[Opal-commits] opal/samples/src PhysicalCamera.h,1.5,1.6

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

Update of /cvsroot/opal/opal/samples/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10352/samples/src

Modified Files:
	PhysicalCamera.h 
Log Message:
changed Simulator::instantiateBlueprint to apply scaling (of Shape dimensions and Solid transforms) before applying the additional Blueprint transform; made the playpen sample app cool

Index: PhysicalCamera.h
===================================================================
RCS file: /cvsroot/opal/opal/samples/src/PhysicalCamera.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** PhysicalCamera.h	12 Apr 2005 06:46:42 -0000	1.5
--- PhysicalCamera.h	15 Apr 2005 08:50:42 -0000	1.6
***************
*** 297,306 ****
  					data.mode = opal::LINEAR_MODE;
  					//data.mode = opal::LINEAR_AND_ANGULAR_MODE;
! 					data.linearKd = 1.5;
! 					data.linearKs = 15;
  					//data.angularKd = 0.3;
  					//data.angularKs = 5;
! 					// Desired position/orientation will be updated in the 
! 					// "update" function.
  					mGraspingMotor->init(data);
  					mGraspingMotor->setGlobalAttachPoint(result.intersection);
--- 297,310 ----
  					data.mode = opal::LINEAR_MODE;
  					//data.mode = opal::LINEAR_AND_ANGULAR_MODE;
! 					data.linearKd = 2.5;
! 					data.linearKs = 25;
  					//data.angularKd = 0.3;
  					//data.angularKs = 5;
! 					opal::Matrix44r solidTransform = result.solid->getTransform();
! 					//data.desiredUp = solidTransform.getUp();
! 					//data.desiredForward = solidTransform.getForward();
! 					//data.desiredRight = solidTransform.getRight();
! 					// Desired position will be updated in the "update" 
! 					// function.
  					mGraspingMotor->init(data);
  					mGraspingMotor->setGlobalAttachPoint(result.intersection);
***************
*** 310,313 ****
--- 314,319 ----
  						mGraspOffset.set(0, 0, -result.distance);
  					}
+ 
+ 					result.solid->setAngularDamping(3);
  				}
  			}
***************
*** 321,324 ****
--- 327,332 ----
  				// Make sure the object is awake before releasing it so it 
  				// doesn't float in midair.
+ 				mGraspedObject->setAngularDamping(
+ 					opal::defaults::solid::angularDamping);
  				mGraspedObject->setSleeping(false);
  				mGraspedObject = NULL;