[Opal-commits] opal/src VelocityMotor.cpp,NONE,1.1 VelocityMotor.h,NONE,1.1 VelocityMotorData.h,NONE

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Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11266/src

Modified Files:
	Makefile.am Makefile.in Matrix44r.h MotorData.h OpalMath.h 
	Simulator.cpp Simulator.h opal.h testMatrix44r.cpp 
Added Files:
	VelocityMotor.cpp VelocityMotor.h VelocityMotorData.h 
	testBlueprint.cpp testMath.cpp testVelocityMotor.cpp 
Log Message:
Implemented VelocityMotor and its unit test. Adjusted QuickTest. Added opal::normalizeDegrees().

--- NEW FILE: VelocityMotorData.h ---
/*************************************************************************
*                                                                       *
* 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                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* This library is distributed in the hope that it will be useful,       *
* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

#ifndef OPAL_VELOCITY_MOTOR_DATA_H
#define OPAL_VELOCITY_MOTOR_DATA_H

// class headers
#include "MotorData.h"

// project headers
#include "Defines.h"

namespace opal
{
    /// A data structure describing a VelocityMotor.
    class VelocityMotorData : public MotorData
    {
        public:
            OPAL_DECL VelocityMotorData()
                    : MotorData()
            {
                mType = VELOCITY_MOTOR;
                solid = NULL;
                internal_solidIndex = 0;
                solidBlueprintRefName = "";
                velocity = Vec3r( 0, 0, 0 );
                maxForce = 1;
                letGravityAffectSolid = false;
            }

            /// Copy constructor.
            OPAL_DECL VelocityMotorData( const VelocityMotorData& data )
            {
                ( *this ) = data;
            }

            OPAL_DECL virtual ~VelocityMotorData()
            {}

            /// Makes a deep copy.
            OPAL_DECL virtual void OPAL_CALL operator=(
                const VelocityMotorData& data )
            {
                mType = data.mType;
                enabled = data.enabled;
                name = data.name;
                solid = data.solid;
                internal_solidIndex = data.internal_solidIndex;
                solidBlueprintRefName = data.solidBlueprintRefName;
                velocity = data.velocity;
                maxForce = data.maxForce;
                letGravityAffectSolid = data.letGravityAffectSolid;
            }

            /// Pointer to the Solid.
            Solid* solid;

            /// Maximum force that can be used to achieve target velocity.
            real maxForce;

            /// if true, the solid will be affected by gravity
            bool letGravityAffectSolid;

            /// Internal data used for Blueprint instantiation.
            int internal_solidIndex;

            /// String used for for intra-Blueprint references.
            std::string solidBlueprintRefName;

            /// The velocity that is to be achieved every frame
            Vec3r velocity;

        protected:

        private:
    };
}

#endif

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -d -r1.30 -r1.31
*** opal.h	1 Dec 2005 02:04:54 -0000	1.30
--- opal.h	10 Dec 2005 05:18:35 -0000	1.31
***************
*** 49,52 ****
--- 49,54 ----
  #include "ThrusterMotor.h"
  #include "ThrusterMotorData.h"
+ #include "VelocityMotor.h"
+ #include "VelocityMotorData.h"
  #include "SpringMotor.h"
  #include "SpringMotorData.h"

Index: Makefile.in
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.in,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** Makefile.in	9 Dec 2005 18:11:23 -0000	1.9
--- Makefile.in	10 Dec 2005 05:18:35 -0000	1.10
***************
*** 63,67 ****
  	SolidData.$(OBJEXT) Space.$(OBJEXT) SpringMotor.$(OBJEXT) \
  	ThrusterMotor.$(OBJEXT) VolumeSensor.$(OBJEXT) Vec3r.$(OBJEXT) \
! 	Quaternion.$(OBJEXT)
  libopalode_a_OBJECTS = $(am_libopalode_a_OBJECTS)
  am__installdirs = "$(DESTDIR)$(bindir)"
--- 63,67 ----
  	SolidData.$(OBJEXT) Space.$(OBJEXT) SpringMotor.$(OBJEXT) \
  	ThrusterMotor.$(OBJEXT) VolumeSensor.$(OBJEXT) Vec3r.$(OBJEXT) \
! 	Quaternion.$(OBJEXT) VelocityMotor.$(OBJEXT)
  libopalode_a_OBJECTS = $(am_libopalode_a_OBJECTS)
  am__installdirs = "$(DESTDIR)$(bindir)"
***************
*** 72,76 ****
  	testSimulator.$(OBJEXT) testVec3r.$(OBJEXT) \
  	testPoint3r.$(OBJEXT) testQuaternion.$(OBJEXT) \
! 	testMatrix44r.$(OBJEXT) testBlueprint.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
--- 72,77 ----
  	testSimulator.$(OBJEXT) testVec3r.$(OBJEXT) \
  	testPoint3r.$(OBJEXT) testQuaternion.$(OBJEXT) \
! 	testMatrix44r.$(OBJEXT) testBlueprint.$(OBJEXT) \
! 	testMath.$(OBJEXT) testVelocityMotor.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
***************
*** 208,224 ****
  noinst_LIBRARIES = libopalode.a
  libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 		BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 		InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 		ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 		ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp Quaternion.cpp

  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 						testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 		testMatrix44r.cpp testBlueprint.cpp

  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode

! noinst_HEADERS = Mass.h
  all: all-recursive

--- 209,225 ----
  noinst_LIBRARIES = libopalode.a
  libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 			BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 			InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 			ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 			ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp Quaternion.cpp VelocityMotor.cpp

  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 							testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 			testMatrix44r.cpp testBlueprint.cpp testMath.cpp testVelocityMotor.cpp

  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode

! noinst_HEADERS = Mass.h VelocityMotor.h VelocityMotorData.h
  all: all-recursive

***************
*** 321,327 ****
--- 322,330 ----
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/ThrusterMotor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Vec3r.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/VelocityMotor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/VolumeSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testAccelerationSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testBlueprint.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testMath.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testMatrix44r.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testPoint3r.Po@am__quote@
***************
*** 330,333 ****
--- 333,337 ----
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testSimulator.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testVec3r.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testVelocityMotor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testopal.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testsolid.Po@am__quote@

--- NEW FILE: testVelocityMotor.cpp ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* This library is distributed in the hope that it will be useful,       *
* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

// system headers
#include <quicktest.h>

// project headers
#include "opal.h"

using namespace opal;

namespace testVelocityMotor
{
    QT_TEST( constructor )
    {
        Simulator * sim = createSimulator();
        VelocityMotor * motor = sim->createVelocityMotor();
        sim->destroyMotor( motor );
        sim->destroy();
    }

    class Fixture
    {
        public:
            Fixture()
            {
                sim = createSimulator();
                sim->setGravity( Vec3r( 0, -9.81, 0 ) );

                solid = sim->createSolid();
                SphereShapeData data;
                data.radius = 1;
                data.material.density = 1;
                solid->addShape( data );

                motor = sim->createVelocityMotor();
                VelocityMotorData vdata;
                vdata.solid = solid;
                vdata.maxForce = 1000;
                motor->init( vdata );
            }

            ~Fixture()
            {
                sim->destroyMotor( motor );
                sim->destroySolid( solid );
                sim->destroy();
            }

            Simulator * sim;
            Solid * solid;
            VelocityMotor * motor;
    };

    QT_TEST( check_default )
    {
        Fixture f;
        f.sim->simulate( 0.2 );
        QT_CHECK_CLOSE( f.solid->getGlobalLinearVel().x + f.solid->getGlobalLinearVel().z, 0 );
    }

    QT_TEST( check_movement )
    {
        Fixture f;
        f.motor->setVelocity( Vec3r( 1, 0, 0 ) );
        f.sim->simulate( 0.2 );
        QT_CHECK( f.solid->getGlobalLinearVel().length() > 0 );
    }

    QT_TEST( check_achieving_velocity )
    {
        Fixture f;
        f.motor->setVelocity( Vec3r( 1, 0, 0 ) );

        for ( int i = 0; i < 5; ++i )
            f.sim->simulate( 0.2 );

        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().x, 1, 0.01 );
        // don't care about .y here
        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().z, 0, 0.01 );
    }

    QT_TEST( check_achieving_velocity_after_changing_it )
    {
        Fixture f;
        f.motor->setVelocity( Vec3r( 1, 0, 0 ) );

        for ( int i = 0; i < 5; ++i )
            f.sim->simulate( 0.2 );

        f.motor->setVelocity( Vec3r( 0, 0, 1 ) );

        for ( int i = 0; i < 5; ++i )
            f.sim->simulate( 0.2 );

        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().x, 0, 0.01 );
        // don't care about .y here
        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().z, 1, 0.01 );
    }

    QT_TEST( check_achieving_velocity_upward )
    {
        Fixture f;
        f.motor->setVelocity( Vec3r( 0, 1, 0 ) );
        f.motor->letGravityAffectSolid( false );

        for ( int i = 0; i < 50; ++i )
            f.sim->simulate( 0.2 );

        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().x, 0, 0.01 );
        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().y, 1, 0.01 );
        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().z, 0, 0.01 );
    }

    QT_TEST( check_achieving_velocity_downward )
    {
        Fixture f;
        f.motor->setVelocity( Vec3r( 0, -1, 0 ) );
        f.motor->letGravityAffectSolid( false );

        for ( int i = 0; i < 5; ++i )
            f.sim->simulate( 0.2 );

        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().x, 0, 0.01 );
        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().y, -1, 0.01 );
        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().z, 0, 0.01 );
    }

    QT_TEST( check_achieving_velocity_while_allowing_gravity )
    {
        Fixture f;
        f.motor->setVelocity( Vec3r( 1, 0, 0 ) );
        f.motor->letGravityAffectSolid( true );

        for ( int i = 0; i < 5; ++i )
            f.sim->simulate( 0.2 );

        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().x, 1, 0.01 );
        QT_CHECK_LESS( f.solid->getGlobalLinearVel().y, -0.1 );
        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().z, 0, 0.01 );
    }

    QT_TEST( enable_disable )
    {
        Fixture f;
        f.motor->setVelocity( Vec3r( 0, 1, 0 ) );
        f.motor->setEnabled( true );
        f.sim->simulate( 0.2 );

        QT_CHECK_GREATER( f.solid->getGlobalLinearVel().y, 0 );

        real y = f.solid->getGlobalLinearVel().y;

        f.motor->setEnabled( false );
        f.sim->simulate( 0.2 );

        QT_CHECK_LESS( f.solid->getGlobalLinearVel().y, y );

        y = f.solid->getGlobalLinearVel().y;
        f.motor->setEnabled( true );
        f.sim->simulate( 0.2 );

        QT_CHECK_GREATER( f.solid->getGlobalLinearVel().y, y );
    }

    QT_TEST( not_enough_force )
    {
        Fixture f;
        f.motor->setVelocity( Vec3r( 0, 1, 0 ) );
        f.motor->setMaximumForce( 1 );
        f.sim->simulate( 0.2 );

        QT_CHECK_LESS( f.solid->getGlobalLinearVel().y, 0.5 );

        f.motor->setMaximumForce( 1000 );
        f.sim->simulate( 0.2 );

        QT_CHECK_CLOSE_CUSTOM( f.solid->getGlobalLinearVel().y, 1, 0.01 );
    }
}

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.68
retrieving revision 1.69
diff -C2 -d -r1.68 -r1.69
*** Simulator.cpp	1 Dec 2005 02:04:54 -0000	1.68
--- Simulator.cpp	10 Dec 2005 05:18:35 -0000	1.69
***************
*** 26,30 ****
--- 26,33 ----
  *************************************************************************/

+ // class headers
  #include "Simulator.h"
+ 
+ // project headers
  #include "BlueprintInstance.h"
  #include "BoxShapeData.h"
***************
*** 42,45 ****
--- 45,49 ----
  #include "VolumeSensor.h"
  #include "PostStepEventHandler.h"
+ #include "VelocityMotor.h"

  namespace opal
***************
*** 793,796 ****
--- 797,807 ----
      }

+     VelocityMotor* Simulator::createVelocityMotor()
+     {
+         VelocityMotor * newMotor = new VelocityMotor( this );
+         addMotor( newMotor );
+         return newMotor;
+     }
+ 
      GearedMotor* Simulator::createGearedMotor()
      {

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.102
retrieving revision 1.103
diff -C2 -d -r1.102 -r1.103
*** Simulator.h	26 Nov 2005 22:40:18 -0000	1.102
--- Simulator.h	10 Dec 2005 05:18:35 -0000	1.103
***************
*** 45,48 ****
--- 45,49 ----
  	class SpringMotor;
  	class ThrusterMotor;
+     class VelocityMotor;
  	class AccelerationSensor;
  	class InclineSensor;
***************
*** 308,311 ****
--- 309,315 ----
  		virtual ThrusterMotor* OPAL_CALL createThrusterMotor();

+         /// Creates and returns a pointer to a VelocityMotor.
+         virtual VelocityMotor* OPAL_CALL createVelocityMotor();
+ 
  		/// Creates and returns a pointer to a GearedMotor.
  		virtual GearedMotor* OPAL_CALL createGearedMotor();

--- NEW FILE: VelocityMotor.cpp ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* This library is distributed in the hope that it will be useful,       *
* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

// class headers
#include "VelocityMotor.h"

// project headers
#include "Simulator.h"

namespace opal
{
    VelocityMotor::VelocityMotor( Simulator * sim )
    {
        mSimulator = sim;
    }

    VelocityMotor::~VelocityMotor()
    {}

    void VelocityMotor::setVelocity( const Vec3r & velocity )
    {
        mData.velocity = velocity;
    }

    const Vec3r & VelocityMotor::getVelocity() const
    {
        return mData.velocity;
    }

    void VelocityMotor::init( const VelocityMotorData & data )
    {
        Motor::init();
        mData = data;
        if ( mData.solid )
        {
            mData.solid->setLinearDamping( 0 );
        }
    }

    void VelocityMotor::setEnabled( bool e )
    {
        mData.enabled = e;
    }

    bool VelocityMotor::isEnabled() const
    {
        return mData.enabled;
    }

    MotorType VelocityMotor::getType() const
    {
        return VELOCITY_MOTOR;
    }

    void VelocityMotor::setName( const std::string& name )
    {
        mData.name = name;
    }

    const std::string & VelocityMotor::getName() const
    {
        return mData.name;
    }

    bool VelocityMotor::internal_dependsOnSolid( Solid * s ) const
    {
        if ( mData.solid == s )
            return true;
        else
            return false;
    }

    void VelocityMotor::letGravityAffectSolid( bool affect )
    {
        mData.letGravityAffectSolid = affect;
    }

    bool VelocityMotor::doesGravityAffectSolid() const
    {
        return mData.letGravityAffectSolid;
    }

    void VelocityMotor::internal_update()
    {
        // check if we have a solid
        if ( mData.solid == NULL || isEnabled() == false ) return ;

        Vec3r targetVelocity = mData.velocity;
        Solid * solid = mData.solid;

        Vec3r currentAchievedVelocity = solid->getGlobalLinearVel();

        if ( doesGravityAffectSolid() )
        {
            Vec3r gravity = mSimulator->getGravity();
            if ( gravity.length() > 0 )
            {
                Vec3r gravity_velocity = project( gravity, currentAchievedVelocity );
                currentAchievedVelocity -= gravity_velocity;
            }
        }

        Vec3r deltaVelocity = targetVelocity - currentAchievedVelocity;

        Vec3r forceVector = deltaVelocity / mSimulator->getStepSize() * solid->getMass();
        if ( !doesGravityAffectSolid() )
            forceVector -= mSimulator->getGravity() * solid->getMass();

        if ( forceVector.length() > getMaximumForce() )
        {
            forceVector.normalize();
            forceVector *= getMaximumForce();
        }

        Force controllingForce;
        controllingForce.duration = 0;
        controllingForce.singleStep = true;
        controllingForce.type = GLOBAL_FORCE;
        controllingForce.vec = forceVector;

        solid->addForce( controllingForce );
    }

    void VelocityMotor::setMaximumForce( real maxForce )
    {
        mData.maxForce = maxForce;
    }

    real VelocityMotor::getMaximumForce() const
    {
        return mData.maxForce;
    }
}

--- NEW FILE: testBlueprint.cpp ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* This library is distributed in the hope that it will be useful,       *
* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

// system headers
#include <quicktest.h>
#include <sstream>

// project headers
#include "opal.h"

using namespace opal;

namespace testBlueprint
{
    QT_TEST( create_and_delete )
    {
        Simulator * sim = createSimulator();

        // Create a SolidData object.
        SolidData solid1Data;
        solid1Data.name = "object";
        BoxShapeData boxData;
        solid1Data.addShape( boxData );

        // Setup a Blueprint.
        Blueprint bp;
        bp.addSolid( &solid1Data );
        bp.finalize();

        sim->simulate( 0.2 );
        QT_CHECK_EQUAL( sim->getNumSolids(), 0 );

        {
            // Instantiate the Blueprint.
            BlueprintInstance instance;
            sim->instantiateBlueprint( instance, bp );
            QT_CHECK_EQUAL( sim->getNumSolids(), 1 );
            unsigned int nsolids = instance.getNumSolids();
            for ( unsigned int i = 0; i < nsolids; ++i )
            {
                sim->destroySolid( instance.getSolid( i ) );
            }
        }

        sim->simulate( 0.2 );
        QT_CHECK_EQUAL( sim->getNumSolids(), 0 );
    }

    class MockCollisionHandler : public CollisionEventHandler
    {
        public:
            MockCollisionHandler() {}

            void handleCollisionEvent( const CollisionEvent & e )
            {
                // nothing
            }
    };

    QT_TEST( create_and_delete_with_callback )
    {
        Simulator * sim = createSimulator();

        // Create a SolidData object.
        SolidData solid1Data;
        solid1Data.name = "object";
        BoxShapeData boxData;
        solid1Data.addShape( boxData );

        // Setup a Blueprint.
        Blueprint bp;
        bp.addSolid( &solid1Data );
        bp.finalize();

        sim->simulate( 0.2 );
        QT_CHECK_EQUAL( sim->getNumSolids(), 0 );

        {
            // Instantiate the Blueprint.
            BlueprintInstance instance;
            sim->instantiateBlueprint( instance, bp );
            QT_CHECK_EQUAL( sim->getNumSolids(), 1 );

			MockCollisionHandler * callback = new MockCollisionHandler();
			instance.getSolid( "object" ) ->setCollisionEventHandler( callback );

			sim->simulate( 0.2 );

            unsigned int nsolids = instance.getNumSolids();
            for ( unsigned int i = 0; i < nsolids; ++i )
            {
                sim->destroySolid( instance.getSolid( i ) );
            }

			delete callback;
        }

        sim->simulate( 0.2 );
        QT_CHECK_EQUAL( sim->getNumSolids(), 0 );
    }
}

--- NEW FILE: testMath.cpp ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * Oleksandr Lozitskiy mr....@gm...                            *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

// system headers
#include <quicktest.h>

// project headers
#include "opal.h"

using namespace opal;

namespace testOpalMath
{
    QT_TEST( normalizeDegrees )
    {
        QT_CHECK_EQUAL( normalizeDegrees( 179.0 ), 179.0 );
        QT_CHECK_EQUAL( normalizeDegrees( 180.0 ) , 180.0 );

        QT_CHECK_EQUAL( normalizeDegrees( -179.0 ) , -179.0 );
        QT_CHECK_EQUAL( normalizeDegrees( -180.0 ) , 180.0 );

        QT_CHECK_EQUAL( normalizeDegrees( 360.0 + 20.0 ) , 20.0 );
        QT_CHECK_EQUAL( normalizeDegrees( 360.0 + -20.0 ) , -20.0 );
        QT_CHECK_EQUAL( normalizeDegrees( 180.0 + 20.0 ) , -160.0 );
    }
}

--- NEW FILE: VelocityMotor.h ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* This library is distributed in the hope that it will be useful,       *
* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

#ifndef OPALVELOCITYMOTOR_H
#define OPALVELOCITYMOTOR_H

// class headers
#include "Motor.h"

// project headers
#include "Portability.h"
#include "VelocityMotorData.h"

namespace opal
{
    class Simulator;
    class VelocityMotorData;

    /**
     * Tries to achieve given velocity in one time step of the simulation.
     * 
     * @author Oleksandr Lozitskiy <mr.olexander@gmail>
     */
    class VelocityMotor : public Motor
    {
        public:
            //! constructor
            /*!
             * @param sim physical simulator
             */
            VelocityMotor( Simulator * sim );

            //! destructor
            ~VelocityMotor();

            /// Initializes the Motor with the given data structure.
            void OPAL_CALL init( const VelocityMotorData & data );

            /// Sets whether the Motor has any effect.
            void OPAL_CALL setEnabled( bool e );

            /// Returns true if the Motor is enabled.
            bool OPAL_CALL isEnabled() const;

            /// Returns the Motor type.
            MotorType OPAL_CALL getType() const;

            /// Sets the Motor's name.
            void OPAL_CALL setName( const std::string & name );

            /// Returns the Motor's name.
            const std::string & OPAL_CALL getName() const;

            /// Set target velocity.
            void OPAL_CALL setVelocity( const Vec3r & velocity );

            /// Return target velocity.
            const Vec3r & OPAL_CALL getVelocity() const;

            /// Called regularly to update the Motor.  This does nothing if the
            /// Motor is disabled.
            void OPAL_CALL internal_update();

            //! Returns true if motors controls this solid.
            bool OPAL_CALL internal_dependsOnSolid( Solid * s ) const;

            //! against gravity or not?
            /*!
             * @param affect if true, motor will NOT work against gravity,
             *               so solid will be affected by gravity
             */
            void OPAL_CALL letGravityAffectSolid( bool affect );

            //! Returns true if gravity is being ignored by the motor
            bool OPAL_CALL doesGravityAffectSolid() const;

            //! Maximum allowed force for the motor to use.
            void OPAL_CALL setMaximumForce( real maxForce );

            //! What is the maximum allowed force for this motor?
            real OPAL_CALL getMaximumForce() const;

        protected:
            /// Stores data describing the Motor.
            VelocityMotorData mData;

        private:
            Simulator * mSimulator;
    };
}

#endif

Index: MotorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/MotorData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** MotorData.h	11 Mar 2005 05:31:56 -0000	1.3
--- MotorData.h	10 Dec 2005 05:18:35 -0000	1.4
***************
*** 40,44 ****
  		SERVO_MOTOR,
  		SPRING_MOTOR,
! 		THRUSTER_MOTOR
  	};

--- 40,45 ----
  		SERVO_MOTOR,
  		SPRING_MOTOR,
! 		THRUSTER_MOTOR,
!         VELOCITY_MOTOR
  	};

Index: OpalMath.h
===================================================================
RCS file: /cvsroot/opal/opal/src/OpalMath.h,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** OpalMath.h	30 Nov 2005 06:28:12 -0000	1.15
--- OpalMath.h	10 Dec 2005 05:18:35 -0000	1.16
***************
*** 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                                             *
!  *                                                                       *
!  * This library is free software; you can redistribute it and/or         *
!  * modify it under the terms of EITHER:                                  *
!  *   (1) The GNU Lesser General Public License as published by the Free  *
!  *       Software Foundation; either version 2.1 of the License, or (at  *
!  *       your option) any later version. The text of the GNU Lesser      *
!  *       General Public License is included with this library in the     *
!  *       file license-LGPL.txt.                                          *
!  *   (2) The BSD-style license that is included with this library in     *
!  *       the file license-BSD.txt.                                       *
!  *                                                                       *
!  * This library is distributed in the hope that it will be useful,       *
!  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
!  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
!  * license-LGPL.txt and license-BSD.txt for more details.                *
!  *                                                                       *
!  *************************************************************************/

  #ifndef OPAL_OPAL_MATH_H
--- 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                                             *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
! *   (1) The GNU Lesser General Public License as published by the Free  *
! *       Software Foundation; either version 2.1 of the License, or (at  *
! *       your option) any later version. The text of the GNU Lesser      *
! *       General Public License is included with this library in the     *
! *       file license-LGPL.txt.                                          *
! *   (2) The BSD-style license that is included with this library in     *
! *       the file license-BSD.txt.                                       *
! *                                                                       *
! * This library is distributed in the hope that it will be useful,       *
! * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
! * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
! * license-LGPL.txt and license-BSD.txt for more details.                *
! *                                                                       *
! *************************************************************************/

  #ifndef OPAL_OPAL_MATH_H
***************
*** 34,100 ****
  namespace opal
  {
! 	#ifdef OPAL_USE_DOUBLE
! 		typedef double real;
! 	#else
! 		typedef float real;
! 	#endif

! 	namespace globals
! 	{
! 		const real OPAL_PI = (real)3.14159265358979323846;
! 		const real OPAL_HALF_PI = (real)1.57079632679489661923;
! 		const real OPAL_ONE_THIRD = (real)0.33333333333333333333;
! 		const real OPAL_EPSILON = (real)0.000001;
! 	}

! 	/// Converts a value from degrees to radians.
! 	inline real degToRad(real deg)
! 	{
! 		const real d2r = globals::OPAL_PI/(real)180.0;
! 		return (d2r * deg);
! 	}

! 	/// Converts a value from radians to degrees.
! 	inline real radToDeg(real rad)
! 	{
! 		const real r2d = (real)180.0/globals::OPAL_PI;
! 		return (r2d * rad);
! 	}

! 	/// Returns the absolute value of a real number.
! 	inline real abs(real value)
! 	{
! 		return fabs(value);
! 	}

! 	/// Returns true if the two values are equal within some tolerance,
! 	/// using a combination of absolute and relative (epsilon is scaled
! 	/// by the magnitudes of the values) tolerance, depending on whether
! 	/// both values are both less than 1.
! 	/// See Christer Ericson's GDC 2005 presentation:
! 	/// http://realtimecollisiondetection.net/pubs/GDC05_Ericson_Numerical_Robustness_for_Geometric_Calculations.ppt
! 	inline bool areEqual(real x, real y)
! 	{
! 		real maxVal = 1;

! 		if (opal::abs(x) > maxVal)
! 		{
! 			maxVal = opal::abs(x);
! 		}

! 		if (opal::abs(y) > maxVal)
! 		{
! 			maxVal = opal::abs(y);
! 		}

! 		if (opal::abs(x - y) <= globals::OPAL_EPSILON * maxVal)
! 		{
! 			return true;
! 		}
! 		else
! 		{
! 			return false;
! 		}
! 	}
  }

--- 34,114 ----
  namespace opal
  {
! #ifdef OPAL_USE_DOUBLE
!     typedef double real;
! #else
!     typedef float real;
! #endif

!     namespace globals
!     {
!         const real OPAL_PI = ( real ) 3.14159265358979323846;
!         const real OPAL_HALF_PI = ( real ) 1.57079632679489661923;
!         const real OPAL_ONE_THIRD = ( real ) 0.33333333333333333333;
!         const real OPAL_EPSILON = ( real ) 0.000001;
!     }

!     /// Converts a value from degrees to radians.
!     inline real degToRad( real deg )
!     {
!         const real d2r = globals::OPAL_PI / ( real ) 180.0;
!         return ( d2r * deg );
!     }

!     /// Converts a value from radians to degrees.
!     inline real radToDeg( real rad )
!     {
!         const real r2d = ( real ) 180.0 / globals::OPAL_PI;
!         return ( r2d * rad );
!     }

!     /// Returns the absolute value of a real number.
!     inline real abs( real value )
!     {
!         return fabs( value );
!     }

!     /// Returns true if the two values are equal within some tolerance,
!     /// using a combination of absolute and relative (epsilon is scaled
!     /// by the magnitudes of the values) tolerance, depending on whether
!     /// both values are both less than 1.
!     /// See Christer Ericson's GDC 2005 presentation:
!     /// http://realtimecollisiondetection.net/pubs/GDC05_Ericson_Numerical_Robustness_for_Geometric_Calculations.ppt
!     inline bool areEqual( real x, real y )
!     {
!         real maxVal = 1;

!         if ( opal::abs( x ) > maxVal )
!         {
!             maxVal = opal::abs( x );
!         }

!         if ( opal::abs( y ) > maxVal )
!         {
!             maxVal = opal::abs( y );
!         }

!         if ( opal::abs( x - y ) <= globals::OPAL_EPSILON * maxVal )
!         {
!             return true;
!         }
!         else
!         {
!             return false;
!         }
!     }
! 
!     //! translates degree angle to (-180, 180]
!     inline real normalizeDegrees( real degrees )
!     {
!         while ( degrees > 180.0 )
!         {
!             degrees -= 360.0;
!         }
!         while ( degrees <= -180.0 )
!         {
!             degrees += 360.0;
!         }
!         return degrees;
!     }
  }

Index: testMatrix44r.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testMatrix44r.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** testMatrix44r.cpp	9 Dec 2005 18:11:23 -0000	1.3
--- testMatrix44r.cpp	10 Dec 2005 05:18:35 -0000	1.4
***************
*** 41,45 ****
          Matrix44r m;
          m.setQuaternion( 0, 0, 0, 1 );
!         QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, -180 ) );

  		QT_CHECK_EQUAL( m.getQuaternion(), Quaternion( 0, 0, 0, 1 ) );
--- 41,45 ----
          Matrix44r m;
          m.setQuaternion( 0, 0, 0, 1 );
!         QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, 180 ) );

  		QT_CHECK_EQUAL( m.getQuaternion(), Quaternion( 0, 0, 0, 1 ) );
***************
*** 51,55 ****
          Matrix44r m;
          m.setQuaternion( Quaternion( 0, 0, 0, 1 ) );
!         QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, -180 ) );

  		QT_CHECK_EQUAL( m.getQuaternion(), Quaternion( 0, 0, 0, 1 ) );
--- 51,55 ----
          Matrix44r m;
          m.setQuaternion( Quaternion( 0, 0, 0, 1 ) );
!         QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, 180 ) );

  		QT_CHECK_EQUAL( m.getQuaternion(), Quaternion( 0, 0, 0, 1 ) );

Index: Makefile.am
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.am,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** Makefile.am	9 Dec 2005 18:11:23 -0000	1.9
--- Makefile.am	10 Dec 2005 05:18:35 -0000	1.10
***************
*** 9,21 ****
  noinst_LIBRARIES = libopalode.a
  libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 		BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 		InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 		ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 		ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp Quaternion.cpp
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 						testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 		testMatrix44r.cpp testBlueprint.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
! noinst_HEADERS = Mass.h
--- 9,21 ----
  noinst_LIBRARIES = libopalode.a
  libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 			BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 			InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 			ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 			ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp Quaternion.cpp VelocityMotor.cpp
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 							testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 			testMatrix44r.cpp testBlueprint.cpp testMath.cpp testVelocityMotor.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
! noinst_HEADERS = Mass.h VelocityMotor.h VelocityMotorData.h

Index: Matrix44r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Matrix44r.h,v
retrieving revision 1.40
retrieving revision 1.41
diff -C2 -d -r1.40 -r1.41
*** Matrix44r.h	1 Dec 2005 23:55:21 -0000	1.40
--- Matrix44r.h	10 Dec 2005 05:18:35 -0000	1.41
***************
*** 370,373 ****
--- 370,378 ----
                  }

+                 // normalize to (-180,180]
+                 angles[ 0 ] = normalizeDegrees( angles[ 0 ] );
+                 angles[ 1 ] = normalizeDegrees( angles[ 1 ] );
+                 angles[ 2 ] = normalizeDegrees( angles[ 2 ] );
+ 
                  // convert to degrees
                  angles[ 0 ] = radToDeg( angles[ 0 ] );