[Opal-commits] opal/src/ODE ODESimulator.cpp,1.92,1.93 ODESimulator.h,1.66,1.67
Status: Inactive
Brought to you by:
tylerstreeter
|
From: tylerstreeter <tyl...@us...> - 2005-03-23 20:25:12
|
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 |