[Opal-commits] opal/src/ODE ODESimulator.cpp,1.107,1.108 ODESimulator.h,1.71,1.72 ODESpace.cpp,1.8,1

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Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv7819/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h ODESpace.cpp ODESpace.h 
Log Message:
Simulator::getRootSpace()
Added option for the custom simulator.
Additional unit tests.

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.71
retrieving revision 1.72
diff -C2 -d -r1.71 -r1.72
*** ODESimulator.h	12 Apr 2005 21:23:46 -0000	1.71
--- ODESimulator.h	26 Nov 2005 22:40:18 -0000	1.72
***************
*** 42,62 ****
  namespace opal
  {
! 	/// The ODE implementation of the Simulator class.  
  	class ODESimulator : public Simulator
  	{
  	public:
! 		/// The types of ODE constraint solvers.  
  		enum SolverType
  		{
! 			/// Time complexity: O(m^3), space complexity O(m^2), where 
  			/// m = # of constraints.
  			SOLVER_WORLDSTEP,

! 			/// Time complexity: O(m*N), space complexity O(m), where 
  			/// m = # of constraints and N = # of iterations.
  			SOLVER_QUICKSTEP
  		};

! 		ODESimulator();

  		virtual ~ODESimulator();
--- 42,66 ----
  namespace opal
  {
! 	/// The ODE implementation of the Simulator class.
  	class ODESimulator : public Simulator
  	{
  	public:
! 		/// The types of ODE constraint solvers.
  		enum SolverType
  		{
! 			/// Time complexity: O(m^3), space complexity O(m^2), where
  			/// m = # of constraints.
  			SOLVER_WORLDSTEP,

! 			/// Time complexity: O(m*N), space complexity O(m), where
  			/// m = # of constraints and N = # of iterations.
  			SOLVER_QUICKSTEP
  		};

!         /// use initData to complete
!         ODESimulator( );
! 
!         /// complete creation
!         void initData( SimulatorData data );

  		virtual ~ODESimulator();
***************
*** 99,103 ****

  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid, 
  			unsigned int rayContactGroup);

--- 103,107 ----

  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid,
  			unsigned int rayContactGroup);

***************
*** 105,116 ****
  			const Solid* volume, const Solid* attachedSolid);

! 		/// Helper function used for ray casting.  
! 		virtual void OPAL_CALL internal_setRaycastResult(Solid* solid, 
  			const Point3r& intersection, const Vec3r& normal, real distance);

! 		/// Helper function for volume collision checking.  
  		virtual void OPAL_CALL internal_addCollidedSolid(Solid* solid);

! 		/// Helper function used for ray casting.  
  		virtual unsigned int OPAL_CALL internal_getRayContactGroup();

--- 109,120 ----
  			const Solid* volume, const Solid* attachedSolid);

! 		/// Helper function used for ray casting.
! 		virtual void OPAL_CALL internal_setRaycastResult(Solid* solid,
  			const Point3r& intersection, const Vec3r& normal, real distance);

! 		/// Helper function for volume collision checking.
  		virtual void OPAL_CALL internal_addCollidedSolid(Solid* solid);

! 		/// Helper function used for ray casting.
  		virtual unsigned int OPAL_CALL internal_getRayContactGroup();

***************
*** 118,150 ****
  		virtual void stepPhysics();

! 		/// The ODE world ID used by this Simulator.  
  		dWorldID mWorldID;

! 		/// The root of the ODE collision detection hierarchy.  
  		dSpaceID mRootSpaceID;

! 		/// The ODE joint constraint group.  
  		dJointGroupID mContactJointGroupID;

! 		/// The type of constraint solver to use.  
  		SolverType mSolverType;

! 		/// Used for volume collision checks.  
  		long int mCollisionCount;

! 		/// Temporary list of Solids that collided in a volume collision 
  		/// check.
  		VolumeQueryResult mVolumeQueryResult;

! 		/// Used for ray casting.  
  		RaycastResult mRaycastResult;

! 		/// Used for ray casting and volume queries.  If a RaycastSensor or 
! 		/// VolumeSensor is attached to a Solid, this pointer will point to 
! 		/// that Solid.  It is used to make sure the raycasts and collision 
  		/// query doesn't collide with the attached Solid.
  		const Solid* mSensorSolid;

! 		/// A temporary variable that lets rays to use contact groups.  This 
  		/// allows them to limit which Shapes they collide with.
  		unsigned int mRayContactGroup;
--- 122,154 ----
  		virtual void stepPhysics();

! 		/// The ODE world ID used by this Simulator.
  		dWorldID mWorldID;

! 		/// The root of the ODE collision detection hierarchy.
  		dSpaceID mRootSpaceID;

! 		/// The ODE joint constraint group.
  		dJointGroupID mContactJointGroupID;

! 		/// The type of constraint solver to use.
  		SolverType mSolverType;

! 		/// Used for volume collision checks.
  		long int mCollisionCount;

! 		/// Temporary list of Solids that collided in a volume collision
  		/// check.
  		VolumeQueryResult mVolumeQueryResult;

! 		/// Used for ray casting.
  		RaycastResult mRaycastResult;

! 		/// Used for ray casting and volume queries.  If a RaycastSensor or
! 		/// VolumeSensor is attached to a Solid, this pointer will point to
! 		/// that Solid.  It is used to make sure the raycasts and collision
  		/// query doesn't collide with the attached Solid.
  		const Solid* mSensorSolid;

! 		/// A temporary variable that lets rays to use contact groups.  This
  		/// allows them to limit which Shapes they collide with.
  		unsigned int mRayContactGroup;
***************
*** 152,181 ****
  	};

! 	/// A namespace containing internal ODE functions.  
  	namespace ode_hidden
  	{
! 		// These function don't use the OPAL_CALL calling convention 
! 		// because they are functors passed to ODE, which expects a different 
  		// calling convention.

! 		/// Main collision callback functor.  
  		void internal_collisionCallback(void* data, dGeomID o0, dGeomID o1);

! 		/// Assuming the two ODE bodies are connected by an ODE joint, this 
! 		/// function returns the OPAL Joint connecting the two bodies' 
  		/// Solids.
  		Joint* internal_getCommonJoint(dBodyID body0, dBodyID body1);

! 		/// Special collision callback functor for volume collision 
  		/// checking.
! 		void internal_volumeCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1);

! 		/// Collision callback functor for ray casting.  
! 		void internal_raycastCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1);

  		//helper function for collision callback
! 		//void createOneSidedContact(dJointID contactJoint, 
  		//	dBodyID movingObject, dBodyID staticObject, dVector3 pos);
  	}
--- 156,185 ----
  	};

! 	/// A namespace containing internal ODE functions.
  	namespace ode_hidden
  	{
! 		// These function don't use the OPAL_CALL calling convention
! 		// because they are functors passed to ODE, which expects a different
  		// calling convention.

! 		/// Main collision callback functor.
  		void internal_collisionCallback(void* data, dGeomID o0, dGeomID o1);

! 		/// Assuming the two ODE bodies are connected by an ODE joint, this
! 		/// function returns the OPAL Joint connecting the two bodies'
  		/// Solids.
  		Joint* internal_getCommonJoint(dBodyID body0, dBodyID body1);

! 		/// Special collision callback functor for volume collision
  		/// checking.
! 		void internal_volumeCollisionCallback(void* data, dGeomID o0,
  			dGeomID o1);

! 		/// Collision callback functor for ray casting.
! 		void internal_raycastCollisionCallback(void* data, dGeomID o0,
  			dGeomID o1);

  		//helper function for collision callback
! 		//void createOneSidedContact(dJointID contactJoint,
  		//	dBodyID movingObject, dBodyID staticObject, dVector3 pos);
  	}

Index: ODESpace.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESpace.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** ODESpace.cpp	11 Feb 2005 02:18:36 -0000	1.8
--- ODESpace.cpp	26 Nov 2005 22:40:18 -0000	1.9
***************
*** 31,41 ****
  {
  	ODESpace::ODESpace()
- 	: Space()
  	{
  		// Create the Space without adding it to another Space.
! 		mSpaceID = dSimpleSpaceCreate(0);
  		mParentSpaceID = NULL;
  	}

  	ODESpace::~ODESpace()
  	{
--- 31,52 ----
  {
  	ODESpace::ODESpace()
  	{
  		// Create the Space without adding it to another Space.
!         if ( false )
!             mSpaceID = dSimpleSpaceCreate(0);
!         else
!         {
!             mSpaceID = dHashSpaceCreate(0);
!             dHashSpaceSetLevels(mSpaceID, 3, 9);
!         }
  		mParentSpaceID = NULL;
  	}

+     ODESpace::ODESpace( dSpaceID space )
+     {
+         mSpaceID = space;
+         mParentSpaceID = NULL;
+     }
+ 
  	ODESpace::~ODESpace()
  	{
***************
*** 44,51 ****
  	void ODESpace::setParentSpace(Space* parentSpace)
  	{
! 		dSpaceID tempSpaceID = 
  			((ODESpace*)parentSpace)->internal_getSpaceID();

! 		// First remove this Space from its current parent Space, if one 
  		// exists.
  		if (NULL != mParentSpaceID)
--- 55,62 ----
  	void ODESpace::setParentSpace(Space* parentSpace)
  	{
! 		dSpaceID tempSpaceID =
  			((ODESpace*)parentSpace)->internal_getSpaceID();

! 		// First remove this Space from its current parent Space, if one
  		// exists.
  		if (NULL != mParentSpaceID)

Index: ODESpace.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESpace.h,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** ODESpace.h	18 Feb 2005 23:59:42 -0000	1.11
--- ODESpace.h	26 Nov 2005 22:40:18 -0000	1.12
***************
*** 35,39 ****
  namespace opal
  {
! 	/// The ODE implementation of the Space class.  
  	class ODESpace : public Space
  	{
--- 35,39 ----
  namespace opal
  {
! 	/// The ODE implementation of the Space class.
  	class ODESpace : public Space
  	{
***************
*** 41,56 ****
  		ODESpace();

  		virtual ~ODESpace();

  		virtual void OPAL_CALL setParentSpace(Space* parentSpace);

! 		/// Returns the ODE space ID.  
  		virtual dSpaceID OPAL_CALL internal_getSpaceID()const;
! 		
  	protected:
! 		/// The ODE space ID.  
  		dSpaceID mSpaceID;

! 		/// The ODE space ID of this ODESpace's parent ODESpace.  
  		dSpaceID mParentSpaceID;

--- 41,58 ----
  		ODESpace();

+         ODESpace( dSpaceID space );
+ 
  		virtual ~ODESpace();

  		virtual void OPAL_CALL setParentSpace(Space* parentSpace);

! 		/// Returns the ODE space ID.
  		virtual dSpaceID OPAL_CALL internal_getSpaceID()const;
! 
  	protected:
! 		/// The ODE space ID.
  		dSpaceID mSpaceID;

! 		/// The ODE space ID of this ODESpace's parent ODESpace.
  		dSpaceID mParentSpaceID;

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.107
retrieving revision 1.108
diff -C2 -d -r1.107 -r1.108
*** ODESimulator.cpp	19 Nov 2005 18:09:01 -0000	1.107
--- ODESimulator.cpp	26 Nov 2005 22:40:18 -0000	1.108
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
[...2283 lines suppressed...]
!                 assert( false );
!                 break;
!         }
!     }
! 
!     dWorldID ODESimulator::internal_getWorldID() const
!     {
!         return mWorldID;
!     }
! 
!     dSpaceID ODESimulator::internal_getSpaceID() const
!     {
!         return mRootSpaceID;
!     }
! 
!     dJointGroupID ODESimulator::internal_getJointGroupID() const
!     {
!         return mContactJointGroupID;
!     }
  }

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.107,1.108 ODESimulator.h,1.71,1.72 ODESpace.cpp,1.8,1

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.107,1.108 ODESimulator.h,1.71,1.72 ODESpace.cpp,1.8,1.9 ODESpace.h,1.11,1.12