[Opal-commits] opal/src Defines.h,1.71,1.72 JointData.h,1.7,1.8 Simulator.cpp,1.55,1.56 Simulator.h,1.93,1.94 Solid.h,1.86,1.87

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

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

Modified Files:
	Defines.h JointData.h Simulator.cpp Simulator.h Solid.h 
Log Message:
minor changes; added stuff to sample app

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.55
retrieving revision 1.56
diff -C2 -d -r1.55 -r1.56
*** Simulator.cpp	31 Mar 2005 08:47:02 -0000	1.55
--- Simulator.cpp	6 Apr 2005 04:48:44 -0000	1.56
***************
*** 63,91 ****
  	Simulator::~Simulator()
  	{
- 		//// Mark everything as garbage, then collect the garbage.
- 		//size_t i;
- 
- 		//for (i=0; i<mSolidList.size(); ++i)
- 		//{
- 		//	mSolidGarbageList.push_back(mSolidList[i]);
- 		//}
- 
- 		//for (i=0; i<mJointList.size(); ++i)
- 		//{
- 		//	mJointGarbageList.push_back(mJointList[i]);
- 		//}
- 
- 		//for (i=0; i<mMotorList.size(); ++i)
- 		//{
- 		//	mMotorGarbageList.push_back(mMotorList[i]);
- 		//}
- 
- 		//for (i=0; i<mSensorList.size(); ++i)
- 		//{
- 		//	mSensorGarbageList.push_back(mSensorList[i]);
- 		//}
- 
- 		//collectGarbage();
- 
  		destroyAllSolids();
  		destroyAllJoints();
--- 63,66 ----
***************
*** 139,143 ****
  				solidIter != mSolidList.end(); ++solidIter)
  			{
! 				(*solidIter)->internal_applyForces(mStepSize);
  			}
  
--- 114,172 ----
  				solidIter != mSolidList.end(); ++solidIter)
  			{
! 				Solid* solid = *solidIter;
! 
! 				solid->internal_applyForces(mStepSize);
! 
! 				// Limit velocities and forces of moving Solids to 
! 				// limit numerical inaccuracy from explicit integration 
! 				// (mostly from quickly-spinning long, thin objects).
! 				if (!solid->isSleeping() && !solid->isStatic())
! 				{
! 					bool velChanged = false;
! 					Vec3r linearVel = solid->getGlobalLinearVel();
! 					if (linearVel[0] > mMaxLinearVel)
! 					{
! 						linearVel[0] = mMaxLinearVel;
! 						velChanged = true;
! 					}
! 					if (linearVel[1] > mMaxLinearVel)
! 					{
! 						linearVel[1] = mMaxLinearVel;
! 						velChanged = true;
! 					}
! 					if (linearVel[2] > mMaxLinearVel)
! 					{
! 						linearVel[2] = mMaxLinearVel;
! 						velChanged = true;
! 					}
! 					if (velChanged)
! 					{
! 						solid->setGlobalLinearVel(linearVel);
! 						solid->zeroForces();
! 					}
! 
! 					velChanged = false;
! 					Vec3r angularVel = solid->getGlobalAngularVel();
! 					if (angularVel[0] > mMaxAngularVel)
! 					{
! 						angularVel[0] = mMaxAngularVel;
! 						velChanged = true;
! 					}
! 					if (angularVel[1] > mMaxAngularVel)
! 					{
! 						angularVel[1] = mMaxAngularVel;
! 						velChanged = true;
! 					}
! 					if (angularVel[2] > mMaxAngularVel)
! 					{
! 						angularVel[2] = mMaxAngularVel;
! 						velChanged = true;
! 					}
! 					if (velChanged)
! 					{
! 						solid->setGlobalAngularVel(angularVel);
! 						solid->zeroForces();
! 					}
! 				}
  			}
  
***************
*** 163,211 ****
  				Solid* solid = *solidIter;
  
- 				// Cap velocities.
- 				bool velChanged = false;
- 				Vec3r linearVel = solid->getGlobalLinearVel();
- 				if (linearVel[0] > mMaxLinearVel)
- 				{
- 					linearVel[0] = mMaxLinearVel;
- 					velChanged = true;
- 				}
- 				if (linearVel[1] > mMaxLinearVel)
- 				{
- 					linearVel[1] = mMaxLinearVel;
- 					velChanged = true;
- 				}
- 				if (linearVel[2] > mMaxLinearVel)
- 				{
- 					linearVel[2] = mMaxLinearVel;
- 					velChanged = true;
- 				}
- 				if (velChanged)
- 				{
- 					solid->setGlobalLinearVel(linearVel);
- 				}
- 
- 				velChanged = false;
- 				Vec3r angularVel = solid->getGlobalAngularVel();
- 				if (angularVel[0] > mMaxAngularVel)
- 				{
- 					angularVel[0] = mMaxAngularVel;
- 					velChanged = true;
- 				}
- 				if (angularVel[1] > mMaxAngularVel)
- 				{
- 					angularVel[1] = mMaxAngularVel;
- 					velChanged = true;
- 				}
- 				if (angularVel[2] > mMaxAngularVel)
- 				{
- 					angularVel[2] = mMaxAngularVel;
- 					velChanged = true;
- 				}
- 				if (velChanged)
- 				{
- 					solid->setGlobalAngularVel(angularVel);
- 				}
- 
  				// Get each Solid's new transform from the physics engine.
  				solid->internal_updateOPALTransform();
--- 192,195 ----
***************
*** 233,239 ****
  		}
  
- 		//// Deallocate memory here now that it's safe.
- 		//collectGarbage();
- 
  		return stepOccurred;
  	}
--- 217,220 ----
***************
*** 770,774 ****
  	void Simulator::destroySolid(Solid* s)
  	{
- 		//mSolidGarbageList.push_back(s);
  		removeSolid(s);
  	}
--- 751,754 ----
***************
*** 778,782 ****
  		for (size_t i=0; i<mSolidList.size(); ++i)
  		{
- 			//mSolidGarbageList.push_back(mSolidList[i]);
  			removeSolid(mSolidList[i]);
  		}
--- 758,761 ----
***************
*** 785,789 ****
  	void Simulator::destroyJoint(Joint* j)
  	{
- 		//mJointGarbageList.push_back(j);
  		removeJoint(j);
  	}
--- 764,767 ----
***************
*** 791,800 ****
  	void Simulator::destroyAllJoints()
  	{
- 		// Just mark everything as garbage; it'll get destroyed at the end of 
- 		// the current step.
- 
  		for (size_t i=0; i<mJointList.size(); ++i)
  		{
- 			//mJointGarbageList.push_back(mJointList[i]);
  			removeJoint(mJointList[i]);
  		}
--- 769,774 ----
***************
*** 844,848 ****
  	void Simulator::destroyMotor(Motor* m)
  	{
- 		//mMotorGarbageList.push_back(m);
  		removeMotor(m);
  	}
--- 818,821 ----
***************
*** 850,859 ****
  	void Simulator::destroyAllMotors()
  	{
- 		// Just mark everything as garbage; it'll get destroyed at the end of 
- 		// the current step.
- 
  		for (size_t i=0; i<mMotorList.size(); ++i)
  		{
- 			//mMotorGarbageList.push_back(mMotorList[i]);
  			removeMotor(mMotorList[i]);
  		}
--- 823,828 ----
***************
*** 890,894 ****
  	void Simulator::destroySensor(Sensor* s)
  	{
- 		//mSensorGarbageList.push_back(s);
  		removeSensor(s);
  	}
--- 859,862 ----
***************
*** 896,920 ****
  	void Simulator::destroyAllSensors()
  	{
- 		// Just mark everything as garbage; it'll get destroyed at the end of 
- 		// the current step.
- 
  		for (size_t i=0; i<mSensorList.size(); ++i)
  		{
- 			//mSensorGarbageList.push_back(mSensorList[i]);
  			removeSensor(mSensorList[i]);
  		}
  	}
  
- 	//void Simulator::setDefaultSleepiness(real value)
- 	//{
- 	//	assert(value >= 0.0 && value <= 1.0);
- 	//	mDefaultSleepiness = value;
- 	//}
- 
- 	//real Simulator::getDefaultSleepiness()const
- 	//{
- 	//	return mDefaultSleepiness;
- 	//}
- 
  	void Simulator::setSolverAccuracy(SolverAccuracyLevel level)
  	{
--- 864,873 ----
***************
*** 1065,1100 ****
  		mSpaceList.push_back(s);
  	}
- 
- 	//void Simulator::collectGarbage()
- 	//{
- 	//	size_t i;
- 
- 	//	for (i=0; i<mSolidGarbageList.size(); ++i)
- 	//	{
- 	//		removeSolid(mSolidGarbageList[i]);
- 	//	}
- 
- 	//	mSolidGarbageList.clear();
- 
- 	//	for (i=0; i<mJointGarbageList.size(); ++i)
- 	//	{
- 	//		removeJoint(mJointGarbageList[i]);
- 	//	}
- 
- 	//	mJointGarbageList.clear();
- 
- 	//	for (i=0; i<mMotorGarbageList.size(); ++i)
- 	//	{
- 	//		removeMotor(mMotorGarbageList[i]);
- 	//	}
- 
- 	//	mMotorGarbageList.clear();
- 
- 	//	for (i=0; i<mSensorGarbageList.size(); ++i)
- 	//	{
- 	//		removeSensor(mSensorGarbageList[i]);
- 	//	}
- 
- 	//	mSensorGarbageList.clear();
- 	//}
  }
--- 1018,1020 ----

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.71
retrieving revision 1.72
diff -C2 -d -r1.71 -r1.72
*** Defines.h	31 Mar 2005 08:47:02 -0000	1.71
--- Defines.h	6 Apr 2005 04:48:44 -0000	1.72
***************
*** 132,139 ****
  		Material(real h, real f, real b, real d)
  		{
! 			assert(h >= 0.0 && h <= 1.0);
! 			assert(f >= 0.0 && f <= 1.0);
! 			assert(b >= 0.0 && b <= 1.0);
! 			assert(d >= 0.0);
  
  			hardness = h;
--- 132,139 ----
  		Material(real h, real f, real b, real d)
  		{
! 			//assert(h >= 0.0 && h <= 1.0);
! 			//assert(f >= 0.0 && f <= 1.0);
! 			//assert(b >= 0.0 && b <= 1.0);
! 			//assert(d >= 0.0);
  
  			hardness = h;
***************
*** 151,158 ****
  		}
  
! 		/// Determines how far Solids can interpenetrate.
  		real hardness;
  
! 		/// Simple friction constant.
  		real friction;
  
--- 151,159 ----
  		}
  
! 		/// Determines how far Solids can interpenetrate.  This must 
! 		/// be between 0 and 1.
  		real hardness;
  
! 		/// Simple friction constant.  This must be between 0 and 1.
  		real friction;
  
***************
*** 161,169 ****
  		/// words, the more bounciness, the farther the Solids will bounce 
  		/// when they collide (and, in real life, the less energy is lost 
! 		/// due to heat and sound).
  		real bounciness;
  
  		/// Density combined with the volume of a Solid's shapes determine 
! 		/// the Solid's mass.
  		real density;
  	};
--- 162,170 ----
  		/// words, the more bounciness, the farther the Solids will bounce 
  		/// when they collide (and, in real life, the less energy is lost 
! 		/// due to heat and sound).  This must be between 0 and 1.
  		real bounciness;
  
  		/// Density combined with the volume of a Solid's shapes determine 
! 		/// the Solid's mass.  This must be >= 0.
  		real density;
  	};

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.86
retrieving revision 1.87
diff -C2 -d -r1.86 -r1.87
*** Solid.h	4 Apr 2005 13:09:11 -0000	1.86
--- Solid.h	6 Apr 2005 04:48:44 -0000	1.87
***************
*** 151,154 ****
--- 151,157 ----
  		virtual void OPAL_CALL addForce(const Force& f);
  
+ 		/// Removes all forces and torques currently affecting this Solid.
+ 		virtual void OPAL_CALL zeroForces() = 0;
+ 
  		/// Sets the Solid's linear velocity in local coordinates.  
  		virtual void OPAL_CALL setLocalLinearVel(const Vec3r& vel) = 0;

Index: JointData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/JointData.h,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** JointData.h	28 Mar 2005 22:33:07 -0000	1.7
--- JointData.h	6 Apr 2005 04:48:44 -0000	1.8
***************
*** 50,54 ****
  		real high;
  
! 		/// Determines how far a Joint can exceed its limits.
  		real hardness;
  
--- 50,55 ----
  		real high;
  
! 		/// Determines how far a Joint can exceed its limits.  This must 
! 		/// be between 0 and 1.
  		real hardness;
  

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.93
retrieving revision 1.94
diff -C2 -d -r1.93 -r1.94
*** Simulator.h	31 Mar 2005 08:47:02 -0000	1.93
--- Simulator.h	6 Apr 2005 04:48:44 -0000	1.94
***************
*** 273,279 ****
  		virtual ~Simulator();
  
- 		///// Destroys all objects in the Simulator marked as garbage.  
- 		//void collectGarbage();
- 
  		/// Adds a Solid to the internal list of Solids.  
  		void addSolid(Solid* s);
--- 273,276 ----
***************
*** 340,355 ****
  		std::vector<Sensor*> mSensorList;
  
- 		///// An internal list of all Solids marked as garbage.  
- 		//std::vector<Solid*> mSolidGarbageList;
- 
- 		///// An internal list of all Joints.  
- 		//std::vector<Joint*> mJointGarbageList;
- 
- 		///// An internal list of all Motors marked as garbage.  
- 		//std::vector<Motor*> mMotorGarbageList;
- 
- 		///// An internal list of all Sensors marked as garbage.  
- 		//std::vector<Sensor*> mSensorGarbageList;
- 
  		/// Spaces are stored here so the user doesn't have to destroy them; 
  		/// they get destroyed when the Simulator is destroyed.
--- 337,340 ----