[Opal-commits] opal/src Joint.h,1.59,1.60 ThrusterMotor.cpp,1.8,1.9 ThrusterMotor.h,1.9,1.10

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10750/src

Modified Files:
	Joint.h ThrusterMotor.cpp ThrusterMotor.h 
Log Message:
changed how friction is used (now sqrt(f1*f2) instead of just f1*f2); minor changes to sample apps

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.59
retrieving revision 1.60
diff -C2 -d -r1.59 -r1.60
*** Joint.h	3 Mar 2005 02:32:28 -0000	1.59
--- Joint.h	4 Mar 2005 05:09:24 -0000	1.60
***************
*** 112,116 ****
  
  		/// Sets the Joint's limit angles (in degrees for rotational axes, 
! 		/// distance for linear axes).  
  		/// No limits are applied 
  		/// if this is not called.  The Wheel Joint does not 
--- 112,116 ----
  
  		/// Sets the Joint's limit angles (in degrees for rotational axes, 
! 		/// distance for translational axes).  
  		/// No limits are applied 
  		/// if this is not called.  The Wheel Joint does not 
***************
*** 120,128 ****
  
  		/// Returns the low limit for a given axis (angle in degrees for 
! 		/// rotational axes, distance for linear axes).
  		virtual real OPAL_CALL getLowLimit(int axisNum)const;
  
  		/// Returns the high limit for a given axis (angle in degrees for 
! 		/// rotational axes, distance for linear axes).
  		virtual real OPAL_CALL getHighLimit(int axisNum)const;
  
--- 120,128 ----
  
  		/// Returns the low limit for a given axis (angle in degrees for 
! 		/// rotational axes, distance for translational axes).
  		virtual real OPAL_CALL getLowLimit(int axisNum)const;
  
  		/// Returns the high limit for a given axis (angle in degrees for 
! 		/// rotational axes, distance for translational axes).
  		virtual real OPAL_CALL getHighLimit(int axisNum)const;
  
***************
*** 146,164 ****
  
  		/// For rotational axes, returns the current angle in degrees 
! 		/// measured from the initial Joint configuration.  For linear 
  		/// axes, simply returns 0.
  		virtual real OPAL_CALL getAngle(int axisNum)const = 0;
  
! 		/// For linear axes, returns the distance from the initial Joint 
! 		/// configuration.  For rotational axes, simply returns 0.
  		virtual real OPAL_CALL getDistance(int axisNum)const = 0;
  
  		/// Returns the current rate (degrees per second for rotational 
! 		/// axes, distance units per second for linear axes) for a 
  		/// given axis.
  		virtual real OPAL_CALL getVelocity(int axisNum)const = 0;
  
  		/// Applies a force to this Joint's Solids.  To be used for 
! 		/// linear Joints.  This does nothing if the Joint is disabled.
  		virtual void OPAL_CALL addForce(int axisNum, real magnitude, 
  			real duration, bool singleStep=false);
--- 146,164 ----
  
  		/// For rotational axes, returns the current angle in degrees 
! 		/// measured from the initial Joint configuration.  For translational 
  		/// axes, simply returns 0.
  		virtual real OPAL_CALL getAngle(int axisNum)const = 0;
  
! 		/// For translational axes, returns the distance from the initial 
! 		/// Joint configuration.  For rotational axes, simply returns 0.
  		virtual real OPAL_CALL getDistance(int axisNum)const = 0;
  
  		/// Returns the current rate (degrees per second for rotational 
! 		/// axes, distance units per second for translational axes) for a 
  		/// given axis.
  		virtual real OPAL_CALL getVelocity(int axisNum)const = 0;
  
  		/// Applies a force to this Joint's Solids.  To be used for 
! 		/// translational axes.  This does nothing if the Joint is disabled.
  		virtual void OPAL_CALL addForce(int axisNum, real magnitude, 
  			real duration, bool singleStep=false);
***************
*** 267,272 ****
  		int mNumAxes;
  
! 		// This data stores which axes are rotational, as opposed to linear 
! 		// degrees of freedom.
  		bool mAxisRotational[3];
  
--- 267,272 ----
  		int mNumAxes;
  
! 		// This data stores which axes are rotational, as opposed to 
! 		// translational, degrees of freedom.
  		bool mAxisRotational[3];
  

Index: ThrusterMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.h,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** ThrusterMotor.h	1 Mar 2005 05:04:23 -0000	1.9
--- ThrusterMotor.h	4 Mar 2005 05:09:24 -0000	1.10
***************
*** 51,56 ****
  		//virtual void OPAL_CALL init(Solid* solid);
  
! 		/// Initializes the Motor with the given data structure.  Solid 
! 		/// pointer in the data must be valid.
  		virtual void OPAL_CALL init(const ThrusterMotorData& data);
  
--- 51,57 ----
  		//virtual void OPAL_CALL init(Solid* solid);
  
! 		/// Initializes the Motor with the given data structure.  The Solid 
! 		/// pointer in the data must be valid.  The Force in this data 
! 		/// structure will automatically be set to a "single step" Force.
  		virtual void OPAL_CALL init(const ThrusterMotorData& data);
  
***************
*** 66,70 ****
  		virtual void OPAL_CALL setEnabled(bool e);
  
! 		/// Sets the Force applied by this Motor every time step.  
  		virtual void OPAL_CALL setForce(const Force& f);
  
--- 67,73 ----
  		virtual void OPAL_CALL setEnabled(bool e);
  
! 		/// Sets the Force applied by this Motor every time step.  The 
! 		/// Force in this data structure will automatically be set to a 
! 		/// "single step" Force.
  		virtual void OPAL_CALL setForce(const Force& f);
  

Index: ThrusterMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** ThrusterMotor.cpp	1 Mar 2005 05:04:23 -0000	1.8
--- ThrusterMotor.cpp	4 Mar 2005 05:09:24 -0000	1.9
***************
*** 53,56 ****
--- 53,57 ----
  		Motor::init();
  		mData = data;
+ 		mData.force.singleStep = true;
  	}
  
***************
*** 96,99 ****
--- 97,101 ----
  	{
  		mData.force = f;
+ 		mData.force.singleStep = true;
  	}