[Opal-commits] opal/src AccelerationSensor.cpp,1.5,1.6 AttractorMotor.cpp,1.21,1.22 AttractorMotor.h,1.28,1.29 Defines.h,1.69,1.70 GearedMotor.cpp,1.11,1.12 InclineSensor.cpp,1.1,1.2 InclineSensor.h,1.1,1.2 InclineSensorData.h,1.1,1.2 Joint.h,1.66,1.67 Motor.h,1.38,1.39 RaycastSensor.cpp,1.8,1.9 Sensor.h,1.10,1.11 ServoMotor.cpp,1.15,1.16 Simulator.cpp,1.53,1.54 Simulator.h,1.91,1.92 SpringMotor.cpp,1.11,1.12 SpringMotor.h,1.13,1.14 ThrusterMotor.cpp,1.11,1.12 ThrusterMotor.h,1.13,1.14 Vec3r.h,1.13,1.14 VolumeSensor.cpp,1.4,1.5

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

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

Modified Files:
	AccelerationSensor.cpp AttractorMotor.cpp AttractorMotor.h 
	Defines.h GearedMotor.cpp InclineSensor.cpp InclineSensor.h 
	InclineSensorData.h Joint.h Motor.h RaycastSensor.cpp Sensor.h 
	ServoMotor.cpp Simulator.cpp Simulator.h SpringMotor.cpp 
	SpringMotor.h ThrusterMotor.cpp ThrusterMotor.h Vec3r.h 
	VolumeSensor.cpp 
Log Message:
implemented InclineSensor; added code for Ogre sample apps

Index: Sensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Sensor.h,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** Sensor.h	23 Mar 2005 04:04:30 -0000	1.10
--- Sensor.h	30 Mar 2005 23:26:22 -0000	1.11
***************
*** 38,44 ****
  	/// environment.  Each Sensor maintains a transform matrix; depending 
  	/// on whether the Sensor is attached to a Solid, the transform is 
! 	/// relative to the attached Solid or the global origin.  All Sensors 
! 	/// start out disabled and must be initialized (via init) before they 
! 	/// can be enabled.  
  	class Sensor
  	{
--- 38,43 ----
  	/// environment.  Each Sensor maintains a transform matrix; depending 
  	/// on whether the Sensor is attached to a Solid, the transform is 
! 	/// relative to the attached Solid or the global origin.  Most Sensors 
! 	/// remain ineffective until they are initialized.
  	class Sensor
  	{
***************
*** 48,53 ****
  		virtual ~Sensor();
  
! 		/// Sets whether the Sensor can update its measurements.  If the 
! 		/// Sensor has not yet been initialized, this will have no effect.
  		virtual void OPAL_CALL setEnabled(bool e) = 0;
  
--- 47,51 ----
  		virtual ~Sensor();
  
! 		/// Sets whether the Sensor can update its measurements.
  		virtual void OPAL_CALL setEnabled(bool e) = 0;
  

Index: Vec3r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Vec3r.h,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** Vec3r.h	29 Mar 2005 03:05:46 -0000	1.13
--- Vec3r.h	30 Mar 2005 23:26:23 -0000	1.14
***************
*** 295,299 ****
  	inline bool areCollinear(const Vec3r& u, const Vec3r& v)
  	{
! 		if (dot(u, v) < globals::OPAL_EPSILON)
  		{
  			return true;
--- 295,300 ----
  	inline bool areCollinear(const Vec3r& u, const Vec3r& v)
  	{
! 		real value = 1 - dot(u, v);
! 		if (fabs(value) < globals::OPAL_EPSILON)
  		{
  			return true;

Index: Motor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.h,v
retrieving revision 1.38
retrieving revision 1.39
diff -C2 -d -r1.38 -r1.39
*** Motor.h	23 Mar 2005 04:04:30 -0000	1.38
--- Motor.h	30 Mar 2005 23:26:22 -0000	1.39
***************
*** 43,49 ****
  	/// attain a desired state, users should use a Motor that takes a 
  	/// desired position or velocity, automatically applying forces every 
! 	/// time step to attain that state.  All Motors start out 
! 	/// disabled and must be initialized via init before they can be 
! 	/// enabled.  
  	class Motor
  	{
--- 43,48 ----
  	/// attain a desired state, users should use a Motor that takes a 
  	/// desired position or velocity, automatically applying forces every 
! 	/// time step to attain that state.  Most Motors remain ineffective 
! 	/// until they are initialized.
  	class Motor
  	{
***************
*** 53,58 ****
  		virtual ~Motor();
  
! 		/// Sets whether the Motor has any effect.  If the Motor has not 
! 		/// yet been initialized, this will have no effect.
  		virtual void OPAL_CALL setEnabled(bool e) = 0;
  
--- 52,56 ----
  		virtual ~Motor();
  
! 		/// Sets whether the Motor has any effect.
  		virtual void OPAL_CALL setEnabled(bool e) = 0;
  

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.91
retrieving revision 1.92
diff -C2 -d -r1.91 -r1.92
*** Simulator.h	25 Mar 2005 02:44:20 -0000	1.91
--- Simulator.h	30 Mar 2005 23:26:22 -0000	1.92
***************
*** 45,48 ****
--- 45,49 ----
  	class ThrusterMotor;
  	class AccelerationSensor;
+ 	class InclineSensor;
  	class RaycastSensor;
  	class VolumeSensor;
***************
*** 222,225 ****
--- 223,229 ----
  		virtual AccelerationSensor* OPAL_CALL createAccelerationSensor();
  
+ 		/// Creates and returns a pointer to an InclineSensor.  
+ 		virtual InclineSensor* OPAL_CALL createInclineSensor();
+ 
  		/// Creates and returns a pointer to a RaycastSensor.  
  		virtual RaycastSensor* OPAL_CALL createRaycastSensor();

Index: InclineSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/InclineSensor.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** InclineSensor.cpp	29 Mar 2005 03:05:46 -0000	1.1
--- InclineSensor.cpp	30 Mar 2005 23:26:22 -0000	1.2
***************
*** 34,37 ****
--- 34,39 ----
  	{
  		// "mData" is initialized in its own constructor.
+ 		// "mLocalReferenceVec" is initialized in its own constructor.
+ 		// "mInitGlobalReferenceVec" is initialized in its own constructor.
  	}
  
***************
*** 44,47 ****
--- 46,52 ----
  		Sensor::init();
  		mData = data;
+ 
+ 		// Define the current setup as zero degrees.
+ 		setupInternalVectors();
  	}
  
***************
*** 58,71 ****
  		}
  
! 		//TODO: calc angle
! 		return 0; // temp
  	}
  
  	void InclineSensor::setEnabled(bool e)
  	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
  		mData.enabled = e;
--- 63,108 ----
  		}
  
! 		// By this time setupInternalVectors should have been called, so 
! 		// the mLocalReferenceVec and mInitGlobalReferenceVec vectors are 
! 		// valid.
! 
! 		// Let's call the plane orthogonal to the rotation axis the 
! 		// "plane of rotation."  The local reference vector is currently on 
! 		// the plane of rotation.  We need to get the initial global 
! 		// reference vector projected onto the plane of rotation.
! 
! 		Vec3r currentGlobalReferenceVec = mData.solid->getTransform() * 
! 			mLocalReferenceVec;
! 
! 		if (areCollinear(mInitGlobalReferenceVec, currentGlobalReferenceVec))
! 		{
! 			// Return zero degrees if the initial global reference vector 
! 			// is collinear with the current global reference vector.
! 			return 0;
! 		}
! 
! 		Vec3r tempVec = cross(mData.axis, mInitGlobalReferenceVec);
! 		Vec3r u = cross(mData.axis, tempVec);
! 
! 		// Now 'u' should be on the plane of rotation.  We just need to 
! 		// project the initial global reference vector onto it.
! 
! 		Vec3r projInitGlobalReferenceVec = project(u, 
! 			mInitGlobalReferenceVec);
! 
! 		// Now calculate the angle between the projected global reference 
! 		// vector and the current global reference vector.
! 		real angle = angleBetween(projInitGlobalReferenceVec, 
! 			currentGlobalReferenceVec);
! 
! 		return angle;
  	}
  
  	void InclineSensor::setEnabled(bool e)
  	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
  		mData.enabled = e;
***************
*** 79,84 ****
  	void InclineSensor::setAxis(const Vec3r& axis)
  	{
! 		//TODO: redefine angle as zero degrees
  		mData.axis = axis;
  	}
  
--- 116,128 ----
  	void InclineSensor::setAxis(const Vec3r& axis)
  	{
! 		if (!mData.solid)
! 		{
! 			return;
! 		}
! 
  		mData.axis = axis;
+ 
+ 		// Redefine the current setup as zero degrees.
+ 		setupInternalVectors();
  	}
  
***************
*** 93,96 ****
--- 137,150 ----
  	}
  
+ 	void InclineSensor::setTransform(const Matrix44r& t)
+ 	{
+ 		mData.transform = t;
+ 	}
+ 
+ 	const Matrix44r& InclineSensor::getTransform()const
+ 	{
+ 		return mData.transform;
+ 	}
+ 
  	void InclineSensor::setName(const std::string& name)
  	{
***************
*** 105,109 ****
  	void InclineSensor::internal_update()
  	{
! 		if (mData.enabled)
  		{
  			// Do nothing.
--- 159,163 ----
  	void InclineSensor::internal_update()
  	{
! 		if (mData.enabled && mData.solid)
  		{
  			// Do nothing.
***************
*** 122,124 ****
--- 176,207 ----
  		}
  	}
+ 
+ 	void InclineSensor::setupInternalVectors()
+ 	{
+ 		if (!mData.solid)
+ 		{
+ 			return;
+ 		}
+ 
+ 		// We need to calculate a local reference vector that's orthogonal 
+ 		// to the rotation axis.
+ 
+ 		// This temporary vector can be anything as long as its not 
+ 		// collinear with the rotation axis.
+ 		Vec3r tempVec(1, 0, 0);
+ 
+ 		if (areCollinear(mData.axis, tempVec))
+ 		{
+ 			// Pick a new tempVec.
+ 			tempVec.set(0, 1, 0);
+ 		}
+ 
+ 		// Now we can get the orthogonal reference vector.
+ 		mLocalReferenceVec = cross(mData.axis, tempVec);
+ 
+ 		// Also store a copy of this reference vector in its initial global 
+ 		// representation.
+ 		mInitGlobalReferenceVec = mData.solid->getTransform() * 
+ 			mLocalReferenceVec;
+ 	}
  }

Index: SpringMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.h,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** SpringMotor.h	23 Mar 2005 04:52:36 -0000	1.13
--- SpringMotor.h	30 Mar 2005 23:26:23 -0000	1.14
***************
*** 46,57 ****
  		virtual ~SpringMotor();
  
! 		/// Sets up the Motor to affect a Solid.  Also specifies which 
! 		/// degrees of freedom are affected by the Motor.  This will 
! 		/// enable the Motor.  Calling this more than once will detach the 
! 		/// Motor from its Solid and attach it to a new Solid.
! 		//virtual void OPAL_CALL init(Mode m, Solid* s);
! 
! 		/// Initializes the Motor with the given data structure.  Solid 
! 		/// pointer in the data must be valid.
  		virtual void OPAL_CALL init(const SpringMotorData& data);
  
--- 46,51 ----
  		virtual ~SpringMotor();
  
! 		/// Initializes the Motor with the given data structure.  If the 
! 		/// Solid pointer in the data are NULL, the Motor will do nothing.
  		virtual void OPAL_CALL init(const SpringMotorData& data);
  
***************
*** 70,78 ****
  
  		/// Sets the spring's attach point on the Solid.  This is a local 
! 		// offset point from the Solid's position.
! 		virtual void OPAL_CALL setAttachOffset(const Point3r& offset);
  
! 		/// Returns the spring's attach point on the Solid.
! 		virtual const Point3r& OPAL_CALL getAttachOffset()const;
  
  		/// Sets the desired position and orientation.  
--- 64,81 ----
  
  		/// Sets the spring's attach point on the Solid.  This is a local 
! 		/// offset point from the Solid's position.
! 		virtual void OPAL_CALL setLocalAttachOffset(const Point3r& offset);
  
! 		/// Returns the spring's attach point on the Solid.  This is a local 
! 		/// offset point from the Solid's position.
! 		virtual const Point3r& OPAL_CALL getLocalAttachOffset()const;
! 
! 		/// Sets the spring's attach point on the Solid in global 
! 		/// coordinates.
! 		virtual void OPAL_CALL setGlobalAttachPoint(const Point3r& p);
! 
! 		/// Returns the spring's attach point on the Solid in global 
! 		/// coordinates.
! 		virtual Point3r OPAL_CALL getGlobalAttachPoint()const;
  
  		/// Sets the desired position and orientation.  

Index: InclineSensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/InclineSensorData.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** InclineSensorData.h	29 Mar 2005 03:05:46 -0000	1.1
--- InclineSensorData.h	30 Mar 2005 23:26:22 -0000	1.2
***************
*** 42,46 ****
  		{
  			mType = INCLINE_SENSOR;
! 			// "axis" is initialized in its own constructor.
  		}
  
--- 42,46 ----
  		{
  			mType = INCLINE_SENSOR;
! 			axis = defaults::sensor::incline::axis;
  		}
  

Index: ThrusterMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.h,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** ThrusterMotor.h	23 Mar 2005 04:04:31 -0000	1.13
--- ThrusterMotor.h	30 Mar 2005 23:26:23 -0000	1.14
***************
*** 51,57 ****
  		//virtual void OPAL_CALL init(Solid* solid);
  
! 		/// Initializes the Motor with the given data structure.  The Solid 
! 		/// pointer in the data must be valid.  The Force in this data 
! 		/// structure will automatically be set to a "single step" Force.
  		virtual void OPAL_CALL init(const ThrusterMotorData& data);
  
--- 51,58 ----
  		//virtual void OPAL_CALL init(Solid* solid);
  
! 		/// Initializes the Motor with the given data structure.  If the 
! 		/// Solid pointer in the data are NULL, the Motor will do nothing.  
! 		/// The Force in this data structure will automatically be set to a 
! 		/// "single step" Force.
  		virtual void OPAL_CALL init(const ThrusterMotorData& data);
  

Index: InclineSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/InclineSensor.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** InclineSensor.h	29 Mar 2005 03:05:46 -0000	1.1
--- InclineSensor.h	30 Mar 2005 23:26:22 -0000	1.2
***************
*** 55,60 ****
  		/// Initializes the Sensor with the given data structure.  This will 
  		/// define the rotation angle as zero degrees when called.  The Solid 
! 		/// pointer should always be valid because this Sensor only works 
! 		/// when attached to something.
  		virtual void OPAL_CALL init(const InclineSensorData& data);
  
--- 55,61 ----
  		/// Initializes the Sensor with the given data structure.  This will 
  		/// define the rotation angle as zero degrees when called.  The Solid 
! 		/// pointer should be valid because this Sensor only works when 
! 		/// attached to something.  This does nothing if the Sensor's Solid 
! 		/// pointer is NULL.
  		virtual void OPAL_CALL init(const InclineSensorData& data);
  
***************
*** 72,76 ****
  		/// Sets the local rotation axis around which the angle of rotation 
  		/// will be measured.  This will redefine the rotation angle as zero 
! 		/// degrees when called.
  		virtual void OPAL_CALL setAxis(const Vec3r& axis);
  
--- 73,78 ----
  		/// Sets the local rotation axis around which the angle of rotation 
  		/// will be measured.  This will redefine the rotation angle as zero 
! 		/// degrees when called.  This does nothing if the Sensor's Solid 
! 		/// pointer is NULL.
  		virtual void OPAL_CALL setAxis(const Vec3r& axis);
  
***************
*** 78,81 ****
--- 80,87 ----
  		virtual const Vec3r& OPAL_CALL getAxis();
  
+ 		virtual void OPAL_CALL setTransform(const Matrix44r& t);
+ 
+ 		virtual const Matrix44r& OPAL_CALL getTransform()const;
+ 
  		virtual SensorType OPAL_CALL getType()const;
  
***************
*** 89,95 ****
--- 95,111 ----
  
  	protected:
+ 		/// A helper function that sets up all internal vectors used when 
+ 		/// calculating the angle of rotation.
+ 		void setupInternalVectors();
+ 
  		/// Stores data describing the Sensor.
  		InclineSensorData mData;
  
+ 		/// A vector used to measure the angle of rotation.
+ 		Vec3r mLocalReferenceVec;
+ 
+ 		/// A vector used to measure the angle of rotation.
+ 		Vec3r mInitGlobalReferenceVec;
+ 
  	private:
  	};

Index: AccelerationSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/AccelerationSensor.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** AccelerationSensor.cpp	29 Mar 2005 03:05:45 -0000	1.5
--- AccelerationSensor.cpp	30 Mar 2005 23:26:21 -0000	1.6
***************
*** 108,115 ****
  	void AccelerationSensor::setEnabled(bool e)
  	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
  		mData.enabled = e;
--- 108,115 ----
  	void AccelerationSensor::setEnabled(bool e)
  	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
  		mData.enabled = e;
***************
*** 148,152 ****
  	void AccelerationSensor::internal_update()
  	{
! 		if (mData.enabled)
  		{
  			mCurrentGlobalLinearVel = 
--- 148,152 ----
  	void AccelerationSensor::internal_update()
  	{
! 		if (mData.enabled && mData.solid)
  		{
  			mCurrentGlobalLinearVel = 

Index: GearedMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotor.cpp,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** GearedMotor.cpp	23 Mar 2005 04:04:30 -0000	1.11
--- GearedMotor.cpp	30 Mar 2005 23:26:22 -0000	1.12
***************
*** 84,91 ****
  	void GearedMotor::setEnabled(bool e)
  	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
  		mData.enabled = e;
--- 84,91 ----
  	void GearedMotor::setEnabled(bool e)
  	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
  		mData.enabled = e;
***************
*** 94,98 ****
  	void GearedMotor::internal_update()
  	{
! 		if (mData.enabled)
  		{
  			// Global/local direction makes no difference here since 
--- 94,98 ----
  	void GearedMotor::internal_update()
  	{
! 		if (mData.enabled && mData.joint)
  		{
  			// Global/local direction makes no difference here since 

Index: AttractorMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.h,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** AttractorMotor.h	23 Mar 2005 04:04:30 -0000	1.28
--- AttractorMotor.h	30 Mar 2005 23:26:22 -0000	1.29
***************
*** 48,58 ****
  		virtual ~AttractorMotor();
  
! 		/// Sets up the Motor to attract two Solids to each other.  This will 
! 		/// enable the Motor.  Calling this more than once will detach the 
! 		/// Motor from its Solids and attach it to new Solids.
! 		//virtual void OPAL_CALL init(Solid* solid0, Solid* solid1);
! 
! 		/// Initializes the Motor with the given data structure.  Solid 
! 		/// pointers in the data must be valid.
  		virtual void OPAL_CALL init(const AttractorMotorData& data);
  
--- 48,53 ----
  		virtual ~AttractorMotor();
  
! 		/// Initializes the Motor with the given data structure.  If the 
! 		/// Solid pointers in the data are NULL, the Motor will do nothing.
  		virtual void OPAL_CALL init(const AttractorMotorData& data);
  

Index: ThrusterMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.cpp,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** ThrusterMotor.cpp	23 Mar 2005 04:04:31 -0000	1.11
--- ThrusterMotor.cpp	30 Mar 2005 23:26:23 -0000	1.12
***************
*** 50,54 ****
  	void ThrusterMotor::init(const ThrusterMotorData& data)
  	{
- 		assert(data.solid);
  		Motor::init();
  		mData = data;
--- 50,53 ----
***************
*** 83,90 ****
  	void ThrusterMotor::setEnabled(bool e)
  	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
  		mData.enabled = e;
--- 82,89 ----
  	void ThrusterMotor::setEnabled(bool e)
  	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
  		mData.enabled = e;
***************
*** 93,97 ****
  	void ThrusterMotor::internal_update()
  	{
! 		if (mData.enabled)
  		{
  			mData.solid->addForce(mData.force);
--- 92,96 ----
  	void ThrusterMotor::internal_update()
  	{
! 		if (mData.enabled && mData.solid)
  		{
  			mData.solid->addForce(mData.force);

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.53
retrieving revision 1.54
diff -C2 -d -r1.53 -r1.54
*** Simulator.cpp	29 Mar 2005 03:05:46 -0000	1.53
--- Simulator.cpp	30 Mar 2005 23:26:22 -0000	1.54
***************
*** 841,844 ****
--- 841,851 ----
  	}
  
+ 	InclineSensor* Simulator::createInclineSensor()
+ 	{
+ 		InclineSensor* newSensor = new InclineSensor();
+ 		addSensor(newSensor);
+ 		return newSensor;
+ 	}
+ 
  	RaycastSensor* Simulator::createRaycastSensor()
  	{

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** RaycastSensor.cpp	23 Mar 2005 20:24:36 -0000	1.8
--- RaycastSensor.cpp	30 Mar 2005 23:26:22 -0000	1.9
***************
*** 59,88 ****
  	const RaycastResult& RaycastSensor::fireRay(real length)
  	{
! 		Rayr ray = mData.ray;
! 
! 		// If the Sensor is attached to a Solid, we need to transform 
! 		// the ray relative to that Solid's transform.
! 		if (mData.solid)
  		{
! 			ray = mData.solid->getTransform() * ray;
! 		}
  
! 		// Use the Sensor's transform on the ray.
! 		ray = mData.transform * ray;
  
! 		// If this is attached to a Solid, the Simulator raycast function 
! 		// will automatically ignore intersections between the ray and 
! 		// that Solid.
  
! 		return mSim->internal_fireRay(ray, length, mData.solid, 
! 			mData.contactGroup);
  	}
  
  	void RaycastSensor::setEnabled(bool e)
  	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
  		mData.enabled = e;
--- 59,96 ----
  	const RaycastResult& RaycastSensor::fireRay(real length)
  	{
! 		if (mData.enabled)
  		{
! 			Rayr ray = mData.ray;
  
! 			// If the Sensor is attached to a Solid, we need to transform 
! 			// the ray relative to that Solid's transform.
! 			if (mData.solid)
! 			{
! 				ray = mData.solid->getTransform() * ray;
! 			}
  
! 			// Use the Sensor's transform on the ray.
! 			ray = mData.transform * ray;
  
! 			// If this is attached to a Solid, the Simulator raycast function 
! 			// will automatically ignore intersections between the ray and 
! 			// that Solid.
! 
! 			return mSim->internal_fireRay(ray, length, mData.solid, 
! 				mData.contactGroup);
! 		}
! 		else
! 		{
! 			static RaycastResult junkResult;
! 			return junkResult;
! 		}
  	}
  
  	void RaycastSensor::setEnabled(bool e)
  	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
  		mData.enabled = e;
***************
*** 131,135 ****
  	void RaycastSensor::internal_update()
  	{
! 		if (mData.enabled)
  		{
  			// Do nothing.
--- 139,143 ----
  	void RaycastSensor::internal_update()
  	{
! 		if (mData.enabled && mData.solid)
  		{
  			// Do nothing.

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.69
retrieving revision 1.70
diff -C2 -d -r1.69 -r1.70
*** Defines.h	13 Mar 2005 23:40:53 -0000	1.69
--- Defines.h	30 Mar 2005 23:26:22 -0000	1.70
***************
*** 374,377 ****
--- 374,383 ----
  		{
  			const bool enabled = true;
+ 
+ 			/// Default parameters used in InclineSensor creation.
+ 			namespace incline
+ 			{
+ 				const Vec3r axis = Vec3r(1, 0, 0);
+ 			}
  		}
  

Index: VolumeSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** VolumeSensor.cpp	23 Mar 2005 04:04:31 -0000	1.4
--- VolumeSensor.cpp	30 Mar 2005 23:26:23 -0000	1.5
***************
*** 54,98 ****
  	const VolumeQueryResult& VolumeSensor::queryVolume(Solid* volume)
  	{
! 		// The volume Solid's transform will be totally ignored.
  
! 		// Store the volume Solid's transform.
! 		Matrix44r originalVolumeTransform = volume->getTransform();
  
! 		Matrix44r newVolumeTransform;
  
! 		// If the Sensor is attached to a Solid, we need to transform 
! 		// the volume relative to that Solid's transform.
! 		if (mData.solid)
! 		{
! 			newVolumeTransform = 
! 				mData.solid->getTransform() * newVolumeTransform;
! 		}
  
! 		// Use the Sensor's transform on the volume.
! 		newVolumeTransform = mData.transform * newVolumeTransform;
  
! 		// Set the volume's new transform we just setup.
! 		volume->setTransform(newVolumeTransform);
  
! 		// If this is attached to a Solid, the Simulator volume query 
! 		// function will automatically ignore intersections between the 
! 		// volume and that Solid.
  
! 		// Query the volume for colliding Solids.
! 		const VolumeQueryResult& result = 
! 			mSim->internal_queryVolume(volume, mData.solid);
  
! 		// Restore the volume Solid's original transform.
! 		volume->setTransform(originalVolumeTransform);
  
! 		return result;
  	}
  
  	void VolumeSensor::setEnabled(bool e)
  	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
  		mData.enabled = e;
--- 54,106 ----
  	const VolumeQueryResult& VolumeSensor::queryVolume(Solid* volume)
  	{
! 		if (mData.enabled)
! 		{
! 			// The volume Solid's transform will be totally ignored.
  
! 			// Store the volume Solid's transform.
! 			Matrix44r originalVolumeTransform = volume->getTransform();
  
! 			Matrix44r newVolumeTransform;
  
! 			// If the Sensor is attached to a Solid, we need to transform 
! 			// the volume relative to that Solid's transform.
! 			if (mData.solid)
! 			{
! 				newVolumeTransform = 
! 					mData.solid->getTransform() * newVolumeTransform;
! 			}
  
! 			// Use the Sensor's transform on the volume.
! 			newVolumeTransform = mData.transform * newVolumeTransform;
  
! 			// Set the volume's new transform we just setup.
! 			volume->setTransform(newVolumeTransform);
  
! 			// If this is attached to a Solid, the Simulator volume query 
! 			// function will automatically ignore intersections between the 
! 			// volume and that Solid.
  
! 			// Query the volume for colliding Solids.
! 			const VolumeQueryResult& result = 
! 				mSim->internal_queryVolume(volume, mData.solid);
  
! 			// Restore the volume Solid's original transform.
! 			volume->setTransform(originalVolumeTransform);
  
! 			return result;
! 		}
! 		else
! 		{
! 			static VolumeQueryResult junkResult;
! 			return junkResult;
! 		}
  	}
  
  	void VolumeSensor::setEnabled(bool e)
  	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
  		mData.enabled = e;
***************
*** 131,135 ****
  	void VolumeSensor::internal_update()
  	{
! 		if (mData.enabled)
  		{
  			// Do nothing.
--- 139,143 ----
  	void VolumeSensor::internal_update()
  	{
! 		if (mData.enabled && mData.solid)
  		{
  			// Do nothing.

Index: SpringMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.cpp,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** SpringMotor.cpp	23 Mar 2005 04:52:36 -0000	1.11
--- SpringMotor.cpp	30 Mar 2005 23:26:23 -0000	1.12
***************
*** 43,47 ****
  	void SpringMotor::init(const SpringMotorData& data)
  	{
- 		assert(data.solid);
  		Motor::init();
  		mData = data;
--- 43,46 ----
***************
*** 75,82 ****
  	void SpringMotor::setEnabled(bool e)
  	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
  		mData.enabled = e;
--- 74,81 ----
  	void SpringMotor::setEnabled(bool e)
  	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
  		mData.enabled = e;
***************
*** 87,91 ****
  		// Note: this only applies to global position and orientation.
  
! 		if (mData.enabled)
  		{
  			if (LINEAR_MODE == mData.mode || 
--- 86,90 ----
  		// Note: this only applies to global position and orientation.
  
! 		if (mData.enabled && mData.solid)
  		{
  			if (LINEAR_MODE == mData.mode || 
***************
*** 170,183 ****
  	}
  
! 	void SpringMotor::setAttachOffset(const Point3r& offset)
  	{
  		mData.attachOffset = offset;
  	}
  
! 	const Point3r& SpringMotor::getAttachOffset()const
  	{
  		return mData.attachOffset;
  	}
  
  	void SpringMotor::setDesiredTransform(const Matrix44r& transform)
  	{
--- 169,219 ----
  	}
  
! 	void SpringMotor::setLocalAttachOffset(const Point3r& offset)
  	{
  		mData.attachOffset = offset;
  	}
  
! 	const Point3r& SpringMotor::getLocalAttachOffset()const
  	{
  		return mData.attachOffset;
  	}
  
+ 	void SpringMotor::setGlobalAttachPoint(const Point3r& p)
+ 	{
+ 		if (!mData.solid)
+ 		{
+ 			OPAL_LOGGER("warning") << 
+ 				"opal::SpringMotor::setGlobalAttachPoint: Solid pointer is \
+ invalid.  Ignoring request." << std::endl;
+ 			return;
+ 		}
+ 
+ 		// Convert the global point to an offset from the Solid's transform.
+ 		Vec3r relVec = p - mData.solid->getPosition();
+ 		Point3r relPos(relVec[0], relVec[1], relVec[2]);
+ 		mData.attachOffset = mData.solid->getTransform() * relPos;
+ 	}
+ 
+ 	Point3r SpringMotor::getGlobalAttachPoint()const
+ 	{
+ 		if (!mData.solid)
+ 		{
+ 			OPAL_LOGGER("warning") << 
+ 				"opal::SpringMotor::getGlobalAttachPoint: Solid pointer is \
+ invalid.  Returning (0,0,0)." << std::endl;
+ 			return Point3r();
+ 		}
+ 
+ 		// The global position is a combination of the Solid's global 
+ 		// transform and the spring's local offset from the Solid's 
+ 		// transform.
+ 		Vec3r offset(mData.attachOffset[0], mData.attachOffset[1], 
+ 			mData.attachOffset[2]);
+ 		Point3r globalPos = mData.solid->getPosition() + 
+ 			mData.solid->getTransform() * offset;
+ 		
+ 		return globalPos;
+ 	}
+ 
  	void SpringMotor::setDesiredTransform(const Matrix44r& transform)
  	{

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.66
retrieving revision 1.67
diff -C2 -d -r1.66 -r1.67
*** Joint.h	23 Mar 2005 04:04:30 -0000	1.66
--- Joint.h	30 Mar 2005 23:26:22 -0000	1.67
***************
*** 51,56 ****
  	/// do not use all of the anchor and axis parameters.  An unused anchor 
  	/// or axis will be ignored (see the JointType description for more 
! 	/// details).  All Joints start out disabled and must be initialized 
! 	/// via init before they can be enabled.  
  	class Joint
  	{
--- 51,55 ----
  	/// do not use all of the anchor and axis parameters.  An unused anchor 
  	/// or axis will be ignored (see the JointType description for more 
! 	/// details).  Joints remain ineffective until they are initialized.
  	class Joint
  	{

Index: AttractorMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.cpp,v
retrieving revision 1.21
retrieving revision 1.22
diff -C2 -d -r1.21 -r1.22
*** AttractorMotor.cpp	23 Mar 2005 04:04:30 -0000	1.21
--- AttractorMotor.cpp	30 Mar 2005 23:26:22 -0000	1.22
***************
*** 58,69 ****
  	void AttractorMotor::init(const AttractorMotorData& data)
  	{
- 		assert(data.solid0 && data.solid1);
  		Motor::init();
  		mData = data;
- 		mSolid0Mass = data.solid0->getMass();
- 		mSolid1Mass = data.solid1->getMass();
  
! 		// Update this constant since the masses changed.
! 		mMassConstant = data.strength * mSolid0Mass * mSolid1Mass;
  	}
  
--- 58,72 ----
  	void AttractorMotor::init(const AttractorMotorData& data)
  	{
  		Motor::init();
  		mData = data;
  
! 		if (data.solid0 && data.solid1)
! 		{
! 			mSolid0Mass = data.solid0->getMass();
! 			mSolid1Mass = data.solid1->getMass();
! 
! 			// Update this constant since the masses changed.
! 			mMassConstant = data.strength * mSolid0Mass * mSolid1Mass;
! 		}
  	}
  
***************
*** 95,102 ****
  	void AttractorMotor::setEnabled(bool e)
  	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
  		mData.enabled = e;
--- 98,105 ----
  	void AttractorMotor::setEnabled(bool e)
  	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
  		mData.enabled = e;
***************
*** 105,109 ****
  	void AttractorMotor::internal_update()
  	{
! 		if (mData.enabled)
  		{
  			Point3r pos1 = mData.solid0->getPosition();
--- 108,112 ----
  	void AttractorMotor::internal_update()
  	{
! 		if (mData.enabled && mData.solid0 && mData.solid1)
  		{
  			Point3r pos1 = mData.solid0->getPosition();

Index: ServoMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.cpp,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** ServoMotor.cpp	23 Mar 2005 04:04:30 -0000	1.15
--- ServoMotor.cpp	30 Mar 2005 23:26:22 -0000	1.16
***************
*** 48,69 ****
  	}
  
- 	//void ServoMotor::init(Mode m, Joint* j, int axisNum)
- 	//{
- 	//	if (mInitCalled)
- 	//	{
- 	//		// If the Servo is already in operation, we first need to 
- 	//		// set the Joint's desired vel and max force to 0.  The 
- 	//		// following function call will automatically handle this 
- 	//		// when set to false.
- 	//		setEnabled(false);
- 	//	}
- 
- 	//	Motor::init();
- 	//	assert(axisNum >= 0 && axisNum < j->getNumAxes());
- 	//	mJoint = j;
- 	//	mMode = m;
- 	//	mJointAxis = axisNum;
- 	//}
- 
  	void ServoMotor::init(const ServoMotorData& data)
  	{
--- 48,51 ----
***************
*** 112,119 ****
  	void ServoMotor::setEnabled(bool e)
  	{
! 		if (!mInitCalled)
! 		{
! 			return;
! 		}
  
  		mData.enabled = e;
--- 94,101 ----
  	void ServoMotor::setEnabled(bool e)
  	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
  		mData.enabled = e;
***************
*** 138,142 ****
  	void ServoMotor::internal_update()
  	{
! 		if (mData.enabled)
  		{
  			// Make sure both Solids are awake at this point.
--- 120,124 ----
  	void ServoMotor::internal_update()
  	{
! 		if (mData.enabled && mData.joint)
  		{
  			// Make sure both Solids are awake at this point.