[Opal-commits] opal/src Solid.h,1.85,1.86 SpringMotor.cpp,1.12,1.13

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1854/src

Modified Files:
	Solid.h SpringMotor.cpp 
Log Message:
made the SpringMotor depend on the Solid's mass and inertia tensor; fixed bugs in SpringMotor; added to playpen sample app

Index: SpringMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.cpp,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** SpringMotor.cpp	30 Mar 2005 23:26:23 -0000	1.12
--- SpringMotor.cpp	4 Apr 2005 13:09:12 -0000	1.13
***************
*** 91,95 ****
  				LINEAR_AND_ANGULAR_MODE == mData.mode)
  			{
! 				Vec3r error = mData.desiredPos - mData.solid->getPosition();
  				Force f;
  				f.singleStep = true;
--- 91,95 ----
  				LINEAR_AND_ANGULAR_MODE == mData.mode)
  			{
! 				Vec3r error = mData.desiredPos - getGlobalAttachPoint();
  				Force f;
  				f.singleStep = true;
***************
*** 98,101 ****
--- 98,104 ----
  				f.vec = mData.linearKs * error - 
  					mData.linearKd * mData.solid->getGlobalLinearVel();
+ 
+ 				// Scale the force vector by the Solid's mass.
+ 				f.vec *= mData.solid->getMass();
  				mData.solid->addForce(f);
  			}
***************
*** 154,162 ****
  				rightError *= -rangle;
  
! 				// average the vectors into one
  				Vec3r errorAxis = (forwardError + upError + rightError) * 
  					globals::OPAL_ONE_THIRD;
  
! 				// use the error vector to calculate torque
  				Force f;
  				f.singleStep = true;
--- 157,165 ----
  				rightError *= -rangle;
  
! 				// Average the vectors into one.
  				Vec3r errorAxis = (forwardError + upError + rightError) * 
  					globals::OPAL_ONE_THIRD;
  
! 				// Use the error vector to calculate torque.
  				Force f;
  				f.singleStep = true;
***************
*** 164,167 ****
--- 167,173 ----
  				f.vec = mData.angularKs * errorAxis - mData.angularKd * 
  					mData.solid->getGlobalAngularVel();
+ 
+ 				// Scale the torque vector by the Solid's intertia tensor.
+ 				f.vec = mData.solid->getInertiaTensor() * f.vec;
  				mData.solid->addForce(f);
  			}
***************
*** 189,196 ****
  		}
  
! 		// 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;
  	}
  
--- 195,203 ----
  		}
  
! 		// Convert the global point to a local point offset from the Solid's 
! 		// transform.
! 		Matrix44r inv;
! 		fastInverse(inv, mData.solid->getTransform());
! 		mData.attachOffset = inv * p;
  	}
  

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.85
retrieving revision 1.86
diff -C2 -d -r1.85 -r1.86
*** Solid.h	23 Mar 2005 07:54:34 -0000	1.85
--- Solid.h	4 Apr 2005 13:09:11 -0000	1.86
***************
*** 210,213 ****
--- 210,217 ----
  		virtual real OPAL_CALL getMass()const = 0;
  
+ 		/// Returns the Solid's inertia tensor as a 4x4 matrix.  This will 
+ 		/// be the identity matrix if the Solid is static.
+ 		virtual Matrix44r OPAL_CALL getInertiaTensor()const = 0;
+ 
  		/// Update the OPAL transform using the physics engine transform.  
  		virtual void OPAL_CALL internal_updateOPALTransform() = 0;