[Opal-commits] opal/src/ODE ODESimulator.h,1.65,1.66 ODESolid.cpp,1.77,1.78 ODESolid.h,1.65,1.66

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29501/src/ODE

Modified Files:
	ODESimulator.h ODESolid.cpp ODESolid.h 
Log Message:
finished AccelerationSensor; remove VelocitySensor because the existing Solid velocity functions render it useless

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -d -r1.65 -r1.66
*** ODESimulator.h	14 Mar 2005 05:18:26 -0000	1.65
--- ODESimulator.h	23 Mar 2005 07:54:34 -0000	1.66
***************
*** 34,38 ****
  #include "../AccelerationSensor.h"
  #include "../RaycastSensor.h"
- #include "../VelocitySensor.h"
  #include "../VolumeSensor.h"
  #include "ODESolid.h"
--- 34,37 ----

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -d -r1.65 -r1.66
*** ODESolid.h	10 Mar 2005 21:11:05 -0000	1.65
--- ODESolid.h	23 Mar 2005 07:54:35 -0000	1.66
***************
*** 93,96 ****
--- 93,99 ----
  		virtual Vec3r OPAL_CALL getLocalLinearVel()const;
  
+ 		virtual Vec3r OPAL_CALL getLocalLinearVelAtLocalPos(
+ 			const Point3r& p)const;
+ 
  		virtual void OPAL_CALL setLocalAngularVel(const Vec3r& vel);
  
***************
*** 101,104 ****
--- 104,110 ----
  		virtual Vec3r OPAL_CALL getGlobalLinearVel()const;
  
+ 		virtual Vec3r OPAL_CALL getGlobalLinearVelAtLocalPos(
+ 			const Point3r& p)const;
+ 
  		virtual void OPAL_CALL setGlobalAngularVel(const Vec3r& vel);
  

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.77
retrieving revision 1.78
diff -C2 -d -r1.77 -r1.78
*** ODESolid.cpp	21 Mar 2005 03:53:57 -0000	1.77
--- ODESolid.cpp	23 Mar 2005 07:54:34 -0000	1.78
***************
*** 652,655 ****
--- 652,657 ----
  		{
  			const dReal* vel = dBodyGetLinearVel(mBodyID);
+ 
+ 			// Convert the vector from global to local coordinates.
  			dVector3 localVel;
  			dBodyVectorFromWorld(mBodyID, vel[0], vel[1], vel[2], localVel);
***************
*** 662,665 ****
--- 664,686 ----
  	}
  
+ 	Vec3r ODESolid::getLocalLinearVelAtLocalPos(const Point3r& p)const
+ 	{
+ 		if (!mData.isStatic)
+ 		{
+ 			// First find the global velocity at the given point.
+ 			dVector3 result;
+ 			dBodyGetRelPointVel(mBodyID, p[0], p[1], p[2], result);
+ 
+ 			// Now convert the velocity from global to local coordinates.
+ 			dBodyVectorFromWorld(mBodyID, result[0], result[1], result[2], 
+ 				result);
+ 			return Vec3r(result[0], result[1], result[2]);
+ 		}
+ 		else
+ 		{
+ 			return Vec3r(0,0,0);
+ 		}
+ 	}
+ 
  	void ODESolid::setLocalAngularVel(const Vec3r& vel)
  	{
***************
*** 679,682 ****
--- 700,705 ----
  		{
  			const dReal* vel = dBodyGetAngularVel(mBodyID);
+ 
+ 			// Convert the vector from global to local coordinates.
  			dVector3 localVel;
  			dBodyVectorFromWorld(mBodyID, vel[0], vel[1], vel[2], localVel);
***************
*** 711,714 ****
--- 734,752 ----
  	}
  
+ 	Vec3r ODESolid::getGlobalLinearVelAtLocalPos(const Point3r& p)const
+ 	{
+ 		if (!mData.isStatic)
+ 		{
+ 			// First find the global velocity at the given point.
+ 			dVector3 result;
+ 			dBodyGetRelPointVel(mBodyID, p[0], p[1], p[2], result);
+ 			return Vec3r(result[0], result[1], result[2]);
+ 		}
+ 		else
+ 		{
+ 			return Vec3r(0,0,0);
+ 		}
+ 	}
+ 
  	void ODESolid::setGlobalAngularVel(const Vec3r& vel)
  	{