[Opal-commits] opal/src/ODE ODESolid.cpp,1.89,1.90 ODESolid.h,1.70,1.71

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21343/src/ODE

Modified Files:
	ODESolid.cpp ODESolid.h 
Log Message:
Added 'getLocalAABB' function to ShapeData.  Added 'getLocalAABB' and 'getGlobalAABB' functions to Solid.

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.70
retrieving revision 1.71
diff -C2 -d -r1.70 -r1.71
*** ODESolid.h	24 Jun 2005 19:04:22 -0000	1.70
--- ODESolid.h	21 Jul 2005 15:59:01 -0000	1.71
***************
*** 83,87 ****
  		virtual void OPAL_CALL clearShapes();
  
! 		virtual void OPAL_CALL addShape(const ShapeData& data);
  
  		virtual void OPAL_CALL setLocalLinearVel(const Vec3r& vel);
--- 83,87 ----
  		virtual void OPAL_CALL clearShapes();
  
! 		virtual void OPAL_CALL addShape(ShapeData& data);
  
  		virtual void OPAL_CALL setLocalLinearVel(const Vec3r& vel);

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.89
retrieving revision 1.90
diff -C2 -d -r1.89 -r1.90
*** ODESolid.cpp	19 Jul 2005 17:53:29 -0000	1.89
--- ODESolid.cpp	21 Jul 2005 15:59:01 -0000	1.90
***************
*** 74,77 ****
--- 74,78 ----
  	{
  		destroyGeoms();
+ 		resetAABB();
  	}
  
***************
*** 492,496 ****
  	}
  
! 	void ODESolid::addShape(const ShapeData& data)
  	{
  		assert(data.material.density >= 0);
--- 493,497 ----
  	}
  
! 	void ODESolid::addShape(ShapeData& data)
  	{
  		assert(data.material.density >= 0);
***************
*** 498,504 ****
  		dGeomID newGeomID = NULL;
  		dGeomID newTransformID = NULL;
- 
  		dTriMeshDataID newTrimeshDataID = NULL;
- 
  		dSpaceID spaceID = NULL;
  		dMass newMass;
--- 499,503 ----
***************
*** 656,659 ****
--- 655,674 ----
  		mData.addShape(data);
  
+ 		// Update the Solid's local AABB.  The new shape's local AABB 
+ 		// must be transformed using the shape's offset from the Solid.
+ 		real shapeAABB[6] = {0, 0, 0, 0, 0, 0};
+ 		data.getLocalAABB(shapeAABB);
+ 		Point3r minExtents(shapeAABB[0], shapeAABB[2], shapeAABB[4]);
+ 		Point3r maxExtents(shapeAABB[1], shapeAABB[3], shapeAABB[5]);
+ 		minExtents = data.offset * minExtents;
+ 		maxExtents = data.offset * maxExtents;
+ 		shapeAABB[0] = minExtents[0];
+ 		shapeAABB[1] = maxExtents[0];
+ 		shapeAABB[2] = minExtents[1];
+ 		shapeAABB[3] = maxExtents[1];
+ 		shapeAABB[4] = minExtents[2];
+ 		shapeAABB[5] = maxExtents[2];
+ 		addToLocalAABB(shapeAABB);
+ 
  		// Setup GeomData.
  		newGeomData->solid = this;