[Opal-commits] opal/src/ODE ODESolid.cpp,1.80,1.81 ODESolid.h,1.66,1.67

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

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

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

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.66
retrieving revision 1.67
diff -C2 -d -r1.66 -r1.67
*** ODESolid.h	23 Mar 2005 07:54:35 -0000	1.66
--- ODESolid.h	4 Apr 2005 13:09:11 -0000	1.67
***************
*** 121,128 ****
  		//virtual void OPAL_CALL setFastRotationAxis(Vec3r axis);
  
- 		/// Returns the Solid's mass.  This will return 0 if the Solid 
- 		/// is static.
  		virtual real OPAL_CALL getMass()const;
  
  		virtual void OPAL_CALL internal_updateOPALTransform();
  
--- 121,128 ----
  		//virtual void OPAL_CALL setFastRotationAxis(Vec3r axis);
  
  		virtual real OPAL_CALL getMass()const;
  
+ 		virtual Matrix44r OPAL_CALL getInertiaTensor()const;
+ 
  		virtual void OPAL_CALL internal_updateOPALTransform();
  

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.80
retrieving revision 1.81
diff -C2 -d -r1.80 -r1.81
*** ODESolid.cpp	3 Apr 2005 00:11:42 -0000	1.80
--- ODESolid.cpp	4 Apr 2005 13:09:10 -0000	1.81
***************
*** 840,843 ****
--- 840,865 ----
  	}
  
+ 	Matrix44r ODESolid::getInertiaTensor()const
+ 	{
+ 		Matrix44r m;
+ 
+ 		if (mData.isStatic)
+ 		{
+ 			return m;
+ 		}
+ 		else
+ 		{
+ 			dMass mass;
+ 			dBodyGetMass(mBodyID, &mass);
+ 			m.set(
+ 				mass.I[0], mass.I[1], mass.I[2], 0,
+ 				mass.I[4], mass.I[5], mass.I[6], 0,
+ 				mass.I[8], mass.I[9], mass.I[10], 0,
+ 				0, 0, 0, 1);
+ 
+ 			return m;
+ 		}
+ 	}
+ 
  	void ODESolid::setupNewGeom(GeomData* newGeom)
  	{