[Opal-commits] opal/src Joint.cpp,1.31,1.32 Joint.h,1.69,1.70 Simulator.cpp,1.63,1.64 Solid.cpp,1.35,1.36 Solid.h,1.89,1.90

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

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

Modified Files:
	Joint.cpp Joint.h Simulator.cpp Solid.cpp Solid.h 
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: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.31
retrieving revision 1.32
diff -C2 -d -r1.31 -r1.32
*** Joint.cpp	2 May 2005 16:40:59 -0000	1.31
--- Joint.cpp	4 May 2005 21:04:00 -0000	1.32
***************
*** 57,62 ****
  	}
  
! 	const JointData& Joint::getData()const
  	{
  		return mData;
  	}
--- 57,70 ----
  	}
  
! 	const JointData& Joint::getData()
  	{
+ 		// Update parameters that don't get updated automatically.
+ 		for (int i=0; i<mNumAxes; ++i)
+ 		{
+ 			mData.axis[i] = getAxis(i);
+ 		}
+ 
+ 		mData.anchor = getAnchor();
+ 
  		return mData;
  	}
***************
*** 287,296 ****
  	}
  
- 	const JointAxis& Joint::getAxis(int axisNum)const
- 	{
- 		assert(axisNum >= 0 && axisNum < mNumAxes);
- 		return mData.axis[axisNum];
- 	}
- 
  	int Joint::getNumAxes()const
  	{
--- 295,298 ----
***************
*** 303,311 ****
  	}
  
- 	const Point3r& Joint::getAnchor()const
- 	{
- 		return mData.anchor;
- 	}
- 
  	bool Joint::isEnabled()const
  	{
--- 305,308 ----

Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.35
retrieving revision 1.36
diff -C2 -d -r1.35 -r1.36
*** Solid.cpp	27 Apr 2005 02:28:18 -0000	1.35
--- Solid.cpp	4 May 2005 21:04:01 -0000	1.36
***************
*** 47,52 ****
  	}
  
! 	const SolidData& Solid::getData()const
  	{
  		return mData;
  	}
--- 47,55 ----
  	}
  
! 	const SolidData& Solid::getData()
  	{
+ 		// Update parameters that don't get updated automatically.
+ 		mData.sleeping = isSleeping();
+ 
  		return mData;
  	}
***************
*** 242,249 ****
  	}
  
! 	void Solid::internal_updateSleeping()
! 	{
! 		mData.sleeping = isSleeping();
! 	}
  
  	//// TODO: Quickly spinning solids should be set as fast rotating solids to 
--- 245,252 ----
  	}
  
! 	//void Solid::internal_updateSleeping()
! 	//{
! 	//	mData.sleeping = isSleeping();
! 	//}
  
  	//// TODO: Quickly spinning solids should be set as fast rotating solids to 

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.63
retrieving revision 1.64
diff -C2 -d -r1.63 -r1.64
*** Simulator.cpp	18 Apr 2005 22:21:03 -0000	1.63
--- Simulator.cpp	4 May 2005 21:04:00 -0000	1.64
***************
*** 155,159 ****
  				// Update the sleeping value from the physics engine.  This 
  				// needs to be updated to keep the Solid's SolidData valid.
! 				solid->internal_updateSleeping();
  
  				// Update the Solid's CollisionEventHandler if applicable.
--- 155,161 ----
  				// Update the sleeping value from the physics engine.  This 
  				// needs to be updated to keep the Solid's SolidData valid.
! 				//solid->internal_updateSleeping();
! 				// Update... Now this gets updated in the Solid::getData 
! 				// function.
  
  				// Update the Solid's CollisionEventHandler if applicable.

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.89
retrieving revision 1.90
diff -C2 -d -r1.89 -r1.90
*** Solid.h	18 Apr 2005 22:21:04 -0000	1.89
--- Solid.h	4 May 2005 21:04:01 -0000	1.90
***************
*** 56,60 ****
  
  		/// Returns all data describing the Solid.
! 		virtual const SolidData& OPAL_CALL getData()const;
  
  		/// Sets the Solid's name.
--- 56,60 ----
  
  		/// Returns all data describing the Solid.
! 		virtual const SolidData& OPAL_CALL getData();
  
  		/// Sets the Solid's name.

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.69
retrieving revision 1.70
diff -C2 -d -r1.69 -r1.70
*** Joint.h	2 May 2005 16:40:59 -0000	1.69
--- Joint.h	4 May 2005 21:04:00 -0000	1.70
***************
*** 63,67 ****
  
  		/// Returns all data describing the Joint.
! 		virtual const JointData& OPAL_CALL getData()const;
  
  		/// Sets the Joint's name.
--- 63,67 ----
  
  		/// Returns all data describing the Joint.
! 		virtual const JointData& OPAL_CALL getData();
  
  		/// Sets the Joint's name.
***************
*** 173,181 ****
  		virtual Solid* OPAL_CALL getSolid1()const;
  
! 		/// Returns the specified axis.  
! 		virtual const JointAxis& OPAL_CALL getAxis(int axisNum)const;
  
! 		/// Returns the anchor point.  
! 		virtual const Point3r& OPAL_CALL getAnchor()const;
  
  		/// Returns the number of axes used by this Joint.  
--- 173,183 ----
  		virtual Solid* OPAL_CALL getSolid1()const;
  
! 		/// Returns the current specified axis in global coordinates.  
! 		/// Passing in an invalid axis number will return invalid data.
! 		virtual JointAxis OPAL_CALL getAxis(int axisNum)const = 0;
  
! 		/// Returns the current anchor point in global coordinates.  
! 		/// Passing in an invalid axis number will return invalid data.
! 		virtual Point3r OPAL_CALL getAnchor()const = 0;
  
  		/// Returns the number of axes used by this Joint.  
***************
*** 259,262 ****
--- 261,266 ----
  		/// This is set to true when the Joint is initialized.
  		bool mInitCalled;
+ 
+ 		/// The number of axes used by the Joint.
  		int mNumAxes;