[Opal-commits] opal/src Blueprint.cpp,1.17,1.18 BlueprintManager.cpp,1.31,1.32 BlueprintManager.h,1.17,1.18 RaycastSensor.cpp,1.4,1.5 RaycastSensorData.h,1.2,1.3 SensorData.h,1.6,1.7 Simulator.cpp,1.45,1.46 Simulator.h,1.85,1.86 VolumeSensor.cpp,1.1,1.2 VolumeSensorData.h,1.1,1.2

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24830/src

Modified Files:
	Blueprint.cpp BlueprintManager.cpp BlueprintManager.h 
	RaycastSensor.cpp RaycastSensorData.h SensorData.h 
	Simulator.cpp Simulator.h VolumeSensor.cpp VolumeSensorData.h 
Log Message:
added xml parsing for raycast and volume sensors

Index: Blueprint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Blueprint.cpp,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** Blueprint.cpp	28 Feb 2005 03:27:54 -0000	1.17
--- Blueprint.cpp	13 Mar 2005 23:07:09 -0000	1.18
***************
*** 36,39 ****
--- 36,41 ----
  #include "ThrusterMotorData.h"
  #include "SensorData.h"
+ #include "RaycastSensorData.h"
+ #include "VolumeSensorData.h"
  
  namespace opal
***************
*** 210,214 ****
  		}
  
! 		// TODO: once we have Sensors, loop over them here.
  
  		mFinalized = true;
--- 212,230 ----
  		}
  
! 		// Setup Sensor reference indices.
! 		for (i=0; i<mSensorList.size(); ++i)
! 		{
! 			SensorData* data = mSensorList.at(i);
! 
! 			// At this time we have no Sensors with special references 
! 			// besides the standard Solid reference present in every 
! 			// Sensor.  Thus we can just treat them all the same.
! 
! 			// Find the index of the Solid reference.  If the value of 
! 			// the index is -1, the Sensor must not be attached to any 
! 			// Solid.
! 			int solidIndex = getSolidIndex(data->internal_solidName);
! 			data->internal_solidIndex = solidIndex;
! 		}
  
  		mFinalized = true;
***************
*** 327,345 ****
  		else
  		{
! 			// TODO: implement this when we have some Sensors available.
! 			//SensorData* newData = NULL;
  
! 			//// Allocate the right type of Sensor.
! 			//switch(data->getType())
! 			//{
! 			//	case VELOCITY_SENSOR:
! 			//		newData = 
! 			//	new VelocitySensorData(*((VelocitySensorData*)data));
! 			//		break;
! 			//	default:
! 			//		assert(false);
! 			//}
  
! 			//mSensorList.push_back(newData);
  		}
  	}
--- 343,380 ----
  		else
  		{
! 			SensorData* newData = NULL;
  
! 			// Allocate the right type of Sensor.
! 			switch(data->getType())
! 			{
! 				//case ACCELERATION_SENSOR:
! 				//{
! 				//	newData = 
! 				//		new AccelerationSensorData(
! 				//		*((AccelerationSensorData*)data));
! 				//	break;
! 				//}
! 				case RAYCAST_SENSOR:
! 				{
! 					newData = 
! 						new RaycastSensorData(*((RaycastSensorData*)data));
! 					break;
! 				}
! 				//case VELOCITY_SENSOR:
! 				//{
! 				//	newData = 
! 				//		new VelocitySensorData(*((VelocitySensorData*)data));
! 				//}
! 				case VOLUME_SENSOR:
! 				{
! 					newData = 
! 						new VolumeSensorData(*((VolumeSensorData*)data));
! 					break;
! 				}
! 				default:
! 					assert(false);
! 			}
  
! 			mSensorList.push_back(newData);
  		}
  	}

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** RaycastSensor.cpp	12 Mar 2005 01:21:16 -0000	1.4
--- RaycastSensor.cpp	13 Mar 2005 23:07:10 -0000	1.5
***************
*** 60,64 ****
  	{
  		// TODO: if mData.solid is valid, update this Sensor's ray 
! 		// relative to the Solid
  
  		// TODO: if this is attached to a Solid, keep the ray from 
--- 60,65 ----
  	{
  		// TODO: if mData.solid is valid, update this Sensor's ray 
! 		// relative to the Solid; otherwise, update it relative to 
! 		// global origin.
  
  		// TODO: if this is attached to a Solid, keep the ray from 

Index: SensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SensorData.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** SensorData.h	12 Mar 2005 01:21:16 -0000	1.6
--- SensorData.h	13 Mar 2005 23:07:10 -0000	1.7
***************
*** 54,57 ****
--- 54,59 ----
  			name = "";
  			solid = NULL;
+ 			internal_solidIndex = 0;
+ 			internal_solidName = "";
  			// "transform" is initialized in its own constructor.
  		}
***************
*** 75,81 ****
  		/// Pointer to the Solid to which this Sensor is attached.  This 
  		/// will be NULL if the Sensor is not attached to a Solid (i.e. 
! 		/// it is positioned somewhere within the environment).
  		Solid* solid;
  
  		/// If the Sensor is attached to a Solid, this matrix is the global 
  		/// offset from that Solid's transform.  Otherwise, it is just the 
--- 77,89 ----
  		/// Pointer to the Solid to which this Sensor is attached.  This 
  		/// will be NULL if the Sensor is not attached to a Solid (i.e. 
! 		/// it is just positioned somewhere within the environment).
  		Solid* solid;
  
+ 		/// Internal data used for Blueprint instantiation.
+ 		int internal_solidIndex;
+ 
+ 		/// Internal data used for Blueprint instantiation.
+ 		std::string internal_solidName;
+ 
  		/// If the Sensor is attached to a Solid, this matrix is the global 
  		/// offset from that Solid's transform.  Otherwise, it is just the 

Index: VolumeSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** VolumeSensor.cpp	12 Mar 2005 01:21:17 -0000	1.1
--- VolumeSensor.cpp	13 Mar 2005 23:07:11 -0000	1.2
***************
*** 55,59 ****
  	{
  		// TODO: if mData.solid is valid, update this Sensor's transform 
! 		// relative to the Solid
  
  		// TODO: if this is attached to a Solid, don't add the volume Solid 
--- 55,60 ----
  	{
  		// TODO: if mData.solid is valid, update this Sensor's transform 
! 		// relative to the Solid; otherwise, update it relative to 
! 		// global origin.
  
  		// TODO: if this is attached to a Solid, don't add the volume Solid 

Index: BlueprintManager.h
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.h,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** BlueprintManager.h	26 Feb 2005 10:22:23 -0000	1.17
--- BlueprintManager.h	13 Mar 2005 23:07:10 -0000	1.18
***************
*** 42,45 ****
--- 42,47 ----
  	class SpringMotorData;
  	class ThrusterMotorData;
+ 	class RaycastSensorData;
+ 	class VolumeSensorData;
  
  	namespace blueprint_manager
***************
*** 56,66 ****
  			/// will be ignored).  The Blueprint can contain any number 
  			/// of Solids, Joints, Motors, and Sensors.  Most of the 
! 			/// object parameters are optional, in which case the usual, 
  			/// default values will be used.  The only required 
  			/// parameters are object types and references to other objects 
! 			/// (i.e. the "References" elements in an XML file.  For example, 
! 			/// a Joint refers to two Solids; if either of those Solids 
! 			/// are not in the file, the Joint will be ignored.  For a 
! 			/// particular element, all attributes are always required.  
  			/// All object names, if used, must be unique.
  			virtual void OPAL_CALL loadFile(Blueprint& bp, 
--- 58,71 ----
  			/// will be ignored).  The Blueprint can contain any number 
  			/// of Solids, Joints, Motors, and Sensors.  Most of the 
! 			/// object parameters are optional, in which case the usual 
  			/// default values will be used.  The only required 
  			/// parameters are object types and references to other objects 
! 			/// (i.e. the "References" elements in an XML file).  For 
! 			/// example, a Joint refers to two Solids; if either of those 
! 			/// Solids are not in the file, the Joint will be ignored.  The 
! 			/// exception is Sensors' references to Solids; these aren't 
! 			/// required because Sensors don't have to be attached to a 
! 			/// Solid.  For a particular element that does exist in the 
! 			/// XML file, all attributes are always required.  
  			/// All object names, if used, must be unique.
  			virtual void OPAL_CALL loadFile(Blueprint& bp, 
***************
*** 126,129 ****
--- 131,146 ----
  				const Blueprint& bp, const std::string& filename);
  
+ 			/// Helper function for parsing RaycastSensor XML elements.  
+ 			/// Allocates and returns a pointer to a new RaycastSensorData 
+ 			/// object.  Returns NULL if the element could not be loaded.
+ 			RaycastSensorData* loadRaycastSensor(const TiXmlNode* nodePtr, 
+ 				const Blueprint& bp, const std::string& filename);
+ 
+ 			/// Helper function for parsing VolumeSensor XML elements.  
+ 			/// Allocates and returns a pointer to a new VolumeSensorData 
+ 			/// object.  Returns NULL if the element could not be loaded.
+ 			VolumeSensorData* loadVolumeSensor(const TiXmlNode* nodePtr, 
+ 				const Blueprint& bp, const std::string& filename);
+ 
  			/// Helper function for parsing Shape XML elements.  Allocates 
  			/// and returns a pointer to a new ShapeData object.  Returns 

Index: RaycastSensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensorData.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** RaycastSensorData.h	11 Mar 2005 05:31:56 -0000	1.2
--- RaycastSensorData.h	13 Mar 2005 23:07:10 -0000	1.3
***************
*** 63,66 ****
--- 63,68 ----
  			name = data.name;
  			solid = data.solid;
+ 			internal_solidIndex = data.internal_solidIndex;
+ 			internal_solidName = data.internal_solidName;
  			transform = data.transform;
  			ray = data.ray;

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.31
retrieving revision 1.32
diff -C2 -d -r1.31 -r1.32
*** BlueprintManager.cpp	8 Mar 2005 22:05:02 -0000	1.31
--- BlueprintManager.cpp	13 Mar 2005 23:07:09 -0000	1.32
***************
*** 38,41 ****
--- 38,43 ----
  #include "SpringMotorData.h"
  #include "SensorData.h"
+ #include "RaycastSensorData.h"
+ #include "VolumeSensorData.h"
  
  #ifdef OPAL_USE_XML
***************
*** 1199,1216 ****
  			}
  
! 			// TODO: implement this once we have some Sensors.
! 			//// Load data for the specific type of Sensor.
! 			//if ("velocity" == type)
  			//{
! 			//	data = loadVelocitySensor(nodePtr, bp, filename);
  			//}
! 			//else
  			//{
! 			//	OPAL_LOGGER("warning") << 
! 			//		"opal::BlueprintManager::loadSensor: Invalid Sensor \
! 			//		type " << type << " in " << filename 
! 			//		<< ". Ignoring the Sensor." << std::endl;
! 			//	return NULL;
  			//}
  
  			// Load Name element if it exists.
--- 1201,1230 ----
  			}
  
! 			// Load data for the specific type of Sensor.
! 			//if ("acceleration" == type)
  			//{
! 			//	data = loadAccelerationSensor(nodePtr, bp, filename);
  			//}
! 			//else if ("raycast" == type)
! 			if ("raycast" == type)
! 			{
! 				data = loadRaycastSensor(nodePtr, bp, filename);
! 			}
! 			//else if ("velocity" == type)
  			//{
! 			//	data = loadVelocitySensor(nodePtr, bp, filename);
  			//}
+ 			else if ("volume" == type)
+ 			{
+ 				data = loadVolumeSensor(nodePtr, bp, filename);
+ 			}
+ 			else
+ 			{
+ 				OPAL_LOGGER("warning") << 
+ 					"opal::BlueprintManager::loadSensor: Invalid Sensor \
+ 					type " << type << " in " << filename 
+ 					<< ". Ignoring the Sensor." << std::endl;
+ 				return NULL;
+ 			}
  
  			// Load Name element if it exists.
***************
*** 1244,1247 ****
--- 1258,1330 ----
  				}
  			}
+ 
+ 			// Load Offset element if it exists.
+ 			TiXmlNode* offsetNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("Offset");
+ 			if (NULL != offsetNodePtr)
+ 			{
+ 				loadOffset(data->transform, offsetNodePtr, filename);
+ 			}
+ 
+ 			// Load References element.  If it doesn't exist, just assume 
+ 			// that this Sensor will not be attached to a Solid.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("References");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				// Get the Solids' names.
+ 				data->internal_solidName = getAttributeString(paramNodePtr, 
+ 					"solid");
+ 			}
+ 			else
+ 			{
+ 				data->internal_solidName = "";
+ 			}
+ #endif
+ 			return data;
+ 		}
+ 
+ 		RaycastSensorData* BlueprintManager::loadRaycastSensor(
+ 			const TiXmlNode* nodePtr, const Blueprint& bp, 
+ 			const std::string& filename)
+ 		{
+ 			// This data structure automatically gets initialized to 
+ 			// default values in its constructor.
+ 			RaycastSensorData* data = new RaycastSensorData();
+ 
+ #ifdef OPAL_USE_XML
+ 
+ 			TiXmlNode* paramNodePtr = NULL;
+ 
+ 			// Load Ray element if it exists.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("Ray");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				Point3r origin;
+ 				Vec3r dir;
+ 				origin[0] = getAttributeReal(paramNodePtr, "originx");
+ 				origin[1] = getAttributeReal(paramNodePtr, "originy");
+ 				origin[2] = getAttributeReal(paramNodePtr, "originz");
+ 				dir[0] = getAttributeReal(paramNodePtr, "dirx");
+ 				dir[1] = getAttributeReal(paramNodePtr, "diry");
+ 				dir[2] = getAttributeReal(paramNodePtr, "dirz");
+ 				data->ray.setOrigin(origin);
+ 				data->ray.setDir(dir);
+ 			}
+ #endif
+ 			return data;
+ 		}
+ 
+ 		VolumeSensorData* BlueprintManager::loadVolumeSensor(
+ 			const TiXmlNode* nodePtr, const Blueprint& bp, 
+ 			const std::string& filename)
+ 		{
+ 			// This data structure automatically gets initialized to 
+ 			// default values in its constructor.
+ 			VolumeSensorData* data = new VolumeSensorData();
+ 
+ #ifdef OPAL_USE_XML
+ 			// Nothing special to load for VolumeSensors.
  #endif
  			return data;

Index: VolumeSensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensorData.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** VolumeSensorData.h	12 Mar 2005 01:21:17 -0000	1.1
--- VolumeSensorData.h	13 Mar 2005 23:07:11 -0000	1.2
***************
*** 62,65 ****
--- 62,67 ----
  			name = data.name;
  			solid = data.solid;
+ 			internal_solidIndex = data.internal_solidIndex;
+ 			internal_solidName = data.internal_solidName;
  			transform = data.transform;
  		}

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.45
retrieving revision 1.46
diff -C2 -d -r1.45 -r1.46
*** Simulator.cpp	12 Mar 2005 01:21:16 -0000	1.45
--- Simulator.cpp	13 Mar 2005 23:07:10 -0000	1.46
***************
*** 234,237 ****
--- 234,238 ----
  	void Simulator::setStepSize(real stepSize)
  	{
+ 		assert(stepSize > 0);
  		mStepSize = stepSize;
  	}
***************
*** 288,291 ****
--- 289,295 ----
  		{
  			Solid* s = createSolid();
+ 
+ 			// Make a local copy of the Solid's data, including all of its 
+ 			// Shapes.
  			SolidData sd = *bp.getSolidData(i);
  
***************
*** 379,389 ****
  		for (i=0; i<bp.getNumJoints(); ++i)
  		{
- 			// Setup the Solid reference pointers.
- 			JointData* data = bp.getJointData(i);
- 			data->solid0 = solidList.at(data->internal_solid0Index);
- 			data->solid1 = solidList.at(data->internal_solid1Index);
- 
  			Joint* j = createJoint();
! 			JointData jd = *data;
  
  			if (useOffset)
--- 383,394 ----
  		for (i=0; i<bp.getNumJoints(); ++i)
  		{
  			Joint* j = createJoint();
! 
! 			// Create a local copy of the Joint's data.
! 			JointData jd = *bp.getJointData(i);
! 
! 			// Setup the Solid reference pointers.
! 			jd.solid0 = solidList.at(jd.internal_solid0Index);
! 			jd.solid1 = solidList.at(jd.internal_solid1Index);
  
  			if (useOffset)
***************
*** 413,480 ****
  		{
  			Motor* m = NULL;
! 			//MotorData* data = bp.getMotorData(i);
  
  			switch(bp.getMotorData(i)->getType())
  			{
- 				
  				case ATTRACTOR_MOTOR:
  				{
! 					AttractorMotorData* data = 
! 						(AttractorMotorData*)(bp.getMotorData(i));
  
  					// Setup the Solid reference pointers.
! 					data->solid0 = solidList.at(data->internal_solid0Index);
! 					data->solid1 = solidList.at(data->internal_solid1Index);
  
  					m = createAttractorMotor();
! 					((AttractorMotor*)m)->init(*data);
  					break;
  				}
  				case GEARED_MOTOR:
  				{
! 					GearedMotorData* data = 
! 						(GearedMotorData*)(bp.getMotorData(i));
  
  					// Setup the Joint reference pointer.
! 					data->joint = jointList.at(data->internal_jointIndex);
  
  					m = createGearedMotor();
! 					((GearedMotor*)m)->init(*data);
  					break;
  				}
  				case SERVO_MOTOR:
  				{
! 					ServoMotorData* data = 
! 						(ServoMotorData*)(bp.getMotorData(i));
  
  					// Setup the Joint reference pointer.
! 					data->joint = jointList.at(data->internal_jointIndex);
  
  					m = createServoMotor();
! 					((ServoMotor*)m)->init(*data);
  					break;
  				}
  				case SPRING_MOTOR:
  				{
! 					SpringMotorData* data = 
! 						(SpringMotorData*)(bp.getMotorData(i));
  
  					// Setup the Solid reference pointer.
! 					data->solid = solidList.at(data->internal_solidIndex);
  
  					m = createSpringMotor();
! 					((SpringMotor*)m)->init(*data);
  					break;
  				}
  				case THRUSTER_MOTOR:
  				{
! 					ThrusterMotorData* data = 
! 						(ThrusterMotorData*)(bp.getMotorData(i));
  
  					// Setup the Solid reference pointer.
! 					data->solid = solidList.at(data->internal_solidIndex);
  
  					m = createThrusterMotor();
! 					((ThrusterMotor*)m)->init(*data);
  					break;
  				}
--- 418,485 ----
  		{
  			Motor* m = NULL;
! 			MotorData* motorData = bp.getMotorData(i);
  
+ 			// Allocate and setup the right type of Motor.
  			switch(bp.getMotorData(i)->getType())
  			{
  				case ATTRACTOR_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					AttractorMotorData data = *(AttractorMotorData*)motorData;
  
  					// Setup the Solid reference pointers.
! 					data.solid0 = solidList.at(data.internal_solid0Index);
! 					data.solid1 = solidList.at(data.internal_solid1Index);
  
  					m = createAttractorMotor();
! 					((AttractorMotor*)m)->init(data);
  					break;
  				}
  				case GEARED_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					GearedMotorData data = *(GearedMotorData*)motorData;
  
  					// Setup the Joint reference pointer.
! 					data.joint = jointList.at(data.internal_jointIndex);
  
  					m = createGearedMotor();
! 					((GearedMotor*)m)->init(data);
  					break;
  				}
  				case SERVO_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					ServoMotorData data = *(ServoMotorData*)motorData;
  
  					// Setup the Joint reference pointer.
! 					data.joint = jointList.at(data.internal_jointIndex);
  
  					m = createServoMotor();
! 					((ServoMotor*)m)->init(data);
  					break;
  				}
  				case SPRING_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					SpringMotorData data = *(SpringMotorData*)motorData;
  
  					// Setup the Solid reference pointer.
! 					data.solid = solidList.at(data.internal_solidIndex);
  
  					m = createSpringMotor();
! 					((SpringMotor*)m)->init(data);
  					break;
  				}
  				case THRUSTER_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					ThrusterMotorData data = *(ThrusterMotorData*)motorData;
  
  					// Setup the Solid reference pointer.
! 					data.solid = solidList.at(data.internal_solidIndex);
  
  					m = createThrusterMotor();
! 					((ThrusterMotor*)m)->init(data);
  					break;
  				}
***************
*** 487,511 ****
  		}
  
! 		// TODO: implement this when we have Sensors.
! 		//// Create all Sensors in the Blueprint.
! 		// This is outdated...
! 		//for (int i=0; i<bp.getNumSensors(); ++i)
! 		//{
! 		//	Sensor* s = NULL;
! 		//	SensorData* data = bp.getSensorData(i);
  
! 		//	switch(bp.getMotorData(i).getType())
! 		//	{
! 		//		case VELOCITY_SENSOR:
! 		//			m = createVelocitySensor();
! 		//			((VelocitySensor*)m)->init(*((VelocitySensorData*)data));
! 		//			break;
! 		//		default:
! 		//			assert(false);
! 		//	}
  
! 		//	// Add the Sensor to the BlueprintInstance.
! 		//	instance.internal_addSensor(s);
! 		//}
  
  		solidList.clear();
--- 492,587 ----
  		}
  
! 		// Create all Sensors in the Blueprint.
! 		for (i=0; i<bp.getNumSensors(); ++i)
! 		{
! 			Sensor* s = NULL;
! 			SensorData* sensorData = bp.getSensorData(i);
  
! 			// These are necessary because we don't want to change teh 
! 			// Blueprint's Sensor data directly; we need a local copy.
! 			Solid* solidPtr = NULL;
! 			Matrix44r transform = sensorData->transform;
  
! 			// Setup the Solid reference pointer.
! 			if (-1 == sensorData->internal_solidIndex)
! 			{
! 				// This Sensor must not be attached to any Solid.
! 				solidPtr = NULL;
! 			}
! 			else
! 			{
! 				// This Sensor is attached to a Solid.
! 				solidPtr = solidList.at(sensorData->internal_solidIndex);
! 			}
! 
! 			if (useOffset)
! 			{
! 				// Offset the Sensor's transform.
! 				transform = offset * transform;
! 			}
! 
! 			if (useScale)
! 			{
! 				// Scale the Solid's transform.
! 				transform[12] *= scale;
! 				transform[13] *= scale;
! 				transform[14] *= scale;
! 			}
! 
! 			// Allocate the right type of Sensor.
! 			switch(sensorData->getType())
! 			{
! 				//case ACCELERATION_SENSOR:
! 				//{
! 				//	// Make a local copy of the Sensor's data.
! 				//	AccelerationSensorData data = 
! 				//		*(AccelerationSensorData*)sensorData;
! 				//	data.solid = solidPtr;
! 				//	data.transform = transform;
! 
! 				//	s = createAccelerationSensor();
! 				//	((AccelerationSensor*)s)->init(data);
! 				//	break;
! 				//}
! 				case RAYCAST_SENSOR:
! 				{
! 					// Make a local copy of the Sensor's data.
! 					RaycastSensorData data = *(RaycastSensorData*)sensorData;
! 					data.solid = solidPtr;
! 					data.transform = transform;
! 
! 					s = createRaycastSensor();
! 					((RaycastSensor*)s)->init(data);
! 					break;
! 				}
! 				//case VELOCITY_SENSOR:
! 				//{
! 				//	// Make a local copy of the Sensor's data.
! 				//	VelocitySensorData data = *(VelocitySensorData*)sensorData;
! 				//	data.solid = solidPtr;
! 				//	data.transform = transform;
! 
! 				//	s = createVelocitySensor();
! 				//	((VelocitySensor*)s)->init(data);
! 				//	break;
! 				//}
! 				case VOLUME_SENSOR:
! 				{
! 					// Make a local copy of the Sensor's data.
! 					VolumeSensorData data = *(VolumeSensorData*)sensorData;
! 					data.solid = solidPtr;
! 					data.transform = transform;
! 
! 					s = createVolumeSensor();
! 					((VolumeSensor*)s)->init(data);
! 					break;
! 				}
! 				default:
! 					assert(false);
! 			}
! 
! 			// Add the Sensor to the BlueprintInstance.
! 			instance.internal_addSensor(s);
! 		}
  
  		solidList.clear();
***************
*** 734,737 ****
--- 810,820 ----
  	}
  
+ 	VolumeSensor* Simulator::createVolumeSensor()
+ 	{
+ 		VolumeSensor* newSensor = new VolumeSensor(this);
+ 		addSensor(newSensor);
+ 		return newSensor;
+ 	}
+ 
  	void Simulator::destroySensor(Sensor* s)
  	{

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.85
retrieving revision 1.86
diff -C2 -d -r1.85 -r1.86
*** Simulator.h	12 Mar 2005 01:21:17 -0000	1.85
--- Simulator.h	13 Mar 2005 23:07:11 -0000	1.86
***************
*** 45,48 ****
--- 45,49 ----
  	class ThrusterMotor;
  	class RaycastSensor;
+ 	class VolumeSensor;
  	class BlueprintInstance;
  	struct RaycastResult;
***************
*** 70,74 ****
  		virtual bool OPAL_CALL simulate(real dt);
  
! 		/// Sets the constant step size used in the simulation.  
  		virtual void OPAL_CALL setStepSize(real stepSize);
  
--- 71,76 ----
  		virtual bool OPAL_CALL simulate(real dt);
  
! 		/// Sets the constant step size used in the simulation.  The step 
! 		/// size must be greater than zero.
  		virtual void OPAL_CALL setStepSize(real stepSize);
  
***************
*** 201,204 ****
--- 203,209 ----
  		virtual RaycastSensor* OPAL_CALL createRaycastSensor();
  
+ 		/// Creates and returns a pointer to a VolumeSensor.  
+ 		virtual VolumeSensor* OPAL_CALL createVolumeSensor();
+ 
  		/// Immediately destroys the given Sensor.  
  		virtual void OPAL_CALL destroySensor(Sensor* s);