[Opal-commits] opal/src/ODE ODEJoint.cpp,1.28,1.29 ODEJoint.h,1.31,1.32 ODESimulator.cpp,1.85,1.86 O

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

Modified Files:
	ODEJoint.cpp ODEJoint.h ODESimulator.cpp ODESimulator.h 
Log Message:
added a "contacts enabled" feature to Joints

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.58
retrieving revision 1.59
diff -C2 -d -r1.58 -r1.59
*** ODESimulator.h	3 Mar 2005 04:39:57 -0000	1.58
--- ODESimulator.h	8 Mar 2005 22:05:05 -0000	1.59
***************
*** 132,136 ****
  	{
  		// These function don't use the OPAL_CALL calling convention 
! 		// because they are functors passed to ODE which expects a different 
  		// calling convention.

--- 132,136 ----
  	{
  		// These function don't use the OPAL_CALL calling convention 
! 		// because they are functors passed to ODE, which expects a different 
  		// calling convention.

***************
*** 138,141 ****
--- 138,146 ----
  		void internal_collisionCallback(void* data, dGeomID o0, dGeomID o1);

+ 		/// Assuming the two ODE bodies are connected by an ODE joint, this 
+ 		/// function returns the OPAL Joint connecting the two bodies' 
+ 		/// Solids.
+ 		Joint* internal_getCommonJoint(dBodyID body0, dBodyID body1);
+ 
  		/// Special collision callback functor for volume collision 
  		/// checking.

Index: ODEJoint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.h,v
retrieving revision 1.31
retrieving revision 1.32
diff -C2 -d -r1.31 -r1.32
*** ODEJoint.h	4 Mar 2005 23:26:54 -0000	1.31
--- ODEJoint.h	8 Mar 2005 22:05:04 -0000	1.32
***************
*** 74,77 ****
--- 74,80 ----
  			real value);

+ 		/// Returns the ODE joint ID of this ODEJoint.  
+ 		dJointID OPAL_CALL internal_getJointID()const;
+ 
  	protected:
  		virtual void setAxis(int axisNum, const JointAxis& axis);

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.85
retrieving revision 1.86
diff -C2 -d -r1.85 -r1.86
*** ODESimulator.cpp	8 Mar 2005 16:10:24 -0000	1.85
--- ODESimulator.cpp	8 Mar 2005 22:05:04 -0000	1.86
***************
*** 291,302 ****
  				// 5. Two Solids connected by a Joint (besides ODE 
  				//    contact joints, which never generate 
! 				//    contacts) (note: both must have 
! 				//    bodies to check this): this is enforced for now; it 
! 				//    might be nice to have a Joint option that says whether 
! 				//    the Joint's two 
! 				//    Solids generate contacts with each other... I'll 
! 				//    mark that as a TODO; if this is implemented, be sure 
! 				//    to update the comments for 
! 				//    Simulator::setupContactGroups.
  				// 6. Solid0 is static and Solid1 is sleeping: not enforced 
  				//    because sometimes you might want to wake up a sleeping 
--- 291,296 ----
  				// 5. Two Solids connected by a Joint (besides ODE 
  				//    contact joints, which never generate 
! 				//    contacts) with contacts disabled; (note: both must have 
! 				//    bodies to check this): this is enforced.
  				// 6. Solid0 is static and Solid1 is sleeping: not enforced 
  				//    because sometimes you might want to wake up a sleeping 
***************
*** 314,321 ****
  				}

! 				// TODO: find a way to get access to the Joint* for #5...
! 				// check if ODE has user data* for joints.  If this 
! 				// doesn't work, just have a boolean in the Simulator that 
! 				// affects all Joints.

  				if (//(0 == o0BodyID && 0 == o1BodyID) //case 1
--- 308,319 ----
  				}

! 				Joint* commonJoint = NULL;
! 				if (bothHaveBodies && dAreConnectedExcluding(o0BodyID, 
! 					o1BodyID, dJointTypeContact))
! 				{
! 					// This will become non-NULL only if there exists an ODE 
! 					// joint connecting the two bodies.
! 					commonJoint = internal_getCommonJoint(o0BodyID, o1BodyID);
! 				}

  				if (//(0 == o0BodyID && 0 == o1BodyID) //case 1
***************
*** 323,330 ****
  					(bothHaveBodies && !dBodyIsEnabled(o0BodyID) && 
  						!dBodyIsEnabled(o1BodyID)) //case 3
! 					//|| (connected by a fixed joint) // case 4 TODO
! 					|| (bothHaveBodies && dAreConnectedExcluding(
! 						o0BodyID, o1BodyID, dJointTypeContact)) //&& TODO
! 						//jointContactsEnabled) //case 5
  					//|| (0 == o0BodyID && !dBodyIsEnabled(o1BodyID)) //case 6
  					//|| (0 == o1BodyID && !dBodyIsEnabled(o0BodyID)) //case 7
--- 321,328 ----
  					(bothHaveBodies && !dBodyIsEnabled(o0BodyID) && 
  						!dBodyIsEnabled(o1BodyID)) //case 3
! 					|| (commonJoint && 
! 						commonJoint->getType() == FIXED_JOINT) // case 4
! 					|| (commonJoint && 
! 						!commonJoint->areContactsEnabled()) // case 5
  					//|| (0 == o0BodyID && !dBodyIsEnabled(o1BodyID)) //case 6
  					//|| (0 == o1BodyID && !dBodyIsEnabled(o0BodyID)) //case 7
***************
*** 650,653 ****
--- 648,687 ----
  		}

+ 		Joint* internal_getCommonJoint(dBodyID body0, dBodyID body1)
+ 		{
+ 			// First we need to find the ODE joint connecting the bodies 
+ 			// (it would be ideal if ODE included this functionality...).  
+ 			// We only need to check one of the bodies' ODE joints 
+ 			// because it is assumed here that the two bodies are 
+ 			// connected, thus they should have a common ODE joint.
+ 			int numJoints0 = dBodyGetNumJoints(body0);
+ 			dJointID theJoint = 0;
+ 
+ 			// Loop through body0's ODE joints.
+ 			int i=0;
+ 			for (i=0; i<numJoints0; ++i)
+ 			{
+ 				dJointID currentJoint = dBodyGetJoint(body0, i);
+ 				dBodyID jointBody0 = dJointGetBody(currentJoint, 0);
+ 				dBodyID jointBody1 = dJointGetBody(currentJoint, 1);
+ 
+ 				if ((jointBody0 == body0 && jointBody1 == body1) || 
+ 					(jointBody0 == body1 && jointBody1 == body0))
+ 				{
+ 					// This is the ODE joint connecting the two bodies.  
+ 					// Note that if the two bodies are connected by multiple 
+ 					// Joints, the behavior is undefined.
+ 					theJoint = currentJoint;
+ 				}
+ 			}
+ 
+ 			// Make sure the ODE joint was actually found.  This should 
+ 			// be guaranteed.
+ 			assert(theJoint);
+ 
+ 			// Now return the associated OPAL Joint.
+ 			return (Joint*)dJointGetData(theJoint);
+ 		}
+ 
  		// Note: o0 should always be the main object (the geom to check against
  		// everything else).

Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** ODEJoint.cpp	8 Mar 2005 16:10:24 -0000	1.28
--- ODEJoint.cpp	8 Mar 2005 22:05:03 -0000	1.29
***************
*** 208,211 ****
--- 208,221 ----
  		setAxis(1, data.axis[1]);
  		setAxis(2, data.axis[2]);
+ 
+ 		// Set the ODE joint's userdata pointer.
+ 		if (BALL_JOINT == mData.getType())
+ 		{
+ 			dJointSetData(mAMotorID, this);
+ 		}
+ 		else
+ 		{
+ 			dJointSetData(mJointID, this);
+ 		}
  	}

***************
*** 865,868 ****
--- 875,890 ----
  	}

+ 	dJointID ODEJoint::internal_getJointID()const
+ 	{
+ 		if (BALL_JOINT == mData.getType())
+ 		{
+ 			return mAMotorID;
+ 		}
+ 		else
+ 		{
+ 			return mJointID;
+ 		}
+ 	}
+ 
  	void ODEJoint::attachODEBodies(Solid* s0, Solid* s1)
  	{

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.28,1.29 ODEJoint.h,1.31,1.32 ODESimulator.cpp,1.85,1.86 O

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.28,1.29 ODEJoint.h,1.31,1.32 ODESimulator.cpp,1.85,1.86 ODESimulator.h,1.58,1.59