpp 
	GearedMotor.h Joint.cpp Joint.h ServoMotor.cpp ServoMotor.h 
	ShapeData.h Solid.cpp Solid.h SolidData.cpp SpringMotor.cpp 
	SpringMotor.h ThrusterMotor.cpp ThrusterMotor.h 
Log Message:
fixed bugs in xml blueprint loading; added ragdoll xml file to sample app

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.22
retrieving revision 1.23
diff -C2 -d -r1.22 -r1.23
*** Joint.cpp	26 Feb 2005 10:22:23 -0000	1.22
--- Joint.cpp	1 Mar 2005 05:04:22 -0000	1.23
***************
*** 52,56 ****
  	}
  
! 	const JointData& Joint::getJointData()const
  	{
  		return mData;
--- 52,56 ----
  	}
  
! 	const JointData& Joint::getData()const
  	{
  		return mData;

Index: ShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ShapeData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** ShapeData.h	23 Feb 2005 03:58:23 -0000	1.3
--- ShapeData.h	1 Mar 2005 05:04:22 -0000	1.4
***************
*** 55,59 ****
  			mType = SPHERE_SHAPE;
  			// Leave the offset as an identity matrix.
! 			material = defaults::material;
  		}
  
--- 55,59 ----
  			mType = SPHERE_SHAPE;
  			// Leave the offset as an identity matrix.
! 			material = defaults::shape::material;
  		}
  

Index: GearedMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotor.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** GearedMotor.cpp	26 Feb 2005 10:22:23 -0000	1.8
--- GearedMotor.cpp	1 Mar 2005 05:04:22 -0000	1.9
***************
*** 57,61 ****
  	}
  
! 	const GearedMotorData& GearedMotor::getMotorData()const
  	{
  		return mData;
--- 57,61 ----
  	}
  
! 	const GearedMotorData& GearedMotor::getData()const
  	{
  		return mData;

Index: ServoMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.h,v
retrieving revision 1.22
retrieving revision 1.23
diff -C2 -d -r1.22 -r1.23
*** ServoMotor.h	26 Feb 2005 10:22:23 -0000	1.22
--- ServoMotor.h	1 Mar 2005 05:04:22 -0000	1.23
***************
*** 59,63 ****
  
  		/// Returns all data describing the Motor.
! 		virtual const ServoMotorData& OPAL_CALL getMotorData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);
--- 59,63 ----
  
  		/// Returns all data describing the Motor.
! 		virtual const ServoMotorData& OPAL_CALL getData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);

Index: AttractorMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.h,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -d -r1.24 -r1.25
*** AttractorMotor.h	26 Feb 2005 10:22:23 -0000	1.24
--- AttractorMotor.h	1 Mar 2005 05:04:22 -0000	1.25
***************
*** 58,62 ****
  
  		/// Returns all data describing the Motor.
! 		virtual const AttractorMotorData& OPAL_CALL getMotorData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);
--- 58,62 ----
  
  		/// Returns all data describing the Motor.
! 		virtual const AttractorMotorData& OPAL_CALL getData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);

Index: ThrusterMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** ThrusterMotor.cpp	26 Feb 2005 10:22:23 -0000	1.7
--- ThrusterMotor.cpp	1 Mar 2005 05:04:23 -0000	1.8
***************
*** 55,59 ****
  	}
  
! 	const ThrusterMotorData& ThrusterMotor::getMotorData()const
  	{
  		return mData;
--- 55,59 ----
  	}
  
! 	const ThrusterMotorData& ThrusterMotor::getData()const
  	{
  		return mData;

Index: GearedMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotor.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** GearedMotor.h	26 Feb 2005 10:22:23 -0000	1.8
--- GearedMotor.h	1 Mar 2005 05:04:22 -0000	1.9
***************
*** 63,67 ****
  
  		/// Returns all data describing the Motor.
! 		virtual const GearedMotorData& OPAL_CALL getMotorData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);
--- 63,67 ----
  
  		/// Returns all data describing the Motor.
! 		virtual const GearedMotorData& OPAL_CALL getData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);

Index: SolidData.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SolidData.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** SolidData.cpp	25 Feb 2005 06:40:26 -0000	1.1
--- SolidData.cpp	1 Mar 2005 05:04:22 -0000	1.2
***************
*** 46,51 ****
  		// "globalLinearVel" is already initialized in its constructor.
  		// "globalAngularVel" is already initialized in its constructor.
! 		linearDamping = defaults::linearDamping;
! 		angularDamping = defaults::angularDamping;
  		// The Shape list doesn't need to be initialized.
  	}
--- 46,51 ----
  		// "globalLinearVel" is already initialized in its constructor.
  		// "globalAngularVel" is already initialized in its constructor.
! 		linearDamping = defaults::solid::linearDamping;
! 		angularDamping = defaults::solid::angularDamping;
  		// The Shape list doesn't need to be initialized.
  	}

Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -d -r1.24 -r1.25
*** Solid.cpp	26 Feb 2005 10:22:23 -0000	1.24
--- Solid.cpp	1 Mar 2005 05:04:22 -0000	1.25
***************
*** 42,46 ****
  	}
  
! 	const SolidData& Solid::getSolidData()const
  	{
  		return mData;
--- 42,46 ----
  	}
  
! 	const SolidData& Solid::getData()const
  	{
  		return mData;

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.62
retrieving revision 1.63
diff -C2 -d -r1.62 -r1.63
*** Defines.h	28 Feb 2005 03:27:56 -0000	1.62
--- Defines.h	1 Mar 2005 05:04:22 -0000	1.63
***************
*** 109,113 ****
  		ForceType type;
  
! 		/// Specifies how long to apply to force.  This will be ignored 
  		/// if "singleStep" is true.
  		real duration;
--- 109,114 ----
  		ForceType type;
  
! 		/// Specifies how long to apply to force.  This makes it easy to 
! 		/// apply forces independent of the step size.  This will be ignored 
  		/// if "singleStep" is true.
  		real duration;
***************
*** 275,287 ****
  	namespace defaults
  	{
! 		const real stepSize = (real)0.0167; // ~60 Hz physics rate
  		const Vec3r gravity(0, 0, 0);
  		const real bounceThreshold = (real)1.0;
- 		const Material material(opal::globals::woodMaterial);
  		const SolverAccuracyLevel solverAccuracy = SOLVER_ACCURACY_MEDIUM;
  		//const bool allowPartialFrames=true;
  		//const int maxStepsPerFrame=10;
- 		const real linearDamping = (real)0.15;
- 		const real angularDamping = (real)0.15;
  		const real maxLinearVel = (real)10000.0;
  		const real maxAngularVel = (real)1000.0;
--- 276,285 ----
  	namespace defaults
  	{
! 		const real stepSize = (real)0.0167; // ~60 Hz physics update rate.
  		const Vec3r gravity(0, 0, 0);
  		const real bounceThreshold = (real)1.0;
  		const SolverAccuracyLevel solverAccuracy = SOLVER_ACCURACY_MEDIUM;
  		//const bool allowPartialFrames=true;
  		//const int maxStepsPerFrame=10;
  		const real maxLinearVel = (real)10000.0;
  		const real maxAngularVel = (real)1000.0;
***************
*** 294,297 ****
--- 292,302 ----
  			const real sleepiness = (real)0.5;
  			const bool isStatic = false;
+ 			const real linearDamping = (real)0.15;
+ 			const real angularDamping = (real)0.15;
+ 		}
+ 
+ 		namespace shape
+ 		{
+ 			const Material material(opal::globals::woodMaterial);
  		}
  
***************
*** 373,377 ****
  			const real autoDisableTimeMin=0;
  			const real autoDisableTimeMax=(real)0.4;
! 			const int maxContactPoints=(int)32;
  			const real minMassRatio=(real)0.001;
  
--- 378,382 ----
  			const real autoDisableTimeMin=0;
  			const real autoDisableTimeMax=(real)0.4;
! 			const int maxContactPoints=(int)24;
  			const real minMassRatio=(real)0.001;
  
***************
*** 380,384 ****
  			const real minERP=(real)0.1;
  			const real maxERP=(real)0.9;
! 			const real globalCFM=(real)1e-6;
  			const real jointFudgeFactor=(real)0.001;
  			const real maxFriction=(real)1000.0;
--- 385,389 ----
  			const real minERP=(real)0.1;
  			const real maxERP=(real)0.9;
! 			const real globalCFM=(real)1e-3;
  			const real jointFudgeFactor=(real)0.001;
  			const real maxFriction=(real)1000.0;

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.78
retrieving revision 1.79
diff -C2 -d -r1.78 -r1.79
*** Solid.h	26 Feb 2005 10:22:23 -0000	1.78
--- Solid.h	1 Mar 2005 05:04:22 -0000	1.79
***************
*** 39,219 ****
  	class ShapeData;
  
- 	/// TODO: replace with SolidData struct
- 	//struct BodyState
- 	//{
- 	//	Matrix44r transform;
- 	//	Vec3r globalLinearVel;
- 	//	Vec3r globalAngularVel;
- 	//};
- 
- 	///// TODO: replace with SolidData
- 	//struct SolidDescription
- 	//{
- 	//	~SolidDescription()
- 	//	{
- 	//		shapeList.clear();
- 	//		userProperties.clear();
- 	//	}
- 
- 	//	std::string name;
- 	//	Matrix44r transform;
- 	//	bool isStatic;
- 	//	real linearDamping;
- 	//	real angularDamping;
- 	//	std::vector<ShapeDescription> shapeList;
- 	//	std::vector<UserProperty> userProperties;
- 	//};
- 
- 	// Old data structure...
- 	//struct SolidData
- 	//{
- 	//	~SolidData()
- 	//	{
- 	//		userProperties.clear();
- 	//	}
- 
- 	//	std::string getUserProperty(std::string name)
- 	//	{
- 	//		std::map<std::string, std::string>::iterator iter = 
- 	//			userProperties.find(name);
- 	//		if (userProperties.end() != iter)
- 	//		{
- 	//			return (*iter).second;
- 	//		}
- 	//		else
- 	//		{
- 	//			return "";
- 	//		}
- 	//	}
- 
- 	//	Solid* solidPtr;
- 	//	std::map<std::string, std::string> userProperties;
- 	//}
- 
- 	//namespace globals
- 	//{
- 	//	/// The number of floats needed to describe the dimensions of 
- 	//	/// any Shape.
- 	//	const int numShapeDimensions=7;
- 	//}
- 
- 	///// A data structure containing all essential parameters that describe 
- 	///// a Shape.  Note that there is no class associated with Shapes, just 
- 	///// this data structure.
- 	//struct ShapeData
- 	//{
- 	//	ShapeData()
- 	//	{
- 	//		type = SPHERE_SHAPE;
- 	//		// Leave the offset as an identity matrix.
- 	//		material = defaults::material;
- 
- 	//		for (int i=0; i<globals::numShapeDimensions; ++i)
- 	//		{
- 	//			dimensions[i] = 0;
- 	//		}
- 	//	}
- 
- 	//	/// Copy constructor.
- 	//	ShapeData(const ShapeData& data)
- 	//	{
- 	//		(*this) = sd;
- 	//	}
- 
- 	//	/// 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];
- 	//		}
- 	//	}
- 
- 	//	/// The Shape type.
- 	//	ShapeType type;
- 
- 	//	/// The offset transform from a Solid's transform.
- 	//	Matrix44r offset;
- 
- 	//	/// The Shape's material.
- 	//	Material material;
- 
- 	//	/// Dimensions for all Shape types are stored in the "dimensions" 
- 	//	/// array.
- 	//	/// Boxes: elements 0, 1, 2 are the box dimensions.
- 	//	/// Spheres: element 0 is radius.
- 	//	/// Planes: elements 0, 1, 2, 3 are the plane normal and 
- 	//	/// distance from the origin (i.e. they define the plane equation 
- 	//	/// ax + by + cz = d).
- 	//	/// Capped cylinders: elements 0 and 1 are radius and length.
- 	//	/// Rays: elements 0, 1, 2 are the origin, 3, 4, 5 are direction, 
- 	//	/// and 6 is length.
- 	//	real dimensions[globals::numShapeDimensions];
- 	//};
- 
- 	///// A data structure containing all essential parameters that describe 
- 	///// a Solid.
- 	//struct SolidData
- 	//{
- 	//	SolidData()
- 	//	{
- 	//		enabled = defaults::solid::enabled;
- 	//		sleeping = defaults::solid::sleeping;
- 	//		isStatic = defaults::solid::isStatic;
- 	//		// Leave the transform as an identity matrix.
- 	//		globalLinearVel = 0;
- 	//		globalAngularVel = 0;
- 	//		linearDamping = defaults::linearDamping;
- 	//		angularDamping = defaults::angularDamping;
- 	//		// The Shape list doesn't need to be initialized.
- 	//	}
- 
- 	//	/// Copy constructor.
- 	//	SolidData(const SolidData& data)
- 	//	{
- 	//		(*this) = data;
- 	//	}
- 
- 	//	/// This is necessary because SolidData uses a dynamically-allocated 
- 	//	/// list of Shapes.
- 	//	~SolidData()
- 	//	{
- 	//		shapes.clear();
- 	//	}
- 
- 	//	/// Makes a deep copy.
- 	//	void operator=(const SolidData& data)
- 	//	{
- 	//		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]);
- 	//		}
- 	//	}
- 
- 	//	bool enabled;
- 	//	bool sleeping;
- 	//	bool isStatic;
- 	//	Matrix44r transform;
- 	//	Vec3r globalLinearVel;
- 	//	Vec3r globalAngularVel;
- 	//	real linearDamping;
- 	//	real angularDamping;
- 	//	std::vector<ShapeData> shapes;
- 	//};
- 
  	/// Solids are the physical objects in the simulation.  Solids can be 
  	/// static or dynamic.  Static Solids are simple collision shapes; 
--- 39,42 ----
***************
*** 235,239 ****
  
  		/// Returns all data describing the Solid.
! 		virtual const SolidData& OPAL_CALL getSolidData()const;
  
  		/// Sets the Solid's name.
--- 58,62 ----
  
  		/// Returns all data describing the Solid.
! 		virtual const SolidData& OPAL_CALL getData()const;
  
  		/// Sets the Solid's name.

Index: ServoMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.cpp,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** ServoMotor.cpp	26 Feb 2005 10:22:23 -0000	1.12
--- ServoMotor.cpp	1 Mar 2005 05:04:22 -0000	1.13
***************
*** 38,44 ****
  	ServoMotor::~ServoMotor()
  	{
! 		// This will automatically set the Joint's desired vel and max 
! 		// force to 0.
! 		setEnabled(false);
  	}
  
--- 38,49 ----
  	ServoMotor::~ServoMotor()
  	{
! 		// We must set the Joint's desired vel and max force to 0 since 
! 		// this Motor won't apply to it anymore.  This is only necessary 
! 		// if this Motor is enabled.
! 		if (mData.enabled && mData.joint)
! 		{
! 			mData.joint->internal_setDesiredVel(mData.jointAxisNum, 0);
! 			mData.joint->internal_setMaxTorque(mData.jointAxisNum, 0);
! 		}
  	}
  
***************
*** 80,84 ****
  	}
  
! 	const ServoMotorData& ServoMotor::getMotorData()const
  	{
  		return mData;
--- 85,89 ----
  	}
  
! 	const ServoMotorData& ServoMotor::getData()const
  	{
  		return mData;

Index: SpringMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** SpringMotor.h	26 Feb 2005 10:22:23 -0000	1.8
--- SpringMotor.h	1 Mar 2005 05:04:22 -0000	1.9
***************
*** 57,61 ****
  
  		/// Returns all data describing the Motor.
! 		virtual const SpringMotorData& OPAL_CALL getMotorData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);
--- 57,61 ----
  
  		/// Returns all data describing the Motor.
! 		virtual const SpringMotorData& OPAL_CALL getData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);

Index: SpringMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** SpringMotor.cpp	26 Feb 2005 10:22:23 -0000	1.7
--- SpringMotor.cpp	1 Mar 2005 05:04:22 -0000	1.8
***************
*** 55,59 ****
  	}
  
! 	const SpringMotorData& SpringMotor::getMotorData()const
  	{
  		return mData;
--- 55,59 ----
  	}
  
! 	const SpringMotorData& SpringMotor::getData()const
  	{
  		return mData;

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.57
retrieving revision 1.58
diff -C2 -d -r1.57 -r1.58
*** Joint.h	26 Feb 2005 10:22:23 -0000	1.57
--- Joint.h	1 Mar 2005 05:04:22 -0000	1.58
***************
*** 76,80 ****
  
  		/// Returns all data describing the Joint.
! 		virtual const JointData& OPAL_CALL getJointData()const;
  
  		/// Sets the Joint's name.
--- 76,80 ----
  
  		/// Returns all data describing the Joint.
! 		virtual const JointData& OPAL_CALL getData()const;
  
  		/// Sets the Joint's name.

Index: ThrusterMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** ThrusterMotor.h	26 Feb 2005 10:22:23 -0000	1.8
--- ThrusterMotor.h	1 Mar 2005 05:04:23 -0000	1.9
***************
*** 56,60 ****
  
  		/// Returns all data describing the Motor.
! 		virtual const ThrusterMotorData& OPAL_CALL getMotorData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);
--- 56,60 ----
  
  		/// Returns all data describing the Motor.
! 		virtual const ThrusterMotorData& OPAL_CALL getData()const;
  
  		virtual void OPAL_CALL setName(const std::string& name);

Index: AttractorMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.cpp,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** AttractorMotor.cpp	26 Feb 2005 10:22:23 -0000	1.17
--- AttractorMotor.cpp	1 Mar 2005 05:04:22 -0000	1.18
***************
*** 68,72 ****
  	}
  
! 	const AttractorMotorData& AttractorMotor::getMotorData()const
  	{
  		return mData;
--- 68,72 ----
  	}
  
! 	const AttractorMotorData& AttractorMotor::getData()const
  	{
  		return mData;