[Opal-commits] opal/src BlueprintManager.cpp,1.33,1.34 SpringMotor.cpp,1.10,1.11 SpringMotor.h,1.12,1.13 SpringMotorData.h,1.4,1.5

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21909/src

Modified Files:
	BlueprintManager.cpp SpringMotor.cpp SpringMotor.h 
	SpringMotorData.h 
Log Message:
added an 'attachOffset' point option to the spring motor which allows the spring to be attached to a solid at a point offset from the solid's center

Index: SpringMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.cpp,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** SpringMotor.cpp	23 Mar 2005 04:04:31 -0000	1.10
--- SpringMotor.cpp	23 Mar 2005 04:52:36 -0000	1.11
***************
*** 41,51 ****
  	}
  
- 	//void SpringMotor::init(Mode m, Solid* s)
- 	//{
- 	//	Motor::init();
- 	//	mSolid = s;
- 	//	mMode = m;
- 	//}
- 
  	void SpringMotor::init(const SpringMotorData& data)
  	{
--- 41,44 ----
***************
*** 102,106 ****
  				Force f;
  				f.singleStep = true;
! 				f.type = GLOBAL_FORCE;
  				f.vec = mData.linearKs * error - 
  					mData.linearKd * mData.solid->getGlobalLinearVel();
--- 95,100 ----
  				Force f;
  				f.singleStep = true;
! 				f.type = GLOBAL_FORCE_AT_LOCAL_POS;
! 				f.pos = mData.attachOffset;
  				f.vec = mData.linearKs * error - 
  					mData.linearKd * mData.solid->getGlobalLinearVel();
***************
*** 176,179 ****
--- 170,183 ----
  	}
  
+ 	void SpringMotor::setAttachOffset(const Point3r& offset)
+ 	{
+ 		mData.attachOffset = offset;
+ 	}
+ 
+ 	const Point3r& SpringMotor::getAttachOffset()const
+ 	{
+ 		return mData.attachOffset;
+ 	}
+ 
  	void SpringMotor::setDesiredTransform(const Matrix44r& transform)
  	{

Index: SpringMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.h,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** SpringMotor.h	23 Mar 2005 04:04:31 -0000	1.12
--- SpringMotor.h	23 Mar 2005 04:52:36 -0000	1.13
***************
*** 69,72 ****
--- 69,79 ----
  		virtual void OPAL_CALL setEnabled(bool e);
  
+ 		/// Sets the spring's attach point on the Solid.  This is a local 
+ 		// offset point from the Solid's position.
+ 		virtual void OPAL_CALL setAttachOffset(const Point3r& offset);
+ 
+ 		/// Returns the spring's attach point on the Solid.
+ 		virtual const Point3r& OPAL_CALL getAttachOffset()const;
+ 
  		/// Sets the desired position and orientation.  
  		virtual void OPAL_CALL setDesiredTransform(const Matrix44r& transform);

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.33
retrieving revision 1.34
diff -C2 -d -r1.33 -r1.34
*** BlueprintManager.cpp	14 Mar 2005 22:36:31 -0000	1.33
--- BlueprintManager.cpp	23 Mar 2005 04:52:26 -0000	1.34
***************
*** 982,985 ****
--- 982,995 ----
  			}
  
+ 			// Load AttachOffset element if it exists.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("AttachOffset");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				data->attachOffset[0] = getAttributeReal(paramNodePtr, "x");
+ 				data->attachOffset[1] = getAttributeReal(paramNodePtr, "y");
+ 				data->attachOffset[2] = getAttributeReal(paramNodePtr, "z");
+ 			}
+ 
  			// Load DesiredPos element if it exists.
  			paramNodePtr = 

Index: SpringMotorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotorData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** SpringMotorData.h	11 Mar 2005 05:31:56 -0000	1.4
--- SpringMotorData.h	23 Mar 2005 04:52:36 -0000	1.5
***************
*** 60,63 ****
--- 60,64 ----
  			internal_solidName = "";
  			mode = LINEAR_MODE;
+ 			// "attachOffset" is initialized in its own constructor.
  			// "desiredPos" is initialized in its own constructor.
  			desiredForward = defaults::motor::spring::desiredForward;
***************
*** 91,94 ****
--- 92,96 ----
  			internal_solidName = data.internal_solidName;
  			mode = data.mode;
+ 			attachOffset = data.attachOffset;
  			desiredPos = data.desiredPos;
  			desiredForward = data.desiredForward;
***************
*** 113,116 ****
--- 115,123 ----
  		SpringMotorMode mode;
  
+ 		/// Local offset (relative to the Solid's position) that defines 
+ 		/// where the SpringMotor attaches to the Solid.  This is only 
+ 		/// used in linear mode.
+ 		Point3r attachOffset;
+ 
  		/// The Motor's desired position.  This is only used if the 
  		/// appropriate mode is set.