[Opal-commits] opal/samples/playpen main.cpp,1.9,1.10

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

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

Modified Files:
	main.cpp 
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: main.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/playpen/main.cpp,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** main.cpp	12 Apr 2005 21:23:44 -0000	1.9
--- main.cpp	15 Apr 2005 08:50:42 -0000	1.10
***************
*** 45,49 ****
  		/// A visual line that represents the PhysicalCamera's grasping 
  		/// spring.
! 		opalSamples::OgreLine* mGraspingSpringLine;
  	};
  
--- 45,49 ----
  		/// A visual line that represents the PhysicalCamera's grasping 
  		/// spring.
! 		//opalSamples::OgreLine* mGraspingSpringLine;
  	};
  
***************
*** 52,81 ****
  	{
  		mUseShadows = true;
! 		mCreationPoint.set(0, 30, 0);
! 		mGraspingSpringLine = NULL;
  	}
  
  	PlaypenApp::~PlaypenApp()
  	{
! 		if (mGraspingSpringLine)
! 		{
! 			// Destroy the grasping line and its SceneNode.
! 			Ogre::SceneNode* sn = mGraspingSpringLine->getParentSceneNode();
  
! 			// Detach and destroy all objects from the SceneNode.  The 
! 			// scene node should only have the OgreLine attached which 
! 			// we must delete explicitly.
! 			while(sn->numAttachedObjects() > 0)
! 			{
! 				MovableObject* thisObject = 
! 					sn->detachObject(static_cast<unsigned short>(0));
! 				delete thisObject;
! 			}
  
! 			// Destroy the SceneNodes all of its children.
! 			sn->removeAndDestroyAllChildren();
! 			mSceneMgr->getRootSceneNode()->removeAndDestroyChild(
! 				sn->getName());
! 		}
  	}
  
--- 52,81 ----
  	{
  		mUseShadows = true;
! 		mCreationPoint.set(-55, 60, -55);
! 		//mGraspingSpringLine = NULL;
  	}
  
  	PlaypenApp::~PlaypenApp()
  	{
! 		//if (mGraspingSpringLine)
! 		//{
! 		//	// Destroy the grasping line and its SceneNode.
! 		//	Ogre::SceneNode* sn = mGraspingSpringLine->getParentSceneNode();
  
! 		//	// Detach and destroy all objects from the SceneNode.  The 
! 		//	// scene node should only have the OgreLine attached which 
! 		//	// we must delete explicitly.
! 		//	while(sn->numAttachedObjects() > 0)
! 		//	{
! 		//		MovableObject* thisObject = 
! 		//			sn->detachObject(static_cast<unsigned short>(0));
! 		//		delete thisObject;
! 		//	}
  
! 		//	// Destroy the SceneNodes all of its children.
! 		//	sn->removeAndDestroyAllChildren();
! 		//	mSceneMgr->getRootSceneNode()->removeAndDestroyChild(
! 		//		sn->getName());
! 		//}
  	}
  
***************
*** 93,97 ****
  
  		//mSceneMgr->showBoundingBoxes(true);
! 		//mSimulator->setStepSize(0.001);
  
  		// Set the ambient light level.
--- 93,98 ----
  
  		//mSceneMgr->showBoundingBoxes(true);
! 		mSimulator->setStepSize(0.02);
! 		mSimulator->setGravity(opal::Vec3r(0, -30, 0));
  
  		// Set the ambient light level.
***************
*** 106,110 ****
  
  		// Setup the initial camera position.
! 		mPhysicalCamera->setPosition(opal::Point3r(0, 30, 50));
  		mPhysicalCamera->lookAt(opal::Point3r(0, 0, 0));
  
--- 107,111 ----
  
  		// Setup the initial camera position.
! 		mPhysicalCamera->setPosition(opal::Point3r(0, 20, 30));
  		mPhysicalCamera->lookAt(opal::Point3r(0, 0, 0));
  
***************
*** 112,127 ****
  		mSceneMgr->setSkyBox(true, "Skyboxes/Gray", 5000);
  
! 		// Create the visual line used to represent the PhysicalCamera's 
  		// grasping spring.  Just create two points for now that will 
  		// be updated later.
! 		mGraspingSpringLine = 
! 			new opalSamples::OgreLine();
! 		mGraspingSpringLine->addPoint(0, 0, 0);
! 		mGraspingSpringLine->addPoint(0, 0, 0);
! 		mGraspingSpringLine->update();
! 		SceneNode* lineNode = 
! 			mSceneMgr->getRootSceneNode()->createChildSceneNode("graspLine");
! 		lineNode->attachObject(mGraspingSpringLine);
! 		mGraspingSpringLine->setVisible(false);
  
  		// Make a crosshairs for picking.
--- 113,150 ----
  		mSceneMgr->setSkyBox(true, "Skyboxes/Gray", 5000);
  
! 		// Create the visual line used to represent the PhysicalCamera's  
  		// grasping spring.  Just create two points for now that will 
  		// be updated later.
! 		//mGraspingSpringLine = 
! 		//	new opalSamples::OgreLine();
! 		//mGraspingSpringLine->addPoint(0, 0, 0);
! 		//mGraspingSpringLine->addPoint(0, 0, 0);
! 		//mGraspingSpringLine->update();
! 		//SceneNode* lineNode = 
! 		//	mSceneMgr->getRootSceneNode()->createChildSceneNode("graspLine");
! 		//lineNode->attachObject(mGraspingSpringLine);
! 		//mGraspingSpringLine->setCastShadows(false);
! 		//mGraspingSpringLine->setVisible(false);
! 
! 		// Make a sphere used to show the grasp position.
! 		Ogre::SceneNode* sphereNode = mSceneMgr->getRootSceneNode()->
! 			createChildSceneNode("pickingSphere0");
! 		sphereNode->scale(0.3, 0.3, 0.3);
! 		Entity* sphereEntity = mSceneMgr->createEntity("pickingSphere", 
! 			"sphere.mesh");
! 		sphereEntity->setMaterialName("Unlit/Yellow");
! 		sphereEntity->setCastShadows(false);
! 		sphereEntity->setVisible(false);
! 		sphereNode->attachObject(sphereEntity);
! 
! 		// Make a "line" (scaled cylinder) to show the grasping spring.
! 		Ogre::SceneNode* lineNode = mSceneMgr->getRootSceneNode()->
! 			createChildSceneNode("springLine");
! 		Entity* lineEntity = mSceneMgr->createEntity("springLine", 
! 			"cylinder.mesh");
! 		lineEntity->setMaterialName("Unlit/White");
! 		lineEntity->setCastShadows(false);
! 		lineEntity->setVisible(false);
! 		lineNode->attachObject(lineEntity);
  
  		// Make a crosshairs for picking.
***************
*** 142,170 ****
  		if (mPhysicalCamera->isGrasping())
  		{
! 			// Update the first point using the desired position.
! 			opal::Point3r graspPos = 
  				mPhysicalCamera->getGraspGlobalPos();
! 			Ogre::Vector3 point(graspPos[0], graspPos[1], graspPos[2]);
! 			mGraspingSpringLine->setPoint(0, point);
  
- 			// Update the second point using the spring's attach point.
  			opal::Point3r attachPos = mPhysicalCamera->getAttachGlobalPos();
! 			point[0] = attachPos[0];
! 			point[1] = attachPos[1];
! 			point[2] = attachPos[2];
! 			mGraspingSpringLine->setPoint(1, point);
! 			mGraspingSpringLine->update();
  
! 			if (mGraspingSpringLine->isVisible() == false)
  			{
! 				mGraspingSpringLine->setVisible(true);
  			}
  		}
  		else
  		{
! 			if (mGraspingSpringLine->isVisible() == true)
  			{
! 				mGraspingSpringLine->setVisible(false);
  			}
  		}
  
--- 165,234 ----
  		if (mPhysicalCamera->isGrasping())
  		{
! 			Ogre::Entity* pickingSphere = 
! 				mSceneMgr->getEntity("pickingSphere");
! 			if (!pickingSphere->isVisible())
! 			{
! 				pickingSphere->setVisible(true);
! 			}
! 
! 			Ogre::Entity* springLine = 
! 				mSceneMgr->getEntity("springLine");
! 			if (!springLine->isVisible())
! 			{
! 				springLine->setVisible(true);
! 			}
! 
! 			//if (!mGraspingSpringLine->isVisible())
! 			//{
! 			//	mGraspingSpringLine->setVisible(true);
! 			//}
! 
! 			opal::Point3r desiredPos = 
  				mPhysicalCamera->getGraspGlobalPos();
! 			Ogre::Vector3 point0(desiredPos[0], desiredPos[1], desiredPos[2]);
! 			//mGraspingSpringLine->setPoint(0, point);
  
  			opal::Point3r attachPos = mPhysicalCamera->getAttachGlobalPos();
! 			Ogre::Vector3 point1(attachPos[0], attachPos[1], attachPos[2]);
! 			//mGraspingSpringLine->setPoint(1, point);
! 			//mGraspingSpringLine->update();
  
! 			pickingSphere->getParentSceneNode()->setPosition(point1);
! 
! 			Ogre::Vector3 lineVec = point0 - point1;
! 			if (!lineVec.isZeroLength())
  			{
! 				Ogre::SceneNode* springLineNode = 
! 					springLine->getParentSceneNode();
! 				springLineNode->setPosition(0.5 * (point0 + point1));
! 				
! 				springLineNode->setDirection(lineVec);
! 				springLineNode->setScale(0.1, 0.1, lineVec.length());
! 			}
! 			else
! 			{
! 				springLine->setVisible(false);
  			}
  		}
  		else
  		{
! 			Ogre::Entity* pickingSphere = 
! 				mSceneMgr->getEntity("pickingSphere");
! 			if (pickingSphere->isVisible())
  			{
! 				pickingSphere->setVisible(false);
! 			}
! 
! 			Ogre::Entity* springLine = 
! 				mSceneMgr->getEntity("springLine");
! 			if (springLine->isVisible())
! 			{
! 				springLine->setVisible(false);
  			}
+ 
+ 			//if (mGraspingSpringLine->isVisible())
+ 			//{
+ 			//	mGraspingSpringLine->setVisible(false);
+ 			//}
  		}
  
***************
*** 206,210 ****
  		if(mInputDevice->isKeyDown(KC_1) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(1, 1, 1);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
--- 270,274 ----
  		if(mInputDevice->isKeyDown(KC_1) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(2, 2, 2);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
***************
*** 212,216 ****
  			data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
  			s->addShape(data);
! 			createPhysicalEntityBox("", "Plastic/Red", boxDim, s);
  
  			// Reset the timer for toggle keys.
--- 276,280 ----
  			data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
  			s->addShape(data);
! 			createPhysicalEntityBox("", "Plastic/Yellow", boxDim, s);
  
  			// Reset the timer for toggle keys.
***************
*** 221,225 ****
  		if(mInputDevice->isKeyDown(KC_2) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 0.5;
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
--- 285,289 ----
  		if(mInputDevice->isKeyDown(KC_2) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 1;
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
***************
*** 227,231 ****
  			data.radius = radius;
  			s->addShape(data);
! 			createPhysicalEntitySphere("", "Plastic/Blue", radius, s);
  
  			// Reset the timer for toggle keys.
--- 291,295 ----
  			data.radius = radius;
  			s->addShape(data);
! 			createPhysicalEntitySphere("", "Plastic/Purple", radius, s);
  
  			// Reset the timer for toggle keys.
***************
*** 236,240 ****
  		if(mInputDevice->isKeyDown(KC_3) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(2, 2, 8);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
--- 300,304 ----
  		if(mInputDevice->isKeyDown(KC_3) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(5, 5, 5);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
***************
*** 251,255 ****
  		if(mInputDevice->isKeyDown(KC_4) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 1.68; // testing
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
--- 315,319 ----
  		if(mInputDevice->isKeyDown(KC_4) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 3; // testing
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
***************
*** 264,277 ****
  		}
  
! 		// Create a large box.
  		if(mInputDevice->isKeyDown(KC_5) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(16, 16, 16);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
  			opal::BoxShapeData data;
  			data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
  			s->addShape(data);
! 			createPhysicalEntityBox("", "Plastic/Red", boxDim, s);
  
  			// Reset the timer for toggle keys.
--- 328,342 ----
  		}
  
! 		// Create a long box.
  		if(mInputDevice->isKeyDown(KC_5) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Vector3 boxDim(3, 10, 5);
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
  			opal::BoxShapeData data;
  			data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
+ 			data.material.density = 10;
  			s->addShape(data);
! 			createPhysicalEntityBox("", "Plastic/Green", boxDim, s);
  
  			// Reset the timer for toggle keys.
***************
*** 279,292 ****
  		}
  
! 		// Create a large sphere.
  		if(mInputDevice->isKeyDown(KC_6) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 8;
  			opal::Solid* s = mSimulator->createSolid();
  			s->setPosition(mCreationPoint);
! 			opal::SphereShapeData data;
! 			data.radius = radius;
  			s->addShape(data);
! 			createPhysicalEntitySphere("", "Plastic/Blue", radius, s);
  
  			// Reset the timer for toggle keys.
--- 344,370 ----
  		}
  
! 		// Create a log.
  		if(mInputDevice->isKeyDown(KC_6) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real logScale = 9;
! 			Ogre::Vector3 boxDim(0.4243, 0.4243, 2);
! 			boxDim *= logScale;
  			opal::Solid* s = mSimulator->createSolid();
+ 			opal::Matrix44r m;
+ 			m.rotate(90, 1, 0, 0);
+ 			s->setTransform(m);
  			s->setPosition(mCreationPoint);
! 			opal::BoxShapeData data;
! 			data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
  			s->addShape(data);
! 
! 			std::string name = generateUniqueName();
! 			Ogre::SceneNode* sn = mSceneMgr->getRootSceneNode()->
! 				createChildSceneNode(name);
! 			sn->scale(logScale, logScale, logScale);
! 			Entity* e = mSceneMgr->createEntity(name, "log.mesh");
! 			e->setMaterialName("Textured/Wood");
! 			sn->attachObject(e);
! 			createPhysicalEntity(name, sn, s);
  
  			// Reset the timer for toggle keys.
***************
*** 297,301 ****
  		if(mInputDevice->isKeyDown(KC_7) && mTimeUntilNextToggle <= 0)
  		{
! 			createWall(6, 8, opal::Vec3r(2, 1, 1));
  
  			// Reset the timer for toggle keys.
--- 375,382 ----
  		if(mInputDevice->isKeyDown(KC_7) && mTimeUntilNextToggle <= 0)
  		{
! 			opal::Matrix44r m;
! 			m.rotate(45, 0, 1, 0);
! 			m.translate(0, 0, -20);
! 			createWall(6, 8, opal::Vec3r(3, 1.5, 1.5), m);
  
  			// Reset the timer for toggle keys.
***************
*** 306,310 ****
  		if(mInputDevice->isKeyDown(KC_8) && mTimeUntilNextToggle <= 0)
  		{
! 			createTower(2, 2, 20, opal::Vec3r(2, 1, 1));
  
  			// Reset the timer for toggle keys.
--- 387,391 ----
  		if(mInputDevice->isKeyDown(KC_8) && mTimeUntilNextToggle <= 0)
  		{
! 			createTower(2, 2, 15, opal::Vec3r(3, 1.5, 1.5));
  
  			// Reset the timer for toggle keys.
***************
*** 312,380 ****
  		}
  
! 		// Create a medium capsule.
  		if(mInputDevice->isKeyDown(KC_9) && mTimeUntilNextToggle <= 0)
  		{
! 			Ogre::Real radius = 0.6;
! 			Ogre::Real length = 4;
! 			opal::Solid* s = mSimulator->createSolid();
! 			s->setPosition(mCreationPoint);
! 			opal::CapsuleShapeData data;
! 			data.radius = radius;
! 			data.length = length;
! 			s->addShape(data);
! 			createPhysicalEntityCapsule("", "Plastic/Blue", radius, length, 
! 				s);
! 
! 			// Reset the timer for toggle keys.
! 			mTimeUntilNextToggle = 0.3;
! 		}
! 
! 		//// testing
! 		//if(mInputDevice->isKeyDown(KC_0) && mTimeUntilNextToggle <= 0)
! 		//{
! 		//	opal::Blueprint ragdollBP;
! 		//	opal::loadFile(ragdollBP, "SwitcherSceneOpal.xml");
! 		//	opal::Matrix44r offset;
! 		//	offset.translate(0, 2, 0);
! 		//	offset.rotate(-90, 1, 0, 0);
  
! 		//	// Instantiate the Blueprint.
! 		//	opal::BlueprintInstance instance;
! 		//	mSimulator->instantiateBlueprint(instance, ragdollBP, offset, 10);
  
! 		//	unsigned int i=0;
! 		//	for (i=0; i<instance.getNumSolids(); ++i)
! 		//	{
! 		//		opal::Solid* s = instance.getSolid(i);
! 		//		const opal::SolidData& data = s->getData();
! 		//		unsigned int j=0;
! 		//		for (j=0; j<data.getNumShapes(); ++j)
! 		//		{
! 		//			opal::ShapeData* shapeData = data.getShapeData(j);
  
! 		//			switch(shapeData->getType())
! 		//			{
! 		//				case opal::BOX_SHAPE:
! 		//				{
! 		//					opal::Vec3r dim = ((opal::BoxShapeData*)shapeData)->dimensions;
! 		//					Ogre::Vector3 boxDim(dim[0], dim[1], dim[2]);
! 		//					createPhysicalEntityBox("", "Plastic/Gray", boxDim, s);
! 		//					break;
! 		//				}
! 		//				case opal::SPHERE_SHAPE:
! 		//				{
! 		//					opal::real r = ((opal::SphereShapeData*)shapeData)->radius;
! 		//					createPhysicalEntitySphere("", "Plastic/Gray", r, s);
! 		//					break;
! 		//				}
! 		//				default:
! 		//					assert(false);
! 		//			}
! 		//		}
! 		//	}
  
! 		//	// Reset the timer for toggle keys.
! 		//	mTimeUntilNextToggle = 0.5;
! 		//}
  
  		// The following code updates the camera's position.
--- 393,450 ----
  		}
  
! 		// Create a ragdoll.
  		if(mInputDevice->isKeyDown(KC_9) && mTimeUntilNextToggle <= 0)
  		{
! 			opal::Blueprint ragdollBP;
! 			opal::loadFile(ragdollBP, "../../data/blueprints/ragdoll.xml");
! 			opal::Matrix44r transform;
! 			transform.translate(mCreationPoint[0], mCreationPoint[1] - 5, 
! 				mCreationPoint[2]);
  
! 			// Instantiate the Blueprint.
! 			opal::BlueprintInstance instance;
! 			mSimulator->instantiateBlueprint(instance, ragdollBP, transform, 12);
  
! 			unsigned int i=0;
! 			for (i=0; i<instance.getNumSolids(); ++i)
! 			{
! 				opal::Solid* s = instance.getSolid(i);
! 				const opal::SolidData& data = s->getData();
! 				unsigned int j=0;
! 				for (j=0; j<data.getNumShapes(); ++j)
! 				{
! 					opal::ShapeData* shapeData = data.getShapeData(j);
  
! 					switch(shapeData->getType())
! 					{
! 						case opal::BOX_SHAPE:
! 						{
! 							opal::Vec3r dim = ((opal::BoxShapeData*)shapeData)->dimensions;
! 							Ogre::Vector3 boxDim(dim[0], dim[1], dim[2]);
! 							createPhysicalEntityBox("", "Plastic/LightBlue", boxDim, s);
! 							break;
! 						}
! 						case opal::SPHERE_SHAPE:
! 						{
! 							opal::real r = ((opal::SphereShapeData*)shapeData)->radius;
! 							createPhysicalEntitySphere("", "Plastic/LightBlue", r, s);
! 							break;
! 						}
! 						case opal::CAPSULE_SHAPE:
! 						{
! 							opal::real r = ((opal::CapsuleShapeData*)shapeData)->radius;
! 							opal::real l = ((opal::CapsuleShapeData*)shapeData)->length;
! 							createPhysicalEntityCapsule("", "Plastic/LightBlue", r, l, s);
! 							break;
! 						}
! 						default:
! 							assert(false);
! 					}
! 				}
! 			}
  
! 			// Reset the timer for toggle keys.
! 			mTimeUntilNextToggle = 0.5;
! 		}
  
  		// The following code updates the camera's position.
***************
*** 511,523 ****
  		//sn->rotate(Ogre::Vector3(1, 0, 0), angle);
  
  		// Create a static box for a ground plane.
! 		Ogre::Vector3 groundDim(100, 8, 100);
  		opal::Solid* s = mSimulator->createSolid();
  		s->setStatic(true);
  		s->setPosition(0, -4, 0);
  		opal::BoxShapeData data;
! 		data.dimensions.set(groundDim[0], groundDim[1], groundDim[2]);
  		s->addShape(data);
! 		createPhysicalEntityBox("ground", "Plastic/Gray", groundDim, s);
  	}
  
--- 581,652 ----
  		//sn->rotate(Ogre::Vector3(1, 0, 0), angle);
  
+ 		opal::Matrix44r m;
+ 
  		// Create a static box for a ground plane.
! 		Ogre::Vector3 boxDim(70, 8, 70);
  		opal::Solid* s = mSimulator->createSolid();
  		s->setStatic(true);
  		s->setPosition(0, -4, 0);
  		opal::BoxShapeData data;
! 		data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
  		s->addShape(data);
! 		createPhysicalEntityBox("ground", "Plastic/Gray", boxDim, s);
! 
! 		// Setup the "object creation tube".
! 		boxDim.x = 1;
! 		boxDim.y = 20;
! 		boxDim.z = 8;
! 		data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
! 
! 		s = mSimulator->createSolid();
! 		s->setStatic(true);
! 		m.makeTranslation(mCreationPoint[0] + 0.5 * boxDim.z, 
! 			mCreationPoint[1], mCreationPoint[2] + 0.5 * boxDim.x);
! 		s->setTransform(m);
! 		s->addShape(data);
! 		createPhysicalEntityBox("tube0", "Plastic/LightGray", boxDim, s);
! 
! 		s = mSimulator->createSolid();
! 		s->setStatic(true);
! 		m.makeTranslation(mCreationPoint[0] - 0.5 * boxDim.z, 
! 			mCreationPoint[1], mCreationPoint[2] - 0.5 * boxDim.x);
! 		s->setTransform(m);
! 		s->addShape(data);
! 		createPhysicalEntityBox("tube1", "Plastic/LightGray", boxDim, s);
! 
! 		s = mSimulator->createSolid();
! 		s->setStatic(true);
! 		m.makeRotation(90, 0, 1, 0);
! 		m.translate(-mCreationPoint[2] + 0.5 * boxDim.z, mCreationPoint[1], 
! 			mCreationPoint[0] + 0.5 * boxDim.x);
! 		s->setTransform(m);
! 		s->addShape(data);
! 		createPhysicalEntityBox("tube2", "Plastic/LightGray", boxDim, s);
! 
! 		s = mSimulator->createSolid();
! 		s->setStatic(true);
! 		m.makeRotation(90, 0, 1, 0);
! 		m.translate(-mCreationPoint[2] - 0.5 * boxDim.z, mCreationPoint[1], 
! 			mCreationPoint[0] - 0.5 * boxDim.x);
! 		s->setTransform(m);
! 		s->addShape(data);
! 		createPhysicalEntityBox("tube3", "Plastic/LightGray", boxDim, s);
! 
! 		// Make a slide under the object creation tube.
! 		boxDim.x = 60;
! 		boxDim.y = 1;
! 		boxDim.z = 15;
! 		data.dimensions.set(boxDim[0], boxDim[1], boxDim[2]);
! 		data.material.friction = 0.00001;
! 		s = mSimulator->createSolid();
! 		s->setStatic(true);
! 		m.makeTranslation(mCreationPoint[0], mCreationPoint[1] - 33, 
! 			mCreationPoint[2]);
! 		m.rotate(-45, 0, 1, 0);
! 		m.translate(0.3 * boxDim.x, 0, 0);
! 		m.rotate(-30, 0, 0, 1);
! 		s->setTransform(m);
! 		s->addShape(data);
! 		createPhysicalEntityBox("slide", "Plastic/DarkGray", boxDim, s);
  	}
  
***************
*** 545,549 ****
  				opal::BoxShapeData boxData;
  				boxData.dimensions = boxDim;
! 				boxData.material.density = 500;
  				s->addShape(boxData);
  				Ogre::Vector3 boxDimensions(boxDim[0], boxDim[1], boxDim[2]);
--- 674,678 ----
  				opal::BoxShapeData boxData;
  				boxData.dimensions = boxDim;
! 				boxData.material.density = 20;
  				s->addShape(boxData);
  				Ogre::Vector3 boxDimensions(boxDim[0], boxDim[1], boxDim[2]);
***************
*** 599,628 ****
  
  			createWall(length, height, boxDim, wallBaseTransform);
- 
- 			//for (unsigned int l=0; l<length; ++l)
- 			//{
- 			//	for (unsigned int h=0; h<height; ++h)
- 			//	{
- 			//		opal::real offset = 0;
- 			//		if (h % 2 == 0)
- 			//		{
- 			//			offset = (opal::real)0.5 * boxDim[0];
- 			//		}
- 
- 			//		opal::Matrix44r blockTransform = wallBaseTransform;
- 			//		blockTransform.translate(l * boxDim[0] + 
- 			//			0.5 * boxDim[0] - 0.5 * length * boxDim[0] + 
- 			//			offset, h * boxDim[1] + 0.5 * boxDim[1], 0);
- 
- 			//		opal::Solid* s = mSimulator->createSolid();
- 			//		s->setTransform(blockTransform);
- 			//		s->setSleeping(true);
- 			//		opal::BoxShapeData boxData;
- 			//		boxData.dimensions = boxDim;
- 			//		s->addShape(boxData);
- 			//		Ogre::Vector3 boxDimensions(boxDim[0], boxDim[1], boxDim[2]);
- 			//		createPhysicalEntityBox("", "Plastic/Red", boxDimensions, s);
- 			//	}
- 			//}
  		}
  	}
--- 728,731 ----