[Opal-commits] opal/src AccelerationSensor.cpp,1.3,1.4 AccelerationSensor.h,1.3,1.4 BlueprintManager

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Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22833/src

Modified Files:
	AccelerationSensor.cpp AccelerationSensor.h 
	BlueprintManager.cpp RaycastSensor.cpp RaycastSensorData.h 
	SensorData.h Simulator.h 
Log Message:
a bunch of minor updates

Index: AccelerationSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AccelerationSensor.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** AccelerationSensor.h	23 Mar 2005 07:54:33 -0000	1.3
--- AccelerationSensor.h	23 Mar 2005 20:24:33 -0000	1.4
***************
*** 99,113 ****
  		Simulator* mSim;

! 		/// Stored copy of the current global linear acceleration.
! 		Vec3r mGlobalLinearAccel;

! 		/// Stored copy of the current global angular acceleration.
! 		Vec3r mGlobalAngularAccel;

! 		/// Stored copy of the current local linear acceleration.
! 		Vec3r mLocalLinearAccel;

! 		/// Stored copy of the current local angular acceleration.
! 		Vec3r mLocalAngularAccel;

  		/// Stored copy of the previous step's velocity data; used for 
--- 99,117 ----
  		Simulator* mSim;

! 		/// Stored copy of the current step's velocity data; used for 
! 		/// acceleration calculations.
! 		Vec3r mCurrentGlobalLinearVel;

! 		/// Stored copy of the current step's velocity data; used for 
! 		/// acceleration calculations.
! 		Vec3r mCurrentGlobalAngularVel;

! 		/// Stored copy of the current step's velocity data; used for 
! 		/// acceleration calculations.
! 		Vec3r mCurrentLocalLinearVel;

! 		/// Stored copy of the current step's velocity data; used for 
! 		/// acceleration calculations.
! 		Vec3r mCurrentLocalAngularVel;

  		/// Stored copy of the previous step's velocity data; used for 

Index: AccelerationSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/AccelerationSensor.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** AccelerationSensor.cpp	23 Mar 2005 07:54:33 -0000	1.3
--- AccelerationSensor.cpp	23 Mar 2005 20:24:32 -0000	1.4
***************
*** 36,43 ****
  		mSim = s;

! 		// "mGlobalLinearAccel" is initialized in its own constructor.
! 		// "mGlobalAngularAccel" is initialized in its own constructor.
! 		// "mLocalLinearAccel" is initialized in its own constructor.
! 		// "mLocalAngularAccel" is initialized in its own constructor.

  		// "mPrevGlobalLinearVel" is initialized in its own constructor.
--- 36,43 ----
  		mSim = s;

! 		// "mCurrentGlobalLinearVel" is initialized in its own constructor.
! 		// "mCurrentGlobalAngularVel" is initialized in its own constructor.
! 		// "mCurrentLocalLinearVel" is initialized in its own constructor.
! 		// "mCurrentLocalAngularVel" is initialized in its own constructor.

  		// "mPrevGlobalLinearVel" is initialized in its own constructor.
***************
*** 69,73 ****
  		}

! 		return mGlobalLinearAccel;
  	}

--- 69,74 ----
  		}

! 		return (mCurrentGlobalLinearVel - mPrevGlobalLinearVel) / 
! 			mSim->getStepSize();
  	}

***************
*** 79,83 ****
  		}

! 		return mGlobalAngularAccel;
  	}

--- 80,85 ----
  		}

! 		return (mCurrentGlobalAngularVel - mPrevGlobalAngularVel) / 
! 			mSim->getStepSize();
  	}

***************
*** 89,93 ****
  		}

! 		return mLocalLinearAccel;
  	}

--- 91,96 ----
  		}

! 		return (mCurrentLocalLinearVel - mPrevLocalLinearVel) / 
! 			mSim->getStepSize();
  	}

***************
*** 99,103 ****
  		}

! 		return mLocalAngularAccel;
  	}

--- 102,107 ----
  		}

! 		return (mCurrentLocalAngularVel - mPrevLocalAngularVel) / 
! 			mSim->getStepSize();
  	}

***************
*** 146,175 ****
  		if (mData.enabled)
  		{
! 			real dt = mSim->getStepSize();
! 
! 			Vec3r currentGlobalLinearVel = 
  				mData.solid->getGlobalLinearVelAtLocalPos(
  				mData.transform.getPosition());
! 			Vec3r currentGlobalAngularVel = 
  				mData.solid->getGlobalAngularVel();
! 			Vec3r currentLocalLinearVel = 
  				mData.solid->getLocalLinearVelAtLocalPos(
  				mData.transform.getPosition());
! 			Vec3r currentLocalAngularVel = 
  				mData.solid->getLocalAngularVel();

! 			mGlobalLinearAccel = (currentGlobalLinearVel - 
! 				mPrevGlobalLinearVel) / dt;
! 			mGlobalAngularAccel = (currentGlobalAngularVel - 
! 				mPrevGlobalAngularVel) / dt;
! 			mLocalLinearAccel = (currentLocalLinearVel - 
! 				mPrevLocalLinearVel) / dt;
! 			mLocalAngularAccel = (currentLocalAngularVel - 
! 				mPrevLocalAngularVel) / dt;
! 
! 			mPrevGlobalLinearVel = currentGlobalLinearVel;
! 			mPrevGlobalAngularVel = currentGlobalAngularVel;
! 			mPrevLocalLinearVel = currentLocalLinearVel;
! 			mPrevLocalAngularVel = currentLocalAngularVel;
  		}
  	}
--- 150,168 ----
  		if (mData.enabled)
  		{
! 			mCurrentGlobalLinearVel = 
  				mData.solid->getGlobalLinearVelAtLocalPos(
  				mData.transform.getPosition());
! 			mCurrentGlobalAngularVel = 
  				mData.solid->getGlobalAngularVel();
! 			mCurrentLocalLinearVel = 
  				mData.solid->getLocalLinearVelAtLocalPos(
  				mData.transform.getPosition());
! 			mCurrentLocalAngularVel = 
  				mData.solid->getLocalAngularVel();

! 			mPrevGlobalLinearVel = mCurrentGlobalLinearVel;
! 			mPrevGlobalAngularVel = mCurrentGlobalAngularVel;
! 			mPrevLocalLinearVel = mCurrentLocalLinearVel;
! 			mPrevLocalAngularVel = mCurrentLocalAngularVel;
  		}
  	}

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.35
retrieving revision 1.36
diff -C2 -d -r1.35 -r1.36
*** BlueprintManager.cpp	23 Mar 2005 07:54:33 -0000	1.35
--- BlueprintManager.cpp	23 Mar 2005 20:24:34 -0000	1.36
***************
*** 1333,1336 ****
--- 1333,1347 ----
  				data->ray.setDir(dir);
  			}
+ 
+ 			// Load ContactGroup element if it exists.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("ContactGroup");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				data->contactGroup = 
+ 					(unsigned long int)getAttributeReal(
+ 					paramNodePtr, "value");
+ 			}
+ 
  #endif
  			return data;
***************
*** 1428,1432 ****
  			}

! 			// Load Offset element.
  			TiXmlNode* offsetNodePtr = const_cast<TiXmlNode*>
  				(nodePtr)->FirstChild("Offset");
--- 1439,1443 ----
  			}

! 			// Load Offset element if it exists.
  			TiXmlNode* offsetNodePtr = const_cast<TiXmlNode*>
  				(nodePtr)->FirstChild("Offset");
***************
*** 1436,1440 ****
  			}

! 			// Load Material element.
  			TiXmlNode* materialNodePtr = const_cast<TiXmlNode*>
  				(nodePtr)->FirstChild("Material");
--- 1447,1451 ----
  			}

! 			// Load Material element if it exists.
  			TiXmlNode* materialNodePtr = const_cast<TiXmlNode*>
  				(nodePtr)->FirstChild("Material");
***************
*** 1451,1454 ****
--- 1462,1475 ----
  			}

+ 			// Load ContactGroup element if it exists.
+ 			TiXmlNode* contactGroupNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("ContactGroup");
+ 			if (NULL != contactGroupNodePtr)
+ 			{
+ 				data->contactGroup = 
+ 					(unsigned long int)getAttributeReal(
+ 					contactGroupNodePtr, "value");
+ 			}
+ 
  #endif
  			return data;

Index: SensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SensorData.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** SensorData.h	23 Mar 2005 07:54:34 -0000	1.8
--- SensorData.h	23 Mar 2005 20:24:47 -0000	1.9
***************
*** 69,73 ****
  		}

! 		/// True if the Motor is enabled.
  		bool enabled;

--- 69,73 ----
  		}

! 		/// True if the Sensor is enabled.
  		bool enabled;

Index: RaycastSensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensorData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** RaycastSensorData.h	13 Mar 2005 23:07:10 -0000	1.3
--- RaycastSensorData.h	23 Mar 2005 20:24:47 -0000	1.4
***************
*** 43,46 ****
--- 43,47 ----
  			mType = RAYCAST_SENSOR;
  			// "ray" is initialized in its own constructor.
+ 			contactGroup = defaults::shape::contactGroup;
  		}

***************
*** 75,78 ****
--- 76,84 ----
  		Rayr ray;

+ 		/// The ray's contact group.  This can be used to limit which objects 
+ 		/// the ray collides with.  If this exceeds 31, bad things 
+ 		/// might happen since there are only 32 groups.
+ 		unsigned long int contactGroup;
+ 
  	protected:

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** RaycastSensor.cpp	23 Mar 2005 04:04:30 -0000	1.7
--- RaycastSensor.cpp	23 Mar 2005 20:24:36 -0000	1.8
***************
*** 75,79 ****
  		// that Solid.

! 		return mSim->internal_fireRay(ray, length, mData.solid);
  	}

--- 75,80 ----
  		// that Solid.

! 		return mSim->internal_fireRay(ray, length, mData.solid, 
! 			mData.contactGroup);
  	}

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.89
retrieving revision 1.90
diff -C2 -d -r1.89 -r1.90
*** Simulator.h	23 Mar 2005 07:54:34 -0000	1.89
--- Simulator.h	23 Mar 2005 20:24:47 -0000	1.90
***************
*** 241,247 ****

  		/// Helper function used for ray casting.  Immediately fires a ray 
! 		/// 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.
--- 241,249 ----

  		/// Helper function used for ray casting.  Immediately fires a ray 
! 		/// into the scene and returns intersections results.  Uses the 
! 		/// ray's contact group parameter to limit collision checks.
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid, 
! 			unsigned long int rayContactGroup) = 0;

  		/// Helper function used for volume queries.

[Opal-commits] opal/src AccelerationSensor.cpp,1.3,1.4 AccelerationSensor.h,1.3,1.4 BlueprintManager

[Opal-commits] opal/src AccelerationSensor.cpp,1.3,1.4 AccelerationSensor.h,1.3,1.4 BlueprintManager.cpp,1.35,1.36 RaycastSensor.cpp,1.7,1.8 RaycastSensorData.h,1.3,1.4 SensorData.h,1.8,1.9 Simulator.h,1.89,1.90