[Opal-commits] opal/src/ODE ODESimulator.cpp,1.98,1.99 ODESimulator.h,1.70,1.71

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4002/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
added a Simulator option to change the "max correcting velocity" for penetrating objects

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.70
retrieving revision 1.71
diff -C2 -d -r1.70 -r1.71
*** ODESimulator.h	12 Apr 2005 06:46:44 -0000	1.70
--- ODESimulator.h	12 Apr 2005 21:23:46 -0000	1.71
***************
*** 64,67 ****
--- 64,69 ----
  		virtual void OPAL_CALL destroy();
  
+ 		virtual void OPAL_CALL setMaxCorrectingVel(real vel);
+ 
  		// SOLIDS
  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.98
retrieving revision 1.99
diff -C2 -d -r1.98 -r1.99
*** ODESimulator.cpp	12 Apr 2005 06:46:44 -0000	1.98
--- ODESimulator.cpp	12 Apr 2005 21:23:45 -0000	1.99
***************
*** 70,75 ****
  			defaults::ode::minERP));
  
- 		dWorldSetContactMaxCorrectingVel(mWorldID, 
- 			defaults::ode::maxCorrectingVel);
  		dWorldSetContactSurfaceLayer(mWorldID, defaults::ode::surfaceLayer);
  
--- 70,73 ----
***************
*** 85,88 ****
--- 83,92 ----
  	}
  
+ 	void ODESimulator::setMaxCorrectingVel(real vel)
+ 	{
+ 		Simulator::setMaxCorrectingVel(vel);
+ 		dWorldSetContactMaxCorrectingVel(mWorldID, vel);
+ 	}
+ 
  	Solid* ODESimulator::createSolid()
  	{