[Opal-commits] opal/src/ODE ODESimulator.cpp,1.95,1.96 ODESolid.cpp,1.81,1.82 ODESolid.h,1.67,1.68

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1764/src/ODE

Modified Files:
	ODESimulator.cpp ODESolid.cpp ODESolid.h 
Log Message:
minor changes; added stuff to sample app

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.67
retrieving revision 1.68
diff -C2 -d -r1.67 -r1.68
*** ODESolid.h	4 Apr 2005 13:09:11 -0000	1.67
--- ODESolid.h	6 Apr 2005 04:48:45 -0000	1.68
***************
*** 121,124 ****
--- 121,126 ----
  		//virtual void OPAL_CALL setFastRotationAxis(Vec3r axis);
  
+ 		virtual void OPAL_CALL zeroForces();
+ 
  		virtual real OPAL_CALL getMass()const;
  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.95
retrieving revision 1.96
diff -C2 -d -r1.95 -r1.96
*** ODESimulator.cpp	30 Mar 2005 23:26:23 -0000	1.95
--- ODESimulator.cpp	6 Apr 2005 04:48:44 -0000	1.96
***************
*** 146,153 ****
  
  					dBodyID bodyID = ((ODESolid*)solid)->internal_getBodyID();
! 					dBodySetLinearVel(bodyID, 0.0, 0.0, 0.0);
! 					dBodySetAngularVel(bodyID, 0.0, 0.0, 0.0);
! 					dBodySetForce(bodyID, 0.0, 0.0, 0.0);
! 					dBodySetTorque(bodyID, 0.0, 0.0, 0.0);
  				}
  				else
--- 146,153 ----
  
  					dBodyID bodyID = ((ODESolid*)solid)->internal_getBodyID();
! 					dBodySetLinearVel(bodyID, 0, 0, 0);
! 					dBodySetAngularVel(bodyID, 0, 0, 0);
! 					dBodySetForce(bodyID, 0, 0, 0);
! 					dBodySetTorque(bodyID, 0, 0, 0);
  				}
  				else
***************
*** 502,505 ****
--- 502,507 ----
  
  						// Average the hardness of the two materials.
+ 						assert(m0->hardness >= 0 && m0->hardness <= 1 
+ 							&& m1->hardness >= 0 && m1->hardness <= 1);
  						real hardness = (m0->hardness + m1->hardness) * 
  							(real)0.5;
***************
*** 519,522 ****
--- 521,526 ----
  						// to max, though it is set to dInfinity when 
  						// friction == 1.0.
+ 						assert(m0->friction >= 0 && m0->friction <= 1 
+ 							&& m1->friction >= 0 && m1->friction <= 1);
  						if (1.0 == m0->friction && 1.0 == m1->friction)
  						{
***************
*** 531,534 ****
--- 535,540 ----
  
  						// Average the bounciness of the two materials.
+ 						assert(m0->bounciness >= 0 && m0->bounciness <= 1 
+ 							&& m1->bounciness >= 0 && m1->bounciness <= 1);
  						real bounciness = (m0->bounciness + m1->bounciness) * 
  							(real)0.5;
***************
*** 1023,1068 ****
  	}
  
- 	//void ODESimulator::setDefaultSleepiness(real value)
- 	//{
- 	//	Simulator::setDefaultSleepiness(value);
- 
- 	//	if (0 == value)
- 	//	{
- 	//		// No default sleeping for new Solids.
- 	//		dWorldSetAutoDisableFlag(mWorldID, false);
- 	//	}
- 	//	else
- 	//	{
- 	//		// Enable default sleeping for new Solids.
- 	//		dWorldSetAutoDisableFlag(mWorldID, true);
- 	//	}
- 
- 	//	// As value goes from 0.0 to 1.0:
- 	//	// AutoDisableLinearThreshold goes from min to max,
- 	//	// AutoDisableAngularThreshold goes from min to max,
- 	//	// AutoDisableSteps goes from max to min,
- 	//	// AutoDisableTime goes from max to min.
- 
- 	//	real range = defaults::ode::autoDisableLinearMax - 
- 	//		defaults::ode::autoDisableLinearMin;
- 	//	dWorldSetAutoDisableLinearThreshold(mWorldID, value * range + 
- 	//		defaults::ode::autoDisableLinearMin);
- 
- 	//	range = defaults::ode::autoDisableAngularMax - 
- 	//		defaults::ode::autoDisableAngularMin;
- 	//	dWorldSetAutoDisableAngularThreshold(mWorldID, value * range + 
- 	//		defaults::ode::autoDisableAngularMin);
- 
- 	//	range = (real)(defaults::ode::autoDisableStepsMax - 
- 	//		defaults::ode::autoDisableStepsMin);
- 	//	dWorldSetAutoDisableSteps(mWorldID, 
- 	//		(int)((real)defaults::ode::autoDisableStepsMax - value * range));
- 
- 	//	range = defaults::ode::autoDisableTimeMax - 
- 	//		defaults::ode::autoDisableTimeMin;
- 	//	dWorldSetAutoDisableTime(mWorldID, 
- 	//		defaults::ode::autoDisableTimeMax - value * range);
- 	//}
- 
  	void ODESimulator::setSolverAccuracy(SolverAccuracyLevel level)
  	{
--- 1029,1032 ----

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.81
retrieving revision 1.82
diff -C2 -d -r1.81 -r1.82
*** ODESolid.cpp	4 Apr 2005 13:09:10 -0000	1.81
--- ODESolid.cpp	6 Apr 2005 04:48:45 -0000	1.82
***************
*** 481,484 ****
--- 481,486 ----
  	void ODESolid::addShape(const ShapeData& data)
  	{
+ 		assert(data.material.density >= 0);
+ 
  		dGeomID newGeomID = NULL;
  		dGeomID newTransformID = NULL;
***************
*** 826,829 ****
--- 828,845 ----
  	//}
  
+ 	void ODESolid::zeroForces()
+ 	{
+ 		if (!mData.isStatic)
+ 		{
+ 			dBodySetForce(mBodyID, 0, 0, 0);
+ 			dBodySetTorque(mBodyID, 0, 0, 0);
+ 
+ 			while (!mForceList.empty())
+ 			{
+ 				mForceList.pop_back();
+ 			}
+ 		}
+ 	}
+ 
  	real ODESolid::getMass()const
  	{