[Opal-commits] opal/src/ODE ODESimulator.cpp,1.86,1.87 ODESimulator.h,1.59,1.60

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11688/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
added a RaycastSensor, which replaces the old Simulator ray casting functions

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.59
retrieving revision 1.60
diff -C2 -d -r1.59 -r1.60
*** ODESimulator.h	8 Mar 2005 22:05:05 -0000	1.59
--- ODESimulator.h	9 Mar 2005 02:09:50 -0000	1.60
***************
*** 32,35 ****
--- 32,36 ----
  #include "../Defines.h"
  #include "../Simulator.h"
+ #include "../RaycastSensor.h"
  #include "ODESolid.h"
  #include "ODEJoint.h"
***************
*** 56,59 ****
--- 57,62 ----
  		ODESimulator();
  
+ 		virtual ~ODESimulator();
+ 
  		virtual void OPAL_CALL destroy();
  
***************
*** 77,83 ****
  		//	std::vector<Solid*>* solids);
  
- 		virtual RaycastResult OPAL_CALL shootRay(const Point3r& origin, 
- 			const Vec3r& dir, real length);
- 
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity);
  
--- 80,83 ----
***************
*** 88,106 ****
  		virtual void OPAL_CALL internal_stepPhysics();
  
! 		dWorldID OPAL_CALL internal_getWorldID()const;
  
! 		dSpaceID OPAL_CALL internal_getSpaceID()const;
  
! 		dJointGroupID OPAL_CALL internal_getJointGroupID()const;
  
  		/// Helper function for volume collision checking.  
  		void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		/// Helper function for ray casting.  
! 		void OPAL_CALL internal_setRaycastResult(Solid* solid, 
  			const Point3r& intersection, const Vec3r& normal, real distance);
  
  	protected:
- 		virtual ~ODESimulator();
  
  		/// The ODE world ID used by this Simulator.  
--- 88,108 ----
  		virtual void OPAL_CALL internal_stepPhysics();
  
! 		virtual dWorldID OPAL_CALL internal_getWorldID()const;
  
! 		virtual dSpaceID OPAL_CALL internal_getSpaceID()const;
  
! 		virtual dJointGroupID OPAL_CALL internal_getJointGroupID()const;
  
  		/// Helper function for volume collision checking.  
  		void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r);
! 
! 		/// Helper function used for ray casting.  
! 		virtual void OPAL_CALL internal_setRaycastResult(Solid* solid, 
  			const Point3r& intersection, const Vec3r& normal, real distance);
  
  	protected:
  
  		/// The ODE world ID used by this Simulator.  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.86
retrieving revision 1.87
diff -C2 -d -r1.86 -r1.87
*** ODESimulator.cpp	8 Mar 2005 22:05:04 -0000	1.86
--- ODESimulator.cpp	9 Mar 2005 02:09:50 -0000	1.87
***************
*** 812,816 ****
  
  	//helper function for collision callback
! 	//void createOneSidedContact)dJointID contactJoint, dBodyID movingObject, 
  	//										 dBodyID staticObject, dVector3 pos)
  	//{
--- 812,816 ----
  
  	//helper function for collision callback
! 	//void createOneSidedContact(dJointID contactJoint, dBodyID movingObject, 
  	//										 dBodyID staticObject, dVector3 pos)
  	//{
***************
*** 846,850 ****
  
  	Joint* ODESimulator::createJoint()
! 	{		
  		Joint* newJoint = new ODEJoint(mWorldID);
  		addJoint(newJoint);
--- 846,850 ----
  
  	Joint* ODESimulator::createJoint()
! 	{
  		Joint* newJoint = new ODEJoint(mWorldID);
  		addJoint(newJoint);
***************
*** 852,855 ****
--- 852,887 ----
  	}
  
+ 	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r)
+ 	{
+ 		Point3r origin = r.getOrigin();
+ 		real length = r.getLength();
+ 		Vec3r dir = r.getDir();
+ 
+ 		// Normalized the vector if possible.
+ 		if (0 != length)
+ 		{
+ 			dir.normalize();
+ 		}
+ 
+ 		mRaycastResult.solid = NULL;
+ 		mRaycastResult.intersection.set(0,0,0);
+ 		mRaycastResult.normal.set(1,0,0);
+ 		mRaycastResult.distance = 0;
+ 
+ 		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
+ 		dGeomRaySet(rayGeomID, origin[0], origin[1], origin[2], dir[0], 
+ 			dir[1], dir[2]);
+ 
+ 		// Check for collisions.  This will fill mRaycastResult with valid 
+ 		// data.  Its Solid pointer will remain NULL if nothing was hit.
+ 		dSpaceCollide2(rayGeomID, (dGeomID)mRootSpaceID, this, 
+ 			&ode_hidden::internal_raycastCollisionCallback);
+ 
+ 		// Finished with ODE ray, so destroy it.
+ 		dGeomDestroy(rayGeomID);
+ 
+ 		return mRaycastResult;
+ 	}
+ 
  	//void ODESimulator::collide(const Solid* solid, std::vector<Solid*>* solids)
  	//{
***************
*** 879,910 ****
  	//}
  
- 	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);
- 		dGeomRaySet(rayGeomID, origin[0], origin[1], origin[2], dir[0], 
- 			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 ODE ray, so destroy it.
- 		dGeomDestroy(rayGeomID);
- 
- 		return result;
- 	}
- 
  	void ODESimulator::setGravity(const Vec3r& gravity)
  	{
--- 911,914 ----