[Opal-commits] opal/src CollisionEventHandler.cpp,1.1,1.2 CollisionEventHandler.h,1.3,1.4 Defines.h,1.72,1.73 EventHandler.h,1.21,1.22 Simulator.cpp,1.57,1.58 Simulator.h,1.95,1.96

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31248/src

Modified Files:
	CollisionEventHandler.cpp CollisionEventHandler.h Defines.h 
	EventHandler.h Simulator.cpp Simulator.h 
Log Message:
made changes to collision detection "early out" cases to make things faster

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.72
retrieving revision 1.73
diff -C2 -d -r1.72 -r1.73
*** Defines.h	6 Apr 2005 04:48:44 -0000	1.72
--- Defines.h	9 Apr 2005 06:23:58 -0000	1.73
***************
*** 283,286 ****
--- 283,287 ----
  		const real maxLinearVel = (real)10000.0;
  		const real maxAngularVel = (real)1000.0;
+ 		const bool staticSleepingContactsEnabled = false;
  
  		/// All groups make contacts with all other groups by default.

Index: CollisionEventHandler.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/CollisionEventHandler.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** CollisionEventHandler.cpp	8 Mar 2005 16:10:23 -0000	1.1
--- CollisionEventHandler.cpp	9 Apr 2005 06:23:58 -0000	1.2
***************
*** 47,55 ****
  	void CollisionEventHandler::internal_handlePendingCollisionEvents()
  	{
! 		std::vector<CollisionEvent>::iterator iter;
! 		for (iter = mPendingCollisionEvents.begin(); 
! 			iter != mPendingCollisionEvents.end(); ++iter)
  		{
! 			handleCollisionEvent(*iter);
  		}
  	}
--- 47,54 ----
  	void CollisionEventHandler::internal_handlePendingCollisionEvents()
  	{
! 		while (!mPendingCollisionEvents.empty())
  		{
! 			handleCollisionEvent(mPendingCollisionEvents.back());
! 			mPendingCollisionEvents.pop_back();
  		}
  	}

Index: EventHandler.h
===================================================================
RCS file: /cvsroot/opal/opal/src/EventHandler.h,v
retrieving revision 1.21
retrieving revision 1.22
diff -C2 -d -r1.21 -r1.22
*** EventHandler.h	8 Mar 2005 16:10:23 -0000	1.21
--- EventHandler.h	9 Apr 2005 06:23:58 -0000	1.22
***************
*** 34,38 ****
  {
  	/// Base class for various other event handling classes.  EventHandlers 
! 	/// are listeners that respond to particular events.
  	class EventHandler
  	{
--- 34,39 ----
  {
  	/// Base class for various other event handling classes.  EventHandlers 
! 	/// are listeners that respond to particular events.  It is perfectly 
! 	/// safe to destroy objects when events are handled.
  	class EventHandler
  	{

Index: CollisionEventHandler.h
===================================================================
RCS file: /cvsroot/opal/opal/src/CollisionEventHandler.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** CollisionEventHandler.h	8 Apr 2005 20:46:00 -0000	1.3
--- CollisionEventHandler.h	9 Apr 2005 06:23:58 -0000	1.4
***************
*** 80,84 ****
  
  		/// Called once for each pending CollisionEvent.  This is always 
! 		/// called at the end of a time step, so CollisionEvents always 
  		/// get handled right away.
  		OPAL_DECL virtual void OPAL_CALL handleCollisionEvent(
--- 80,84 ----
  
  		/// Called once for each pending CollisionEvent.  This is always 
! 		/// called at the end of every time step so CollisionEvents 
  		/// get handled right away.
  		OPAL_DECL virtual void OPAL_CALL handleCollisionEvent(

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.57
retrieving revision 1.58
diff -C2 -d -r1.57 -r1.58
*** Simulator.cpp	8 Apr 2005 20:46:00 -0000	1.57
--- Simulator.cpp	9 Apr 2005 06:23:58 -0000	1.58
***************
*** 55,58 ****
--- 55,60 ----
  		mIsSolidDestructionSafe = true;
  		mIsJointDestructionSafe = true;
+ 		mStaticSleepingContactsEnabled = 
+ 			defaults::staticSleepingContactsEnabled;
  
  		int i=0;
***************
*** 724,727 ****
--- 726,739 ----
  	}
  
+ 	void Simulator::setStaticSleepingContactsEnabled(bool enable)
+ 	{
+ 		mStaticSleepingContactsEnabled = enable;
+ 	}
+ 
+ 	bool Simulator::areStaticSleepingContactsEnabled()
+ 	{
+ 		return mStaticSleepingContactsEnabled;
+ 	}
+ 
  	unsigned long int Simulator::internal_getContactGroupFlags(
  		unsigned int groupNum)const

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.95
retrieving revision 1.96
diff -C2 -d -r1.95 -r1.96
*** Simulator.h	8 Apr 2005 20:46:00 -0000	1.95
--- Simulator.h	9 Apr 2005 06:23:58 -0000	1.96
***************
*** 67,75 ****
  		virtual void OPAL_CALL destroy() = 0;
  
! 		/// This function takes the amount of time to simulate and advances 
! 		/// the simulation ahead by that much.  Internally, it steps through 
  		/// the simulation iteratively using a fixed step size.  "Leftover" 
  		/// time will be saved until the next time this is called.  The 
! 		/// function returns true if at least one time step has been taken.
  		virtual bool OPAL_CALL simulate(real dt);
  
--- 67,94 ----
  		virtual void OPAL_CALL destroy() = 0;
  
! 		/// This function performs collision detection and simulates 
! 		/// everything ahead by the given dt.  Internally, it steps through 
  		/// the simulation iteratively using a fixed step size.  "Leftover" 
  		/// time will be saved until the next time this is called.  The 
! 		/// function returns true if at least one time step has been taken.  
! 		/// During collision detection, the following cases are ignored 
! 		/// when deciding whether to collide two Solids (both for physical 
! 		/// contact generation and collision event handling): 
! 		/// 1. Two static Solids, each without a CollisionEventHandler.
! 		/// 2. Two Shapes that are part of the same Solid.
! 		/// 3. Two sleeping Solids.
! 		/// 4. Two Solids connected by a fixed Joint.
! 		/// 5. Two Solids connected by a Joint with contacts disabled.
! 		/// 6. Solid0 is static, Solid1 is sleeping, 
! 		///    static-to-sleeping contacts are ignored by the 
! 		///    Simulator, and neither Solid has a 
! 		///    CollisionEventHandler.
! 		/// 7. Solid1 is static, Solid0 is sleeping, 
! 		///    static-to-sleeping contacts are ignored by the 
! 		///    Simulator, and neither Solid has a 
! 		///    CollisionEventHandler.
! 		/// 8. The two Solids' contact groups do not generate 
! 		///    contacts when they collide, and neither Solid has a 
! 		///    CollisionEventHandler.
  		virtual bool OPAL_CALL simulate(real dt);
  
***************
*** 139,147 ****
  		/// last argument is true, the two groups will generate physical 
  		/// points when they collide.  Otherwise, they will pass through 
! 		/// each other.  Keep in mind that the following cases are already 
! 		/// ignored when performing collision detection: two sleeping 
! 		/// Solids don't collide; two Solids connected by a fixed Joint 
! 		/// don't collide; two Solids connected by a Joint with its 
! 		/// contacts enabled property set to false don't collide.  
  		/// Note that contact groups do not affect collision events; two 
  		/// colliding objects might not generate contacts and still 
--- 158,164 ----
  		/// last argument is true, the two groups will generate physical 
  		/// points when they collide.  Otherwise, they will pass through 
! 		/// each other.  Keep in mind that certain cases are already 
! 		/// ignored when performing collision detection; see comments 
! 		/// on Simulator::simulate for more details.  
  		/// Note that contact groups do not affect collision events; two 
  		/// colliding objects might not generate contacts and still 
***************
*** 163,166 ****
--- 180,193 ----
  			unsigned int group1);
  
+ 		/// Sets whether contacts should be generated between static Solids 
+ 		/// and sleeping Solids.  Usually this isn't necessary, but 
+ 		/// sometimes you might want a static Solid to wake up a sleeping 
+ 		/// dynamic Solid by touching it.
+ 		virtual void OPAL_CALL setStaticSleepingContactsEnabled(bool enable);
+ 
+ 		/// Returns true if contacts are generated between static Solids 
+ 		/// and sleeping Solids.
+ 		virtual bool OPAL_CALL areStaticSleepingContactsEnabled();
+ 
  		// SOLIDS
  
***************
*** 363,366 ****
--- 390,397 ----
  		unsigned long int mContactGroupFlags[32];
  
+ 		/// True if contacts are generated between static Solids and 
+ 		/// sleeping Solids.
+ 		bool mStaticSleepingContactsEnabled;
+ 
  		/// Pointer to the Simulator's post-step event handler.  
  		PostStepEventHandler* mPostStepEventHandler;