[Opal-commits] opal/src/ODE ODESimulator.cpp,1.92,1.93 ODESimulator.h,1.66,1.67

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

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

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
a bunch of minor updates

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.66
retrieving revision 1.67
diff -C2 -d -r1.66 -r1.67
*** ODESimulator.h	23 Mar 2005 07:54:34 -0000	1.66
--- ODESimulator.h	23 Mar 2005 20:24:54 -0000	1.67
***************
*** 98,102 ****
  
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid);
  
  		/// Helper function used for ray casting.  
--- 98,103 ----
  
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid, 
! 			unsigned long int rayContactGroup);
  
  		/// Helper function used for ray casting.  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.92
retrieving revision 1.93
diff -C2 -d -r1.92 -r1.93
*** ODESimulator.cpp	21 Mar 2005 04:29:05 -0000	1.92
--- ODESimulator.cpp	23 Mar 2005 20:24:48 -0000	1.93
***************
*** 874,878 ****
  
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
! 		real length, const Solid* attachedSolid)
  	{
  		Point3r origin = r.getOrigin();
--- 874,879 ----
  
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
! 		real length, const Solid* attachedSolid, 
! 		unsigned long int rayContactGroup)
  	{
  		Point3r origin = r.getOrigin();
***************
*** 885,888 ****
--- 886,891 ----
  		mSensorSolid = attachedSolid;
  
+ 		// TODO: use rayContactGroup to limit collision check
+ 
  		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
  		dGeomRaySet(rayGeomID, origin[0], origin[1], origin[2], dir[0], 
***************
*** 908,911 ****
--- 911,916 ----
  			((ODESolid*)volume)->internal_getGeomDataList();
  
+ 		// TODO: use the volume's contact group to limit collision check
+ 
  		// Check for collisions with each of the volume Solid's geoms.  
  		// This will fill up mVolumeQueryResult with those Solids that