[Opal-commits] opal/src/ODE ODESimulator.cpp,1.94,1.95

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4745/src/ODE

Modified Files:
	ODESimulator.cpp 
Log Message:
implemented InclineSensor; added code for Ogre sample apps

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.94
retrieving revision 1.95
diff -C2 -d -r1.94 -r1.95
*** ODESimulator.cpp	25 Mar 2005 02:44:20 -0000	1.94
--- ODESimulator.cpp	30 Mar 2005 23:26:23 -0000	1.95
***************
*** 756,760 ****
  				ODESimulator* sim = (ODESimulator*)data;
  
! 				// Get pointers to the two geoms' GeomData structure.  
  				GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
  				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
--- 756,761 ----
  				ODESimulator* sim = (ODESimulator*)data;
  
! 				// Get pointers to the two geoms' GeomData structure.  Both 
! 				// of these should always be non-NULL.
  				GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
  				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
***************
*** 815,827 ****
  				// Colliding two geoms.
  
  				// Get a pointer to the ODESimulator.
  				ODESimulator* sim = (ODESimulator*)data;
  
! 				// Get pointers to the two geoms' GeomData structure.  
  				GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
  				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
  
! 				// Only one of these (the one NOT belonging to the ray geom) 
! 				// will be non-NULL.
  				unsigned int geomContactGroup = defaults::shape::contactGroup;
  				if (geomData0)
--- 816,836 ----
  				// Colliding two geoms.
  
+ 				// Sometimes we get a case where the ray geom is passed in 
+ 				// as both objects, which is stupid.
+ 				if (o0 == o1)
+ 				{
+ 					return;
+ 				}
+ 
  				// Get a pointer to the ODESimulator.
  				ODESimulator* sim = (ODESimulator*)data;
  
! 				// Get pointers to the two geoms' GeomData structure.  One 
! 				// of these (the one NOT belonging to the ray geom) 
! 				// will always be non-NULL.
  				GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
  				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
  
! 				// Find the contact group of the collided Solid.
  				unsigned int geomContactGroup = defaults::shape::contactGroup;
  				if (geomData0)