[Opal-commits] opal/src Matrix44r.h,1.28,1.29 RaycastSensor.cpp,1.5,1.6 Sensor.h,1.8,1.9 Simulator.h,1.86,1.87 Solid.cpp,1.26,1.27 Solid.h,1.82,1.83 VolumeSensor.cpp,1.2,1.3 VolumeSensor.h,1.1,1.2

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27784/src

Modified Files:
	Matrix44r.h RaycastSensor.cpp Sensor.h Simulator.h Solid.cpp 
	Solid.h VolumeSensor.cpp VolumeSensor.h 
Log Message:
finished implementing RaycastSensor and VolumeSensor

Index: Sensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Sensor.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** Sensor.h	9 Mar 2005 02:09:49 -0000	1.8
--- Sensor.h	14 Mar 2005 01:20:53 -0000	1.9
***************
*** 34,42 ****
  namespace opal
  {
! 	/// A device that records data from a simulation.  Some Sensors can be 
! 	/// attached to Solids, some can simply be positioned somewhere within 
! 	/// an environment, and some can work either way.  All Sensors start out 
! 	/// disabled and must be initialized via init) before they can be 
! 	/// enabled.  
  	class Sensor
  	{
--- 34,44 ----
  namespace opal
  {
! 	/// A device that records data from a simulation.  Sensors can either be 
! 	/// attached to Solids or just positioned somewhere within an 
! 	/// environment.  Each Sensor maintains a transform matrix; depending 
! 	/// on whether the Sensor is attached to a Solid, the transform is 
! 	/// relative to the attached Solid or the global origin.  All Sensors 
! 	/// start out disabled and must be initialized (via init) before they 
! 	/// can be enabled.  
  	class Sensor
  	{
***************
*** 65,69 ****
  
  		/// Sets the Sensor's transform.
! 		virtual void OPAL_CALL setTransform(const Matrix44r& name) = 0;
  
  		/// Returns the Sensor's transform.
--- 67,71 ----
  
  		/// Sets the Sensor's transform.
! 		virtual void OPAL_CALL setTransform(const Matrix44r& t) = 0;
  
  		/// Returns the Sensor's transform.

Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.26
retrieving revision 1.27
diff -C2 -d -r1.26 -r1.27
*** Solid.cpp	8 Mar 2005 16:10:23 -0000	1.26
--- Solid.cpp	14 Mar 2005 01:20:53 -0000	1.27
***************
*** 137,143 ****
  	}
  
! 	void Solid::setTransform(const Matrix44r& transform)
  	{	
! 		mData.transform = transform;
  		internal_updateEngineTransform();
  	}
--- 137,143 ----
  	}
  
! 	void Solid::setTransform(const Matrix44r& t)
  	{	
! 		mData.transform = t;
  		internal_updateEngineTransform();
  	}

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** RaycastSensor.cpp	13 Mar 2005 23:07:10 -0000	1.5
--- RaycastSensor.cpp	14 Mar 2005 01:20:53 -0000	1.6
***************
*** 59,70 ****
  	const RaycastResult& RaycastSensor::fireRay(real length)
  	{
! 		// 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 
! 		// colliding with that Solid.
  
! 		return mSim->internal_fireRay(mData.ray, length);
  	}
  
--- 59,79 ----
  	const RaycastResult& RaycastSensor::fireRay(real length)
  	{
! 		Rayr ray = mData.ray;
  
! 		// If the Sensor is attached to a Solid, we need to transform 
! 		// the ray relative to that Solid's transform.
! 		if (mData.solid)
! 		{
! 			ray = mData.solid->getTransform() * ray;
! 		}
  
! 		// Use the Sensor's transform on the ray.
! 		ray = mData.transform * ray;
! 
! 		// If this is attached to a Solid, the Simulator raycast function 
! 		// will automatically ignore intersections between the ray and 
! 		// that Solid.
! 
! 		return mSim->internal_fireRay(ray, length, mData.solid);
  	}
  

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.82
retrieving revision 1.83
diff -C2 -d -r1.82 -r1.83
*** Solid.h	10 Mar 2005 21:10:36 -0000	1.82
--- Solid.h	14 Mar 2005 01:20:53 -0000	1.83
***************
*** 120,124 ****
  
  		/// Sets this Solid's transform matrix.  
! 		virtual void OPAL_CALL setTransform(const Matrix44r& transform);
  
  		/// Returns a constant reference to this Solid's transform.  
--- 120,124 ----
  
  		/// Sets this Solid's transform matrix.  
! 		virtual void OPAL_CALL setTransform(const Matrix44r& t);
  
  		/// Returns a constant reference to this Solid's transform.  

Index: VolumeSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** VolumeSensor.cpp	13 Mar 2005 23:07:11 -0000	1.2
--- VolumeSensor.cpp	14 Mar 2005 01:20:53 -0000	1.3
***************
*** 52,65 ****
  	}
  
! 	const VolumeQueryResult& VolumeSensor::queryVolume(const Solid* volume)
  	{
! 		// 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 
! 		// to the results.
  
! 		return mSim->internal_queryVolume(volume);
  	}
  
--- 52,90 ----
  	}
  
! 	const VolumeQueryResult& VolumeSensor::queryVolume(Solid* volume)
  	{
! 		// The volume Solid's transform will be totally ignored.
  
! 		// Store the volume Solid's transform.
! 		Matrix44r originalVolumeTransform = volume->getTransform();
  
! 		Matrix44r newVolumeTransform;
! 
! 		// If the Sensor is attached to a Solid, we need to transform 
! 		// the volume relative to that Solid's transform.
! 		if (mData.solid)
! 		{
! 			newVolumeTransform = 
! 				mData.solid->getTransform() * newVolumeTransform;
! 		}
! 
! 		// Use the Sensor's transform on the volume.
! 		newVolumeTransform = mData.transform * newVolumeTransform;
! 
! 		// Set the volume's new transform we just setup.
! 		volume->setTransform(newVolumeTransform);
! 
! 		// If this is attached to a Solid, the Simulator volume query 
! 		// function will automatically ignore intersections between the 
! 		// volume and that Solid.
! 
! 		// Query the volume for colliding Solids.
! 		const VolumeQueryResult& result = 
! 			mSim->internal_queryVolume(volume, mData.solid);
! 
! 		// Restore the volume Solid's original transform.
! 		volume->setTransform(originalVolumeTransform);
! 
! 		return result;
  	}
  

Index: VolumeSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** VolumeSensor.h	12 Mar 2005 01:21:17 -0000	1.1
--- VolumeSensor.h	14 Mar 2005 01:20:53 -0000	1.2
***************
*** 131,136 ****
  		/// Queries the Sensor's environment with the given Solid's volume, 
  		/// returning a list of the Solids that collide with that Solid.  
  		virtual const VolumeQueryResult& OPAL_CALL queryVolume(
! 			const Solid* volume);
  
  		virtual void OPAL_CALL setEnabled(bool e);
--- 131,139 ----
  		/// Queries the Sensor's environment with the given Solid's volume, 
  		/// returning a list of the Solids that collide with that Solid.  
+ 		/// The given Solid's transform will be totally ignored; use the 
+ 		/// Sensor's transform instead.  If this Sensor is attached to 
+ 		/// a Solid, that Solid will not be added to the results.
  		virtual const VolumeQueryResult& OPAL_CALL queryVolume(
! 			Solid* volume);
  
  		virtual void OPAL_CALL setEnabled(bool e);

Index: Matrix44r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Matrix44r.h,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** Matrix44r.h	2 Mar 2005 05:30:32 -0000	1.28
--- Matrix44r.h	14 Mar 2005 01:20:52 -0000	1.29
***************
*** 45,49 ****
  	inline Matrix44r operator-(const Matrix44r & lhs, const Matrix44r & rhs);
  	inline Point3r operator*(const Matrix44r & m, const Point3r &p);
! 	inline Rayr operator*(const Matrix44r & m, const Rayr &p);
  	inline bool inverse(Matrix44r & dest, const Matrix44r & src);
  	inline void fastInverse(Matrix44r & dest, const Matrix44r & src);
--- 45,49 ----
  	inline Matrix44r operator-(const Matrix44r & lhs, const Matrix44r & rhs);
  	inline Point3r operator*(const Matrix44r & m, const Point3r &p);
! 	inline Rayr operator*(const Matrix44r & m, const Rayr &r);
  	inline bool inverse(Matrix44r & dest, const Matrix44r & src);
  	inline void fastInverse(Matrix44r & dest, const Matrix44r & src);
***************
*** 543,547 ****
  			result(2, 2)).lengthSquared();
  
! 		//TODO: write opal::abs
  		if(fabs(l0) > eps) l0 = 1.0f / l0;
  		if(fabs(l1) > eps) l1 = 1.0f / l1;
--- 543,547 ----
  			result(2, 2)).lengthSquared();
  
! 		// TODO: write opal::abs.
  		if(fabs(l0) > eps) l0 = 1.0f / l0;
  		if(fabs(l1) > eps) l1 = 1.0f / l1;
***************
*** 648,658 ****
  	}
  
! 	inline Rayr operator*(const Matrix44r & m, const Rayr & p)
  	{
! 		Rayr r(m * p.getOrigin(), m * p.getDir());
! 		return r;
  	}
  }
  
- 
  #endif
--- 648,657 ----
  	}
  
! 	inline Rayr operator*(const Matrix44r & m, const Rayr & r)
  	{
! 		Rayr ray(m * r.getOrigin(), m * r.getDir());
! 		return ray;
  	}
  }
  
  #endif

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.86
retrieving revision 1.87
diff -C2 -d -r1.86 -r1.87
*** Simulator.h	13 Mar 2005 23:07:11 -0000	1.86
--- Simulator.h	14 Mar 2005 01:20:53 -0000	1.87
***************
*** 226,234 ****
  		/// into the scene and returns intersections results.
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length) = 0;
  
  		/// Helper function used for volume queries.
  		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume) = 0;
  
  		/// Returns the Simulator's contact group flags.
--- 226,234 ----
  		/// into the scene and returns intersections results.
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid) = 0;
  
  		/// Helper function used for volume queries.
  		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume, const Solid* attachedSolid) = 0;
  
  		/// Returns the Simulator's contact group flags.