[Opal-commits] opal/src/ODE ODEJoint.cpp,1.31,1.32 ODESimulator.cpp,1.106,1.107 ODESolid.cpp,1.91,1.92

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24953/src/ODE

Modified Files:
	ODEJoint.cpp ODESimulator.cpp ODESolid.cpp 
Log Message:
Fixed some warnings in ODE implementation and tinyxml.

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.106
retrieving revision 1.107
diff -C2 -d -r1.106 -r1.107
*** ODESimulator.cpp	6 Aug 2005 05:58:24 -0000	1.106
--- ODESimulator.cpp	19 Nov 2005 18:09:01 -0000	1.107
***************
*** 471,481 ****
  					e.thisSolid = solid0;
  					e.otherSolid = solid1;
! 					e.pos[0] = contactArray[0].pos[0];
! 					e.pos[1] = contactArray[0].pos[1];
! 					e.pos[2] = contactArray[0].pos[2];
! 					e.normal[0] = contactArray[0].normal[0];
! 					e.normal[1] = contactArray[0].normal[1];
! 					e.normal[2] = contactArray[0].normal[2];
! 					e.depth = contactArray[0].depth;
  
  					if (handler0)
--- 471,481 ----
  					e.thisSolid = solid0;
  					e.otherSolid = solid1;
! 					e.pos[0] = (real)contactArray[0].pos[0];
! 					e.pos[1] = (real)contactArray[0].pos[1];
! 					e.pos[2] = (real)contactArray[0].pos[2];
! 					e.normal[0] = (real)contactArray[0].normal[0];
! 					e.normal[1] = (real)contactArray[0].normal[1];
! 					e.normal[2] = (real)contactArray[0].normal[2];
! 					e.depth = (real)contactArray[0].depth;
  
  					if (handler0)
***************
*** 926,944 ****
  					// other is the ray.
  
! 					Point3r intersection(contactArray[0].pos[0], 
! 						contactArray[0].pos[1], contactArray[0].pos[2]);
! 					Vec3r normal(contactArray[0].normal[0], 
! 						contactArray[0].normal[1], 
! 						contactArray[0].normal[2]);
  
  					if(geomData0)
  					{
  						sim->internal_setRaycastResult(geomData0->solid, 
! 							intersection, normal, contactArray[0].depth);
  					}
  					else
  					{
  						sim->internal_setRaycastResult(geomData1->solid, 
! 							intersection, normal, contactArray[0].depth);
  					}
  				}
--- 926,945 ----
  					// other is the ray.
  
! 					Point3r intersection((real)contactArray[0].pos[0], 
! 						(real)contactArray[0].pos[1], 
! 						(real)contactArray[0].pos[2]);
! 					Vec3r normal((real)contactArray[0].normal[0], 
! 						(real)contactArray[0].normal[1], 
! 						(real)contactArray[0].normal[2]);
  
  					if(geomData0)
  					{
  						sim->internal_setRaycastResult(geomData0->solid, 
! 							intersection, normal, (real)contactArray[0].depth);
  					}
  					else
  					{
  						sim->internal_setRaycastResult(geomData1->solid, 
! 							intersection, normal, (real)contactArray[0].depth);
  					}
  				}
***************
*** 1084,1088 ****
  		dVector3 g;
  		dWorldGetGravity(mWorldID, g);
! 		Vec3r gravity(g[0], g[1], g[2]);
  		return gravity;
  	}
--- 1085,1089 ----
  		dVector3 g;
  		dWorldGetGravity(mWorldID, g);
! 		Vec3r gravity((real)g[0], (real)g[1], (real)g[2]);
  		return gravity;
  	}

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.91
retrieving revision 1.92
diff -C2 -d -r1.91 -r1.92
*** ODESolid.cpp	6 Nov 2005 03:20:01 -0000	1.91
--- ODESolid.cpp	19 Nov 2005 18:09:01 -0000	1.92
***************
*** 28,31 ****
--- 28,32 ----
  #include "ODESolid.h"
  #include "ODESpace.h"
+ #include "ODETools.h"
  #include "../BoxShapeData.h"
  #include "../SphereShapeData.h"
***************
*** 714,718 ****
  			dVector3 localVel;
  			dBodyVectorFromWorld(mBodyID, vel[0], vel[1], vel[2], localVel);
! 			return Vec3r(localVel[0], localVel[1], localVel[2]);
  		}
  		else
--- 715,719 ----
  			dVector3 localVel;
  			dBodyVectorFromWorld(mBodyID, vel[0], vel[1], vel[2], localVel);
! 			return toVec3r( localVel );
  		}
  		else
***************
*** 733,737 ****
  			dBodyVectorFromWorld(mBodyID, result[0], result[1], result[2], 
  				result);
! 			return Vec3r(result[0], result[1], result[2]);
  		}
  		else
--- 734,738 ----
  			dBodyVectorFromWorld(mBodyID, result[0], result[1], result[2], 
  				result);
! 			return toVec3r( result );
  		}
  		else
***************
*** 747,752 ****
  			dVector3 worldVel;
  			dBodyVectorToWorld(mBodyID, vel[0], vel[1], vel[2], worldVel);
! 			Vec3r velRad(degToRad(worldVel[0]), degToRad(worldVel[1]), 
! 				degToRad(worldVel[2]));
  			dBodySetAngularVel(mBodyID, velRad[0], velRad[1], velRad[2]);
  
--- 748,752 ----
  			dVector3 worldVel;
  			dBodyVectorToWorld(mBodyID, vel[0], vel[1], vel[2], worldVel);
! 			Vec3r velRad = toVec3r_DegToRad( worldVel );
  			dBodySetAngularVel(mBodyID, velRad[0], velRad[1], velRad[2]);
  
***************
*** 765,770 ****
  			dVector3 localVel;
  			dBodyVectorFromWorld(mBodyID, vel[0], vel[1], vel[2], localVel);
! 			return Vec3r(radToDeg(localVel[0]), radToDeg(localVel[1]), 
! 				radToDeg(localVel[2]));
  		}
  		else
--- 765,769 ----
  			dVector3 localVel;
  			dBodyVectorFromWorld(mBodyID, vel[0], vel[1], vel[2], localVel);
! 			return toVec3r_RadToDeg( localVel );
  		}
  		else
***************
*** 790,794 ****
  		{
  			const dReal* vel = dBodyGetLinearVel(mBodyID);
! 			return Vec3r(vel[0], vel[1], vel[2]);
  		}
  		else
--- 789,793 ----
  		{
  			const dReal* vel = dBodyGetLinearVel(mBodyID);
! 			return toVec3r( vel );
  		}
  		else
***************
*** 805,809 ****
  			dVector3 result;
  			dBodyGetRelPointVel(mBodyID, p[0], p[1], p[2], result);
! 			return Vec3r(result[0], result[1], result[2]);
  		}
  		else
--- 804,808 ----
  			dVector3 result;
  			dBodyGetRelPointVel(mBodyID, p[0], p[1], p[2], result);
! 			return toVec3r( result );
  		}
  		else
***************
*** 830,834 ****
  		{
  			const dReal* vel = dBodyGetAngularVel(mBodyID);
! 			return Vec3r(radToDeg(vel[0]), radToDeg(vel[1]), radToDeg(vel[2]));
  		}
  		else
--- 829,833 ----
  		{
  			const dReal* vel = dBodyGetAngularVel(mBodyID);
! 			return toVec3r_RadToDeg( vel );
  		}
  		else
***************
*** 934,940 ****
  			dBodyGetMass(mBodyID, &mass);
  			m.set(
! 				mass.I[0], mass.I[1], mass.I[2], 0,
! 				mass.I[4], mass.I[5], mass.I[6], 0,
! 				mass.I[8], mass.I[9], mass.I[10], 0,
  				0, 0, 0, 1);
  
--- 933,939 ----
  			dBodyGetMass(mBodyID, &mass);
  			m.set(
! 				(real)mass.I[0], (real)mass.I[1], (real)mass.I[2], 0,
! 				(real)mass.I[4], (real)mass.I[5], (real)mass.I[6], 0,
! 				(real)mass.I[8], (real)mass.I[9], (real)mass.I[10], 0,
  				0, 0, 0, 1);
  
***************
*** 1121,1126 ****
  	bool ODESolid::isInertiaNonSymmetric(const dMass& mass)const
  	{
! 		if (!areEqual(mass.I[0], mass.I[5])
! 			|| !areEqual(mass.I[5], mass.I[10]))
  		{
  			return true;
--- 1120,1125 ----
  	bool ODESolid::isInertiaNonSymmetric(const dMass& mass)const
  	{
! 		if (!areEqual((real)mass.I[0], (real)mass.I[5])
! 			|| !areEqual((real)mass.I[5], (real)mass.I[10]))
  		{
  			return true;

Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.31
retrieving revision 1.32
diff -C2 -d -r1.31 -r1.32
*** ODEJoint.cpp	27 Aug 2005 18:09:19 -0000	1.31
--- ODEJoint.cpp	19 Nov 2005 18:09:01 -0000	1.32
***************
*** 27,30 ****
--- 27,31 ----
  
  #include "ODEJoint.h"
+ //#include "ODETools.h"
  
  namespace opal
***************
*** 498,502 ****
  		// All data in this JointAxis is valid except for the direction 
  		// vector.
! 		axis.direction.set(direction[0], direction[1], direction[2]);
  
  		return axis;
--- 499,505 ----
  		// All data in this JointAxis is valid except for the direction 
  		// vector.
! 		axis.direction.set((real)direction[0], 
! 							(real)direction[1], 
! 							(real)direction[2]);
  
  		return axis;
***************
*** 533,537 ****
  		}
  
! 		return Point3r(anchor[0], anchor[1], anchor[2]);
  	}
  
--- 536,540 ----
  		}
  
! 		return Point3r((real)anchor[0], (real)anchor[1], (real)anchor[2]);
  	}
  
***************
*** 961,968 ****
  			{
  				dJointFeedback* jf = dJointGetFeedback(mJointID);
! 				Vec3r f1(jf->f1[0], jf->f1[1], jf->f1[2]);
! 				Vec3r t1(jf->t1[0], jf->t1[1], jf->t1[2]);
! 				Vec3r f2(jf->f2[0], jf->f2[1], jf->f2[2]);
! 				Vec3r t2(jf->t2[0], jf->t2[1], jf->t2[2]);
  					
  				f1 -= f2;
--- 964,971 ----
  			{
  				dJointFeedback* jf = dJointGetFeedback(mJointID);
! 				Vec3r f1((real)jf->f1[0], (real)jf->f1[1], (real)jf->f1[2]);
! 				Vec3r t1((real)jf->t1[0], (real)jf->t1[1], (real)jf->t1[2]);
! 				Vec3r f2((real)jf->f2[0], (real)jf->f2[1], (real)jf->f2[2]);
! 				Vec3r t2((real)jf->t2[0], (real)jf->t2[1], (real)jf->t2[2]);
  					
  				f1 -= f2;