[Opal-commits] opal/src AccelerationSensor.cpp,NONE,1.1 AccelerationSensor.h,NONE,1.1 AccelerationSe

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Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23596/src

Modified Files:
	RaycastSensor.h SConscript Simulator.cpp VolumeSensor.h opal.h 
Added Files:
	AccelerationSensor.cpp AccelerationSensor.h 
	AccelerationSensorData.h VelocitySensor.cpp VelocitySensor.h 
	VelocitySensorData.h 
Log Message:
added VelocitySensor and AccelerationSensor

--- NEW FILE: AccelerationSensor.h ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_ACCELERATION_SENSOR_H
#define OPAL_ACCELERATION_SENSOR_H

#include "Defines.h"
#include "Sensor.h"
#include "AccelerationSensorData.h"

namespace opal
{
	/// A Sensor that monitors the linear and angular acceleration of a 
	/// Solid.  Using its transform, it can be set to a desired offset from 
	/// the attached Solid.  This Sensor does nothing if it is not attached 
	/// to a Solid (i.e. its returned values are always zero).
	class AccelerationSensor : public Sensor
	{
	public:
		AccelerationSensor();

		virtual ~AccelerationSensor();

		/// Initializes the Sensor with the given data structure.  If the 
		/// Solid pointer in the data is valid, the Sensor's offset will 
		/// be relative to the Solid's transform instead of the global 
		/// origin.
		virtual void OPAL_CALL init(const AccelerationSensorData& data);

		/// Returns all data describing the Sensor.
		virtual const AccelerationSensorData& OPAL_CALL getData()const;

		/// Returns the Sensor's global linear acceleration.
		virtual real OPAL_CALL getGlobalLinearAccel()const;

		/// Returns the Sensor's global angular acceleration.
		virtual real OPAL_CALL getGlobalAngularAccel()const;

		/// Returns the Sensor's local linear acceleration.
		virtual real OPAL_CALL getLocalLinearAccel()const;

		/// Returns the Sensor's local angular acceleration.
		virtual real OPAL_CALL getLocalAngularAccel()const;

		virtual void OPAL_CALL setEnabled(bool e);

		virtual bool OPAL_CALL isEnabled()const;

		virtual void OPAL_CALL setTransform(const Matrix44r& t);

		virtual const Matrix44r& OPAL_CALL getTransform()const;

		virtual SensorType OPAL_CALL getType()const;

		virtual void OPAL_CALL setName(const std::string& name);

		virtual const std::string& OPAL_CALL getName()const;

		virtual void OPAL_CALL internal_update();

		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);

	protected:
		/// Stores data describing the Sensor.
		AccelerationSensorData mData;

	private:
	};
}

#endif

--- NEW FILE: AccelerationSensor.cpp ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#include "AccelerationSensor.h"
#include "Simulator.h"

namespace opal
{
	AccelerationSensor::AccelerationSensor()
	{
		// "mData" is initialized in its own constructor.
	}

	AccelerationSensor::~AccelerationSensor()
	{
	}

	void AccelerationSensor::init(const AccelerationSensorData& data)
	{
		Sensor::init();
		mData = data;
	}

	const AccelerationSensorData& AccelerationSensor::getData()const
	{
		return mData;
	}

	real AccelerationSensor::getGlobalLinearAccel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// in global coordinates.

		// TODO: get the acceleration of the Solid at the Sensor's position.

		return 0; // temporary
	}

	real AccelerationSensor::getGlobalAngularAccel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// in global coordinates.

		// TODO: get the acceleration of the Solid at the Sensor's position.

		return 0; // temporary
	}

	real AccelerationSensor::getLocalLinearAccel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// relative to the Solid.

		// TODO: get the acceleration of the Solid at the Sensor's position.

		return 0; // temporary
	}

	real AccelerationSensor::getLocalAngularAccel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// relative to the Solid.

		// TODO: get the acceleration of the Solid at the Sensor's position.

		return 0; // temporary
	}

	void AccelerationSensor::setEnabled(bool e)
	{
		if (!mInitCalled)
		{
			return;
		}

		mData.enabled = e;
	}

	bool AccelerationSensor::isEnabled()const
	{
		return mData.enabled;
	}

	SensorType AccelerationSensor::getType()const
	{
		return mData.getType();
	}

	void AccelerationSensor::setTransform(const Matrix44r& t)
	{
		mData.transform = t;
	}

	const Matrix44r& AccelerationSensor::getTransform()const
	{
		return mData.transform;
	}

	void AccelerationSensor::setName(const std::string& name)
	{
		mData.name = name;
	}

	const std::string& AccelerationSensor::getName()const
	{
		return mData.name;
	}

	void AccelerationSensor::internal_update()
	{
		if (mData.enabled)
		{
			// TODO: update acceleration calculations
		}
	}

	bool AccelerationSensor::internal_dependsOn(Solid* solid)
	{
		if (solid == mData.solid)
		{
			return true;
		}
		else
		{
			return false;
		}
	}
}

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.22
retrieving revision 1.23
diff -C2 -d -r1.22 -r1.23
*** opal.h	12 Mar 2005 01:21:17 -0000	1.22
--- opal.h	14 Mar 2005 05:18:27 -0000	1.23
***************
*** 54,59 ****
--- 54,63 ----
  #include "Sensor.h"
  #include "SensorData.h"
+ #include "AccelerationSensor.h"
+ #include "AccelerationSensorData.h"
  #include "RaycastSensor.h"
  #include "RaycastSensorData.h"
+ #include "VelocitySensor.h"
+ #include "VelocitySensorData.h"
  #include "VolumeSensor.h"
  #include "VolumeSensorData.h"

--- NEW FILE: VelocitySensor.cpp ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#include "VelocitySensor.h"
#include "Simulator.h"

namespace opal
{
	VelocitySensor::VelocitySensor()
	{
		// "mData" is initialized in its own constructor.
	}

	VelocitySensor::~VelocitySensor()
	{
	}

	void VelocitySensor::init(const VelocitySensorData& data)
	{
		Sensor::init();
		mData = data;
	}

	const VelocitySensorData& VelocitySensor::getData()const
	{
		return mData;
	}

	real VelocitySensor::getGlobalLinearVel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// in global coordinates.

		// TODO: get the velocity of the Solid at the Sensor's position.

		return 0; // temporary
	}

	real VelocitySensor::getGlobalAngularVel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// in global coordinates.

		// TODO: get the velocity of the Solid at the Sensor's position.

		return 0; // temporary
	}

	real VelocitySensor::getLocalLinearVel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// relative to the Solid.

		// TODO: get the velocity of the Solid at the Sensor's position.

		return 0; // temporary
	}

	real VelocitySensor::getLocalAngularVel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// relative to the Solid.

		// TODO: get the velocity of the Solid at the Sensor's position.

		return 0; // temporary
	}

	void VelocitySensor::setEnabled(bool e)
	{
		if (!mInitCalled)
		{
			return;
		}

		mData.enabled = e;
	}

	bool VelocitySensor::isEnabled()const
	{
		return mData.enabled;
	}

	SensorType VelocitySensor::getType()const
	{
		return mData.getType();
	}

	void VelocitySensor::setTransform(const Matrix44r& t)
	{
		mData.transform = t;
	}

	const Matrix44r& VelocitySensor::getTransform()const
	{
		return mData.transform;
	}

	void VelocitySensor::setName(const std::string& name)
	{
		mData.name = name;
	}

	const std::string& VelocitySensor::getName()const
	{
		return mData.name;
	}

	void VelocitySensor::internal_update()
	{
		if (mData.enabled)
		{
			// Do nothing.
		}
	}

	bool VelocitySensor::internal_dependsOn(Solid* solid)
	{
		if (solid == mData.solid)
		{
			return true;
		}
		else
		{
			return false;
		}
	}
}

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.46
retrieving revision 1.47
diff -C2 -d -r1.46 -r1.47
*** Simulator.cpp	13 Mar 2005 23:07:10 -0000	1.46
--- Simulator.cpp	14 Mar 2005 05:18:27 -0000	1.47
***************
*** 38,41 ****
--- 38,43 ----
  #include "SpringMotor.h"
  #include "RaycastSensor.h"
+ #include "VelocitySensor.h"
+ #include "AccelerationSensor.h"
  #include "VolumeSensor.h"

--- NEW FILE: VelocitySensor.h ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_VELOCITY_SENSOR_H
#define OPAL_VELOCITY_SENSOR_H

#include "Defines.h"
#include "Sensor.h"
#include "VelocitySensorData.h"

namespace opal
{
	/// A Sensor that monitors the linear and angular velocity of a Solid.  
	/// Using its transform, it can be set to a desired offset from the 
	/// attached Solid.  This Sensor does nothing if it is not attached 
	/// to a Solid (i.e. its returned values are always zero).  Note that 
	/// if you never need the velocity offset from a Solid, you can also 
	/// use the Solid's get velocity functions.
	class VelocitySensor : public Sensor
	{
	public:
		VelocitySensor();

		virtual ~VelocitySensor();

		/// Initializes the Sensor with the given data structure.  If the 
		/// Solid pointer in the data is valid, the Sensor's offset will 
		/// be relative to the Solid's transform instead of the global 
		/// origin.
		virtual void OPAL_CALL init(const VelocitySensorData& data);

		/// Returns all data describing the Sensor.
		virtual const VelocitySensorData& OPAL_CALL getData()const;

		/// Returns the Sensor's global linear velocity.
		virtual real OPAL_CALL getGlobalLinearVel()const;

		/// Returns the Sensor's global angular velocity.
		virtual real OPAL_CALL getGlobalAngularVel()const;

		/// Returns the Sensor's local linear velocity.
		virtual real OPAL_CALL getLocalLinearVel()const;

		/// Returns the Sensor's local angular velocity.
		virtual real OPAL_CALL getLocalAngularVel()const;

		virtual void OPAL_CALL setEnabled(bool e);

		virtual bool OPAL_CALL isEnabled()const;

		virtual void OPAL_CALL setTransform(const Matrix44r& t);

		virtual const Matrix44r& OPAL_CALL getTransform()const;

		virtual SensorType OPAL_CALL getType()const;

		virtual void OPAL_CALL setName(const std::string& name);

		virtual const std::string& OPAL_CALL getName()const;

		virtual void OPAL_CALL internal_update();

		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);

	protected:
		/// Stores data describing the Sensor.
		VelocitySensorData mData;

	private:
	};
}

#endif

--- NEW FILE: VelocitySensorData.h ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_VELOCITY_SENSOR_DATA_H
#define OPAL_VELOCITY_SENSOR_DATA_H

#include "Defines.h"
#include "SensorData.h"

namespace opal
{
	/// A data structure describing a VelocitySensor.
	class VelocitySensorData : public SensorData
	{
	public:
		OPAL_DECL VelocitySensorData()
		: SensorData()
		{
			mType = VELOCITY_SENSOR;
		}

		/// Copy constructor.
		OPAL_DECL VelocitySensorData(const VelocitySensorData& data)
		{
			(*this) = data;
		}

		OPAL_DECL virtual ~VelocitySensorData()
		{
		}

		/// Makes a deep copy.
		OPAL_DECL virtual void OPAL_CALL operator=(
			const VelocitySensorData& data)
		{
			mType = data.mType;
			enabled = data.enabled;
			name = data.name;
			solid = data.solid;
			internal_solidIndex = data.internal_solidIndex;
			internal_solidName = data.internal_solidName;
			transform = data.transform;
		}

	protected:

	private:
	};
}

#endif

Index: RaycastSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** RaycastSensor.h	12 Mar 2005 01:21:16 -0000	1.4
--- RaycastSensor.h	14 Mar 2005 05:18:27 -0000	1.5
***************
*** 85,89 ****

  	/// A Sensor that fires a ray into a scene and returns data describing 
! 	/// the intersection, if any.  This Sensor does not fire a ray on 
  	/// every time step because that would be a waste of time in most 
  	/// cases; it must be "fired" manually.
--- 85,89 ----

  	/// A Sensor that fires a ray into a scene and returns data describing 
! 	/// the closest intersection, if any.  This Sensor does not fire a ray 
  	/// every time step because that would be a waste of time in most 
  	/// cases; it must be "fired" manually.

Index: VolumeSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** VolumeSensor.h	14 Mar 2005 01:20:53 -0000	1.2
--- VolumeSensor.h	14 Mar 2005 05:18:27 -0000	1.3
***************
*** 114,118 ****
  	/// a specified volume.  Each volume query returns a data structure 
  	/// containing a list of those Solids.  This Sensor does not do a volume 
! 	/// query on every time step because that would be a waste of time in 
  	/// most cases; it must be queried manually.
  	class VolumeSensor : public Sensor
--- 114,118 ----
  	/// a specified volume.  Each volume query returns a data structure 
  	/// containing a list of those Solids.  This Sensor does not do a volume 
! 	/// query every time step because that would be a waste of time in 
  	/// most cases; it must be queried manually.
  	class VolumeSensor : public Sensor

--- NEW FILE: AccelerationSensorData.h ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

#ifndef OPAL_ACCELERATION_SENSOR_DATA_H
#define OPAL_ACCELERATION_SENSOR_DATA_H

#include "Defines.h"
#include "SensorData.h"

namespace opal
{
	/// A data structure describing an AccelerationSensor.
	class AccelerationSensorData : public SensorData
	{
	public:
		OPAL_DECL AccelerationSensorData()
		: SensorData()
		{
			mType = ACCELERATION_SENSOR;
		}

		/// Copy constructor.
		OPAL_DECL AccelerationSensorData(const AccelerationSensorData& data)
		{
			(*this) = data;
		}

		OPAL_DECL virtual ~AccelerationSensorData()
		{
		}

		/// Makes a deep copy.
		OPAL_DECL virtual void OPAL_CALL operator=(
			const AccelerationSensorData& data)
		{
			mType = data.mType;
			enabled = data.enabled;
			name = data.name;
			solid = data.solid;
			internal_solidIndex = data.internal_solidIndex;
			internal_solidName = data.internal_solidName;
			transform = data.transform;
		}

	protected:

	private:
	};
}

#endif

Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** SConscript	12 Mar 2005 01:21:16 -0000	1.14
--- SConscript	14 Mar 2005 05:18:27 -0000	1.15
***************
*** 4,7 ****
--- 4,9 ----
  # OPAL headers
  headers = Split("""
+ 	AccelerationSensor.h
+ 	AccelerationSensorData.h
  	AttractorMotor.h
  	AttractorMotorData.h
***************
*** 50,53 ****
--- 52,57 ----
  	ThrusterMotorData.h
  	Vec3r.h
+ 	VelocitySensor.h
+ 	VelocitySensorData.h
  	VolumeSensor.h
  	VolumeSensorData.h
***************
*** 56,59 ****
--- 60,64 ----
  # OPAL sources
  sources = Split("""
+ 	AccelerationSensor.cpp
  	AttractorMotor.cpp
  	Blueprint.cpp
***************
*** 73,76 ****
--- 78,82 ----
  	SpringMotor.cpp
  	ThrusterMotor.cpp
+ 	VelocitySensor.cpp
  	VolumeSensor.cpp
  """)