[Opal-commits] opal/src/ODE ODESimulator.cpp,1.89,1.90 ODESimulator.h,1.62,1.63

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17179/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
added VolumeSensor

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.62
retrieving revision 1.63
diff -C2 -d -r1.62 -r1.63
*** ODESimulator.h	11 Mar 2005 05:31:57 -0000	1.62
--- ODESimulator.h	12 Mar 2005 01:21:15 -0000	1.63
***************
*** 33,36 ****
--- 33,37 ----
  #include "../Simulator.h"
  #include "../RaycastSensor.h"
+ #include "../VolumeSensor.h"
  #include "ODESolid.h"
  #include "ODEJoint.h"
***************
*** 73,83 ****
  		// No ODE-specific Motor implementations at this time.
  
  		// SPACES
  
  		virtual Space* OPAL_CALL createSpace();
  
- 		//virtual void OPAL_CALL collide(const Solid* solid, 
- 		//	std::vector<Solid*>* solids);
- 
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity);
  
--- 74,85 ----
  		// No ODE-specific Motor implementations at this time.
  
+ 		// SENSORS
+ 
+ 		// No ODE-specific Sensor implementations at this time.
+ 
  		// SPACES
  
  		virtual Space* OPAL_CALL createSpace();
  
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity);
  
***************
*** 94,100 ****
  		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, real length);
--- 96,99 ----
***************
*** 104,107 ****
--- 103,112 ----
  			const Point3r& intersection, const Vec3r& normal, real distance);
  
+ 		/// Helper function for volume collision checking.  
+ 		virtual void OPAL_CALL internal_addCollidedSolid(Solid* solid);
+ 
+ 		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
+ 			const Solid* volume);
+ 
  	protected:
  
***************
*** 123,127 ****
  		/// Temporary list of Solids that collided in a volume collision 
  		/// check.
! 		std::vector<Solid*> mCollidedSolids;
  
  		/// Used for ray casting.  
--- 128,132 ----
  		/// Temporary list of Solids that collided in a volume collision 
  		/// check.
! 		VolumeQueryResult mVolumeQueryResult;
  
  		/// Used for ray casting.  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.89
retrieving revision 1.90
diff -C2 -d -r1.89 -r1.90
*** ODESimulator.cpp	11 Mar 2005 05:31:57 -0000	1.89
--- ODESimulator.cpp	12 Mar 2005 01:21:08 -0000	1.90
***************
*** 28,32 ****
  #include "ODESimulator.h"
  #include "../ShapeData.h"
- //#include <ode/config.h>
  
  namespace opal
--- 28,31 ----
***************
*** 794,798 ****
  		if (solidPtr->internal_getCollisionCount() != mCollisionCount)
  		{
! 			mCollidedSolids.push_back(solid);
  			solidPtr->internal_setCollisionCount(mCollisionCount);
  		}
--- 793,797 ----
  		if (solidPtr->internal_getCollisionCount() != mCollisionCount)
  		{
! 			mVolumeQueryResult.internal_addSolid(solid);
  			solidPtr->internal_setCollisionCount(mCollisionCount);
  		}
***************
*** 877,906 ****
  	}
  
! 	//void ODESimulator::collide(const Solid* solid, std::vector<Solid*>* solids)
! 	//{
! 	//	mCollisionCount++;
! 	//	mCollidedSolids.clear();
! 	//	const std::vector<GeomData*>* geomList = 
! 	//		((ODESolid*)solid)->internal_getGeomDataList();
! 	//	
! 	//	//check for collisions; this will fill up mCollidedSolids
! 	//	std::vector<GeomData*>::const_iterator iter;
! 	//	for (iter = geomList->begin(); iter != geomList->end(); ++iter)
! 	//	{
! 	//		dSpaceCollide2((*iter)->geomID, (dGeomID)mRootSpaceID, this, 
! 	//			&ode_hidden::internal_pickingCollisionCallback);
! 	//	}
  
! 	//	std::vector<Solid*>::iterator solidIter;
! 	//	for (solidIter = mCollidedSolids.begin(); 
! 	//		solidIter != mCollidedSolids.end(); ++solidIter)
! 	//	{
! 	//		//we don't want the volume solid to be added
! 	//		if (*solidIter != solid)
! 	//		{
! 	//			solids->push_back(*solidIter);
! 	//		}
! 	//	}
! 	//}
  
  	void ODESimulator::setGravity(const Vec3r& gravity)
--- 876,902 ----
  	}
  
! 	const VolumeQueryResult& ODESimulator::internal_queryVolume(
! 		const Solid* volume)
! 	{
! 		mCollisionCount++;
! 		mVolumeQueryResult.internal_clearSolids();
! 		const std::vector<GeomData*>* geomList = 
! 			((ODESolid*)volume)->internal_getGeomDataList();
  
! 		// Check for collisions with each of the volume Solid's geoms.  
! 		// This will fill up mVolumeQueryResult with those Solids that 
! 		// collide with these geoms.
! 		std::vector<GeomData*>::const_iterator iter;
! 		for (iter = geomList->begin(); iter != geomList->end(); ++iter)
! 		{
! 			dSpaceCollide2((*iter)->geomID, (dGeomID)mRootSpaceID, this, 
! 				&ode_hidden::internal_volumeCollisionCallback);
! 		}
! 
! 		// We don't want the volume Solid to be listed in the results.
! 		mVolumeQueryResult.internal_removeSolid(volume);
! 
! 		return mVolumeQueryResult;
! 	}
  
  	void ODESimulator::setGravity(const Vec3r& gravity)