[Opal-commits] opal/samples/playpen main.cpp,1.4,1.5

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

Modified Files:
	main.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: main.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/playpen/main.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** main.cpp	3 Apr 2005 00:11:41 -0000	1.4
--- main.cpp	4 Apr 2005 13:09:09 -0000	1.5
***************
*** 38,41 ****
--- 38,45 ----
  		/// Point where new objects are created.
  		opal::Point3r mCreationPoint;
+ 
+ 		/// A visual line that represents the PhysicalCamera's grasping 
+ 		/// spring.
+ 		opalSamples::OgreLine* mGraspingSpringLine;
  	};

***************
*** 45,48 ****
--- 49,53 ----
  		mUseShadows = true;
  		mCreationPoint.set(0, 30, 0);
+ 		mGraspingSpringLine = NULL;
  	}

***************
*** 82,85 ****
--- 87,103 ----
  		mSceneMgr->setSkyBox(true, "Skyboxes/Gray", 5000);

+ 		// Create the visual line used to represent the PhysicalCamera's 
+ 		// grasping spring.  Just create two points for now that will 
+ 		// be updated later.
+ 		mGraspingSpringLine = 
+ 			new opalSamples::OgreLine();
+ 		mGraspingSpringLine->addPoint(0, 0, 0);
+ 		mGraspingSpringLine->addPoint(0, 0, 0);
+ 		mGraspingSpringLine->update();
+ 		SceneNode* lineNode = 
+ 			mSceneMgr->getRootSceneNode()->createChildSceneNode("graspLine");
+ 		lineNode->attachObject(mGraspingSpringLine);
+ 		mGraspingSpringLine->setVisible(false);
+ 
  		//// Create a physical ground plane.
  		//mSimulator->createPlane(0, 1, 0, 0);
***************
*** 117,120 ****
--- 135,168 ----
  		// Do per-frame application specific things here.

+ 		// Update the grasping spring line.
+ 		if (mPhysicalCamera->isGrasping())
+ 		{
+ 			// Update the first point using the desired position.
+ 			opal::Point3r graspPos = 
+ 				mPhysicalCamera->getGraspGlobalPos();
+ 			Ogre::Vector3 point(graspPos[0], graspPos[1], graspPos[2]);
+ 			mGraspingSpringLine->setPoint(0, point);
+ 
+ 			// Update the second point using the spring's attach point.
+ 			opal::Point3r attachPos = mPhysicalCamera->getAttachGlobalPos();
+ 			point[0] = attachPos[0];
+ 			point[1] = attachPos[1];
+ 			point[2] = attachPos[2];
+ 			mGraspingSpringLine->setPoint(1, point);
+ 			mGraspingSpringLine->update();
+ 
+ 			if (mGraspingSpringLine->isVisible() == false)
+ 			{
+ 				mGraspingSpringLine->setVisible(true);
+ 			}
+ 		}
+ 		else
+ 		{
+ 			if (mGraspingSpringLine->isVisible() == true)
+ 			{
+ 				mGraspingSpringLine->setVisible(false);
+ 			}
+ 		}
+ 
  		// Return true to continue looping.
  		return true;
***************
*** 139,158 ****
  		}

! 		// Testing...
! 		if(mInputDevice->isKeyDown(KC_F))
  		{
! 			opalSamples::PhysicalEntity* pe = getPhysicalEntity("object0");
! 			if (pe)
! 			{
! 				opal::Solid* s = pe->getSolid();
! 				if (s)
! 				{
! 					opal::Force f;
! 					f.type = opal::GLOBAL_TORQUE;
! 					f.duration = (opal::real)0.05;
! 					f.vec.set(5, 5, 5);
! 					s->addForce(f);
! 				}
! 			}
  		}

--- 187,194 ----
  		}

! 		// Reset the scene.
! 		if(mInputDevice->isKeyDown(KC_R))
  		{
! 			destroyAllPhysicalEntities();
  		}

***************
*** 163,167 ****
  		if(mInputDevice->isKeyDown(KC_1) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(0.5, 0.5, 0.5);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
--- 199,203 ----
  		if(mInputDevice->isKeyDown(KC_1) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(1, 1, 1);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
***************
*** 178,182 ****
  		if(mInputDevice->isKeyDown(KC_2) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 0.25;
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
--- 214,218 ----
  		if(mInputDevice->isKeyDown(KC_2) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 0.5;
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
***************
*** 193,197 ****
  		if(mInputDevice->isKeyDown(KC_3) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(3, 3, 3);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
--- 229,233 ----
  		if(mInputDevice->isKeyDown(KC_3) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(4, 4, 4);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
***************
*** 208,216 ****
  		if(mInputDevice->isKeyDown(KC_4) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 1.5;
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
  			opal::SphereShapeData data;
  			data.radius = radius;
  			s->addShape(data);
  			createPhysicalEntitySphere("", "Plastic/Blue", radius, s);
--- 244,253 ----
  		if(mInputDevice->isKeyDown(KC_4) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 1.68; // testing
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
  			opal::SphereShapeData data;
  			data.radius = radius;
+ 			data.material.density = 1; // testing
  			s->addShape(data);
  			createPhysicalEntitySphere("", "Plastic/Blue", radius, s);
***************
*** 253,257 ****
  		if(mInputDevice->isKeyDown(KC_7) && mTimeUntilNextToggle <= 0)
  		{
! 			createWall(10, 10, opal::Vec3r(2, 0.5, 1));

  			// Reset the timer for toggle keys.
--- 290,294 ----
  		if(mInputDevice->isKeyDown(KC_7) && mTimeUntilNextToggle <= 0)
  		{
! 			createWall(6, 8, opal::Vec3r(2, 1, 1));

  			// Reset the timer for toggle keys.
***************
*** 262,266 ****
  		if(mInputDevice->isKeyDown(KC_8) && mTimeUntilNextToggle <= 0)
  		{
! 			createTower(3, 3, 6, opal::Vec3r(2, 1, 1));

  			// Reset the timer for toggle keys.
--- 299,303 ----
  		if(mInputDevice->isKeyDown(KC_8) && mTimeUntilNextToggle <= 0)
  		{
! 			createTower(2, 2, 20, opal::Vec3r(2, 1, 1));

  			// Reset the timer for toggle keys.
***************
*** 268,271 ****
--- 305,356 ----
  		}

+ 		//// testing
+ 		//if(mInputDevice->isKeyDown(KC_9) && mTimeUntilNextToggle <= 0)
+ 		//{
+ 		//	opal::Blueprint ragdollBP;
+ 		//	opal::loadFile(ragdollBP, "SwitcherSceneOpal.xml");
+ 		//	opal::Matrix44r offset;
+ 		//	offset.translate(0, 2, 0);
+ 		//	offset.rotate(-90, 1, 0, 0);
+ 
+ 		//	// Instantiate the Blueprint.
+ 		//	opal::BlueprintInstance instance;
+ 		//	mSimulator->instantiateBlueprint(instance, ragdollBP, offset, 10);
+ 
+ 		//	unsigned int i=0;
+ 		//	for (i=0; i<instance.getNumSolids(); ++i)
+ 		//	{
+ 		//		opal::Solid* s = instance.getSolid(i);
+ 		//		const opal::SolidData& data = s->getData();
+ 		//		unsigned int j=0;
+ 		//		for (j=0; j<data.getNumShapes(); ++j)
+ 		//		{
+ 		//			opal::ShapeData* shapeData = data.getShapeData(j);
+ 
+ 		//			switch(shapeData->getType())
+ 		//			{
+ 		//				case opal::BOX_SHAPE:
+ 		//				{
+ 		//					opal::Vec3r dim = ((opal::BoxShapeData*)shapeData)->dimensions;
+ 		//					Ogre::Vector3 boxDim(dim[0], dim[1], dim[2]);
+ 		//					createPhysicalEntityBox("", "Plastic/Gray", boxDim, s);
+ 		//					break;
+ 		//				}
+ 		//				case opal::SPHERE_SHAPE:
+ 		//				{
+ 		//					opal::real r = ((opal::SphereShapeData*)shapeData)->radius;
+ 		//					createPhysicalEntitySphere("", "Plastic/Gray", r, s);
+ 		//					break;
+ 		//				}
+ 		//				default:
+ 		//					assert(false);
+ 		//			}
+ 		//		}
+ 		//	}
+ 
+ 		//	// Reset the timer for toggle keys.
+ 		//	mTimeUntilNextToggle = 0.5;
+ 		//}
+ 
  		// The following code updates the camera's position.
  		opal::Vec3r cameraDir;
***************
*** 366,379 ****
  		// Use the relative mouse motion to rotate the camera.
  		mPhysicalCamera->yawRelative(rotY.valueDegrees());
! 		mPhysicalCamera->yawRelative(rotX.valueDegrees());

! 		// The following code checks the mouse button state.
! 		if (true == mInputDevice->getMouseButton(1))
  		{
! 			// The right mouse button is down.
  		}
  		else
  		{
! 			// The right mouse button is up.
  		}

--- 451,466 ----
  		// Use the relative mouse motion to rotate the camera.
  		mPhysicalCamera->yawRelative(rotY.valueDegrees());
! 		mPhysicalCamera->pitchRelative(rotX.valueDegrees());

! 		// Check mouse button states.
! 		if (true == mInputDevice->getMouseButton(0))
  		{
! 			// The left mouse button is down.
! 			mPhysicalCamera->grasp();
  		}
  		else
  		{
! 			// The left mouse button is up.
! 			mPhysicalCamera->release();
  		}

***************
*** 405,411 ****
  				opal::BoxShapeData boxData;
  				boxData.dimensions = boxDim;
  				s->addShape(boxData);
  				Ogre::Vector3 boxDimensions(boxDim[0], boxDim[1], boxDim[2]);
! 				createPhysicalEntityBox("", "Plastic/Red", boxDimensions, s);
  			}
  		}
--- 492,499 ----
  				opal::BoxShapeData boxData;
  				boxData.dimensions = boxDim;
+ 				boxData.material.friction = 0.001; // testing
  				s->addShape(boxData);
  				Ogre::Vector3 boxDimensions(boxDim[0], boxDim[1], boxDim[2]);
! 				createPhysicalEntityBox("", "Plastic/Orange", boxDimensions, s);
  			}
  		}
***************
*** 457,485 ****
  			}

! 			for (unsigned int l=0; l<length; ++l)
! 			{
! 				for (unsigned int h=0; h<height; ++h)
! 				{
! 					opal::real offset = 0;
! 					if (h % 2 == 0)
! 					{
! 						offset = (opal::real)0.5 * boxDim[0];
! 					}

! 					opal::Matrix44r blockTransform = wallBaseTransform;
! 					blockTransform.translate(l * boxDim[0] + 
! 						0.5 * boxDim[0] - 0.5 * length * boxDim[0] + 
! 						offset, h * boxDim[1] + 0.5 * boxDim[1], 0);

! 					opal::Solid* s = mSimulator->createSolid();
! 					s->setTransform(blockTransform);
! 					//s->setSleeping(true);
! 					opal::BoxShapeData boxData;
! 					boxData.dimensions = boxDim;
! 					s->addShape(boxData);
! 					Ogre::Vector3 boxDimensions(boxDim[0], boxDim[1], boxDim[2]);
! 					createPhysicalEntityBox("", "Plastic/Red", boxDimensions, s);
! 				}
! 			}
  		}
  	}
--- 545,575 ----
  			}

! 			createWall(length, height, boxDim, wallBaseTransform);

! 			//for (unsigned int l=0; l<length; ++l)
! 			//{
! 			//	for (unsigned int h=0; h<height; ++h)
! 			//	{
! 			//		opal::real offset = 0;
! 			//		if (h % 2 == 0)
! 			//		{
! 			//			offset = (opal::real)0.5 * boxDim[0];
! 			//		}

! 			//		opal::Matrix44r blockTransform = wallBaseTransform;
! 			//		blockTransform.translate(l * boxDim[0] + 
! 			//			0.5 * boxDim[0] - 0.5 * length * boxDim[0] + 
! 			//			offset, h * boxDim[1] + 0.5 * boxDim[1], 0);
! 
! 			//		opal::Solid* s = mSimulator->createSolid();
! 			//		s->setTransform(blockTransform);
! 			//		s->setSleeping(true);
! 			//		opal::BoxShapeData boxData;
! 			//		boxData.dimensions = boxDim;
! 			//		s->addShape(boxData);
! 			//		Ogre::Vector3 boxDimensions(boxDim[0], boxDim[1], boxDim[2]);
! 			//		createPhysicalEntityBox("", "Plastic/Red", boxDimensions, s);
! 			//	}
! 			//}
  		}
  	}