[Opal-commits] opal/src/ODE ODESimulator.cpp,1.90,1.91 ODESimulator.h,1.63,1.64

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

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

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
finished implementing RaycastSensor and VolumeSensor

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.63
retrieving revision 1.64
diff -C2 -d -r1.63 -r1.64
*** ODESimulator.h	12 Mar 2005 01:21:15 -0000	1.63
--- ODESimulator.h	14 Mar 2005 01:20:55 -0000	1.64
***************
*** 97,101 ****
  
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length);
  
  		/// Helper function used for ray casting.  
--- 97,101 ----
  
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid);
  
  		/// Helper function used for ray casting.  
***************
*** 107,111 ****
  
  		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume);
  
  	protected:
--- 107,111 ----
  
  		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume, const Solid* attachedSolid);
  
  	protected:
***************
*** 132,135 ****
--- 132,141 ----
  		/// Used for ray casting.  
  		RaycastResult mRaycastResult;
+ 
+ 		/// Used for ray casting and volume queries.  If a RaycastSensor or 
+ 		/// VolumeSensor is attached to a Solid, this pointer will point to 
+ 		/// that Solid.  It is used to make sure the raycasts and collision 
+ 		/// query doesn't collide with the attached Solid.
+ 		const Solid* mSensorSolid;
  	private:
  	};

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.90
retrieving revision 1.91
diff -C2 -d -r1.90 -r1.91
*** ODESimulator.cpp	12 Mar 2005 01:21:08 -0000	1.90
--- ODESimulator.cpp	14 Mar 2005 01:20:55 -0000	1.91
***************
*** 76,79 ****
--- 76,81 ----
  		setSolverAccuracy(defaults::solverAccuracy);
  		mCollisionCount = 0;
+ 		// "mRaycastResult" is initialized in its own constructor.
+ 		mSensorSolid = NULL;
  	}
  
***************
*** 82,85 ****
--- 84,108 ----
  	}
  
+ 	Solid* ODESimulator::createSolid()
+ 	{
+ 		Solid* newSolid = new ODESolid(mWorldID, mRootSpaceID);
+ 		addSolid(newSolid);
+ 		return newSolid;
+ 	}
+ 
+ 	Space* ODESimulator::createSpace()
+ 	{
+ 		Space* newSpace = new ODESpace();
+ 		addSpace(newSpace);
+ 		return newSpace;
+ 	}
+ 
+ 	Joint* ODESimulator::createJoint()
+ 	{
+ 		Joint* newJoint = new ODEJoint(mWorldID);
+ 		addJoint(newJoint);
+ 		return newJoint;
+ 	}
+ 
  	void ODESimulator::destroy()
  	{
***************
*** 690,694 ****
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				//colliding a space with either a geom or another space
  				dSpaceCollide2(o0, o1, data, 
  					&internal_volumeCollisionCallback);
--- 713,717 ----
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				// Colliding a space with either a geom or another space.
  				dSpaceCollide2(o0, o1, data, 
  					&internal_volumeCollisionCallback);
***************
*** 696,700 ****
  			else
  			{
! 				//colliding two geoms
  
  				dBodyID o0BodyID = dGeomGetBody(o0);
--- 719,723 ----
  			else
  			{
! 				// Colliding two geoms.
  
  				dBodyID o0BodyID = dGeomGetBody(o0);
***************
*** 749,753 ****
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				//colliding a space with either a geom or another space
  				dSpaceCollide2(o0, o1, data, 
  					&internal_volumeCollisionCallback);
--- 772,776 ----
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				// Colliding a space with either a geom or another space.
  				dSpaceCollide2(o0, o1, data, 
  					&internal_volumeCollisionCallback);
***************
*** 755,761 ****
  			else
  			{
! 				//colliding two geoms
  
! 				//now actually test for collision between the two geoms
  				dContactGeom contactArray[1];
  				int numContacts = dCollide(o0, o1, 1, contactArray, 
--- 778,784 ----
  			else
  			{
! 				// Colliding two geoms.
  
! 				// Now actually test for collision between the two geoms.
  				dContactGeom contactArray[1];
  				int numContacts = dCollide(o0, o1, 1, contactArray, 
***************
*** 768,772 ****
  				else
  				{
! 					//these two geoms must be intersecting
  					ODESimulator* sim = (ODESimulator*)data;
  
--- 791,795 ----
  				else
  				{
! 					// These two geoms must be intersecting.
  					ODESimulator* sim = (ODESimulator*)data;
  
***************
*** 789,792 ****
--- 812,822 ----
  	void ODESimulator::internal_addCollidedSolid(Solid* solid)
  	{
+ 		// If the collided Solid is attached to the Sensor performing the 
+ 		// volume query, ignore this intersection.
+ 		if (mSensorSolid == solid)
+ 		{
+ 			return;
+ 		}
+ 
  		ODESolid* solidPtr = ((ODESolid*)solid);
  
***************
*** 801,804 ****
--- 831,843 ----
  		const Point3r& intersection, const Vec3r& normal, real distance)
  	{
+ 		// If the collided Solid is attached to the Sensor performing the 
+ 		// raycast, ignore this intersection.
+ 		if (mSensorSolid == solid)
+ 		{
+ 			return;
+ 		}
+ 
+ 		// If this is the first collided Solid or the new intersection 
+ 		// distance is less than the previous intersection's distance...
  		if (NULL == mRaycastResult.solid || (distance < mRaycastResult.distance))
  		{
***************
*** 830,856 ****
  	//}
  
- 	Solid* ODESimulator::createSolid()
- 	{
- 		Solid* newSolid = new ODESolid(mWorldID, mRootSpaceID);
- 		addSolid(newSolid);
- 		return newSolid;
- 	}
- 
- 	Space* ODESimulator::createSpace()
- 	{
- 		Space* newSpace = new ODESpace();
- 		addSpace(newSpace);
- 		return newSpace;
- 	}
- 
- 	Joint* ODESimulator::createJoint()
- 	{
- 		Joint* newJoint = new ODEJoint(mWorldID);
- 		addJoint(newJoint);
- 		return newJoint;
- 	}
- 
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
! 		real length)
  	{
  		Point3r origin = r.getOrigin();
--- 869,874 ----
  	//}
  
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
! 		real length, const Solid* attachedSolid)
  	{
  		Point3r origin = r.getOrigin();
***************
*** 861,864 ****
--- 879,883 ----
  		mRaycastResult.normal.set(1,0,0);
  		mRaycastResult.distance = 0;
+ 		mSensorSolid = attachedSolid;
  
  		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
***************
*** 877,882 ****
  
  	const VolumeQueryResult& ODESimulator::internal_queryVolume(
! 		const Solid* volume)
  	{
  		mCollisionCount++;
  		mVolumeQueryResult.internal_clearSolids();
--- 896,902 ----
  
  	const VolumeQueryResult& ODESimulator::internal_queryVolume(
! 		const Solid* volume, const Solid* attachedSolid)
  	{
+ 		mSensorSolid = attachedSolid;
  		mCollisionCount++;
  		mVolumeQueryResult.internal_clearSolids();