[Opal-commits] opal/src/ODE ODESimulator.cpp,1.87,1.88 ODESimulator.h,1.60,1.61

[Andres R. <ar...@us...>]

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3815/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
added a raycast that takes ray length separately for optimization

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.60
retrieving revision 1.61
diff -C2 -d -r1.60 -r1.61
*** ODESimulator.h	9 Mar 2005 02:09:50 -0000	1.60
--- ODESimulator.h	10 Mar 2005 21:12:53 -0000	1.61
***************
*** 97,102 ****
  		void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r);
  
  		/// Helper function used for ray casting.  
--- 97,103 ----
  		void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay( const Rayr& r);
! 
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay( const Rayr& r, real length );
  
  		/// Helper function used for ray casting.  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.87
retrieving revision 1.88
diff -C2 -d -r1.87 -r1.88
*** ODESimulator.cpp	9 Mar 2005 02:09:50 -0000	1.87
--- ODESimulator.cpp	10 Mar 2005 21:12:53 -0000	1.88
***************
*** 854,861 ****
  	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)
--- 854,868 ----
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r)
  	{
  		real length = r.getLength();
+ 		mRaycastResult =  internal_fireRay( r, length );
+ 		return mRaycastResult;
+ 	}
+ 
+ 	const RaycastResult& ODESimulator::internal_fireRay( const Rayr& r, real length )
+ 	{
+ 		Point3r origin = r.getOrigin();
  		Vec3r dir = r.getDir();
  
+ 		/* I don't think ODE requires this since ray length is separate from the direction -- Andres
  		// Normalized the vector if possible.
  		if (0 != length)
***************
*** 863,866 ****
--- 870,874 ----
  			dir.normalize();
  		}
+ 		*/
  
  		mRaycastResult.solid = NULL;
***************
*** 880,884 ****
  		// Finished with ODE ray, so destroy it.
  		dGeomDestroy(rayGeomID);
- 
  		return mRaycastResult;
  	}
--- 888,891 ----