[Opal-commits] opal/src BlueprintManager.cpp,1.29,1.30 Defines.h,1.65,1.66 EventHandler.h,1.19,1.20 Joint.cpp,1.23,1.24 Joint.h,1.61,1.62 Motor.cpp,1.14,1.15 Motor.h,1.35,1.36 ShapeData.h,1.4,1.5 Simulator.cpp,1.41,1.42 Simulator.h,1.78,1.79 SolidData.cpp,1.2,1.3 opal.h,1.18,1.19 RayShapeData.h,1.3,NONE

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5467/src

Modified Files:
	BlueprintManager.cpp Defines.h EventHandler.h Joint.cpp 
	Joint.h Motor.cpp Motor.h ShapeData.h Simulator.cpp 
	Simulator.h SolidData.cpp opal.h 
Removed Files:
	RayShapeData.h 
Log Message:
removed the Ray Shape; it should only be used for raycasting, not as an actual Shape attached to Solids

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** opal.h	26 Feb 2005 10:22:23 -0000	1.18
--- opal.h	5 Mar 2005 21:26:24 -0000	1.19
***************
*** 37,41 ****
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
- #include "RayShapeData.h"
  #include "MeshShapeData.h"
  #include "Motor.h"
--- 37,40 ----

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -d -r1.65 -r1.66
*** Defines.h	4 Mar 2005 23:26:53 -0000	1.65
--- Defines.h	5 Mar 2005 21:26:24 -0000	1.66
***************
*** 297,300 ****
--- 297,301 ----
  		{
  			const Material material = opal::globals::woodMaterial;
+ 			const unsigned int contactGroup = 0;
  			const Vec3r boxDimensions = Vec3r(1, 1, 1);
  			const real sphereRadius = 1;
***************
*** 302,307 ****
  			const real capsuleLength = 1;
  			const real planeABCD[4] = {0, 1, 0, 0};
! 			const Point3r rayOrigin = Point3r(0, 0, 0);
! 			const Vec3r rayDir = Vec3r(0, 0, -1);
  		}
  
--- 303,308 ----
  			const real capsuleLength = 1;
  			const real planeABCD[4] = {0, 1, 0, 0};
! 			//const Point3r rayOrigin = Point3r(0, 0, 0);
! 			//const Vec3r rayDir = Vec3r(0, 0, -1);
  		}
  

Index: Motor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.h,v
retrieving revision 1.35
retrieving revision 1.36
diff -C2 -d -r1.35 -r1.36
*** Motor.h	25 Feb 2005 06:40:26 -0000	1.35
--- Motor.h	5 Mar 2005 21:26:24 -0000	1.36
***************
*** 42,49 ****
  	/// attain a desired state, users should use a Motor that takes a 
  	/// desired position or velocity, automatically applying forces every 
! 	/// time step to attain that state.  Custom Motors can be created by 
! 	/// subclassing the base Motor class, implementing a few virtual 
! 	/// functions, and adding Motor instances to the simulation via the 
! 	/// Simulator class (see Simulator for details).  All Motors start out 
  	/// disabled and must be initialized via init before they can be 
  	/// enabled.  
--- 42,46 ----
  	/// attain a desired state, users should use a Motor that takes a 
  	/// desired position or velocity, automatically applying forces every 
! 	/// time step to attain that state.  All Motors start out 
  	/// disabled and must be initialized via init before they can be 
  	/// enabled.  
***************
*** 88,95 ****
  		/// Sets whether this is a custom Motor.  Used internally to 
  		/// track custom Motors which must not be destroyed by OPAL.
! 		virtual void OPAL_CALL internal_setCustom(bool c);
  
  		/// Returns true if this is a custom Motor.  
! 		virtual bool OPAL_CALL internal_isCustom();
  
  	protected:
--- 85,92 ----
  		/// Sets whether this is a custom Motor.  Used internally to 
  		/// track custom Motors which must not be destroyed by OPAL.
! 		//virtual void OPAL_CALL internal_setCustom(bool c);
  
  		/// Returns true if this is a custom Motor.  
! 		//virtual bool OPAL_CALL internal_isCustom();
  
  	protected:
***************
*** 106,110 ****
  		/// True if this is a custom Motor.  This is used to ensure that 
  		/// custom Motors are not destroyed by OPAL.
! 		bool mIsCustom;
  
  		/// True if the Motor has been initialized.  Some Motors use 
--- 103,107 ----
  		/// True if this is a custom Motor.  This is used to ensure that 
  		/// custom Motors are not destroyed by OPAL.
! 		//bool mIsCustom;
  
  		/// True if the Motor has been initialized.  Some Motors use 

Index: ShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ShapeData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** ShapeData.h	1 Mar 2005 05:04:22 -0000	1.4
--- ShapeData.h	5 Mar 2005 21:26:24 -0000	1.5
***************
*** 40,44 ****
  		CAPSULE_SHAPE,
  		PLANE_SHAPE,
! 		RAY_SHAPE,
  		MESH_SHAPE
  	};
--- 40,44 ----
  		CAPSULE_SHAPE,
  		PLANE_SHAPE,
! 		//RAY_SHAPE,
  		MESH_SHAPE
  	};

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.78
retrieving revision 1.79
diff -C2 -d -r1.78 -r1.79
*** Simulator.h	4 Mar 2005 23:26:53 -0000	1.78
--- Simulator.h	5 Mar 2005 21:26:24 -0000	1.79
***************
*** 147,150 ****
--- 147,159 ----
  		virtual void* OPAL_CALL getUserData();
  
+ 		/// Defines the interaction between two contact groups.  If the 
+ 		/// last argument is true, the two groups will generate physical 
+ 		/// points when they collide.  Otherwise, they will pass through 
+ 		/// each other.  This does not affect collision events; two 
+ 		/// colliding objects might not generate contacts but still 
+ 		/// generate collision events.
+ 		virtual void OPAL_CALL setupContactGroups(unsigned int group0, 
+ 			unsigned int group1, bool makeContacts);
+ 
  		// SOLIDS
  
***************
*** 191,195 ****
  		/// Inform the Simulator of a custom Motor.  Custom Motors are 
  		/// allocated and deallocated by the user
! 		virtual void OPAL_CALL registerCustomMotor(Motor* m);
  
  		/// Marks the given Motor as garbage.  
--- 200,204 ----
  		/// Inform the Simulator of a custom Motor.  Custom Motors are 
  		/// allocated and deallocated by the user
! 		//virtual void OPAL_CALL registerCustomMotor(Motor* m);
  
  		/// Marks the given Motor as garbage.  
***************
*** 307,310 ****
--- 316,323 ----
  		std::vector<Space*> mSpaceList;
  
+ 		/// A set of bitfields used to describe how different contact groups 
+ 		/// interact.
+ 		unsigned long int mContactGroupFlags[32];
+ 
  	private:
  	};

--- RayShapeData.h DELETED ---

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** Joint.cpp	1 Mar 2005 05:04:22 -0000	1.23
--- Joint.cpp	5 Mar 2005 21:26:24 -0000	1.24
***************
*** 80,84 ****
  	}
  
! 	void Joint::restoreAccumDamage()
  	{
  		mData.accumDamage = 0;
--- 80,84 ----
  	}
  
! 	void Joint::repairAccumDamage()
  	{
  		mData.accumDamage = 0;

Index: EventHandler.h
===================================================================
RCS file: /cvsroot/opal/opal/src/EventHandler.h,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** EventHandler.h	18 Feb 2005 23:59:36 -0000	1.19
--- EventHandler.h	5 Mar 2005 21:26:24 -0000	1.20
***************
*** 64,69 ****
  		{}
  
! 		/// Called when two Solids collide.  Returns true if collision 
! 		/// contacts should be generated between the two Solids.
  		virtual bool OPAL_CALL handleCollisionEvent(
  			const CollisionEvent& event)
--- 64,69 ----
  		{}
  
! 		/// Called when two Solids collide.  The first Solid in the 
! 		/// CollisionEvent is the one whose event handler got called.
  		virtual bool OPAL_CALL handleCollisionEvent(
  			const CollisionEvent& event)

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.61
retrieving revision 1.62
diff -C2 -d -r1.61 -r1.62
*** Joint.h	4 Mar 2005 23:26:53 -0000	1.61
--- Joint.h	5 Mar 2005 21:26:24 -0000	1.62
***************
*** 82,88 ****
  			real breakThresh, real accumThresh=0);
  
! 		/// Restores accumulated damage to breakable Joints in accumulated 
  		/// damage mode.  This does not reenable the Joint.
! 		virtual void OPAL_CALL restoreAccumDamage();
  
  		/// Sets the Joint's event handler.  
--- 82,88 ----
  			real breakThresh, real accumThresh=0);
  
! 		/// Repairs accumulated damage to breakable Joints in accumulated 
  		/// damage mode.  This does not reenable the Joint.
! 		virtual void OPAL_CALL repairAccumDamage();
  
  		/// Sets the Joint's event handler.  

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** BlueprintManager.cpp	4 Mar 2005 23:26:53 -0000	1.29
--- BlueprintManager.cpp	5 Mar 2005 21:26:23 -0000	1.30
***************
*** 31,35 ****
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
- #include "RayShapeData.h"
  #include "MotorData.h"
  #include "AttractorMotorData.h"
--- 31,34 ----
***************
*** 1278,1296 ****
  				planeData->abcd[3] = getAttributeReal(dimensionsNodePtr, "d");
  			}
! 			else if ("ray" == type)
! 			{
! 				RayShapeData* rayData = new RayShapeData();
! 				data = rayData;
! 				Point3r origin;
! 				origin[0] = getAttributeReal(dimensionsNodePtr, "originx");
! 				origin[1] = getAttributeReal(dimensionsNodePtr, "originy");
! 				origin[2] = getAttributeReal(dimensionsNodePtr, "originz");
! 				rayData->ray.setOrigin(origin);
! 				Vec3r dir;
! 				dir[0] = getAttributeReal(dimensionsNodePtr, "dirx");
! 				dir[1] = getAttributeReal(dimensionsNodePtr, "diry");
! 				dir[2] = getAttributeReal(dimensionsNodePtr, "dirz");
! 				rayData->ray.setDir(dir);
! 			}
  			// MESH_SHAPE type not supported in OPAL XML.
  			else
--- 1277,1295 ----
  				planeData->abcd[3] = getAttributeReal(dimensionsNodePtr, "d");
  			}
! 			//else if ("ray" == type)
! 			//{
! 			//	RayShapeData* rayData = new RayShapeData();
! 			//	data = rayData;
! 			//	Point3r origin;
! 			//	origin[0] = getAttributeReal(dimensionsNodePtr, "originx");
! 			//	origin[1] = getAttributeReal(dimensionsNodePtr, "originy");
! 			//	origin[2] = getAttributeReal(dimensionsNodePtr, "originz");
! 			//	rayData->ray.setOrigin(origin);
! 			//	Vec3r dir;
! 			//	dir[0] = getAttributeReal(dimensionsNodePtr, "dirx");
! 			//	dir[1] = getAttributeReal(dimensionsNodePtr, "diry");
! 			//	dir[2] = getAttributeReal(dimensionsNodePtr, "dirz");
! 			//	rayData->ray.setDir(dir);
! 			//}
  			// MESH_SHAPE type not supported in OPAL XML.
  			else

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.41
retrieving revision 1.42
diff -C2 -d -r1.41 -r1.42
*** Simulator.cpp	3 Mar 2005 04:39:55 -0000	1.41
--- Simulator.cpp	5 Mar 2005 21:26:24 -0000	1.42
***************
*** 32,36 ****
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
- #include "RayShapeData.h"
  
  namespace opal
--- 32,35 ----
***************
*** 102,106 ****
  			// TODO: Call some user-defined function here...
  
! 			// Update sensors.
  			std::vector<Sensor*>::iterator sensorIter;
  			for (sensorIter = mSensorList.begin(); 
--- 101,105 ----
  			// TODO: Call some user-defined function here...
  
! 			// Update Sensors.
  			std::vector<Sensor*>::iterator sensorIter;
  			for (sensorIter = mSensorList.begin(); 
***************
*** 110,114 ****
  			}
  
! 			// Update motors.
  			std::vector<Motor*>::iterator motorIter;
  			for (motorIter = mMotorList.begin(); 
--- 109,113 ----
  			}
  
! 			// Update Motors.
  			std::vector<Motor*>::iterator motorIter;
  			for (motorIter = mMotorList.begin(); 
***************
*** 126,162 ****
  			}
  
! 			// Update joints, check for broken joints.
  			std::vector<Joint*>::iterator jointIter;
  			for (jointIter = mJointList.begin(); 
! 				jointIter != mJointList.end();)
  			{
! 				Joint* j = (*jointIter);
! 				j->internal_update();
! 
! 				// Don't automatically destroy the Joint anymore; just notify 
! 				// the user and let them handle it.
! 
! 				//if (j->internal_isBroken())
! 				//{
! 				//	// Send a Joint break event.
! 				//	j->internal_handleJointBreakEvent();
! 
! 				//	//// don't use Simulator::destroyJoint here because that would loop
! 				//	//// over the joints multiple times;
! 				//	//// swap the element to be deleted with the last element
! 				//	//std::swap(j, mJointList.back());
! 
! 				//	//// update iterator
! 				//	//(*jointIter) = j;
! 
! 				//	//// delete the last element
! 				//	//delete mJointList.back();
! 				//	//mJointList.pop_back();
! 				//	destroyJoint(j);
! 				//}
! 				//else
! 				//{
! 					++jointIter;
! 				//}
  			}
  
--- 125,136 ----
  			}
  
! 			// Update Joints.
  			std::vector<Joint*>::iterator jointIter;
  			for (jointIter = mJointList.begin(); 
! 				jointIter != mJointList.end(); ++jointIter)
  			{
! 				// If the Joint gets broken here, it will automatically 
! 				// send a Joint break event.
! 				(*jointIter)->internal_update();
  			}
  
***************
*** 353,365 ****
  							break;
  						}
! 						case RAY_SHAPE:
! 						{
! 							RayShapeData* rayData = 
! 								(RayShapeData*)shapeData;
! 							Point3r origin = rayData->ray.getOrigin();
! 							origin = scale * origin;
! 							rayData->ray.setOrigin(origin);
! 							break;
! 						}
  						case MESH_SHAPE:
  						{
--- 327,339 ----
  							break;
  						}
! 						//case RAY_SHAPE:
! 						//{
! 						//	RayShapeData* rayData = 
! 						//		(RayShapeData*)shapeData;
! 						//	Point3r origin = rayData->ray.getOrigin();
! 						//	origin = scale * origin;
! 						//	rayData->ray.setOrigin(origin);
! 						//	break;
! 						//}
  						case MESH_SHAPE:
  						{
***************
*** 572,575 ****
--- 546,567 ----
  	}
  
+ 	void Simulator::setupContactGroups(unsigned int group0, 
+ 		unsigned int group1, bool makeContacts)
+ 	{
+ 		// The interaction always goes both ways, so we need to set the bit 
+ 		// flags both ways.
+ 		unsigned long int group0Bit = 1 << group0;
+ 		unsigned long int group1Bit = 1 << group1;
+ 
+ 		if (makeContacts)
+ 		{
+ 			//m
+ 		}
+ 		else
+ 		{
+ 
+ 		}
+ 	}
+ 
  	void Simulator::destroySolid(Solid* s)
  	{
***************
*** 644,652 ****
  	}
  
! 	void Simulator::registerCustomMotor(Motor* m)
! 	{
! 		m->internal_setCustom(true);
! 		addMotor(m);
! 	}
  
  	void Simulator::destroyMotor(Motor* m)
--- 636,644 ----
  	}
  
! 	//void Simulator::registerCustomMotor(Motor* m)
! 	//{
! 	//	m->internal_setCustom(true);
! 	//	addMotor(m);
! 	//}
  
  	void Simulator::destroyMotor(Motor* m)
***************
*** 814,821 ****
  			if(mMotorList[i] == m)
  			{
! 				if (!m->internal_isCustom())
! 				{
! 					delete m;
! 				}
  				mMotorList[i] = mMotorList.back();
  				mMotorList.pop_back();
--- 806,814 ----
  			if(mMotorList[i] == m)
  			{
! 				//if (!m->internal_isCustom())
! 				//{
! 				//	delete m;
! 				//}
! 				delete m;
  				mMotorList[i] = mMotorList.back();
  				mMotorList.pop_back();

Index: SolidData.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SolidData.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** SolidData.cpp	1 Mar 2005 05:04:22 -0000	1.2
--- SolidData.cpp	5 Mar 2005 21:26:24 -0000	1.3
***************
*** 31,35 ****
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
- #include "RayShapeData.h"
  #include "MeshShapeData.h"
  
--- 31,34 ----
***************
*** 87,95 ****
  				break;
  			}
! 			case RAY_SHAPE:
! 			{
! 				newShape = new RayShapeData((RayShapeData&)data);
! 				break;
! 			}
  			case MESH_SHAPE:
  			{
--- 86,94 ----
  				break;
  			}
! 			//case RAY_SHAPE:
! 			//{
! 			//	newShape = new RayShapeData((RayShapeData&)data);
! 			//	break;
! 			//}
  			case MESH_SHAPE:
  			{

Index: Motor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.cpp,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** Motor.cpp	25 Feb 2005 06:40:26 -0000	1.14
--- Motor.cpp	5 Mar 2005 21:26:24 -0000	1.15
***************
*** 33,37 ****
  	{
  		// "mData" is initialized in its own constructor.
! 		mIsCustom = false;
  		mInitCalled = false;
  		setUserData(NULL);
--- 33,37 ----
  	{
  		// "mData" is initialized in its own constructor.
! 		//mIsCustom = false;
  		mInitCalled = false;
  		setUserData(NULL);
***************
*** 68,79 ****
  	}
  
! 	void Motor::internal_setCustom(bool c)
! 	{
! 		mIsCustom = c;
! 	}
  
! 	bool Motor::internal_isCustom()
! 	{
! 		return mIsCustom;
! 	}
  }
--- 68,79 ----
  	}
  
! 	//void Motor::internal_setCustom(bool c)
! 	//{
! 	//	mIsCustom = c;
! 	//}
  
! 	//bool Motor::internal_isCustom()
! 	//{
! 	//	return mIsCustom;
! 	//}
  }