[Opal-commits] opal/src Matrix44r.h,1.27,1.28 Simulator.cpp,1.39,1.40 Simulator.h,1.75,1.76

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Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21640/src

Modified Files:
	Matrix44r.h Simulator.cpp Simulator.h 
Log Message:
added offset matrix and scaling factor to blueprint instantiation; fixed matrix bug in rotation functions where axis wasn't getting normalized

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.39
retrieving revision 1.40
diff -C2 -d -r1.39 -r1.40
*** Simulator.cpp	28 Feb 2005 03:27:57 -0000	1.39
--- Simulator.cpp	2 Mar 2005 05:30:32 -0000	1.40
***************
*** 28,31 ****
--- 28,36 ----
  #include "Simulator.h"
  #include "BlueprintInstance.h"
+ #include "BoxShapeData.h"
+ #include "SphereShapeData.h"
+ #include "CapsuleShapeData.h"
+ #include "PlaneShapeData.h"
+ #include "RayShapeData.h"

  namespace opal
***************
*** 238,243 ****

  	void Simulator::instantiateBlueprint(
! 		BlueprintInstance& instance, const Blueprint& bp)
  	{
  		if (!bp.isFinalized())
  		{
--- 243,251 ----

  	void Simulator::instantiateBlueprint(
! 		BlueprintInstance& instance, const Blueprint& bp, 
! 		const Matrix44r& offset, real scale)
  	{
+ 		assert(scale > 0);
+ 
  		if (!bp.isFinalized())
  		{
***************
*** 249,252 ****
--- 257,274 ----
  		}

+ 		bool useOffset = false;
+ 		if (Matrix44r() != offset)
+ 		{
+ 			useOffset = true;
+ 		}
+ 
+ 		bool useScale = false;
+ 		Matrix44r scaleMat;
+ 		if (1 != scale)
+ 		{
+ 			useScale = true;
+ 			scaleMat.makeScale(scale);
+ 		}
+ 
  		// For each object created here, only the ones with names get added 
  		// to the BlueprintInstance.
***************
*** 260,264 ****
  		// Joints, Motors, and Sensors), use the stored indices to 
  		// find pointers in the appropriate array.
! 		
  		// Create these temporary arrays of pointers.  Other objects 
  		// will use these to find pointers to their dependencies.
--- 282,286 ----
  		// Joints, Motors, and Sensors), use the stored indices to 
  		// find pointers in the appropriate array.
! 
  		// Create these temporary arrays of pointers.  Other objects 
  		// will use these to find pointers to their dependencies.
***************
*** 271,276 ****
  		{
  			Solid* s = createSolid();
! 			s->init(*bp.getSolidData(i));

  			solidList.push_back(s);

--- 293,378 ----
  		{
  			Solid* s = createSolid();
! 			SolidData sd = *bp.getSolidData(i);
! 
! 			if (useOffset)
! 			{
! 				// Offset the Solid's transform.
! 				sd.transform = offset * sd.transform;
! 			}
! 
! 			if (useScale)
! 			{
! 				// Scale the Solid's transform.
! 				sd.transform[12] *= scale;
! 				sd.transform[13] *= scale;
! 				sd.transform[14] *= scale;
! 
! 				// Scale the Solid's Shape's offsets and dimensions.
! 				int i=0;
! 				for (i=0; i<sd.getNumShapes(); ++i)
! 				{
! 					ShapeData* shapeData = sd.getShapeData(i);
! 					shapeData->offset[12] *= scale;
! 					shapeData->offset[13] *= scale;
! 					shapeData->offset[14] *= scale;
! 
! 					switch(shapeData->getType())
! 					{
! 						case BOX_SHAPE:
! 						{
! 							BoxShapeData* boxData = 
! 								(BoxShapeData*)shapeData;
! 							boxData->dimensions = 
! 								scale * boxData->dimensions;
! 							break;
! 						}
! 						case SPHERE_SHAPE:
! 						{
! 							SphereShapeData* sphereData = 
! 								(SphereShapeData*)shapeData;
! 							sphereData->radius = 
! 								scale * sphereData->radius;
! 							break;
! 						}
! 						case CAPSULE_SHAPE:
! 						{
! 							CapsuleShapeData* capsuleData = 
! 								(CapsuleShapeData*)shapeData;
! 							capsuleData->radius = 
! 								scale * capsuleData->radius;
! 							capsuleData->length = 
! 								scale * capsuleData->length;
! 							break;
! 						}
! 						case PLANE_SHAPE:
! 						{
! 							PlaneShapeData* planeData = 
! 								(PlaneShapeData*)shapeData;
! 							planeData->abcd[3] = 
! 								scale * planeData->abcd[3];
! 							break;
! 						}
! 						case RAY_SHAPE:
! 						{
! 							RayShapeData* rayData = 
! 								(RayShapeData*)shapeData;
! 							Point3r origin = rayData->ray.getOrigin();
! 							origin = scale * origin;
! 							rayData->ray.setOrigin(origin);
! 							break;
! 						}
! 						case MESH_SHAPE:
! 						{
! 							// Not implemented.  Scaling the Mesh data 
! 							// should be handled elsewhere.
! 							break;
! 						}
! 						default:
! 							assert(false);
! 					}
! 				}
! 			}

+ 			s->init(sd);
  			solidList.push_back(s);

***************
*** 290,295 ****

  			Joint* j = createJoint();
! 			j->init(*data);

  			jointList.push_back(j);

--- 392,413 ----

  			Joint* j = createJoint();
! 			JointData jd = *data;

+ 			if (useOffset)
+ 			{
+ 				// Offset the Joint's anchor and axes.
+ 				jd.anchor = offset * jd.anchor;
+ 				jd.axis[0].direction = offset * jd.axis[0].direction;
+ 				jd.axis[1].direction = offset * jd.axis[1].direction;
+ 				jd.axis[2].direction = offset * jd.axis[2].direction;
+ 			}
+ 
+ 			if (useScale)
+ 			{
+ 				// Scale the Joint's anchor.
+ 				jd.anchor = scale * jd.anchor;
+ 			}
+ 
+ 			j->init(jd);
  			jointList.push_back(j);

Index: Matrix44r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Matrix44r.h,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** Matrix44r.h	26 Feb 2005 07:17:09 -0000	1.27
--- Matrix44r.h	2 Mar 2005 05:30:32 -0000	1.28
***************
*** 190,193 ****
--- 190,199 ----
  		inline void makeRotation(real theta, real x, real y, real z)
  		{
+ 			Vec3r axis(x, y, z);
+ 			axis.normalize();
+ 			x = axis[0];
+ 			y = axis[1];
+ 			z = axis[2];
+ 
  			// source: http://www.euclideanspace.com/maths/geometry/rotations/
  			// conversions/angleToMatrix/

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.75
retrieving revision 1.76
diff -C2 -d -r1.75 -r1.76
*** Simulator.h	25 Feb 2005 06:40:26 -0000	1.75
--- Simulator.h	2 Mar 2005 05:30:32 -0000	1.76
***************
*** 89,95 ****

  		/// Creates instances of all objects in a Blueprint and fills the 
! 		/// given BlueprintInstance with pointers of the named objects.
  		virtual void OPAL_CALL instantiateBlueprint(
! 			BlueprintInstance& instance, const Blueprint& bp);

  		/// A convenient volume collision check function.  TODO: replace 
--- 89,99 ----

  		/// Creates instances of all objects in a Blueprint and fills the 
! 		/// given BlueprintInstance with pointers of the named objects.  The 
! 		/// offset transform and scale factor can be used to affect 
! 		/// all instantiated objects at once.  The scale factor must be 
! 		/// greater than zero.
  		virtual void OPAL_CALL instantiateBlueprint(
! 			BlueprintInstance& instance, const Blueprint& bp, 
! 			const Matrix44r& offset=Matrix44r(), real scale=1);

  		/// A convenient volume collision check function.  TODO: replace 