[Opal-commits] opal/src/ODE ODESimulator.cpp,1.81,1.82 ODESimulator.h,1.57,1.58

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16484/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
added the ability to loop through a BlueprintInstance's objects

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.57
retrieving revision 1.58
diff -C2 -d -r1.57 -r1.58
*** ODESimulator.h	1 Mar 2005 05:04:23 -0000	1.57
--- ODESimulator.h	3 Mar 2005 04:39:57 -0000	1.58
***************
*** 74,83 ****
  		virtual Space* OPAL_CALL createSpace();
  
- 		//convenience collision check function
  		//virtual void OPAL_CALL collide(const Solid* solid, 
  		//	std::vector<Solid*>* solids);
  
! 		//convenience ray casting function
! 		virtual RayHit OPAL_CALL shootRay(const Point3r& origin, 
  			const Vec3r& dir, real length);
  
--- 74,81 ----
  		virtual Space* OPAL_CALL createSpace();
  
  		//virtual void OPAL_CALL collide(const Solid* solid, 
  		//	std::vector<Solid*>* solids);
  
! 		virtual RaycastResult OPAL_CALL shootRay(const Point3r& origin, 
  			const Vec3r& dir, real length);
  
***************
*** 86,91 ****
  		virtual Vec3r OPAL_CALL getGravity()const;
  
- 		//virtual void OPAL_CALL setDefaultSleepiness(real value);
- 
  		virtual void OPAL_CALL setSolverAccuracy(SolverAccuracyLevel level);
  
--- 84,87 ----
***************
*** 102,106 ****
  
  		/// Helper function for ray casting.  
! 		void OPAL_CALL internal_setRayHit(Solid* solid, 
  			const Point3r& intersection, const Vec3r& normal, real distance);
  
--- 98,102 ----
  
  		/// Helper function for ray casting.  
! 		void OPAL_CALL internal_setRaycastResult(Solid* solid, 
  			const Point3r& intersection, const Vec3r& normal, real distance);
  
***************
*** 128,132 ****
  
  		/// Used for ray casting.  
! 		RayHit mRayHit;
  	private:
  	};
--- 124,128 ----
  
  		/// Used for ray casting.  
! 		RaycastResult mRaycastResult;
  	private:
  	};

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.81
retrieving revision 1.82
diff -C2 -d -r1.81 -r1.82
*** ODESimulator.cpp	1 Mar 2005 05:04:23 -0000	1.81
--- ODESimulator.cpp	3 Mar 2005 04:39:57 -0000	1.82
***************
*** 640,644 ****
  							contactArray[0].normal[1], 
  							contactArray[0].normal[2]);
! 						sim->internal_setRayHit(geomData0->solid, 
  							intersection, normal, contactArray[0].depth);
  					}
--- 640,644 ----
  							contactArray[0].normal[1], 
  							contactArray[0].normal[2]);
! 						sim->internal_setRaycastResult(geomData0->solid, 
  							intersection, normal, contactArray[0].depth);
  					}
***************
*** 659,671 ****
  	}
  
! 	void ODESimulator::internal_setRayHit(Solid* solid, 
  		const Point3r& intersection, const Vec3r& normal, real distance)
  	{
! 		if (NULL == mRayHit.solid || (distance < mRayHit.distance))
  		{
! 			mRayHit.solid = solid;
! 			mRayHit.intersection = intersection;
! 			mRayHit.normal = normal;
! 			mRayHit.distance = distance;
  		}
  	}
--- 659,671 ----
  	}
  
! 	void ODESimulator::internal_setRaycastResult(Solid* solid, 
  		const Point3r& intersection, const Vec3r& normal, real distance)
  	{
! 		if (NULL == mRaycastResult.solid || (distance < mRaycastResult.distance))
  		{
! 			mRaycastResult.solid = solid;
! 			mRaycastResult.intersection = intersection;
! 			mRaycastResult.normal = normal;
! 			mRaycastResult.distance = distance;
  		}
  	}
***************
*** 739,749 ****
  	//}
  
! 	RayHit ODESimulator::shootRay(const Point3r& origin, const Vec3r& dir, 
! 		real length)
  	{
! 		mRayHit.solid = NULL;
! 		mRayHit.intersection.set(0,0,0);
! 		mRayHit.normal.set(1,0,0);
! 		mRayHit.distance = 0;
  
  		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
--- 739,749 ----
  	//}
  
! 	RaycastResult ODESimulator::shootRay(const Point3r& origin, 
! 		const Vec3r& dir, real length)
  	{
! 		mRaycastResult.solid = NULL;
! 		mRaycastResult.intersection.set(0,0,0);
! 		mRaycastResult.normal.set(1,0,0);
! 		mRaycastResult.distance = 0;
  
  		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
***************
*** 751,768 ****
  			dir[1], dir[2]);
  
! 		//check for collisions; this will fill mRayHit (if a collision occurs)
  		dSpaceCollide2(rayGeomID, (dGeomID)mRootSpaceID, this, 
  			&ode_hidden::internal_raycastCollisionCallback);
  
! 		RayHit rayHit;
! 		rayHit.solid = mRayHit.solid; //note that this may remain NULL
! 		rayHit.intersection = mRayHit.intersection;
! 		rayHit.normal = mRayHit.normal;
! 		rayHit.distance = mRayHit.distance;
  
  		// finished with ray, so destroy it
  		dGeomDestroy(rayGeomID);
  
! 		return rayHit;
  	}
  
--- 751,768 ----
  			dir[1], dir[2]);
  
! 		//check for collisions; this will fill mRaycastResult (if a collision occurs)
  		dSpaceCollide2(rayGeomID, (dGeomID)mRootSpaceID, this, 
  			&ode_hidden::internal_raycastCollisionCallback);
  
! 		RaycastResult result;
! 		result.solid = mRaycastResult.solid; //note that this may remain NULL
! 		result.intersection = mRaycastResult.intersection;
! 		result.normal = mRaycastResult.normal;
! 		result.distance = mRaycastResult.distance;
  
  		// finished with ray, so destroy it
  		dGeomDestroy(rayGeomID);
  
! 		return result;
  	}