[Opal-commits] opal/src CollisionEventHandler.h,1.2,1.3 Simulator.cpp,1.56,1.57 Simulator.h,1.94,1.95

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23067/src

Modified Files:
	CollisionEventHandler.h Simulator.cpp Simulator.h 
Log Message:
added a fix to make solid and joint destruction (even more) safe during event handling

Index: CollisionEventHandler.h
===================================================================
RCS file: /cvsroot/opal/opal/src/CollisionEventHandler.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** CollisionEventHandler.h	21 Mar 2005 05:52:09 -0000	1.2
--- CollisionEventHandler.h	8 Apr 2005 20:46:00 -0000	1.3
***************
*** 68,72 ****
  	};
  
! 	/// A listener that gets notified when two Solids touch.
  	class CollisionEventHandler : public EventHandler
  	{
--- 68,75 ----
  	};
  
! 	/// A listener that gets notified when two Solids touch.  These events 
! 	/// get handled at the end of the time step, which is necessary because 
! 	/// some physics engines cannot update objects in the middle of a time 
! 	/// step (e.g. in the middle of collision detection).
  	class CollisionEventHandler : public EventHandler
  	{

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.56
retrieving revision 1.57
diff -C2 -d -r1.56 -r1.57
*** Simulator.cpp	6 Apr 2005 04:48:44 -0000	1.56
--- Simulator.cpp	8 Apr 2005 20:46:00 -0000	1.57
***************
*** 53,56 ****
--- 53,58 ----
  		setUserData(NULL);
  		setPostStepEventHandler(NULL);
+ 		mIsSolidDestructionSafe = true;
+ 		mIsJointDestructionSafe = true;
  
  		int i=0;
***************
*** 73,76 ****
--- 75,81 ----
  			mSpaceList.pop_back();
  		}
+ 
+ 		mSolidGarbageList.clear();
+ 		mJointGarbageList.clear();
  	}
  
***************
*** 172,175 ****
--- 177,181 ----
  
  			// Update Joints.
+ 			mIsJointDestructionSafe = false;
  			std::vector<Joint*>::iterator jointIter;
  			for (jointIter = mJointList.begin(); 
***************
*** 181,184 ****
--- 187,191 ----
  				(*jointIter)->internal_update();
  			}
+ 			mIsJointDestructionSafe = true;
  
  			// Now do physics engine-specific stuff; collision events will 
***************
*** 187,190 ****
--- 194,198 ----
  
  			// Loop over Solids again to handle a few more things...
+ 			mIsSolidDestructionSafe = false;
  			for (solidIter = mSolidList.begin(); 
  				solidIter != mSolidList.end(); ++solidIter)
***************
*** 206,209 ****
--- 214,218 ----
  				}
  			}
+ 			mIsSolidDestructionSafe = true;
  
  			// Fire an event to the PostStepEventHandler, if one exists.
***************
*** 213,216 ****
--- 222,228 ----
  			}
  
+ 			// Destroy garbage now that it's safe.
+ 			destroyGarbage();
+ 
  			//Decrement the time buffer
  			mTimeBuffer -= mStepSize;
***************
*** 751,755 ****
  	void Simulator::destroySolid(Solid* s)
  	{
! 		removeSolid(s);
  	}
  
--- 763,774 ----
  	void Simulator::destroySolid(Solid* s)
  	{
! 		if (mIsSolidDestructionSafe)
! 		{
! 			removeSolid(s);
! 		}
! 		else
! 		{
! 			mSolidGarbageList.push_back(s);
! 		}
  	}
  
***************
*** 764,768 ****
  	void Simulator::destroyJoint(Joint* j)
  	{
! 		removeJoint(j);
  	}
  
--- 783,794 ----
  	void Simulator::destroyJoint(Joint* j)
  	{
! 		if (mIsJointDestructionSafe)
! 		{
! 			removeJoint(j);
! 		}
! 		else
! 		{
! 			mJointGarbageList.push_back(j);
! 		}
  	}
  
***************
*** 1018,1020 ****
--- 1044,1063 ----
  		mSpaceList.push_back(s);
  	}
+ 
+ 	void Simulator::destroyGarbage()
+ 	{
+ 		// Destroy garbage Solids.
+ 		while (!mSolidGarbageList.empty())
+ 		{
+ 			destroySolid(mSolidGarbageList.back());
+ 			mSolidGarbageList.pop_back();
+ 		}
+ 
+ 		// Destroy garbage Joints.
+ 		while (!mJointGarbageList.empty())
+ 		{
+ 			destroyJoint(mJointGarbageList.back());
+ 			mJointGarbageList.pop_back();
+ 		}
+ 	}
  }

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.94
retrieving revision 1.95
diff -C2 -d -r1.94 -r1.95
*** Simulator.h	6 Apr 2005 04:48:44 -0000	1.94
--- Simulator.h	8 Apr 2005 20:46:00 -0000	1.95
***************
*** 300,303 ****
--- 300,307 ----
  		void addSpace(Space* s);
  
+ 		/// Destroys all objects marked as garbage.  Useful for destroying 
+ 		/// objects at safe times.
+ 		void destroyGarbage();
+ 
  		/// The constant step size used to break arbitrary simulation dt 
  		/// values into constant chunks.
***************
*** 337,340 ****
--- 341,358 ----
  		std::vector<Sensor*> mSensorList;
  
+ 		/// True when it is safe to destroy a Solid (e.g. not in the middle 
+ 		/// of looping over all the Solid).
+ 		bool mIsSolidDestructionSafe;
+ 
+ 		/// True when it is safe to destroy a Joint (e.g. not in the middle 
+ 		/// of looping over all the Joint).
+ 		bool mIsJointDestructionSafe;
+ 
+ 		/// An internal list of Solids marked as garbage.  
+ 		std::vector<Solid*> mSolidGarbageList;
+ 
+ 		/// An internal list of Joints marked as garbage.  
+ 		std::vector<Joint*> mJointGarbageList;
+ 
  		/// Spaces are stored here so the user doesn't have to destroy them; 
  		/// they get destroyed when the Simulator is destroyed.