[Opal-commits] opal/src BlueprintManager.cpp,1.30,1.31 Defines.h,1.67,1.68 Joint.cpp,1.25,1.26 Joint.h,1.63,1.64 JointData.h,1.4,1.5 Simulator.h,1.80,1.81

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13926/src

Modified Files:
	BlueprintManager.cpp Defines.h Joint.cpp Joint.h JointData.h 
	Simulator.h 
Log Message:
added a "contacts enabled" feature to Joints

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.67
retrieving revision 1.68
diff -C2 -d -r1.67 -r1.68
*** Defines.h	8 Mar 2005 16:10:23 -0000	1.67
--- Defines.h	8 Mar 2005 22:05:02 -0000	1.68
***************
*** 328,332 ****
  			const real breakThresh = (real)100.0;
  			const real accumThresh = (real)1000.0;
! 			const bool enableContacts = false;
  		}
  
--- 328,332 ----
  			const real breakThresh = (real)100.0;
  			const real accumThresh = (real)1000.0;
! 			const bool contactsEnabled = false;
  		}
  

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -d -r1.30 -r1.31
*** BlueprintManager.cpp	5 Mar 2005 21:26:23 -0000	1.30
--- BlueprintManager.cpp	8 Mar 2005 22:05:02 -0000	1.31
***************
*** 486,489 ****
--- 486,512 ----
  			}
  
+ 			// Load ContactsEnabled element if it exists.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("ContactsEnabled");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				std::string value = getAttributeString(paramNodePtr, "value");
+ 				if ("true" == value)
+ 				{
+ 					data->contactsEnabled = true;
+ 				}
+ 				else if ("false" == value)
+ 				{
+ 					data->contactsEnabled = false;
+ 				}
+ 				else
+ 				{
+ 					OPAL_LOGGER("warning") << 
+ 						"opal::BlueprintManager::loadJoint: Invalid value "
+ 						<< value << " for Joint ContactsEnabled parameter in " 
+ 						<< filename << " will be ignored." << std::endl;
+ 				}
+ 			}
+ 
  			// Loop over Axis elements if they exist.
  			TiXmlNode* axisNodePtr = NULL;

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.25
retrieving revision 1.26
diff -C2 -d -r1.25 -r1.26
*** Joint.cpp	8 Mar 2005 16:10:23 -0000	1.25
--- Joint.cpp	8 Mar 2005 22:05:03 -0000	1.26
***************
*** 67,70 ****
--- 67,80 ----
  	}
  
+ 	void Joint::setContactsEnabled(bool e)
+ 	{
+ 		mData.contactsEnabled;
+ 	}
+ 
+ 	bool Joint::areContactsEnabled()const
+ 	{
+ 		return mData.contactsEnabled;
+ 	}
+ 
  	JointType Joint::getType()const
  	{

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.63
retrieving revision 1.64
diff -C2 -d -r1.63 -r1.64
*** Joint.h	8 Mar 2005 16:10:23 -0000	1.63
--- Joint.h	8 Mar 2005 22:05:03 -0000	1.64
***************
*** 74,77 ****
--- 74,85 ----
  		virtual const std::string& OPAL_CALL getName()const;
  
+ 		/// Sets whether the Joint's two Solids are constrained by 
+ 		/// physical contacts.
+ 		virtual void OPAL_CALL setContactsEnabled(bool e);
+ 
+ 		/// Returns whether the Joint's two Solids are constrained by 
+ 		/// physical contacts.
+ 		virtual bool OPAL_CALL areContactsEnabled()const;
+ 
  		/// Returns the Joint type.  
  		virtual JointType OPAL_CALL getType()const;

Index: JointData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/JointData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** JointData.h	8 Mar 2005 16:10:23 -0000	1.4
--- JointData.h	8 Mar 2005 22:05:03 -0000	1.5
***************
*** 103,107 ****
  			accumThresh = defaults::joint::accumThresh;
  			accumDamage = 0;
! 			enableContacts = defaults::joint::enableContacts;
  		}
  
--- 103,107 ----
  			accumThresh = defaults::joint::accumThresh;
  			accumDamage = 0;
! 			contactsEnabled = defaults::joint::contactsEnabled;
  		}
  
***************
*** 139,143 ****
  			accumThresh = data.accumThresh;
  			accumDamage = data.accumDamage;
! 			enableContacts = data.enableContacts;
  		}
  
--- 139,143 ----
  			accumThresh = data.accumThresh;
  			accumDamage = data.accumDamage;
! 			contactsEnabled = data.contactsEnabled;
  		}
  
***************
*** 199,204 ****
  
  		/// Determines whether Solids connected by this Joint should make 
! 		/// contacts when they collide.
! 		bool enableContacts;
  
  	protected:
--- 199,206 ----
  
  		/// Determines whether Solids connected by this Joint should make 
! 		/// contacts when they collide.  If multiple Joints connect the same 
! 		/// two Solids, each with different contactsEnabled settings, 
! 		/// the behavior is undefined.
! 		bool contactsEnabled;
  
  	protected:

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.80
retrieving revision 1.81
diff -C2 -d -r1.80 -r1.81
*** Simulator.h	8 Mar 2005 16:10:23 -0000	1.80
--- Simulator.h	8 Mar 2005 22:05:03 -0000	1.81
***************
*** 160,164 ****
  		/// each other.  Keep in mind that the following cases are already 
  		/// ignored when performing collision detection: two sleeping 
! 		/// Solids don't collide, two Solids connected by a fixed Joint 
  		/// don't collide; two Solids connected by a Joint with its 
  		/// contacts enabled property set to false don't collide.  
--- 160,164 ----
  		/// each other.  Keep in mind that the following cases are already 
  		/// ignored when performing collision detection: two sleeping 
! 		/// Solids don't collide; two Solids connected by a fixed Joint 
  		/// don't collide; two Solids connected by a Joint with its 
  		/// contacts enabled property set to false don't collide.