[Opal-commits] opal/src/ODE ODEJoint.cpp,1.29,1.30 ODEJoint.h,1.32,1.33 ODESolid.cpp,1.85,1.86

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17961/src/ODE

Modified Files:
	ODEJoint.cpp ODEJoint.h ODESolid.cpp 
Log Message:
Fixed bugs in Joint::getAnchor and Joint::getAxis.  Previously they returned the initial anchor and axis.  Now they return the current anchor and axis.

Index: ODEJoint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.h,v
retrieving revision 1.32
retrieving revision 1.33
diff -C2 -d -r1.32 -r1.33
*** ODEJoint.h	8 Mar 2005 22:05:04 -0000	1.32
--- ODEJoint.h	4 May 2005 21:04:18 -0000	1.33
***************
*** 66,69 ****
--- 66,73 ----
  		virtual void OPAL_CALL setLimitBounciness(int axisNum, real b);
  
+ 		virtual JointAxis OPAL_CALL getAxis(int axisNum)const;
+ 
+ 		virtual Point3r OPAL_CALL getAnchor()const;
+ 
  		virtual void OPAL_CALL internal_update();
  

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.85
retrieving revision 1.86
diff -C2 -d -r1.85 -r1.86
*** ODESolid.cpp	27 Apr 2005 02:28:19 -0000	1.85
--- ODESolid.cpp	4 May 2005 21:04:18 -0000	1.86
***************
*** 394,405 ****
  		}
  
  		if (sleeping)
  		{
- 			mData.sleeping = true;
  			dBodyDisable(mBodyID);
  		}
  		else
  		{
- 			mData.sleeping = false;
  			dBodyEnable(mBodyID);
  		}
--- 394,405 ----
  		}
  
+ 		// Note: mData.sleeping gets updated in Solid::getData.
+ 
  		if (sleeping)
  		{
  			dBodyDisable(mBodyID);
  		}
  		else
  		{
  			dBodyEnable(mBodyID);
  		}

Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** ODEJoint.cpp	8 Mar 2005 22:05:03 -0000	1.29
--- ODEJoint.cpp	4 May 2005 21:04:01 -0000	1.30
***************
*** 433,436 ****
--- 433,539 ----
  	}
  
+ 	JointAxis ODEJoint::getAxis(int axisNum)const
+ 	{
+ 		// Silently ignore invalid axes.
+ 		if (axisNum < 0 || axisNum >= mNumAxes)
+ 		{
+ 			return JointAxis();
+ 		}
+ 
+ 		// First we need to get an updated direction vector from ODE.
+ 		dVector3 direction;
+ 
+ 		switch(mData.getType())
+ 		{
+ 			case HINGE_JOINT:
+ 				dJointGetHingeAxis(mJointID, direction);
+ 				break;
+ 			case UNIVERSAL_JOINT:
+ 				if (0 == axisNum)
+ 				{
+ 					dJointGetUniversalAxis1(mJointID, direction);
+ 				}
+ 				else
+ 				{
+ 					dJointGetUniversalAxis2(mJointID, direction);
+ 				}
+ 				break;
+ 			case BALL_JOINT:
+ 				if (0 == axisNum)
+ 				{
+ 					dJointGetAMotorAxis(mAMotorID, 0, direction);
+ 				}
+ 				else if (1 == axisNum)
+ 				{
+ 					dJointGetAMotorAxis(mAMotorID, 1, direction);
+ 				}
+ 				else
+ 				{
+ 					dJointGetAMotorAxis(mAMotorID, 2, direction);
+ 				}
+ 				break;
+ 			case SLIDER_JOINT:
+ 				dJointGetSliderAxis(mJointID, direction);
+ 				break;
+ 			case WHEEL_JOINT:
+ 				if (0 == axisNum)
+ 				{
+ 					dJointGetHinge2Axis1(mJointID, direction);
+ 				}
+ 				else
+ 				{
+ 					dJointGetHinge2Axis2(mJointID, direction);
+ 				}
+ 				break;
+ 			case FIXED_JOINT:
+ 				// Fixed Joints don't have any axes.
+ 				break;
+ 			default:
+ 				assert(false);
+ 				break;
+ 		}
+ 
+ 		JointAxis axis = mData.axis[axisNum];
+ 
+ 		// All data in this JointAxis is valid except for the direction 
+ 		// vector.
+ 		axis.direction.set(direction[0], direction[1], direction[2]);
+ 
+ 		return axis;
+ 	}
+ 
+ 	Point3r ODEJoint::getAnchor()const
+ 	{
+ 		// We need to get an updated anchor point from ODE.
+ 		dVector3 anchor;
+ 
+ 		switch(mData.getType())
+ 		{
+ 			case HINGE_JOINT:
+ 				dJointGetHingeAnchor(mJointID, anchor);
+ 				break;
+ 			case UNIVERSAL_JOINT:
+ 				dJointGetUniversalAnchor(mJointID, anchor);
+ 				break;
+ 			case BALL_JOINT:
+ 				dJointGetBallAnchor(mJointID, anchor);
+ 				break;
+ 			case SLIDER_JOINT:
+ 				// Slider Joints don't have an anchor point.
+ 				break;
+ 			case WHEEL_JOINT:
+ 				dJointGetHinge2Anchor(mJointID, anchor);
+ 				break;
+ 			case FIXED_JOINT:
+ 				// Fixed Joints don't have an anchor point.
+ 				break;
+ 			default:
+ 				assert(false);
+ 				break;
+ 		}
+ 
+ 		return Point3r(anchor[0], anchor[1], anchor[2]);
+ 	}
+ 
  	void ODEJoint::internal_update()
  	{