opal-commits — Mailing list for CVS commit messages.

[Opal-commits] opal todo.txt,1.60,1.61

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17426

Modified Files:
	todo.txt 
Log Message:
fixed stupid bug

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.60
retrieving revision 1.61
diff -C2 -d -r1.60 -r1.61
*** todo.txt	25 Mar 2005 02:44:21 -0000	1.60
--- todo.txt	25 Mar 2005 04:18:59 -0000	1.61
***************
*** 3,14 ****
  
  * incline/orientation sensor: measures current orientation relative to an initial orientation; returns 3 reals
  
  * add license notice to samples' source files
  
- * make trimeshes work
- 
  For Version 0.4.0
  =================
  
  * search and replace existing assert() calls
  	- fatal errors print a message and assert
--- 3,17 ----
  
  * incline/orientation sensor: measures current orientation relative to an initial orientation; returns 3 reals
+ 	- add example to sensors tutorial
  
  * add license notice to samples' source files
  
  For Version 0.4.0
  =================
  
+ * make trimeshes work
+ 	- test basic functionality
+ 	- add helper functions to make it easier to use
+ 
  * search and replace existing assert() calls
  	- fatal errors print a message and assert

[Opal-commits] opal/src Joint.cpp,1.28,1.29

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17426/src

Modified Files:
	Joint.cpp 
Log Message:
fixed stupid bug

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** Joint.cpp	23 Mar 2005 04:04:30 -0000	1.28
--- Joint.cpp	25 Mar 2005 04:18:59 -0000	1.29
***************
*** 69,73 ****
  	void Joint::setContactsEnabled(bool e)
  	{
! 		mData.contactsEnabled;
  	}
  
--- 69,73 ----
  	void Joint::setContactsEnabled(bool e)
  	{
! 		mData.contactsEnabled = e;
  	}
  

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.93,1.94 ODESimulator.h,1.67,1.68

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28529/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
made the RaycastSensor and VolumeSensor use contact groups

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.67
retrieving revision 1.68
diff -C2 -d -r1.67 -r1.68
*** ODESimulator.h	23 Mar 2005 20:24:54 -0000	1.67
--- ODESimulator.h	25 Mar 2005 02:44:21 -0000	1.68
***************
*** 99,103 ****
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
  			const Rayr& r, real length, const Solid* attachedSolid, 
! 			unsigned long int rayContactGroup);
  
  		/// Helper function used for ray casting.  
--- 99,106 ----
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
  			const Rayr& r, real length, const Solid* attachedSolid, 
! 			unsigned int rayContactGroup);
! 
! 		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume, const Solid* attachedSolid);
  
  		/// Helper function used for ray casting.  
***************
*** 108,116 ****
  		virtual void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume, const Solid* attachedSolid);
  
  	protected:
- 
  		/// The ODE world ID used by this Simulator.  
  		dWorldID mWorldID;
--- 111,118 ----
  		virtual void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		/// Helper function used for ray casting.  
! 		virtual unsigned int OPAL_CALL internal_getRayContactGroup();
  
  	protected:
  		/// The ODE world ID used by this Simulator.  
  		dWorldID mWorldID;
***************
*** 120,124 ****
  
  		/// The ODE joint constraint group.  
! 		dJointGroupID mContactGroupID;
  
  		/// The type of constraint solver to use.  
--- 122,126 ----
  
  		/// The ODE joint constraint group.  
! 		dJointGroupID mContactJointGroupID;
  
  		/// The type of constraint solver to use.  
***************
*** 140,143 ****
--- 142,149 ----
  		/// 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;
  	private:
  	};

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.93
retrieving revision 1.94
diff -C2 -d -r1.93 -r1.94
*** ODESimulator.cpp	23 Mar 2005 20:24:48 -0000	1.93
--- ODESimulator.cpp	25 Mar 2005 02:44:20 -0000	1.94
***************
*** 54,58 ****
  
  		// Create the ODE contact joint group.
! 		mContactGroupID = dJointGroupCreate(0);
  
  		// Set the ODE global CFM value that will be used by all Joints 
--- 54,58 ----
  
  		// Create the ODE contact joint group.
! 		mContactJointGroupID = dJointGroupCreate(0);
  
  		// Set the ODE global CFM value that will be used by all Joints 
***************
*** 78,81 ****
--- 78,82 ----
  		// "mRaycastResult" is initialized in its own constructor.
  		mSensorSolid = NULL;
+ 		mRayContactGroup = defaults::shape::contactGroup;
  	}
  
***************
*** 112,116 ****
  		dSpaceID rootSpaceID = mRootSpaceID;
  		dWorldID worldID = mWorldID;
! 		dJointGroupID contactGroupID = mContactGroupID;
  
  		delete this;
--- 113,117 ----
  		dSpaceID rootSpaceID = mRootSpaceID;
  		dWorldID worldID = mWorldID;
! 		dJointGroupID contactJointGroupID = mContactJointGroupID;
  
  		delete this;
***************
*** 121,125 ****
  		dSpaceDestroy(rootSpaceID);
  		dWorldDestroy(worldID);
! 		dJointGroupDestroy(contactGroupID);
  		dCloseODE();
  	}
--- 122,126 ----
  		dSpaceDestroy(rootSpaceID);
  		dWorldDestroy(worldID);
! 		dJointGroupDestroy(contactJointGroupID);
  		dCloseODE();
  	}
***************
*** 267,271 ****
  
  		//Remove all joints from the contact group.
! 		dJointGroupEmpty(mContactGroupID);
  	}
  
--- 268,272 ----
  
  		//Remove all joints from the contact group.
! 		dJointGroupEmpty(mContactJointGroupID);
  	}
  
***************
*** 321,327 ****
--- 322,334 ----
  				//    because sometimes you might want to wake up a sleeping 
  				//    Solid with a static Solid.
+ 				// 8. The two Solids' contact groups do not generate 
+ 				//    contacts when they collide AND neither Solid has a 
+ 				//    CollisionEventHandler.
  
+ 				// Get the geoms' ODE body IDs.
  				dBodyID o0BodyID = dGeomGetBody(o0);
  				dBodyID o1BodyID = dGeomGetBody(o1);
+ 
+ 				// Check if both Solids are dynamic (i.e. have ODE bodies).
  				bool bothHaveBodies = true;
  				if (0 == o0BodyID || 0 == o1BodyID)
***************
*** 330,333 ****
--- 337,342 ----
  				}
  
+ 				// If the two Solids are connected by a common Joint, get 
+ 				// a pointer to that Joint.
  				Joint* commonJoint = NULL;
  				if (bothHaveBodies && dAreConnectedExcluding(o0BodyID, 
***************
*** 339,342 ****
--- 348,379 ----
  				}
  
+ 				// Get pointers to the geoms' GeomData structures.
+ 				GeomData* geomData0 = (GeomData*)dGeomGetData(o0);
+ 				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
+ 
+ 				// Get pointers to the geoms' ShapeData structures.
+ 				const ShapeData* shape0 = geomData0->shape;
+ 				const ShapeData* shape1 = geomData1->shape;
+ 
+ 				// Get a pointer to the ODESimulator.
+ 				ODESimulator* sim = (ODESimulator*)data;
+ 
+ 				// Check if the two Solids' contact groups generate contacts 
+ 				// when they collide.
+ 				bool makeContacts = sim->groupsMakeContacts(
+ 					shape0->contactGroup, shape1->contactGroup);
+ 
+ 				// Get pointers to the geoms' Solids.
+ 				Solid* solid0 = geomData0->solid;
+ 				Solid* solid1 = geomData1->solid;
+ 
+ 				// Get pointers to the two Solids' CollisionEventHandlers.  
+ 				// These will be NULL if the Solids don't use 
+ 				// CollisionEventHandlers.
+ 				CollisionEventHandler* handler0 = 
+ 					solid0->getCollisionEventHandler();
+ 				CollisionEventHandler* handler1 = 
+ 					solid1->getCollisionEventHandler();
+ 
  				if (//(0 == o0BodyID && 0 == o1BodyID) //case 1
  					//|| (o0BodyID == o1BodyID) //case 2
***************
*** 349,352 ****
--- 386,390 ----
  					//|| (0 == o0BodyID && !dBodyIsEnabled(o1BodyID)) //case 6
  					//|| (0 == o1BodyID && !dBodyIsEnabled(o0BodyID)) //case 7
+ 					|| (!makeContacts && !(handler0 || handler1))
  					)
  				{
***************
*** 354,359 ****
  				}
  
! 				// Now actually test for collision between the two geoms.
! 				ODESimulator* sim = (ODESimulator*)data;
  				dWorldID theWorldID = sim->internal_getWorldID();
  				dJointGroupID theJointGroupID = 
--- 392,397 ----
  				}
  
! 				// Now actually test for collision between the two geoms.  
! 				// This is one of the more expensive operations.
  				dWorldID theWorldID = sim->internal_getWorldID();
  				dJointGroupID theJointGroupID = 
***************
*** 371,403 ****
  				}
  
- 				dContact tempContact;
- 				//bool generateContacts0 = true; // Default to true.
- 				//bool generateContacts1 = true; // Default to true.
- 				GeomData* geomData0 = (GeomData*)dGeomGetData(o0);
- 				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
- 				const ShapeData* shape0 = geomData0->shape;
- 				const ShapeData* shape1 = geomData1->shape;
- 				Solid* solid0 = geomData0->solid;
- 				Solid* solid1 = geomData1->solid;
- 
- 				// We only need to check for "one side" of the contact group 
- 				// here because the groups are always setup both ways (i.e. 
- 				// the interaction between object 0's contact group and 
- 				// object 1's contact group is always symmetric).
- 				bool makeContacts = false;
- 				unsigned long int group1Bit = 1 << shape1->contactGroup;
- 				if (sim->internal_getContactGroupFlags(shape0->contactGroup)
- 					& group1Bit)
- 				{
- 					makeContacts = true;
- 				}
- 
  				// If at least one of the Solids has a CollisionEventHandler, 
  				// send it a CollisionEvent.
- 				CollisionEventHandler* handler0 = 
- 					solid0->getCollisionEventHandler();
- 				CollisionEventHandler* handler1 = 
- 					solid1->getCollisionEventHandler();
- 
  				if (handler0 || handler1)
  				{
--- 409,414 ----
***************
*** 486,489 ****
--- 497,501 ----
  						const Material* m1 = &(shape1->material);
  
+ 						dContact tempContact;
  						tempContact.surface.mode = dContactBounce | 
  							dContactSoftERP;// | dContactSoftCFM;
***************
*** 710,715 ****
  		}
  
- 		// Note: o0 should always be the main object (the geom to check against
- 		// everything else).
  		void internal_volumeCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1)
--- 722,725 ----
***************
*** 725,735 ****
  				// Colliding two geoms.
  
! 				dBodyID o0BodyID = dGeomGetBody(o0);
! 				dBodyID o1BodyID = dGeomGetBody(o1);
! 				bool bothHaveBodies = true;
! 				if (0 == o0BodyID || 0 == o1BodyID)
! 				{
! 					bothHaveBodies = false;
! 				}
  
  				// don't do collision detection for the following case:
--- 735,745 ----
  				// Colliding two geoms.
  
! 				//dBodyID o0BodyID = dGeomGetBody(o0);
! 				//dBodyID o1BodyID = dGeomGetBody(o1);
! 				//bool bothHaveBodies = true;
! 				//if (0 == o0BodyID || 0 == o1BodyID)
! 				//{
! 				//	bothHaveBodies = false;
! 				//}
  
  				// don't do collision detection for the following case:
***************
*** 743,747 ****
  				//}
  
! 				//now actually test for collision between the two geoms
  				dContactGeom contactArray[1];
  				int numContacts = dCollide(o0, o1, 1, contactArray, 
--- 753,778 ----
  				//}
  
! 				// Get a pointer to the ODESimulator.
! 				ODESimulator* sim = (ODESimulator*)data;
! 
! 				// Get pointers to the two geoms' GeomData structure.  
! 				GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
! 				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
! 
! 				// Get pointers to the geoms' ShapeData structures.
! 				const ShapeData* shape0 = geomData0->shape;
! 				const ShapeData* shape1 = geomData1->shape;
! 
! 				// Check if the two Solids' contact groups generate contacts 
! 				// when they collide.
! 				bool makeContacts = sim->groupsMakeContacts(
! 					shape0->contactGroup, shape1->contactGroup);
! 				if (!makeContacts)
! 				{
! 					return;
! 				}
! 
! 				// Now actually test for collision between the two geoms.  
! 				// This is one of the more expensive operations.
  				dContactGeom contactArray[1];
  				int numContacts = dCollide(o0, o1, 1, contactArray, 
***************
*** 754,767 ****
  				else
  				{
! 					//these two geoms must be intersecting
! 					ODESimulator* sim = (ODESimulator*)data;
  
! 					// TODO: not sure if we can know that o1 is the volume 
! 					// object, so we'll
! 					// just call this twice for now
! 					GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
! 					GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
  					Solid* solid0 = geomData0->solid;
  					Solid* solid1 = geomData1->solid;
  					sim->internal_addCollidedSolid(solid0);
  					sim->internal_addCollidedSolid(solid1);
--- 785,799 ----
  				else
  				{
! 					// These two geoms must be intersecting.
  
! 					// Get pointers to the geoms' Solids.
  					Solid* solid0 = geomData0->solid;
  					Solid* solid1 = geomData1->solid;
+ 
+ 					// Not sure at this point if we can know that o1 is the 
+ 					// volume object, so we'll just call this twice.  It 
+ 					// will automatically keep from adding the same Solid 
+ 					// multiple times by using its collision count.  Later, 
+ 					// the volume Solid will be removed from this list.
  					sim->internal_addCollidedSolid(solid0);
  					sim->internal_addCollidedSolid(solid1);
***************
*** 770,774 ****
  		}
  
- 		// Note: o1 is the ray geom.
  		void internal_raycastCollisionCallback(void* data, dGeomID o0, 
  			dGeomID o1)
--- 802,805 ----
***************
*** 784,788 ****
  				// Colliding two geoms.
  
! 				// Now actually test for collision between the two geoms.
  				dContactGeom contactArray[1];
  				int numContacts = dCollide(o0, o1, 1, contactArray, 
--- 815,848 ----
  				// Colliding two geoms.
  
! 				// Get a pointer to the ODESimulator.
! 				ODESimulator* sim = (ODESimulator*)data;
! 
! 				// Get pointers to the two geoms' GeomData structure.  
! 				GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
! 				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
! 
! 				// Only one of these (the one NOT belonging to the ray geom) 
! 				// will be non-NULL.
! 				unsigned int geomContactGroup = defaults::shape::contactGroup;
! 				if (geomData0)
! 				{
! 					geomContactGroup = geomData0->shape->contactGroup;
! 				}
! 				else
! 				{
! 					geomContactGroup = geomData1->shape->contactGroup;
! 				}
! 
! 				// Check if the two Solids' contact groups generate contacts 
! 				// when they collide.
! 				bool makeContacts = sim->groupsMakeContacts(
! 					geomContactGroup, sim->internal_getRayContactGroup());
! 				if (!makeContacts)
! 				{
! 					return;
! 				}
! 
! 				// Now actually test for collision between the two geoms.  
! 				// This is one of the more expensive operations.
  				dContactGeom contactArray[1];
  				int numContacts = dCollide(o0, o1, 1, contactArray, 
***************
*** 795,812 ****
  				else
  				{
! 					// These two geoms must be intersecting.
! 					ODESimulator* sim = (ODESimulator*)data;
  
- 					GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
  					if(geomData0)
  					{
- 						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]);
  						sim->internal_setRaycastResult(geomData0->solid, 
  							intersection, normal, contactArray[0].depth);
  					}
  				}
  			}
--- 855,878 ----
  				else
  				{
! 					// These two geoms must be intersecting.  Again, only 
! 					// one will be part of a Solid we want to store; the 
! 					// 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);
+ 					}
  				}
  			}
***************
*** 853,856 ****
--- 919,927 ----
  	}
  
+ 	unsigned int ODESimulator::internal_getRayContactGroup()
+ 	{
+ 		return mRayContactGroup;
+ 	}
+ 
  	//helper function for collision callback
  	//void createOneSidedContact(dJointID contactJoint, dBodyID movingObject, 
***************
*** 875,879 ****
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
  		real length, const Solid* attachedSolid, 
! 		unsigned long int rayContactGroup)
  	{
  		Point3r origin = r.getOrigin();
--- 946,950 ----
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
  		real length, const Solid* attachedSolid, 
! 		unsigned int rayContactGroup)
  	{
  		Point3r origin = r.getOrigin();
***************
*** 885,894 ****
  		mRaycastResult.distance = 0;
  		mSensorSolid = attachedSolid;
  
! 		// TODO: use rayContactGroup to limit collision check
! 
  		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
  		dGeomRaySet(rayGeomID, origin[0], origin[1], origin[2], dir[0], 
  			dir[1], dir[2]);
  
  		// Check for collisions.  This will fill mRaycastResult with valid 
--- 956,968 ----
  		mRaycastResult.distance = 0;
  		mSensorSolid = attachedSolid;
+ 		mRayContactGroup = rayContactGroup;
  
! 		// Create an ODE ray geom.  Make sure its user data pointer is 
! 		// NULL because this is used in the collision callback to 
! 		// distinguish the ray from other geoms.
  		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
  		dGeomRaySet(rayGeomID, origin[0], origin[1], origin[2], dir[0], 
  			dir[1], dir[2]);
+ 		dGeomSetData(rayGeomID, NULL);
  
  		// Check for collisions.  This will fill mRaycastResult with valid 
***************
*** 911,916 ****
  			((ODESolid*)volume)->internal_getGeomDataList();
  
- 		// TODO: use the volume's contact group to limit collision check
- 
  		// Check for collisions with each of the volume Solid's geoms.  
  		// This will fill up mVolumeQueryResult with those Solids that 
--- 985,988 ----
***************
*** 1028,1032 ****
  	dJointGroupID ODESimulator::internal_getJointGroupID()const
  	{
! 		return mContactGroupID;
  	}
  }
--- 1100,1104 ----
  	dJointGroupID ODESimulator::internal_getJointGroupID()const
  	{
! 		return mContactJointGroupID;
  	}
  }

[Opal-commits] opal/src BlueprintManager.cpp,1.36,1.37 RaycastSensorData.h,1.4,1.5 ShapeData.h,1.7,1.8 Simulator.cpp,1.51,1.52 Simulator.h,1.90,1.91

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28529/src

Modified Files:
	BlueprintManager.cpp RaycastSensorData.h ShapeData.h 
	Simulator.cpp Simulator.h 
Log Message:
made the RaycastSensor and VolumeSensor use contact groups

Index: RaycastSensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensorData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** RaycastSensorData.h	23 Mar 2005 20:24:47 -0000	1.4
--- RaycastSensorData.h	25 Mar 2005 02:44:19 -0000	1.5
***************
*** 79,83 ****
  		/// the ray collides with.  If this exceeds 31, bad things 
  		/// might happen since there are only 32 groups.
! 		unsigned long int contactGroup;
  
  	protected:
--- 79,83 ----
  		/// the ray collides with.  If this exceeds 31, bad things 
  		/// might happen since there are only 32 groups.
! 		unsigned int contactGroup;
  
  	protected:

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.51
retrieving revision 1.52
diff -C2 -d -r1.51 -r1.52
*** Simulator.cpp	23 Mar 2005 07:54:34 -0000	1.51
--- Simulator.cpp	25 Mar 2005 02:44:19 -0000	1.52
***************
*** 711,714 ****
--- 711,733 ----
  	}
  
+ 	bool Simulator::groupsMakeContacts(unsigned int group0, 
+ 		unsigned int group1)
+ 	{
+ 		// We only need to check for "one side" of the contact groups 
+ 		// here because the groups are always setup both ways (i.e. 
+ 		// the interaction between object 0's contact group and 
+ 		// object 1's contact group is always symmetric).
+ 
+ 		unsigned long int group1Bit = 1 << group1;
+ 		if (internal_getContactGroupFlags(group0) & group1Bit)
+ 		{
+ 			return true;
+ 		}
+ 		else
+ 		{
+ 			return false;
+ 		}
+ 	}
+ 
  	unsigned long int Simulator::internal_getContactGroupFlags(
  		unsigned int groupNum)const

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.36
retrieving revision 1.37
diff -C2 -d -r1.36 -r1.37
*** BlueprintManager.cpp	23 Mar 2005 20:24:34 -0000	1.36
--- BlueprintManager.cpp	25 Mar 2005 02:44:19 -0000	1.37
***************
*** 1340,1344 ****
  			{
  				data->contactGroup = 
! 					(unsigned long int)getAttributeReal(
  					paramNodePtr, "value");
  			}
--- 1340,1344 ----
  			{
  				data->contactGroup = 
! 					(unsigned int)getAttributeReal(
  					paramNodePtr, "value");
  			}
***************
*** 1468,1472 ****
  			{
  				data->contactGroup = 
! 					(unsigned long int)getAttributeReal(
  					contactGroupNodePtr, "value");
  			}
--- 1468,1472 ----
  			{
  				data->contactGroup = 
! 					(unsigned int)getAttributeReal(
  					contactGroupNodePtr, "value");
  			}

Index: ShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ShapeData.h,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** ShapeData.h	11 Mar 2005 05:31:56 -0000	1.7
--- ShapeData.h	25 Mar 2005 02:44:19 -0000	1.8
***************
*** 77,81 ****
  		/// The Shape's contact group.  If this exceeds 31, bad things 
  		/// might happen since there are only 32 groups.
! 		unsigned long int contactGroup;
  
  	protected:
--- 77,81 ----
  		/// The Shape's contact group.  If this exceeds 31, bad things 
  		/// might happen since there are only 32 groups.
! 		unsigned int contactGroup;
  
  	protected:

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.90
retrieving revision 1.91
diff -C2 -d -r1.90 -r1.91
*** Simulator.h	23 Mar 2005 20:24:47 -0000	1.90
--- Simulator.h	25 Mar 2005 02:44:20 -0000	1.91
***************
*** 157,160 ****
--- 157,165 ----
  			bool makeContacts);		
  
+ 		/// Returns true if the two contact groups are setup to generate 
+ 		/// contacts when they collide.
+ 		virtual bool OPAL_CALL groupsMakeContacts(unsigned int group0, 
+ 			unsigned int group1);
+ 
  		// SOLIDS
  
***************
*** 245,249 ****
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
  			const Rayr& r, real length, const Solid* attachedSolid, 
! 			unsigned long int rayContactGroup) = 0;
  
  		/// Helper function used for volume queries.
--- 250,254 ----
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
  			const Rayr& r, real length, const Solid* attachedSolid, 
! 			unsigned int rayContactGroup) = 0;
  
  		/// Helper function used for volume queries.

[Opal-commits] opal todo.txt,1.59,1.60

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28529

Modified Files:
	todo.txt 
Log Message:
made the RaycastSensor and VolumeSensor use contact groups

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.59
retrieving revision 1.60
diff -C2 -d -r1.59 -r1.60
*** todo.txt	23 Mar 2005 20:24:31 -0000	1.59
--- todo.txt	25 Mar 2005 02:44:21 -0000	1.60
***************
*** 4,12 ****
  * incline/orientation sensor: measures current orientation relative to an initial orientation; returns 3 reals
  
- * ray and volume sensors should use contact groups to limit collision checks
- 	- both use contact groups
- 		- ray has explicit group # which should be passed to the simulator raycast function
- 		- volume solid just uses its own group #
- 
  * add license notice to samples' source files
  
--- 4,7 ----

[Opal-commits] web documentation.html,1.10,1.11 todo.txt,1.6,1.7 tutorial2.html,1.3,1.4 tutorial4.html,1.2,1.3 tutorial5.html,1.2,1.3

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

Update of /cvsroot/opal/web
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23816

Modified Files:
	documentation.html todo.txt tutorial2.html tutorial4.html 
	tutorial5.html 
Log Message:
finished the Sensors tutorial

Index: documentation.html
===================================================================
RCS file: /cvsroot/opal/web/documentation.html,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** documentation.html	23 Mar 2005 07:55:39 -0000	1.10
--- documentation.html	23 Mar 2005 20:26:12 -0000	1.11
***************
*** 25,43 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>99</o:Revision>
!   <o:TotalTime>107</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-13T20:35:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>323</o:Words>
!   <o:Characters>1844</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>15</o:Lines>
    <o:Paragraphs>4</o:Paragraphs>
!   <o:CharactersWithSpaces>2163</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
   </w:WordDocument>
--- 25,46 ----
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>102</o:Revision>
!   <o:TotalTime>111</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-23T20:21:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>327</o:Words>
!   <o:Characters>1865</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>15</o:Lines>
    <o:Paragraphs>4</o:Paragraphs>
!   <o:CharactersWithSpaces>2188</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
+   <w:Zoom>90</w:Zoom>
+   <w:SpellingState>Clean</w:SpellingState>
+   <w:GrammarState>Clean</w:GrammarState>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
   </w:WordDocument>
***************
*** 71,74 ****
--- 74,80 ----
  	text-decoration:underline;
  	text-underline:single;}
+ span.SpellE
+ 	{mso-style-name:"";
+ 	mso-spl-e:yes;}
  @page Section1
  	{size:8.5in 11.0in;
***************
*** 98,102 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="56322">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
--- 104,108 ----
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="57346">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
***************
*** 177,186 ****
    color:black'>Documentation<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>If
!   you are using OPAL for the first time, it is recommended that you read
!   through the documentation in the following order: 1) overview, 2) tutorials,
!   3) API reference.<span style='mso-spacerun:yes'>  </span>The overview and
!   tutorials do not cover everything; they exist to help you learn to use OPAL quickly.<span
!   style='mso-spacerun:yes'>  </span>Consult the API reference for more details.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
--- 183,193 ----
    color:black'>Documentation<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>If you
!   are using OPAL for the first time, it is recommended that you read through
!   the documentation in the following order: 1) overview, 2) tutorials, 3) API
!   reference.<span style='mso-spacerun:yes'>  </span>The overview and tutorials
!   do not cover everything; they exist to help you learn to use OPAL
!   quickly.<span style='mso-spacerun:yes'>  </span>Consult the API reference for
!   more details.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
***************
*** 216,225 ****
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
    color:black'><a href="tutorial7.html">Tutorial 7</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: Event Handlers, Collision
!   Groups, and Trigger Volumes<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
!   color:black'><a href="tutorial8.html">Tutorial 8</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: OPAL XML Loading and Saving<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
--- 223,235 ----
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
    color:black'><a href="tutorial7.html">Tutorial 7</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: Event Handlers<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
!   color:black'><a href="tutorial7.html">Tutorial 8</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: Collision Groups<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
!   color:black'><a href="tutorial8.html">Tutorial 9</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: Blueprints and OPAL XML Files<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
***************
*** 229,235 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
!   color:black'><a href="files/ragdoll.xml">Ragdoll OPAL XML</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: file containing a ragdoll
!   blueprint.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
--- 239,245 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
!   color:black'><a href="files/ragdoll.xml"><span class=SpellE>Ragdoll</span>
!   OPAL XML</a></span><span style='font-family:"Book Antiqua";color:black'>:
!   file containing a <span class=SpellE>ragdoll</span> Blueprint.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";

Index: tutorial5.html
===================================================================
RCS file: /cvsroot/opal/web/tutorial5.html,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** tutorial5.html	23 Mar 2005 07:55:39 -0000	1.2
--- tutorial5.html	23 Mar 2005 20:26:23 -0000	1.3
***************
*** 25,43 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>145</o:Revision>
!   <o:TotalTime>269</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-14T02:20:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>269</o:Words>
!   <o:Characters>1535</o:Characters>
    <o:Company>none</o:Company>
!   <o:Lines>12</o:Lines>
!   <o:Paragraphs>3</o:Paragraphs>
!   <o:CharactersWithSpaces>1801</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
    <w:GrammarState>Clean</w:GrammarState>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
--- 25,44 ----
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>167</o:Revision>
!   <o:TotalTime>357</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-23T20:15:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>539</o:Words>
!   <o:Characters>3078</o:Characters>
    <o:Company>none</o:Company>
!   <o:Lines>25</o:Lines>
!   <o:Paragraphs>7</o:Paragraphs>
!   <o:CharactersWithSpaces>3610</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
+   <w:SpellingState>Clean</w:SpellingState>
    <w:GrammarState>Clean</w:GrammarState>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
***************
*** 80,83 ****
--- 81,87 ----
  	text-decoration:underline;
  	text-underline:single;}
+ span.SpellE
+ 	{mso-style-name:"";
+ 	mso-spl-e:yes;}
  @page Section1
  	{size:8.5in 11.0in;
***************
*** 107,111 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="59394">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
--- 111,115 ----
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="61442">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
***************
*** 140,152 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>A
!   Sensor acquires information from a simulation.<span
!   style='mso-spacerun:yes'>  </span>There are several types of Sensors,
!   including Acceleration Sensors, Raycast Sensors, Velocity Sensors, and Volume
!   Sensors.<span style='mso-spacerun:yes'>  </span>This tutorial will show how
!   to setup each type.<span style='mso-spacerun:yes'>  </span>It will also give
!   examples of how each type could be used.<span style='mso-spacerun:yes'> 
!   </span>Keep in mind that a Sensor can either be attached to a Solid or just
!   positioned somewhere in the environment.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Let’s
--- 144,156 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Sensors
!   acquire information from a simulation.<span style='mso-spacerun:yes'> 
!   </span>There are several types of Sensors, including Acceleration Sensors, <span
!   class=SpellE>Raycast</span> Sensors, and Volume Sensors.<span
!   style='mso-spacerun:yes'>  </span>This tutorial will show how to setup each
!   type.<span style='mso-spacerun:yes'>  </span>It will also give examples of
!   how each type could be used.<span style='mso-spacerun:yes'>  </span>Keep in
!   mind that a Sensor can either be attached to a Solid or just positioned
!   somewhere in the environment.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Let’s
***************
*** 164,171 ****
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Simulator*
!     sim = opal::createSimulator();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Solid*
!     solid = sim-&gt;createSolid();<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
--- 168,178 ----
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::Simulator</span></span><span style='font-family:Courier;
!     color:black'>* <span class=SpellE>sim</span> = <span class=SpellE>opal::createSimulator</span>();<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::Solid</span></span><span style='font-family:Courier;
!     color:black'>* solid = <span class=SpellE>sim</span>-&gt;<span
!     class=SpellE>createSolid</span>();<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
***************
*** 177,182 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>The
!   first Sensor we will make here is an Acceleration Sensor:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
--- 184,192 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
+   <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span
+   style='font-size:16.0pt;font-family:"Book Antiqua";color:black'>Acceleration
+   Sensor<o:p></o:p></span></b></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>The
!   first Sensor we will use here is an Acceleration Sensor:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
***************
*** 190,205 ****
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::AccelerationSensorData
!     data;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.solid
!     = solid;<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.strength
!     = 10.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.exponent
!     = 2.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::AttractorMotor*
!     attractor = sim-&gt;createAttractorMotor();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>attractor-&gt;init(data);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
--- 200,228 ----
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::AccelerationSensorData</span></span><span
!     style='font-family:Courier;color:black'> data;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>data.solid</span></span><span style='font-family:Courier;
!     color:black'> = solid;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>data.transform.translate</span></span><span style='font-family:
!     Courier;color:black'>(4, 0, -1);<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::AccelerationSensor</span></span><span style='font-family:
!     Courier;color:black'>* <span class=SpellE>accelSensor</span> = <span
!     class=SpellE>sim</span>-&gt;<span class=SpellE>createAccelerationSensor</span>();<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>accelSensor</span></span><span style='font-family:Courier;
!     color:black'>-&gt;init(data);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>...<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Vec3r
!     <span class=SpellE>accel</span> = <span class=SpellE>accelSensor</span>-&gt;</span><span
!     class=SpellE><span style='font-size:10.0pt;font-family:"Courier New";
!     color:windowtext'>getGlobalLinearAccel</span></span><span style='font-size:
!     10.0pt;font-family:"Courier New";color:windowtext'>();</span><span
!     style='font-family:Courier;color:black'><o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
***************
*** 216,226 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
-   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>This
-   Attractor Motor will constantly apply forces to the two Solids to make them
-   gravitate toward one another.<span style='mso-spacerun:yes'>  </span>This
-   makes it easy to simulate planetary gravitation or magnetic attraction.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Next,
!   let’s make a Geared Motor:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
--- 239,254 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>The
!   Sensor is automatically attached to the Solid if its Solid pointer is
!   set.<span style='mso-spacerun:yes'>  </span>It calculates the linear and
!   angular acceleration of the attached Solid at the point of the Sensor (which
!   can be offset from the Solid by using the Sensor’s transform).<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span
!   style='font-size:16.0pt;font-family:"Book Antiqua";color:black'>Raycast
!   Sensor<o:p></o:p></span></b></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>The
!   next Sensor is the <span class=SpellE>Raycast</span> Sensor:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
***************
*** 234,251 ****
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::GearedMotorData
!     data;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.joint
!     = joint;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.jointAxisNum
!     = 0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.maxTorque
!     = 10.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.maxVelocity
!     = 2000.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::
!     GearedMotor* engine = sim-&gt;createGearedMotor();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>engine-&gt;init(data);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>engine-&gt;setThrottle(0.5);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
--- 262,304 ----
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::RaycastSensorData</span></span><span style='font-family:
!     Courier;color:black'> data;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>data.solid</span></span><span style='font-family:Courier;
!     color:black'> = solid;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>data.ray.setOrigin</span></span><span style='font-family:Courier;
!     color:black'>(opal::Point3r(0, 0, 0));<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>data.ray.setDir</span></span><span style='font-family:Courier;
!     color:black'>(opal::Vec3r(0, 0, -1));<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>data.contactGroup</span></span><span style='font-family:Courier;
!     color:black'> = 2;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::RaycastSensor</span></span><span style='font-family:
!     Courier;color:black'>* <span class=SpellE>raySensor</span> = <span
!     class=SpellE>sim</span>-&gt;<span class=SpellE>createRaycastSensor</span>();<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>raySensor</span></span><span style='font-family:Courier;
!     color:black'>-&gt;init(data);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>...<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::RaycastResult</span></span><span style='font-family:
!     Courier;color:black'> result = <span class=SpellE>raySensor</span>-&gt;</span><span
!     class=SpellE><span style='font-family:Courier;mso-bidi-font-family:"Courier New";
!     color:windowtext'>fireRay</span></span><span style='font-family:Courier;
!     mso-bidi-font-family:"Courier New";color:windowtext'>();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'>opal::Point3r <span class=SpellE>hitPoint</span>
!     = <span class=SpellE>result.intersection</span>;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     mso-bidi-font-family:"Courier New";color:windowtext'>opal::Solid</span></span><span
!     style='font-family:Courier;mso-bidi-font-family:"Courier New";color:windowtext'>*
!     <span class=SpellE>hitSolid</span> = <span class=SpellE>result.solid</span>;</span><span
!     style='font-family:Courier;color:black'><o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
***************
*** 263,273 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>The Geared
!   Motor’s throttle should now be updated as desired.<span
!   style='mso-spacerun:yes'>  </span>The Motor will have more torque available
!   when its angular velocity is low.<span style='mso-spacerun:yes'>  </span>As
!   it approaches its max velocity, it will apply less and less torque.<span
!   style='mso-spacerun:yes'>  </span>This Motor is great for simulating
!   automobile engines.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    </td>
--- 316,457 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span class=SpellE><span style='font-family:"Book Antiqua";
!   color:black'>Raycast</span></span><span style='font-family:"Book Antiqua";
!   color:black'> Sensors must be fired manually – they do not update anything
!   every time step.<span style='mso-spacerun:yes'>  </span>When they are fired,
!   they cast a ray into the environment and return data describing the closest point
!   of intersection (if any) from the ray’s origin.<span
!   style='mso-spacerun:yes'>  </span>The <span class=SpellE>Raycast</span>
!   Sensor uses a contact group to limit which objects it collides with.<span
!   style='mso-spacerun:yes'>  </span>(See other tutorials for more information
!   on contact groups.)<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><span
!   style='mso-spacerun:yes'> </span><o:p></o:p></span></p>
!   <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span
!   style='font-size:16.0pt;font-family:"Book Antiqua";color:black'>Volume Sensor<o:p></o:p></span></b></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>The Volume
!   Sensor is similar to the <span class=SpellE>Raycast</span> Sensor:<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
!    style='background:silver;border-collapse:collapse;border:none;mso-border-alt:
!    solid windowtext .25pt;mso-table-lspace:9.0pt;margin-left:.1in;mso-table-rspace:
!    9.0pt;margin-right:.1in;mso-table-anchor-vertical:paragraph;mso-table-anchor-horizontal:
!    page;mso-table-left:7.35pt;mso-table-top:12.7pt;mso-padding-alt:0in 5.4pt 0in 5.4pt'>
!    <tr style='mso-yfti-irow:0;mso-yfti-lastrow:yes;height:22.95pt'>
!     <td width=974 valign=top style='width:584.6pt;border:solid windowtext 1.0pt;
!     mso-border-alt:solid windowtext .25pt;padding:0in 5.4pt 0in 5.4pt;
!     height:22.95pt'>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::VolumeSensorData</span></span><span style='font-family:
!     Courier;color:black'> data;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>data.contactGroup</span></span><span style='font-family:Courier;
!     color:black'> = 5;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal:: <span
!     class=SpellE>VolumeSensor</span>* <span class=SpellE>volSensor</span> = <span
!     class=SpellE>sim</span>-&gt;<span class=SpellE>createVolumeSensor</span>();<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>volSensor</span></span><span style='font-family:Courier;
!     color:black'>-&gt;init(data);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>// Define
!     a “volume” Solid.<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::Solid</span></span><span style='font-family:Courier;
!     color:black'>* volume = <span class=SpellE>sim</span>-&gt;<span
!     class=SpellE>createSolid</span>();<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::SphereShapeData</span></span><span style='font-family:
!     Courier;color:black'> <span class=SpellE>sphereData</span>;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>sphereData.radius</span></span><span style='font-family:Courier;
!     color:black'> = 5;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>volume-&gt;<span
!     class=SpellE>addShape</span>(<span class=SpellE>sphereData</span>);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>...<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::VolumeQueryResult</span></span><span style='font-family:
!     Courier;color:black'> result = <span class=SpellE>volSensor</span>-&gt;</span><span
!     class=SpellE><span style='font-family:Courier;mso-bidi-font-family:"Courier New";
!     color:windowtext'>queryVolume</span></span><span style='font-family:Courier;
!     mso-bidi-font-family:"Courier New";color:windowtext'>(volume);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'>for (<span class=SpellE>int</span> <span
!     class=SpellE>i</span>=0; <span class=SpellE>i</span>&lt;<span class=SpellE>result.getNumSolids</span>();
!     ++<span class=SpellE>i</span>)<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'>{<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'><span style='mso-spacerun:yes'>    </span><span
!     class=SpellE>opal::Solid</span>* s = <span class=SpellE>result.getSolid</span>(<span
!     class=SpellE>i</span>);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'><span style='mso-spacerun:yes'>    </span><span
!     class=SpellE>opal::Force</span> f;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'><span style='mso-spacerun:yes'>    </span><span
!     class=SpellE>f.type</span> = <span class=SpellE>opal::GLOBAL_FORCE</span>;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'><span style='mso-spacerun:yes'>    </span><span
!     class=SpellE>f.duration</span> = (<span class=SpellE>opal::real</span>)0.05;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'><span style='mso-spacerun:yes'>    </span><span
!     class=SpellE>f.vec</span> = s-&gt;<span class=SpellE>getPosition</span>() –
!     volume-&gt;<span class=SpellE>getPosition</span>();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'><span style='mso-spacerun:yes'>    </span><span
!     class=SpellE>f.vec</span> *= 100;<span style='mso-spacerun:yes'>    </span><o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'><span style='mso-spacerun:yes'>   
!     </span>s-&gt;<span class=SpellE>addForce</span>(f);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;mso-bidi-font-family:
!     "Courier New";color:windowtext'>}<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!     </td>
!    </tr>
!   </table>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Volume
!   Sensors take a “volume” Solid and query the environment for Solids that
!   collide with the volume Solid.<span style='mso-spacerun:yes'>  </span>The
!   resulting data structure contains a list of pointers to those Solids.<span
!   style='mso-spacerun:yes'>  </span>Like <span class=SpellE>Raycast</span>
!   Sensors, they can utilize contact groups to limit the set of Solids that are
!   collided with the volume Solid; simply set the contact group of the volume
!   Solid.<span style='mso-spacerun:yes'>  </span>They also are not updated every
!   time step; they must be queried manually.<span style='mso-spacerun:yes'> 
!   </span>The example above shows how to simulate an explosion: it finds all the
!   Solids within a 5 unit radius from the volume’s center and applies an outward
!   force on each object scaled linearly by its distance from the center.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    </td>

Index: tutorial2.html
===================================================================
RCS file: /cvsroot/opal/web/tutorial2.html,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** tutorial2.html	4 Mar 2005 03:45:32 -0000	1.3
--- tutorial2.html	23 Mar 2005 20:26:23 -0000	1.4
***************
*** 25,44 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>124</o:Revision>
!   <o:TotalTime>211</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-04T01:29:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>420</o:Words>
!   <o:Characters>2394</o:Characters>
    <o:Company>none</o:Company>
!   <o:Lines>19</o:Lines>
    <o:Paragraphs>5</o:Paragraphs>
!   <o:CharactersWithSpaces>2809</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
!   <w:Zoom>90</w:Zoom>
    <w:GrammarState>Clean</w:GrammarState>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
--- 25,44 ----
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>126</o:Revision>
!   <o:TotalTime>212</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-23T19:19:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>424</o:Words>
!   <o:Characters>2418</o:Characters>
    <o:Company>none</o:Company>
!   <o:Lines>20</o:Lines>
    <o:Paragraphs>5</o:Paragraphs>
!   <o:CharactersWithSpaces>2837</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
!   <w:SpellingState>Clean</w:SpellingState>
    <w:GrammarState>Clean</w:GrammarState>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
***************
*** 81,84 ****
--- 81,90 ----
  	text-decoration:underline;
  	text-underline:single;}
+ span.SpellE
+ 	{mso-style-name:"";
+ 	mso-spl-e:yes;}
+ span.GramE
+ 	{mso-style-name:"";
+ 	mso-gram-e:yes;}
  @page Section1
  	{size:8.5in 11.0in;
***************
*** 108,112 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="56322">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
--- 114,118 ----
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="58370">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
***************
*** 141,144 ****
--- 147,152 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
+   <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span
+   style='font-size:16.0pt;font-family:"Book Antiqua";color:black'>Solids<o:p></o:p></span></b></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>A
    Solid is analogous to a physical object in the real world.&nbsp; It can be
***************
*** 146,151 ****
    mass, and is physically simulated).&nbsp; The available Shapes are: boxes,
    spheres, capsule, planes, rays, and triangular meshes.<span
!   style='mso-spacerun:yes'>  </span>A Solid contains no moving parts.&nbsp; Complex
!   objects with moving parts can be built from multiple Solids with Joints.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Create
--- 154,160 ----
    mass, and is physically simulated).&nbsp; The available Shapes are: boxes,
    spheres, capsule, planes, rays, and triangular meshes.<span
!   style='mso-spacerun:yes'>  </span>A Solid contains no moving parts.&nbsp;
!   Complex objects with moving parts can be built from multiple Solids with
!   Joints.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Create
***************
*** 162,169 ****
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Simulator*
!     sim = opal::createSimulator();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Solid*
!     solid = sim-&gt;createSolid();<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
--- 171,181 ----
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::Simulator</span></span><span style='font-family:Courier;
!     color:black'>* <span class=SpellE>sim</span> = <span class=SpellE>opal::createSimulator</span>();<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::Solid</span></span><span style='font-family:Courier;
!     color:black'>* solid = <span class=SpellE>sim</span>-&gt;<span
!     class=SpellE>createSolid</span>();<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
***************
*** 189,203 ****
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;setLinearDamping(0.2);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
      <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Matrix44r
      transform;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>transform.translate(1.0,
!     0.0, 5.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>transform.rotate(45.0,
!     0.0, 1.0, 0.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;setTransform(transform);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;setStatic(true);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
--- 201,220 ----
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;<span
!     class=SpellE>setLinearDamping</span>(0.2);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
      <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Matrix44r
      transform;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>transform.translate</span></span><span style='font-family:
!     Courier;color:black'>(1.0, 0.0, 5.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>transform.rotate</span></span><span style='font-family:Courier;
!     color:black'>(45.0, 0.0, 1.0, 0.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;<span
!     class=SpellE>setTransform</span>(transform);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;<span
!     class=SpellE>setStatic</span>(true);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
***************
*** 219,227 ****
    but still takes part in collision detection.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>An
!   important part of creating a Solid is giving it Shapes.<span
!   style='mso-spacerun:yes'>  </span>A Solid can contain any number of
!   Shapes.<span style='mso-spacerun:yes'>  </span>To add box and sphere Shapes
!   to the Solid, do the following:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
--- 236,241 ----
    but still takes part in collision detection.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>You
!   can apply forces and torques to a Solid like this:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
***************
*** 236,251 ****
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::BoxShapeData
!     boxData;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>boxData.dimensions.dimensions.set(1.0,
!     1.0, 2.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;addShape(boxData);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::SphereShapeData
!     sphereData;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>sphereData.radius
!     = 2.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>sphereData.offset.translate(4.0,
!     0.0, 0.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;addShape(sphereData);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
--- 250,267 ----
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::Force</span></span><span style='font-family:Courier;
!     color:black'> f;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>f.type</span></span><span style='font-family:Courier;
!     color:black'> = <span class=SpellE>opal::GLOBAL_FORCE</span>;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>f.vec</span></span><span style='font-family:Courier;
!     color:black'> = opal::Vec3r(20.0, 20.0, 40.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>f.duration</span></span><span style='font-family:Courier;
!     color:black'> = 0.1;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;<span
!     class=SpellE>addForce</span>(f);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
***************
*** 260,275 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Notice
!   how the sphere’s offset was changed.<span style='mso-spacerun:yes'> 
!   </span>The offset positions the Shape relative to the Solid’s transform.<span
!   style='mso-spacerun:yes'>  </span>Shapes are not offset at all by
!   default.<span style='mso-spacerun:yes'>  </span>Here, we have moved the
!   Sphere away from the Solid’s origin.<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Each
!   Shape can have different Material properties.<span style='mso-spacerun:yes'> 
!   </span>Now for a demonstration of using a custom Material:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
--- 276,284 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
+   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>This
+   force will be applied to the Solid until its duration expires.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>When
!   you are done with a Solid, tell the Simulator to destroy it:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
***************
*** 284,300 ****
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::BoxShapeData
!     boxData;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>boxData.dimensions.dimensions.set(1.0,
!     1.0, 2.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>boxData.material.hardness
!     = 0.2;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>boxData.material.bounciness
!     = 0.6;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>boxData.material.friction
!     = 1.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>boxData.material.density
!     = 0.4;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;addShape(boxData);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
--- 293,299 ----
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>sim</span></span><span style='font-family:Courier;color:black'>-&gt;<span
!     class=SpellE>destroySolid</span>(solid);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
***************
*** 305,321 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Note
!   that Material density affects a Solid’s mass (calculated from each Shape’s
!   density and volume).<span style='mso-spacerun:yes'>  </span>The rest of the
!   Material properties are described in the API reference.<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>You
!   can apply forces and torques to a Solid like this:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
--- 304,318 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
+   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>If
+   other <span class=GramE>things depends</span> on this Solid, like Joints,
+   Motors, or Sensors, they will automatically be disabled.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span
!   style='font-size:16.0pt;font-family:"Book Antiqua";color:black'>Shapes<o:p></o:p></span></b></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>An
!   important part of creating a Solid is giving it Shapes.<span
!   style='mso-spacerun:yes'>  </span>A Solid can contain any number of Shapes.<span
!   style='mso-spacerun:yes'>  </span>To add box and sphere Shapes to the Solid,
!   do the following:<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
***************
*** 330,342 ****
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Force
!     f;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>f.type =
!     opal::GLOBAL_FORCE;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>f.vec =
!     opal::Vec3r(20.0, 20.0, 40.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>f.duration
!     = 0.1;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;addForce(f);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
--- 327,349 ----
      height:22.95pt'>
      <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::BoxShapeData</span></span><span style='font-family:Courier;
!     color:black'> <span class=SpellE>boxData</span>;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>boxData.dimensions.dimensions.set</span></span><span
!     style='font-family:Courier;color:black'>(1.0, 1.0, 2.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;<span
!     class=SpellE>addShape</span>(<span class=SpellE>boxData</span>);<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>opal::SphereShapeData</span></span><span style='font-family:
!     Courier;color:black'> <span class=SpellE>sphereData</span>;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>sphereData.radius</span></span><span style='font-family:Courier;
!     color:black'> = 2.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span class=SpellE><span style='font-family:Courier;
!     color:black'>sphereData.offset.translate</span></span><span
!     style='font-family:Courier;color:black'>(4.0, 0.0, 0.0);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>solid-&gt;<span
!     class=SpellE>addShape</span>(<span class=SpellE>sphereData</span>);<o:p></o:p></span></p>
      <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
      </td>
***************
*** 351,359 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
-   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>This
-   force will be applied to the Solid until its duration expires.<o:p></o:p></span></p>
    <p class=MsoNormal><span style='...
 
[truncated message content]

[Opal-commits] web/files example.xml,1.7,1.8

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

Update of /cvsroot/opal/web/files
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23816/files

Modified Files:
	example.xml 
Log Message:
finished the Sensors tutorial

Index: example.xml
===================================================================
RCS file: /cvsroot/opal/web/files/example.xml,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** example.xml	23 Mar 2005 07:55:39 -0000	1.7
--- example.xml	23 Mar 2005 20:26:24 -0000	1.8
***************
*** 16,19 ****
--- 16,20 ----
  		</Offset>
  		<Shape type="box">
+ 			<ContactGroup value="2"/>
  			<Dimensions x="0.4" y="0.4" z="2.0"/>
  			<Material hardness="0.5" friction="0.5" bounciness="0.5" density="0.5"/>
***************
*** 201,204 ****
--- 202,206 ----
  		<Type value="raycast"/>
  		<References solid="object1"/>
+ 		<ContactGroup value="3"/>
  		<Offset>
  			<Transform type="translate" x="1.0" y="2.0" z="5.0"/>

[Opal-commits] opal/src AccelerationSensor.cpp,1.3,1.4 AccelerationSensor.h,1.3,1.4 BlueprintManager.cpp,1.35,1.36 RaycastSensor.cpp,1.7,1.8 RaycastSensorData.h,1.3,1.4 SensorData.h,1.8,1.9 Simulator.h,1.89,1.90

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22833/src

Modified Files:
	AccelerationSensor.cpp AccelerationSensor.h 
	BlueprintManager.cpp RaycastSensor.cpp RaycastSensorData.h 
	SensorData.h Simulator.h 
Log Message:
a bunch of minor updates

Index: AccelerationSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AccelerationSensor.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** AccelerationSensor.h	23 Mar 2005 07:54:33 -0000	1.3
--- AccelerationSensor.h	23 Mar 2005 20:24:33 -0000	1.4
***************
*** 99,113 ****
  		Simulator* mSim;
  
! 		/// Stored copy of the current global linear acceleration.
! 		Vec3r mGlobalLinearAccel;
  
! 		/// Stored copy of the current global angular acceleration.
! 		Vec3r mGlobalAngularAccel;
  
! 		/// Stored copy of the current local linear acceleration.
! 		Vec3r mLocalLinearAccel;
  
! 		/// Stored copy of the current local angular acceleration.
! 		Vec3r mLocalAngularAccel;
  
  		/// Stored copy of the previous step's velocity data; used for 
--- 99,117 ----
  		Simulator* mSim;
  
! 		/// Stored copy of the current step's velocity data; used for 
! 		/// acceleration calculations.
! 		Vec3r mCurrentGlobalLinearVel;
  
! 		/// Stored copy of the current step's velocity data; used for 
! 		/// acceleration calculations.
! 		Vec3r mCurrentGlobalAngularVel;
  
! 		/// Stored copy of the current step's velocity data; used for 
! 		/// acceleration calculations.
! 		Vec3r mCurrentLocalLinearVel;
  
! 		/// Stored copy of the current step's velocity data; used for 
! 		/// acceleration calculations.
! 		Vec3r mCurrentLocalAngularVel;
  
  		/// Stored copy of the previous step's velocity data; used for 

Index: AccelerationSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/AccelerationSensor.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** AccelerationSensor.cpp	23 Mar 2005 07:54:33 -0000	1.3
--- AccelerationSensor.cpp	23 Mar 2005 20:24:32 -0000	1.4
***************
*** 36,43 ****
  		mSim = s;
  
! 		// "mGlobalLinearAccel" is initialized in its own constructor.
! 		// "mGlobalAngularAccel" is initialized in its own constructor.
! 		// "mLocalLinearAccel" is initialized in its own constructor.
! 		// "mLocalAngularAccel" is initialized in its own constructor.
  
  		// "mPrevGlobalLinearVel" is initialized in its own constructor.
--- 36,43 ----
  		mSim = s;
  
! 		// "mCurrentGlobalLinearVel" is initialized in its own constructor.
! 		// "mCurrentGlobalAngularVel" is initialized in its own constructor.
! 		// "mCurrentLocalLinearVel" is initialized in its own constructor.
! 		// "mCurrentLocalAngularVel" is initialized in its own constructor.
  
  		// "mPrevGlobalLinearVel" is initialized in its own constructor.
***************
*** 69,73 ****
  		}
  
! 		return mGlobalLinearAccel;
  	}
  
--- 69,74 ----
  		}
  
! 		return (mCurrentGlobalLinearVel - mPrevGlobalLinearVel) / 
! 			mSim->getStepSize();
  	}
  
***************
*** 79,83 ****
  		}
  
! 		return mGlobalAngularAccel;
  	}
  
--- 80,85 ----
  		}
  
! 		return (mCurrentGlobalAngularVel - mPrevGlobalAngularVel) / 
! 			mSim->getStepSize();
  	}
  
***************
*** 89,93 ****
  		}
  
! 		return mLocalLinearAccel;
  	}
  
--- 91,96 ----
  		}
  
! 		return (mCurrentLocalLinearVel - mPrevLocalLinearVel) / 
! 			mSim->getStepSize();
  	}
  
***************
*** 99,103 ****
  		}
  
! 		return mLocalAngularAccel;
  	}
  
--- 102,107 ----
  		}
  
! 		return (mCurrentLocalAngularVel - mPrevLocalAngularVel) / 
! 			mSim->getStepSize();
  	}
  
***************
*** 146,175 ****
  		if (mData.enabled)
  		{
! 			real dt = mSim->getStepSize();
! 
! 			Vec3r currentGlobalLinearVel = 
  				mData.solid->getGlobalLinearVelAtLocalPos(
  				mData.transform.getPosition());
! 			Vec3r currentGlobalAngularVel = 
  				mData.solid->getGlobalAngularVel();
! 			Vec3r currentLocalLinearVel = 
  				mData.solid->getLocalLinearVelAtLocalPos(
  				mData.transform.getPosition());
! 			Vec3r currentLocalAngularVel = 
  				mData.solid->getLocalAngularVel();
  
! 			mGlobalLinearAccel = (currentGlobalLinearVel - 
! 				mPrevGlobalLinearVel) / dt;
! 			mGlobalAngularAccel = (currentGlobalAngularVel - 
! 				mPrevGlobalAngularVel) / dt;
! 			mLocalLinearAccel = (currentLocalLinearVel - 
! 				mPrevLocalLinearVel) / dt;
! 			mLocalAngularAccel = (currentLocalAngularVel - 
! 				mPrevLocalAngularVel) / dt;
! 
! 			mPrevGlobalLinearVel = currentGlobalLinearVel;
! 			mPrevGlobalAngularVel = currentGlobalAngularVel;
! 			mPrevLocalLinearVel = currentLocalLinearVel;
! 			mPrevLocalAngularVel = currentLocalAngularVel;
  		}
  	}
--- 150,168 ----
  		if (mData.enabled)
  		{
! 			mCurrentGlobalLinearVel = 
  				mData.solid->getGlobalLinearVelAtLocalPos(
  				mData.transform.getPosition());
! 			mCurrentGlobalAngularVel = 
  				mData.solid->getGlobalAngularVel();
! 			mCurrentLocalLinearVel = 
  				mData.solid->getLocalLinearVelAtLocalPos(
  				mData.transform.getPosition());
! 			mCurrentLocalAngularVel = 
  				mData.solid->getLocalAngularVel();
  
! 			mPrevGlobalLinearVel = mCurrentGlobalLinearVel;
! 			mPrevGlobalAngularVel = mCurrentGlobalAngularVel;
! 			mPrevLocalLinearVel = mCurrentLocalLinearVel;
! 			mPrevLocalAngularVel = mCurrentLocalAngularVel;
  		}
  	}

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.35
retrieving revision 1.36
diff -C2 -d -r1.35 -r1.36
*** BlueprintManager.cpp	23 Mar 2005 07:54:33 -0000	1.35
--- BlueprintManager.cpp	23 Mar 2005 20:24:34 -0000	1.36
***************
*** 1333,1336 ****
--- 1333,1347 ----
  				data->ray.setDir(dir);
  			}
+ 
+ 			// Load ContactGroup element if it exists.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("ContactGroup");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				data->contactGroup = 
+ 					(unsigned long int)getAttributeReal(
+ 					paramNodePtr, "value");
+ 			}
+ 
  #endif
  			return data;
***************
*** 1428,1432 ****
  			}
  
! 			// Load Offset element.
  			TiXmlNode* offsetNodePtr = const_cast<TiXmlNode*>
  				(nodePtr)->FirstChild("Offset");
--- 1439,1443 ----
  			}
  
! 			// Load Offset element if it exists.
  			TiXmlNode* offsetNodePtr = const_cast<TiXmlNode*>
  				(nodePtr)->FirstChild("Offset");
***************
*** 1436,1440 ****
  			}
  
! 			// Load Material element.
  			TiXmlNode* materialNodePtr = const_cast<TiXmlNode*>
  				(nodePtr)->FirstChild("Material");
--- 1447,1451 ----
  			}
  
! 			// Load Material element if it exists.
  			TiXmlNode* materialNodePtr = const_cast<TiXmlNode*>
  				(nodePtr)->FirstChild("Material");
***************
*** 1451,1454 ****
--- 1462,1475 ----
  			}
  
+ 			// Load ContactGroup element if it exists.
+ 			TiXmlNode* contactGroupNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("ContactGroup");
+ 			if (NULL != contactGroupNodePtr)
+ 			{
+ 				data->contactGroup = 
+ 					(unsigned long int)getAttributeReal(
+ 					contactGroupNodePtr, "value");
+ 			}
+ 
  #endif
  			return data;

Index: SensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SensorData.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** SensorData.h	23 Mar 2005 07:54:34 -0000	1.8
--- SensorData.h	23 Mar 2005 20:24:47 -0000	1.9
***************
*** 69,73 ****
  		}
  
! 		/// True if the Motor is enabled.
  		bool enabled;
  
--- 69,73 ----
  		}
  
! 		/// True if the Sensor is enabled.
  		bool enabled;
  

Index: RaycastSensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensorData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** RaycastSensorData.h	13 Mar 2005 23:07:10 -0000	1.3
--- RaycastSensorData.h	23 Mar 2005 20:24:47 -0000	1.4
***************
*** 43,46 ****
--- 43,47 ----
  			mType = RAYCAST_SENSOR;
  			// "ray" is initialized in its own constructor.
+ 			contactGroup = defaults::shape::contactGroup;
  		}
  
***************
*** 75,78 ****
--- 76,84 ----
  		Rayr ray;
  
+ 		/// The ray's contact group.  This can be used to limit which objects 
+ 		/// the ray collides with.  If this exceeds 31, bad things 
+ 		/// might happen since there are only 32 groups.
+ 		unsigned long int contactGroup;
+ 
  	protected:
  

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** RaycastSensor.cpp	23 Mar 2005 04:04:30 -0000	1.7
--- RaycastSensor.cpp	23 Mar 2005 20:24:36 -0000	1.8
***************
*** 75,79 ****
  		// that Solid.
  
! 		return mSim->internal_fireRay(ray, length, mData.solid);
  	}
  
--- 75,80 ----
  		// that Solid.
  
! 		return mSim->internal_fireRay(ray, length, mData.solid, 
! 			mData.contactGroup);
  	}
  

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.89
retrieving revision 1.90
diff -C2 -d -r1.89 -r1.90
*** Simulator.h	23 Mar 2005 07:54:34 -0000	1.89
--- Simulator.h	23 Mar 2005 20:24:47 -0000	1.90
***************
*** 241,247 ****
  
  		/// Helper function used for ray casting.  Immediately fires a ray 
! 		/// into the scene and returns intersections results.
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid) = 0;
  
  		/// Helper function used for volume queries.
--- 241,249 ----
  
  		/// Helper function used for ray casting.  Immediately fires a ray 
! 		/// into the scene and returns intersections results.  Uses the 
! 		/// ray's contact group parameter to limit collision checks.
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid, 
! 			unsigned long int rayContactGroup) = 0;
  
  		/// Helper function used for volume queries.

[Opal-commits] opal changelog.txt,1.12,1.13 todo.txt,1.58,1.59

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22833

Modified Files:
	changelog.txt todo.txt 
Log Message:
a bunch of minor updates

Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** changelog.txt	23 Mar 2005 07:54:33 -0000	1.12
--- changelog.txt	23 Mar 2005 20:24:30 -0000	1.13
***************
*** 3,7 ****
  ------------------------------------------
  	* New additional object creation system: all objects can be created from/saved to a data object
! 	* EventHandler was changed to a base class for CollisionEventHandler and JointBreakEventHandler
  	* Collision events now get queued up during collision detection and handled at the end of each time step
  	* Added AccelerationSensor, RaycastSensor, & VolumeSensor
--- 3,8 ----
  ------------------------------------------
  	* New additional object creation system: all objects can be created from/saved to a data object
! 	* EventHandler was changed to a base class
! 	* Added CollisionEventHandler, JointBreakEventHandler, and PostStepEventHandler
  	* Collision events now get queued up during collision detection and handled at the end of each time step
  	* Added AccelerationSensor, RaycastSensor, & VolumeSensor

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.58
retrieving revision 1.59
diff -C2 -d -r1.58 -r1.59
*** todo.txt	23 Mar 2005 07:54:33 -0000	1.58
--- todo.txt	23 Mar 2005 20:24:31 -0000	1.59
***************
*** 2,10 ****
  =================
  
- * make accel sensor only update data upon request; update() just stores the previous vel data
- 
  * incline/orientation sensor: measures current orientation relative to an initial orientation; returns 3 reals
  
! * ray and volume sensors should use contact groups?  ray needs a group parameter; volume sensor just uses the volume solid's group
  
  * add license notice to samples' source files
--- 2,11 ----
  =================
  
  * incline/orientation sensor: measures current orientation relative to an initial orientation; returns 3 reals
  
! * ray and volume sensors should use contact groups to limit collision checks
! 	- both use contact groups
! 		- ray has explicit group # which should be passed to the simulator raycast function
! 		- volume solid just uses its own group #
  
  * add license notice to samples' source files
***************
*** 23,29 ****
  	- one solution: just use a servo in desired vel mode, set desired vel to 0
  
- * BeginStepEventHandler
- 	- called at the start of a time step
- 
  * dynamic number of contact joints?
  	- depends on types of objects
--- 24,27 ----

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.92,1.93 ODESimulator.h,1.66,1.67

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22833/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
a bunch of minor updates

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.66
retrieving revision 1.67
diff -C2 -d -r1.66 -r1.67
*** ODESimulator.h	23 Mar 2005 07:54:34 -0000	1.66
--- ODESimulator.h	23 Mar 2005 20:24:54 -0000	1.67
***************
*** 98,102 ****
  
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid);
  
  		/// Helper function used for ray casting.  
--- 98,103 ----
  
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid, 
! 			unsigned long int rayContactGroup);
  
  		/// Helper function used for ray casting.  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.92
retrieving revision 1.93
diff -C2 -d -r1.92 -r1.93
*** ODESimulator.cpp	21 Mar 2005 04:29:05 -0000	1.92
--- ODESimulator.cpp	23 Mar 2005 20:24:48 -0000	1.93
***************
*** 874,878 ****
  
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
! 		real length, const Solid* attachedSolid)
  	{
  		Point3r origin = r.getOrigin();
--- 874,879 ----
  
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
! 		real length, const Solid* attachedSolid, 
! 		unsigned long int rayContactGroup)
  	{
  		Point3r origin = r.getOrigin();
***************
*** 885,888 ****
--- 886,891 ----
  		mSensorSolid = attachedSolid;
  
+ 		// TODO: use rayContactGroup to limit collision check
+ 
  		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
  		dGeomRaySet(rayGeomID, origin[0], origin[1], origin[2], dir[0], 
***************
*** 908,911 ****
--- 911,916 ----
  			((ODESolid*)volume)->internal_getGeomDataList();
  
+ 		// TODO: use the volume's contact group to limit collision check
+ 
  		// Check for collisions with each of the volume Solid's geoms.  
  		// This will fill up mVolumeQueryResult with those Solids that 

[Opal-commits] web/files example.xml,1.6,1.7 ragdoll.xml,1.1,1.2

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

Update of /cvsroot/opal/web/files
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30049/files

Modified Files:
	example.xml ragdoll.xml 
Log Message:
a bunch of little things

Index: example.xml
===================================================================
RCS file: /cvsroot/opal/web/files/example.xml,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** example.xml	8 Mar 2005 22:37:37 -0000	1.6
--- example.xml	23 Mar 2005 07:55:39 -0000	1.7
***************
*** 116,119 ****
--- 116,120 ----
  		<Type value="attractor"/>
  		<References solid0="object1" solid1="object2"/>
+ 		<Enabled value="true"/>
  		<Strength value="1.0"/>
  		<Exponent value="1.0"/>
***************
*** 152,155 ****
--- 153,157 ----
  		<References solid="object1"/>
  		<Mode value="linearAndAngular"/>
+ 		<AttachOffset x="1.0" y="0.0" z="-4.0"/>
  		<DesiredPos x="10.0" y="-15.0" z="20.0"/>
  		<DesiredForward x="0.0" y="0.0" z="-1.0"/>
***************
*** 188,190 ****
--- 190,215 ----
  		<ForcePos x="1.0" y="0.0" z="0.0"/>
  	</Motor>
+ 	<Sensor>
+ 		<Name value="accelerometer1"/>
+ 		<Type value="acceleration"/>
+ 		<Offset>
+ 			<Transform type="translate" x="0.0" y="2.0" z="0.0"/>
+ 		</Offset>
+ 	</Sensor>
+ 	<Sensor>
+ 		<Name value="raySensor1"/>
+ 		<Type value="raycast"/>
+ 		<References solid="object1"/>
+ 		<Offset>
+ 			<Transform type="translate" x="1.0" y="2.0" z="5.0"/>
+ 		</Offset>
+ 		<Ray originx="0.0" originy="0.0" originz="0.0" dirx="0.0" diry="0.0" dirz="-1.0"/>
+ 	</Sensor>
+ 	<Sensor>
+ 		<Name value="volumeSensor1"/>
+ 		<Type value="volume"/>
+ 		<Offset>
+ 			<Transform type="translate" x="10.0" y="-10.0" z="-15.0"/>
+ 		</Offset>
+ 	</Sensor>
  </OpalBlueprint>

Index: ragdoll.xml
===================================================================
RCS file: /cvsroot/opal/web/files/ragdoll.xml,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** ragdoll.xml	1 Mar 2005 05:06:35 -0000	1.1
--- ragdoll.xml	23 Mar 2005 07:55:39 -0000	1.2
***************
*** 37,40 ****
--- 37,42 ----
  		<Name value="left shoulder"/>
  		<Type value="universal"/>
+ 		<BreakMode value="threshold"/>
+ 		<BreakThresh value="0.5"/>
  		<References solid0="upper left arm" solid1="upper torso"/>
  		<Anchor x="0.16" y="0.9" z="0.0"/>
***************
*** 112,115 ****
--- 114,119 ----
  		<Name value="right shoulder"/>
  		<Type value="universal"/>
+ 		<BreakMode value="threshold"/>
+ 		<BreakThresh value="0.5"/>
  		<References solid0="upper right arm" solid1="upper torso"/>
  		<Anchor x="-0.16" y="0.9" z="0.0"/>
***************
*** 239,242 ****
--- 243,248 ----
  		<Name value="left hip"/>
  		<Type value="universal"/>
+ 		<BreakMode value="threshold"/>
+ 		<BreakThresh value="0.5"/>
  		<References solid0="upper left leg" solid1="pelvis"/>
  		<Anchor x="0.08" y="0.58" z="0.0"/>
***************
*** 269,272 ****
--- 275,280 ----
  		<Name value="right hip"/>
  		<Type value="universal"/>
+ 		<BreakMode value="threshold"/>
+ 		<BreakThresh value="0.5"/>
  		<References solid0="upper right leg" solid1="pelvis"/>
  		<Anchor x="-0.08" y="0.58" z="0.0"/>

[Opal-commits] web documentation.html,1.9,1.10 index.html,1.5,1.6 overview.html,1.1,1.2 todo.txt,1.5,1.6 tutorial4.html,1.1,1.2 tutorial5.html,1.1,1.2

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

Update of /cvsroot/opal/web
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30049

Modified Files:
	documentation.html index.html overview.html todo.txt 
	tutorial4.html tutorial5.html 
Log Message:
a bunch of little things

Index: overview.html
===================================================================
RCS file: /cvsroot/opal/web/overview.html,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** overview.html	8 Mar 2005 22:37:37 -0000	1.1
--- overview.html	23 Mar 2005 07:55:39 -0000	1.2
***************
*** 25,39 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>99</o:Revision>
!   <o:TotalTime>165</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-08T22:33:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>416</o:Words>
!   <o:Characters>2372</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>19</o:Lines>
    <o:Paragraphs>5</o:Paragraphs>
!   <o:CharactersWithSpaces>2783</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
--- 25,39 ----
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>101</o:Revision>
!   <o:TotalTime>166</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-14T02:03:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>410</o:Words>
!   <o:Characters>2341</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>19</o:Lines>
    <o:Paragraphs>5</o:Paragraphs>
!   <o:CharactersWithSpaces>2746</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
***************
*** 89,132 ****
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***************
*** 135,174 ****
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***************
*** 179,186 ****
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--- 143,150 ----
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***************
*** 191,199 ****
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--- 155,175 ----
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***************
*** 202,240 ****
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***************
*** 247,252 ****
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***************
*** 259,264 ****
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--- 259,264 ----
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***************
*** 293,297 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="48130">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
--- 293,297 ----
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="49154">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
***************
*** 328,335 ****
    style='font-size:20.0pt;font-family:"Book Antiqua";color:black'>Introduction<o:p></o:p></span></b></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>This is
!   a short, simple overview of <span class=SpellE>OPAL’s</span> components.<span
!   style='mso-spacerun:yes'>  </span>It is meant to give you a general
!   understanding of how the different objects work together.<span
    style='mso-spacerun:yes'>  </span>It will first cover the most important OPAL
    objects, <span class=GramE>then</span> describe a few others that aren’t as
--- 328,335 ----
    style='font-size:20.0pt;font-family:"Book Antiqua";color:black'>Introduction<o:p></o:p></span></b></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>This
!   is a short, simple overview of <span class=SpellE>OPAL’s</span>
!   components.<span style='mso-spacerun:yes'>  </span>It is meant to give you a
!   general understanding of how the different objects work together.<span
    style='mso-spacerun:yes'>  </span>It will first cover the most important OPAL
    objects, <span class=GramE>then</span> describe a few others that aren’t as
***************
*** 346,350 ****
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         style='font-size:14.0pt;font-family:"Book Antiqua"'>Simulators</span></b><span
--- 346,350 ----
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!    <li class=MsoNormal style='color:black;mso-list:l4 level1 lfo3;tab-stops:
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         style='font-size:14.0pt;font-family:"Book Antiqua"'>Simulators</span></b><span
***************
*** 356,373 ****
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         style='font-family:"Book Antiqua"'>: A Solid is analogous to a physical
         object in the real world.<span style='mso-spacerun:yes'>  </span>It can
!        be static (just a shape, not physically simulated) or dynamic (has a shape,
!        mass, and is physically simulated).<span style='mso-spacerun:yes'> 
!        </span>It contains no moving parts.<span style='mso-spacerun:yes'> 
!        </span>Complex objects with moving parts can be built from multiple
!        Solids with Joints.<o:p></o:p></span></li>
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--- 356,373 ----
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!    <li class=MsoNormal style='color:black;mso-list:l4 level1 lfo3;tab-stops:
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         style='font-size:14.0pt;font-family:"Book Antiqua"'>Solids</span></b><span
         style='font-family:"Book Antiqua"'>: A Solid is analogous to a physical
         object in the real world.<span style='mso-spacerun:yes'>  </span>It can
!        be static (just a shape, not physically simulated) or dynamic (has a
!        shape, mass, and is physically simulated).<span
!        style='mso-spacerun:yes'>  </span>It contains no moving parts.<span
!        style='mso-spacerun:yes'>  </span>Complex objects with moving parts can
!        be built from multiple Solids with Joints.<o:p></o:p></span></li>
    </ul>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
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         style='font-size:14.0pt;font-family:"Book Antiqua"'>Joints</span></b><span
***************
*** 379,383 ****
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!    <li class=MsoNormal style='color:black;mso-list:l6 level1 lfo3;tab-stops:
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         style='font-size:14.0pt;font-family:"Book Antiqua"'>Motors</span></b><span
--- 379,383 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <ul style='margin-top:0in' type=circle>
!    <li class=MsoNormal style='color:black;mso-list:l4 level1 lfo3;tab-stops:
         list .5in'><b style='mso-bidi-font-weight:normal'><span
         style='font-size:14.0pt;font-family:"Book Antiqua"'>Motors</span></b><span
***************
*** 389,400 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <ul style='margin-top:0in' type=circle>
!    <li class=MsoNormal style='color:black;mso-list:l6 level1 lfo3;tab-stops:
         list .5in'><b style='mso-bidi-font-weight:normal'><span
         style='font-size:14.0pt;font-family:"Book Antiqua"'>Sensors</span></b><span
         style='font-family:"Book Antiqua"'>: Sensors acquire data from a
!        simulation.<span style='mso-spacerun:yes'>  </span>There are several types
!        of Sensors.<span style='mso-spacerun:yes'>  </span>Some can be attached
!        to Solids, some can be set to a static position in the environment, and
!        some can work either way.<o:p></o:p></span></li>
    </ul>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";mso-bidi-font-family:
--- 389,400 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <ul style='margin-top:0in' type=circle>
!    <li class=MsoNormal style='color:black;mso-list:l4 level1 lfo3;tab-stops:
         list .5in'><b style='mso-bidi-font-weight:normal'><span
         style='font-size:14.0pt;font-family:"Book Antiqua"'>Sensors</span></b><span
         style='font-family:"Book Antiqua"'>: Sensors acquire data from a
!        simulation.<span style='mso-spacerun:yes'>  </span>There are several
!        types of Sensors.<span style='mso-spacerun:yes'>  </span>They can be
!        attached to Solids or just positioned <span class=SpellE>staticly</span>
!        within an environment.<o:p></o:p></span></li>
    </ul>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";mso-bidi-font-family:
***************
*** 406,410 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <ul style='margin-top:0in' type=circle>
!    <li class=MsoNormal style='color:black;mso-list:l3 level1 lfo10;tab-stops:
         list .5in'><b style='mso-bidi-font-weight:normal'><span
         style='font-size:14.0pt;font-family:"Book Antiqua"'>Shapes</span></b><span
--- 406,410 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <ul style='margin-top:0in' type=circle>
!    <li class=MsoNormal style='color:black;mso-list:l0 level1 lfo10;tab-stops:
         list .5in'><b style='mso-bidi-font-weight:normal'><span
         style='font-size:14.0pt;font-family:"Book Antiqua"'>Shapes</span></b><span
***************
*** 418,422 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <ul style='margin-top:0in' type=circle>
!    <li class=MsoNormal style='color:black;mso-list:l3 level1 lfo10;tab-stops:
         list .5in'><b style='mso-bidi-font-weight:normal'><span
         style='font-size:14.0pt;font-family:"Book Antiqua";mso-bidi-font-family:
--- 418,422 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <ul style='margin-top:0in' type=circle>
!    <li class=MsoNormal style='color:black;mso-list:l0 level1 lfo10;tab-stops:
         list .5in'><b style='mso-bidi-font-weight:normal'><span
         style='font-size:14.0pt;font-family:"Book Antiqua";mso-bidi-font-family:
***************
*** 430,434 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <ul style='margin-top:0in' type=circle>
!    <li class=MsoNormal style='color:black;mso-list:l3 level1 lfo10;tab-stops:
         list .5in'><b style='mso-bidi-font-weight:normal'><span
         style='font-size:14.0pt;font-family:"Book Antiqua"'>Data objects and
--- 430,434 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <ul style='margin-top:0in' type=circle>
!    <li class=MsoNormal style='color:black;mso-list:l0 level1 lfo10;tab-stops:
         list .5in'><b style='mso-bidi-font-weight:normal'><span
         style='font-size:14.0pt;font-family:"Book Antiqua"'>Data objects and
***************
*** 437,442 ****
         object in detail.<span style='mso-spacerun:yes'>  </span>These data
         structures can be built from scratch and used to generate several
!        identical objects.<span style='mso-spacerun:yes'>  </span>They can be
!        retrieved from an existing object and used to make clones.<span
         style='mso-spacerun:yes'>  </span>They can also be used to construct
         OPAL Blueprints.<span style='mso-spacerun:yes'>  </span>Blueprints are
--- 437,442 ----
         object in detail.<span style='mso-spacerun:yes'>  </span>These data
         structures can be built from scratch and used to generate several
!        identical objects.<span style='mso-spacerun:yes'>  </span>They can be retrieved
!        from an existing object and used to make clones.<span
         style='mso-spacerun:yes'>  </span>They can also be used to construct
         OPAL Blueprints.<span style='mso-spacerun:yes'>  </span>Blueprints are

Index: tutorial5.html
===================================================================
RCS file: /cvsroot/opal/web/tutorial5.html,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** tutorial5.html	4 Mar 2005 03:45:32 -0000	1.1
--- tutorial5.html	23 Mar 2005 07:55:39 -0000	1.2
***************
*** 25,44 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>138</o:Revision>
!   <o:TotalTime>257</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-04T03:44:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>38</o:Words>
!   <o:Characters>223</o:Characters>
    <o:Company>none</o:Company>
!   <o:Lines>1</o:Lines>
!   <o:Paragraphs>1</o:Paragraphs>
!   <o:CharactersWithSpaces>260</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
-   <w:Zoom>90</w:Zoom>
    <w:GrammarState>Clean</w:GrammarState>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
--- 25,43 ----
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>145</o:Revision>
!   <o:TotalTime>269</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-14T02:20:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>269</o:Words>
!   <o:Characters>1535</o:Characters>
    <o:Company>none</o:Company>
!   <o:Lines>12</o:Lines>
!   <o:Paragraphs>3</o:Paragraphs>
!   <o:CharactersWithSpaces>1801</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
    <w:GrammarState>Clean</w:GrammarState>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
***************
*** 49,52 ****
--- 48,59 ----
   /* Font Definitions */
   @font-face
+ 	{font-family:Courier;
+ 	panose-1:2 7 4 9 2 2 5 2 4 4;
+ 	mso-font-charset:0;
+ 	mso-generic-font-family:modern;
+ 	mso-font-format:other;
+ 	mso-font-pitch:fixed;
+ 	mso-font-signature:3 0 0 0 1 0;}
+ @font-face
  	{font-family:"Book Antiqua";
  	panose-1:2 4 6 2 5 3 5 3 3 4;
***************
*** 100,104 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="57346">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
--- 107,111 ----
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="59394">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
***************
*** 133,138 ****
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Sensors
!   are not yet implemented…<o:p></o:p></span></p>
    </td>
   </tr>
--- 140,274 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>A
!   Sensor acquires information from a simulation.<span
!   style='mso-spacerun:yes'>  </span>There are several types of Sensors,
!   including Acceleration Sensors, Raycast Sensors, Velocity Sensors, and Volume
!   Sensors.<span style='mso-spacerun:yes'>  </span>This tutorial will show how
!   to setup each type.<span style='mso-spacerun:yes'>  </span>It will also give
!   examples of how each type could be used.<span style='mso-spacerun:yes'> 
!   </span>Keep in mind that a Sensor can either be attached to a Solid or just
!   positioned somewhere in the environment.<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Let’s
!   first create all the objects we’ll need (and assume they will be initialized
!   elsewhere):<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
!    style='background:silver;border-collapse:collapse;border:none;mso-border-alt:
!    solid windowtext .25pt;mso-table-lspace:9.0pt;margin-left:.1in;mso-table-rspace:
!    9.0pt;margin-right:.1in;mso-table-anchor-vertical:paragraph;mso-table-anchor-horizontal:
!    page;mso-table-left:7.35pt;mso-table-top:12.7pt;mso-padding-alt:0in 5.4pt 0in 5.4pt'>
!    <tr style='mso-yfti-irow:0;mso-yfti-lastrow:yes;height:22.95pt'>
!     <td width=974 valign=top style='width:584.6pt;border:solid windowtext 1.0pt;
!     mso-border-alt:solid windowtext .25pt;padding:0in 5.4pt 0in 5.4pt;
!     height:22.95pt'>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Simulator*
!     sim = opal::createSimulator();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::Solid*
!     solid = sim-&gt;createSolid();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!     </td>
!    </tr>
!   </table>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>The
!   first Sensor we will make here is an Acceleration Sensor:<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
!    style='background:silver;border-collapse:collapse;border:none;mso-border-alt:
!    solid windowtext .25pt;mso-table-lspace:9.0pt;margin-left:.1in;mso-table-rspace:
!    9.0pt;margin-right:.1in;mso-table-anchor-vertical:paragraph;mso-table-anchor-horizontal:
!    page;mso-table-left:7.35pt;mso-table-top:12.7pt;mso-padding-alt:0in 5.4pt 0in 5.4pt'>
!    <tr style='mso-yfti-irow:0;mso-yfti-lastrow:yes;height:22.95pt'>
!     <td width=974 valign=top style='width:584.6pt;border:solid windowtext 1.0pt;
!     mso-border-alt:solid windowtext .25pt;padding:0in 5.4pt 0in 5.4pt;
!     height:22.95pt'>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::AccelerationSensorData
!     data;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.solid
!     = solid;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.strength
!     = 10.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.exponent
!     = 2.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::AttractorMotor*
!     attractor = sim-&gt;createAttractorMotor();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>attractor-&gt;init(data);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!     </td>
!    </tr>
!   </table>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>This
!   Attractor Motor will constantly apply forces to the two Solids to make them
!   gravitate toward one another.<span style='mso-spacerun:yes'>  </span>This
!   makes it easy to simulate planetary gravitation or magnetic attraction.<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>Next,
!   let’s make a Geared Motor:<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <table class=MsoNormalTable border=1 cellspacing=0 cellpadding=0 align=left
!    style='background:silver;border-collapse:collapse;border:none;mso-border-alt:
!    solid windowtext .25pt;mso-table-lspace:9.0pt;margin-left:.1in;mso-table-rspace:
!    9.0pt;margin-right:.1in;mso-table-anchor-vertical:paragraph;mso-table-anchor-horizontal:
!    page;mso-table-left:7.35pt;mso-table-top:12.7pt;mso-padding-alt:0in 5.4pt 0in 5.4pt'>
!    <tr style='mso-yfti-irow:0;mso-yfti-lastrow:yes;height:22.95pt'>
!     <td width=974 valign=top style='width:584.6pt;border:solid windowtext 1.0pt;
!     mso-border-alt:solid windowtext .25pt;padding:0in 5.4pt 0in 5.4pt;
!     height:22.95pt'>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::GearedMotorData
!     data;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.joint
!     = joint;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.jointAxisNum
!     = 0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.maxTorque
!     = 10.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>data.maxVelocity
!     = 2000.0;<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>opal::
!     GearedMotor* engine = sim-&gt;createGearedMotor();<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>engine-&gt;init(data);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:Courier;color:black'>engine-&gt;setThrottle(0.5);<o:p></o:p></span></p>
!     <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!     </td>
!    </tr>
!   </table>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:Courier;color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>The Geared
!   Motor’s throttle should now be updated as desired.<span
!   style='mso-spacerun:yes'>  </span>The Motor will have more torque available
!   when its angular velocity is low.<span style='mso-spacerun:yes'>  </span>As
!   it approaches its max velocity, it will apply less and less torque.<span
!   style='mso-spacerun:yes'>  </span>This Motor is great for simulating
!   automobile engines.<o:p></o:p></span></p>
!   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    </td>
   </tr>

Index: index.html
===================================================================
RCS file: /cvsroot/opal/web/index.html,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** index.html	8 Mar 2005 16:20:50 -0000	1.5
--- index.html	23 Mar 2005 07:55:39 -0000	1.6
***************
*** 25,39 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>94</o:Revision>
!   <o:TotalTime>185</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-05T21:23:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>353</o:Words>
!   <o:Characters>2014</o:Characters>
    <o:Company>none</o:Company>
!   <o:Lines>16</o:Lines>
!   <o:Paragraphs>4</o:Paragraphs>
!   <o:CharactersWithSpaces>2363</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
--- 25,39 ----
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>98</o:Revision>
!   <o:TotalTime>189</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
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*** 156,160 ****
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***************
*** 164,168 ****
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***************
*** 171,214 ****
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***************
*** 217,221 ****
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***************
*** 225,229 ****
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--- 258,262 ----
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***************
*** 232,264 ****
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***************
*** 267,271 ****
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***************
*** 275,279 ****
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! @list l6:level3
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--- 308,312 ----
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***************
*** 282,314 ****
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***************
*** 317,321 ****
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--- 350,354 ----
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***************
*** 325,371 ****
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***************
*** 398,402 ****
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***************
*** 498,528 ****
    Features<o:p></o:p></span></b></p>
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!    <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
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!    <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
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!    <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
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!    <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
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!    <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
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!    <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
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--- 520,553 ----
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!    <li class=MsoNormal style='color:black;mso-list:l10 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
         Arial'>Cross-platform<o:p></o:p></span></li>
!    <li class=MsoNormal style='color:black;mso-list:l10 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
         Arial'>Tested on Linux, Irix, Windows, and Mac OS X<o:p></o:p></span></li>
!    <li class=MsoNormal style='color:black;mso-list:l10 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
         Arial'>XML file loading<o:p></o:p></span></li>
!    <li class=MsoNormal style='color:black;mso-list:l10 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
         Arial'>Breakable joints<o:p></o:p></span></li>
!    <li class=MsoNormal style='color:black;mso-list:l10 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
         Arial'>Linear and angular motion damping<o:p></o:p></span></li>
!    <li class=MsoNormal style='color:black;mso-list:l10 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
         Arial'>Per-shape material settings<o:p></o:p></span></li>
!    <li class=MsoNormal style='color:black;mso-list:l10 level1 lfo6;tab-stops:
!        list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
!        Arial'>Contact groups (define which objects can interact physically)<o:p></o:p></span></li>
!    <li class=MsoNormal style='color:black;mso-list:l10 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
         Arial'>Collision detection primitive shapes<o:p></o:p></span></li>
    </ul>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l9 level3 lfo8;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
***************
*** 530,534 ****
    mso-bidi-font-family:Arial;color:black'>Boxes<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l6 level3 lfo8;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
--- 555,559 ----
    mso-bidi-font-family:Arial;color:black'>Boxes<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l9 level3 lfo8;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
***************
*** 536,540 ****
    mso-bidi-font-family:Arial;color:black'>Spheres<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l6 level3 lfo8;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
--- 561,565 ----
    mso-bidi-font-family:Arial;color:black'>Spheres<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l9 level3 lfo8;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
***************
*** 542,546 ****
    mso-bidi-font-family:Arial;color:black'>Capsules (i.e. capped cylinders)<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l6 level3 lfo8;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
--- 567,571 ----
    mso-bidi-font-family:Arial;color:black'>Capsules (i.e. capped cylinders)<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l9 level3 lfo8;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
***************
*** 548,557 ****
    mso-bidi-font-family:Arial;color:black'>Planes<o:p></o:p></span></p>
    <ul style='margin-top:0in' type=disc>
!    <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
         Arial'>Joints<o:p></o:p></span></li>
    </ul>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l5 level3 lfo11;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
--- 573,582 ----
    mso-bidi-font-family:Arial;color:black'>Planes<o:p></o:p></span></p>
    <ul style='margin-top:0in' type=disc>
!    <li class=MsoNormal style='color:black;mso-list:l10 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
         Arial'>Joints<o:p></o:p></span></li>
    </ul>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l8 level3 lfo11;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
***************
*** 560,564 ****
    of freedom)<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l5 level3 lfo11;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
--- 585,589 ----
    of freedom)<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l8 level3 lfo11;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
***************
*** 567,571 ****
    degrees of freedom)<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
!   l5 level3 lfo11;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
    style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
    color:black'><span style='mso-list:Ignore'...
 
[truncated message content]

[Opal-commits] opal/vc7 opal-ode.vcproj,1.20,1.21

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

Update of /cvsroot/opal/opal/vc7
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29501/vc7

Modified Files:
	opal-ode.vcproj 
Log Message:
finished AccelerationSensor; remove VelocitySensor because the existing Solid velocity functions render it useless

Index: opal-ode.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/vc7/opal-ode.vcproj,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** opal-ode.vcproj	21 Mar 2005 04:29:06 -0000	1.20
--- opal-ode.vcproj	23 Mar 2005 07:54:35 -0000	1.21
***************
*** 170,176 ****
  			</File>
  			<File
- 				RelativePath="..\src\VelocitySensor.cpp">
- 			</File>
- 			<File
  				RelativePath="..\src\VolumeSensor.cpp">
  			</File>
--- 170,173 ----
***************
*** 306,315 ****
  			</File>
  			<File
- 				RelativePath="..\src\VelocitySensor.h">
- 			</File>
- 			<File
- 				RelativePath="..\src\VelocitySensorData.h">
- 			</File>
- 			<File
  				RelativePath="..\src\VolumeSensor.h">
  			</File>
--- 303,306 ----

[Opal-commits] opal changelog.txt,1.11,1.12 todo.txt,1.57,1.58

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29501

Modified Files:
	changelog.txt todo.txt 
Log Message:
finished AccelerationSensor; remove VelocitySensor because the existing Solid velocity functions render it useless

Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** changelog.txt	12 Mar 2005 01:21:07 -0000	1.11
--- changelog.txt	23 Mar 2005 07:54:33 -0000	1.12
***************
*** 5,9 ****
  	* EventHandler was changed to a base class for CollisionEventHandler and JointBreakEventHandler
  	* Collision events now get queued up during collision detection and handled at the end of each time step
! 	* Added RaycastSensor, VolumeSensor
  	* Overhauled XML loading system; now all Solid, Shape, Joint, Motor, and Sensor data can be loaded from OPAL XML files 
  	* Joints have a parameter to allow contacts between connected Solids or not
--- 5,9 ----
  	* EventHandler was changed to a base class for CollisionEventHandler and JointBreakEventHandler
  	* Collision events now get queued up during collision detection and handled at the end of each time step
! 	* Added AccelerationSensor, RaycastSensor, & VolumeSensor
  	* Overhauled XML loading system; now all Solid, Shape, Joint, Motor, and Sensor data can be loaded from OPAL XML files 
  	* Joints have a parameter to allow contacts between connected Solids or not

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.57
retrieving revision 1.58
diff -C2 -d -r1.57 -r1.58
*** todo.txt	23 Mar 2005 04:52:37 -0000	1.57
--- todo.txt	23 Mar 2005 07:54:33 -0000	1.58
***************
*** 2,30 ****
  =================
  
! * add license notice to samples' source files
  
! * additional sensors
! 	- incline/orientation relative to an initial orientation
  
  * ray and volume sensors should use contact groups?  ray needs a group parameter; volume sensor just uses the volume solid's group
  
! * finish implementing accel and vel sensors
! 
! * accel and vel sensors:
! 	- parse from xml
! 	- add to xml example
! 	- add to instantiateBlueprint
! 	- add to Blueprint finalize function
! 	- add to Blueprint addSensor function
! 
! * implement sensors
! 	- RaycastSensor (i.e. "PSD (position sensitive detector)" or "rangefinder"): measures distance from sensor to first intersection (attach to a solid [be sure to ignore collisions with the attached solid] or nothing)
! 		- not updated regularly; must be updated manually by user
! 	- VolumeSensor (i.e. "proximity sensor?"): similar to RaycastSensor, but for a volume; finds all Solids colliding with a given (attached) Solid
! 		- not updated regularly; must be updated manually by user
! 		- should this be combined with trigger solids?  probably not: ProximitySensors are one-time, triggers are always updated (triggers are actually just solids with a ContactSensor and don't generate contact joints)
! 	- VelocitySensor: linear vel (i.e. "velocimeter") and/or angular vel ("gyroscope") sensor
! 	- AccelerationSensor (i.e. "accelerometer"): linear and/or angular acceleration sensor
! 	- InclineSensor (i.e. "inclinometer"): measures angle between initial and current orientation
  
  * make trimeshes work
--- 2,12 ----
  =================
  
! * make accel sensor only update data upon request; update() just stores the previous vel data
  
! * incline/orientation sensor: measures current orientation relative to an initial orientation; returns 3 reals
  
  * ray and volume sensors should use contact groups?  ray needs a group parameter; volume sensor just uses the volume solid's group
  
! * add license notice to samples' source files
  
  * make trimeshes work
***************
*** 155,157 ****
  	- doesn't need to be updated every step (maybe once per second)
  
! 
--- 137,146 ----
  	- doesn't need to be updated every step (maybe once per second)
  
! Miscellaneous Notes
! ===================
! * Things to do for new Motors and Sensors:
! 	- parse from xml
! 	- add to xml example
! 	- add to instantiateBlueprint
! 	- add to Blueprint finalize function
! 	- add to Blueprint addSensor/addMotor function
\ No newline at end of file

[Opal-commits] opal/src/ODE ODESimulator.h,1.65,1.66 ODESolid.cpp,1.77,1.78 ODESolid.h,1.65,1.66

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29501/src/ODE

Modified Files:
	ODESimulator.h ODESolid.cpp ODESolid.h 
Log Message:
finished AccelerationSensor; remove VelocitySensor because the existing Solid velocity functions render it useless

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -d -r1.65 -r1.66
*** ODESimulator.h	14 Mar 2005 05:18:26 -0000	1.65
--- ODESimulator.h	23 Mar 2005 07:54:34 -0000	1.66
***************
*** 34,38 ****
  #include "../AccelerationSensor.h"
  #include "../RaycastSensor.h"
- #include "../VelocitySensor.h"
  #include "../VolumeSensor.h"
  #include "ODESolid.h"
--- 34,37 ----

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -d -r1.65 -r1.66
*** ODESolid.h	10 Mar 2005 21:11:05 -0000	1.65
--- ODESolid.h	23 Mar 2005 07:54:35 -0000	1.66
***************
*** 93,96 ****
--- 93,99 ----
  		virtual Vec3r OPAL_CALL getLocalLinearVel()const;
  
+ 		virtual Vec3r OPAL_CALL getLocalLinearVelAtLocalPos(
+ 			const Point3r& p)const;
+ 
  		virtual void OPAL_CALL setLocalAngularVel(const Vec3r& vel);
  
***************
*** 101,104 ****
--- 104,110 ----
  		virtual Vec3r OPAL_CALL getGlobalLinearVel()const;
  
+ 		virtual Vec3r OPAL_CALL getGlobalLinearVelAtLocalPos(
+ 			const Point3r& p)const;
+ 
  		virtual void OPAL_CALL setGlobalAngularVel(const Vec3r& vel);
  

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.77
retrieving revision 1.78
diff -C2 -d -r1.77 -r1.78
*** ODESolid.cpp	21 Mar 2005 03:53:57 -0000	1.77
--- ODESolid.cpp	23 Mar 2005 07:54:34 -0000	1.78
***************
*** 652,655 ****
--- 652,657 ----
  		{
  			const dReal* vel = dBodyGetLinearVel(mBodyID);
+ 
+ 			// Convert the vector from global to local coordinates.
  			dVector3 localVel;
  			dBodyVectorFromWorld(mBodyID, vel[0], vel[1], vel[2], localVel);
***************
*** 662,665 ****
--- 664,686 ----
  	}
  
+ 	Vec3r ODESolid::getLocalLinearVelAtLocalPos(const Point3r& p)const
+ 	{
+ 		if (!mData.isStatic)
+ 		{
+ 			// First find the global velocity at the given point.
+ 			dVector3 result;
+ 			dBodyGetRelPointVel(mBodyID, p[0], p[1], p[2], result);
+ 
+ 			// Now convert the velocity from global to local coordinates.
+ 			dBodyVectorFromWorld(mBodyID, result[0], result[1], result[2], 
+ 				result);
+ 			return Vec3r(result[0], result[1], result[2]);
+ 		}
+ 		else
+ 		{
+ 			return Vec3r(0,0,0);
+ 		}
+ 	}
+ 
  	void ODESolid::setLocalAngularVel(const Vec3r& vel)
  	{
***************
*** 679,682 ****
--- 700,705 ----
  		{
  			const dReal* vel = dBodyGetAngularVel(mBodyID);
+ 
+ 			// Convert the vector from global to local coordinates.
  			dVector3 localVel;
  			dBodyVectorFromWorld(mBodyID, vel[0], vel[1], vel[2], localVel);
***************
*** 711,714 ****
--- 734,752 ----
  	}
  
+ 	Vec3r ODESolid::getGlobalLinearVelAtLocalPos(const Point3r& p)const
+ 	{
+ 		if (!mData.isStatic)
+ 		{
+ 			// First find the global velocity at the given point.
+ 			dVector3 result;
+ 			dBodyGetRelPointVel(mBodyID, p[0], p[1], p[2], result);
+ 			return Vec3r(result[0], result[1], result[2]);
+ 		}
+ 		else
+ 		{
+ 			return Vec3r(0,0,0);
+ 		}
+ 	}
+ 
  	void ODESolid::setGlobalAngularVel(const Vec3r& vel)
  	{

[Opal-commits] opal/src AccelerationSensor.cpp,1.2,1.3 AccelerationSensor.h,1.2,1.3 Blueprint.cpp,1.18,1.19 BlueprintManager.cpp,1.34,1.35 BlueprintManager.h,1.18,1.19 SConscript,1.17,1.18 SensorData.h,1.7,1.8 Simulator.cpp,1.50,1.51 Simulator.h,1.88,1.89 Solid.cpp,1.29,1.30 Solid.h,1.84,1.85 opal.h,1.24,1.25 VelocitySensor.cpp,1.2,NONE VelocitySensor.h,1.2,NONE VelocitySensorData.h,1.1,NONE

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29501/src

Modified Files:
	AccelerationSensor.cpp AccelerationSensor.h Blueprint.cpp 
	BlueprintManager.cpp BlueprintManager.h SConscript 
	SensorData.h Simulator.cpp Simulator.h Solid.cpp Solid.h 
	opal.h 
Removed Files:
	VelocitySensor.cpp VelocitySensor.h VelocitySensorData.h 
Log Message:
finished AccelerationSensor; remove VelocitySensor because the existing Solid velocity functions render it useless

Index: Blueprint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Blueprint.cpp,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** Blueprint.cpp	13 Mar 2005 23:07:09 -0000	1.18
--- Blueprint.cpp	23 Mar 2005 07:54:33 -0000	1.19
***************
*** 36,39 ****
--- 36,40 ----
  #include "ThrusterMotorData.h"
  #include "SensorData.h"
+ #include "AccelerationSensorData.h"
  #include "RaycastSensorData.h"
  #include "VolumeSensorData.h"
***************
*** 348,358 ****
  			switch(data->getType())
  			{
! 				//case ACCELERATION_SENSOR:
! 				//{
! 				//	newData = 
! 				//		new AccelerationSensorData(
! 				//		*((AccelerationSensorData*)data));
! 				//	break;
! 				//}
  				case RAYCAST_SENSOR:
  				{
--- 349,359 ----
  			switch(data->getType())
  			{
! 				case ACCELERATION_SENSOR:
! 				{
! 					newData = 
! 						new AccelerationSensorData(
! 						*((AccelerationSensorData*)data));
! 					break;
! 				}
  				case RAYCAST_SENSOR:
  				{
***************
*** 361,369 ****
  					break;
  				}
- 				//case VELOCITY_SENSOR:
- 				//{
- 				//	newData = 
- 				//		new VelocitySensorData(*((VelocitySensorData*)data));
- 				//}
  				case VOLUME_SENSOR:
  				{
--- 362,365 ----

Index: AccelerationSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AccelerationSensor.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** AccelerationSensor.h	23 Mar 2005 04:04:30 -0000	1.2
--- AccelerationSensor.h	23 Mar 2005 07:54:33 -0000	1.3
***************
*** 35,38 ****
--- 35,40 ----
  namespace opal
  {
+ 	class Simulator;
+ 
  	/// A Sensor that monitors the linear and angular acceleration of a 
  	/// Solid.  Using its transform, it can be set to a desired offset from 
***************
*** 42,46 ****
  	{
  	public:
! 		AccelerationSensor();
  
  		virtual ~AccelerationSensor();
--- 44,48 ----
  	{
  	public:
! 		AccelerationSensor(Simulator* s);
  
  		virtual ~AccelerationSensor();
***************
*** 55,69 ****
  		virtual const AccelerationSensorData& OPAL_CALL getData()const;
  
! 		/// Returns the Sensor's global linear acceleration.
! 		virtual real OPAL_CALL getGlobalLinearAccel()const;
  
! 		/// Returns the Sensor's global angular acceleration.
! 		virtual real OPAL_CALL getGlobalAngularAccel()const;
  
! 		/// Returns the Sensor's local linear acceleration.
! 		virtual real OPAL_CALL getLocalLinearAccel()const;
  
! 		/// Returns the Sensor's local angular acceleration.
! 		virtual real OPAL_CALL getLocalAngularAccel()const;
  
  		virtual void OPAL_CALL setEnabled(bool e);
--- 57,75 ----
  		virtual const AccelerationSensorData& OPAL_CALL getData()const;
  
! 		/// Returns the Sensor's global linear acceleration.  If the Sensor 
! 		/// is not attached to a Solid, this returns (0, 0, 0).
! 		virtual Vec3r OPAL_CALL getGlobalLinearAccel()const;
  
! 		/// Returns the Sensor's global angular acceleration.  If the Sensor 
! 		/// is not attached to a Solid, this returns (0, 0, 0).
! 		virtual Vec3r OPAL_CALL getGlobalAngularAccel()const;
  
! 		/// Returns the Sensor's local linear acceleration.  If the Sensor 
! 		/// is not attached to a Solid, this returns (0, 0, 0).
! 		virtual Vec3r OPAL_CALL getLocalLinearAccel()const;
  
! 		/// Returns the Sensor's local angular acceleration.  If the Sensor 
! 		/// is not attached to a Solid, this returns (0, 0, 0).
! 		virtual Vec3r OPAL_CALL getLocalAngularAccel()const;
  
  		virtual void OPAL_CALL setEnabled(bool e);
***************
*** 89,92 ****
--- 95,130 ----
  		AccelerationSensorData mData;
  
+ 		/// Pointer to the Simulator containing this Sensor.  This is used 
+ 		/// to get an accurate dt value on every update.
+ 		Simulator* mSim;
+ 
+ 		/// Stored copy of the current global linear acceleration.
+ 		Vec3r mGlobalLinearAccel;
+ 
+ 		/// Stored copy of the current global angular acceleration.
+ 		Vec3r mGlobalAngularAccel;
+ 
+ 		/// Stored copy of the current local linear acceleration.
+ 		Vec3r mLocalLinearAccel;
+ 
+ 		/// Stored copy of the current local angular acceleration.
+ 		Vec3r mLocalAngularAccel;
+ 
+ 		/// Stored copy of the previous step's velocity data; used for 
+ 		/// acceleration calculations.
+ 		Vec3r mPrevGlobalLinearVel;
+ 
+ 		/// Stored copy of the previous step's velocity data; used for 
+ 		/// acceleration calculations.
+ 		Vec3r mPrevGlobalAngularVel;
+ 
+ 		/// Stored copy of the previous step's velocity data; used for 
+ 		/// acceleration calculations.
+ 		Vec3r mPrevLocalLinearVel;
+ 
+ 		/// Stored copy of the previous step's velocity data; used for 
+ 		/// acceleration calculations.
+ 		Vec3r mPrevLocalAngularVel;
+ 
  	private:
  	};

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -d -r1.24 -r1.25
*** opal.h	21 Mar 2005 04:29:05 -0000	1.24
--- opal.h	23 Mar 2005 07:54:34 -0000	1.25
***************
*** 58,63 ****
  #include "RaycastSensor.h"
  #include "RaycastSensorData.h"
- #include "VelocitySensor.h"
- #include "VelocitySensorData.h"
  #include "VolumeSensor.h"
  #include "VolumeSensorData.h"
--- 58,61 ----

Index: SensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SensorData.h,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** SensorData.h	13 Mar 2005 23:07:10 -0000	1.7
--- SensorData.h	23 Mar 2005 07:54:34 -0000	1.8
***************
*** 86,90 ****
  		std::string internal_solidName;
  
! 		/// If the Sensor is attached to a Solid, this matrix is the global 
  		/// offset from that Solid's transform.  Otherwise, it is just the 
  		/// Sensor's global transform.
--- 86,90 ----
  		std::string internal_solidName;
  
! 		/// If the Sensor is attached to a Solid, this transform is the global 
  		/// offset from that Solid's transform.  Otherwise, it is just the 
  		/// Sensor's global transform.

Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** Solid.cpp	21 Mar 2005 17:52:22 -0000	1.29
--- Solid.cpp	23 Mar 2005 07:54:34 -0000	1.30
***************
*** 67,92 ****
  	}
  
- 	//void Solid::internal_updateAcceleration(real dt)
- 	//{
- 	//	Vec3r currentGlobalLinearVel = getGlobalLinearVel();
- 	//	Vec3r currentGlobalAngularVel = getGlobalAngularVel();
- 	//	mGlobalLinearAccel = (currentGlobalLinearVel - 
- 	//		mPrevGlobalLinearVel) / dt;
- 	//	mGlobalAngularAccel = (currentGlobalAngularVel - 
- 	//		mPrevGlobalAngularVel) / dt;
- 	//	mPrevGlobalLinearVel = currentGlobalLinearVel;
- 	//	mPrevGlobalAngularVel = currentGlobalAngularVel;
- 	//}
- 
- 	//Vec3r Solid::getGlobalLinearAccel()const
- 	//{
- 	//	return mGlobalLinearAccel;
- 	//}
- 
- 	//Vec3r Solid::getGlobalAngularAccel()const
- 	//{
- 	//	return mGlobalAngularAccel;
- 	//}
- 
  	bool Solid::isStatic()const
  	{
--- 67,70 ----

--- VelocitySensor.cpp DELETED ---

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.50
retrieving revision 1.51
diff -C2 -d -r1.50 -r1.51
*** Simulator.cpp	23 Mar 2005 04:04:30 -0000	1.50
--- Simulator.cpp	23 Mar 2005 07:54:34 -0000	1.51
***************
*** 38,42 ****
  #include "SpringMotor.h"
  #include "RaycastSensor.h"
- #include "VelocitySensor.h"
  #include "AccelerationSensor.h"
  #include "VolumeSensor.h"
--- 38,41 ----
***************
*** 555,570 ****
  			switch(sensorData->getType())
  			{
! 				//case ACCELERATION_SENSOR:
! 				//{
! 				//	// Make a local copy of the Sensor's data.
! 				//	AccelerationSensorData data = 
! 				//		*(AccelerationSensorData*)sensorData;
! 				//	data.solid = solidPtr;
! 				//	data.transform = transform;
  
! 				//	s = createAccelerationSensor();
! 				//	((AccelerationSensor*)s)->init(data);
! 				//	break;
! 				//}
  				case RAYCAST_SENSOR:
  				{
--- 554,569 ----
  			switch(sensorData->getType())
  			{
! 				case ACCELERATION_SENSOR:
! 				{
! 					// Make a local copy of the Sensor's data.
! 					AccelerationSensorData data = 
! 						*(AccelerationSensorData*)sensorData;
! 					data.solid = solidPtr;
! 					data.transform = transform;
  
! 					s = createAccelerationSensor();
! 					((AccelerationSensor*)s)->init(data);
! 					break;
! 				}
  				case RAYCAST_SENSOR:
  				{
***************
*** 578,592 ****
  					break;
  				}
- 				//case VELOCITY_SENSOR:
- 				//{
- 				//	// Make a local copy of the Sensor's data.
- 				//	VelocitySensorData data = *(VelocitySensorData*)sensorData;
- 				//	data.solid = solidPtr;
- 				//	data.transform = transform;
- 
- 				//	s = createVelocitySensor();
- 				//	((VelocitySensor*)s)->init(data);
- 				//	break;
- 				//}
  				case VOLUME_SENSOR:
  				{
--- 577,580 ----
***************
*** 826,829 ****
--- 814,824 ----
  	}
  
+ 	AccelerationSensor* Simulator::createAccelerationSensor()
+ 	{
+ 		AccelerationSensor* newSensor = new AccelerationSensor(this);
+ 		addSensor(newSensor);
+ 		return newSensor;
+ 	}
+ 
  	RaycastSensor* Simulator::createRaycastSensor()
  	{

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.88
retrieving revision 1.89
diff -C2 -d -r1.88 -r1.89
*** Simulator.h	21 Mar 2005 04:29:05 -0000	1.88
--- Simulator.h	23 Mar 2005 07:54:34 -0000	1.89
***************
*** 44,47 ****
--- 44,48 ----
  	class SpringMotor;
  	class ThrusterMotor;
+ 	class AccelerationSensor;
  	class RaycastSensor;
  	class VolumeSensor;
***************
*** 213,216 ****
--- 214,220 ----
  		// SENSORS
  
+ 		/// Creates and returns a pointer to an AccelerationSensor.  
+ 		virtual AccelerationSensor* OPAL_CALL createAccelerationSensor();
+ 
  		/// Creates and returns a pointer to a RaycastSensor.  
  		virtual RaycastSensor* OPAL_CALL createRaycastSensor();

--- VelocitySensor.h DELETED ---

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.34
retrieving revision 1.35
diff -C2 -d -r1.34 -r1.35
*** BlueprintManager.cpp	23 Mar 2005 04:52:26 -0000	1.34
--- BlueprintManager.cpp	23 Mar 2005 07:54:33 -0000	1.35
***************
*** 38,41 ****
--- 38,42 ----
  #include "SpringMotorData.h"
  #include "SensorData.h"
+ #include "AccelerationSensorData.h"
  #include "RaycastSensorData.h"
  #include "VolumeSensorData.h"
***************
*** 1212,1228 ****
  
  			// Load data for the specific type of Sensor.
! 			//if ("acceleration" == type)
! 			//{
! 			//	data = loadAccelerationSensor(nodePtr, bp, filename);
! 			//}
! 			//else if ("raycast" == type)
! 			if ("raycast" == type)
  			{
  				data = loadRaycastSensor(nodePtr, bp, filename);
  			}
- 			//else if ("velocity" == type)
- 			//{
- 			//	data = loadVelocitySensor(nodePtr, bp, filename);
- 			//}
  			else if ("volume" == type)
  			{
--- 1213,1224 ----
  
  			// Load data for the specific type of Sensor.
! 			if ("acceleration" == type)
! 			{
! 				data = loadAccelerationSensor(nodePtr, bp, filename);
! 			}
! 			else if ("raycast" == type)
  			{
  				data = loadRaycastSensor(nodePtr, bp, filename);
  			}
  			else if ("volume" == type)
  			{
***************
*** 1295,1298 ****
--- 1291,1308 ----
  		}
  
+ 		AccelerationSensorData* BlueprintManager::loadAccelerationSensor(
+ 			const TiXmlNode* nodePtr, const Blueprint& bp, 
+ 			const std::string& filename)
+ 		{
+ 			// This data structure automatically gets initialized to 
+ 			// default values in its constructor.
+ 			AccelerationSensorData* data = new AccelerationSensorData();
+ 
+ #ifdef OPAL_USE_XML
+ 			// Nothing special to load for AccelerationSensors.
+ #endif
+ 			return data;
+ 		}
+ 
  		RaycastSensorData* BlueprintManager::loadRaycastSensor(
  			const TiXmlNode* nodePtr, const Blueprint& bp, 

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.84
retrieving revision 1.85
diff -C2 -d -r1.84 -r1.85
*** Solid.h	21 Mar 2005 04:29:05 -0000	1.84
--- Solid.h	23 Mar 2005 07:54:34 -0000	1.85
***************
*** 157,160 ****
--- 157,165 ----
  		virtual Vec3r OPAL_CALL getLocalLinearVel()const = 0;
  
+ 		/// Given an offset point relative to the Solid's local origin, 
+ 		/// returns the linear velocity of the point in local coordinates. 
+ 		virtual Vec3r OPAL_CALL getLocalLinearVelAtLocalPos(
+ 			const Point3r& p)const = 0;
+ 
  		/// Sets the Solid's angular velocity in local coordinates.  
  		virtual void OPAL_CALL setLocalAngularVel(const Vec3r& vel) = 0;
***************
*** 169,172 ****
--- 174,182 ----
  		virtual Vec3r OPAL_CALL getGlobalLinearVel()const = 0;
  
+ 		/// Given an offset point relative to the Solid's local origin, 
+ 		/// returns the linear velocity of the point in global coordinates. 
+ 		virtual Vec3r OPAL_CALL getGlobalLinearVelAtLocalPos(
+ 			const Point3r& p)const = 0;
+ 
  		/// Sets the Solid's angular velocity in global coordinates.  
  		virtual void OPAL_CALL setGlobalAngularVel(const Vec3r& vel) = 0;
***************
*** 206,211 ****
  		virtual void OPAL_CALL internal_updateEngineTransform() = 0;
  
- 		//virtual void OPAL_CALL internal_updateAcceleration(real dt);
- 
  		/// Loops over the Solid's list of Forces and applies them.  
  		virtual void OPAL_CALL internal_applyForces(real stepSize);
--- 216,219 ----

--- VelocitySensorData.h DELETED ---

Index: BlueprintManager.h
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.h,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** BlueprintManager.h	13 Mar 2005 23:07:10 -0000	1.18
--- BlueprintManager.h	23 Mar 2005 07:54:34 -0000	1.19
***************
*** 42,45 ****
--- 42,46 ----
  	class SpringMotorData;
  	class ThrusterMotorData;
+ 	class AccelerationSensorData;
  	class RaycastSensorData;
  	class VolumeSensorData;
***************
*** 131,134 ****
--- 132,143 ----
  				const Blueprint& bp, const std::string& filename);
  
+ 			/// Helper function for parsing AccelerationSensor XML elements.  
+ 			/// Allocates and returns a pointer to a new 
+ 			/// AccelerationSensorData object.  Returns NULL if the element 
+ 			/// could not be loaded.
+ 			AccelerationSensorData* loadAccelerationSensor(
+ 				const TiXmlNode* nodePtr, const Blueprint& bp, 
+ 				const std::string& filename);
+ 
  			/// Helper function for parsing RaycastSensor XML elements.  
  			/// Allocates and returns a pointer to a new RaycastSensorData 

Index: AccelerationSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/AccelerationSensor.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** AccelerationSensor.cpp	23 Mar 2005 04:04:30 -0000	1.2
--- AccelerationSensor.cpp	23 Mar 2005 07:54:33 -0000	1.3
***************
*** 31,37 ****
  namespace opal
  {
! 	AccelerationSensor::AccelerationSensor()
  	{
  		// "mData" is initialized in its own constructor.
  	}
  
--- 31,48 ----
  namespace opal
  {
! 	AccelerationSensor::AccelerationSensor(Simulator* s)
  	{
  		// "mData" is initialized in its own constructor.
+ 		mSim = s;
+ 
+ 		// "mGlobalLinearAccel" is initialized in its own constructor.
+ 		// "mGlobalAngularAccel" is initialized in its own constructor.
+ 		// "mLocalLinearAccel" is initialized in its own constructor.
+ 		// "mLocalAngularAccel" is initialized in its own constructor.
+ 
+ 		// "mPrevGlobalLinearVel" is initialized in its own constructor.
+ 		// "mPrevGlobalAngularVel" is initialized in its own constructor.
+ 		// "mPrevLocalLinearVel" is initialized in its own constructor.
+ 		// "mPrevLocalAngularVel" is initialized in its own constructor.
  	}
  
***************
*** 51,112 ****
  	}
  
! 	real AccelerationSensor::getGlobalLinearAccel()const
  	{
  		if (!mData.solid)
  		{
! 			return 0;
  		}
  
! 		// TODO: use the Sensor's transform to find its actual position 
! 		// in global coordinates.
! 
! 		// TODO: get the acceleration of the Solid at the Sensor's position.
! 
! 		return 0; // temporary
  	}
  
! 	real AccelerationSensor::getGlobalAngularAccel()const
  	{
  		if (!mData.solid)
  		{
! 			return 0;
  		}
  
! 		// TODO: use the Sensor's transform to find its actual position 
! 		// in global coordinates.
! 
! 		// TODO: get the acceleration of the Solid at the Sensor's position.
! 
! 		return 0; // temporary
  	}
  
! 	real AccelerationSensor::getLocalLinearAccel()const
  	{
  		if (!mData.solid)
  		{
! 			return 0;
  		}
  
! 		// TODO: use the Sensor's transform to find its actual position 
! 		// relative to the Solid.
! 
! 		// TODO: get the acceleration of the Solid at the Sensor's position.
! 
! 		return 0; // temporary
  	}
  
! 	real AccelerationSensor::getLocalAngularAccel()const
  	{
  		if (!mData.solid)
  		{
! 			return 0;
  		}
  
! 		// TODO: use the Sensor's transform to find its actual position 
! 		// relative to the Solid.
! 
! 		// TODO: get the acceleration of the Solid at the Sensor's position.
! 
! 		return 0; // temporary
  	}
  
--- 62,103 ----
  	}
  
! 	Vec3r AccelerationSensor::getGlobalLinearAccel()const
  	{
  		if (!mData.solid)
  		{
! 			return Vec3r();
  		}
  
! 		return mGlobalLinearAccel;
  	}
  
! 	Vec3r AccelerationSensor::getGlobalAngularAccel()const
  	{
  		if (!mData.solid)
  		{
! 			return Vec3r();
  		}
  
! 		return mGlobalAngularAccel;
  	}
  
! 	Vec3r AccelerationSensor::getLocalLinearAccel()const
  	{
  		if (!mData.solid)
  		{
! 			return Vec3r();
  		}
  
! 		return mLocalLinearAccel;
  	}
  
! 	Vec3r AccelerationSensor::getLocalAngularAccel()const
  	{
  		if (!mData.solid)
  		{
! 			return Vec3r();
  		}
  
! 		return mLocalAngularAccel;
  	}
  
***************
*** 155,159 ****
  		if (mData.enabled)
  		{
! 			// TODO: update acceleration calculations
  		}
  	}
--- 146,175 ----
  		if (mData.enabled)
  		{
! 			real dt = mSim->getStepSize();
! 
! 			Vec3r currentGlobalLinearVel = 
! 				mData.solid->getGlobalLinearVelAtLocalPos(
! 				mData.transform.getPosition());
! 			Vec3r currentGlobalAngularVel = 
! 				mData.solid->getGlobalAngularVel();
! 			Vec3r currentLocalLinearVel = 
! 				mData.solid->getLocalLinearVelAtLocalPos(
! 				mData.transform.getPosition());
! 			Vec3r currentLocalAngularVel = 
! 				mData.solid->getLocalAngularVel();
! 
! 			mGlobalLinearAccel = (currentGlobalLinearVel - 
! 				mPrevGlobalLinearVel) / dt;
! 			mGlobalAngularAccel = (currentGlobalAngularVel - 
! 				mPrevGlobalAngularVel) / dt;
! 			mLocalLinearAccel = (currentLocalLinearVel - 
! 				mPrevLocalLinearVel) / dt;
! 			mLocalAngularAccel = (currentLocalAngularVel - 
! 				mPrevLocalAngularVel) / dt;
! 
! 			mPrevGlobalLinearVel = currentGlobalLinearVel;
! 			mPrevGlobalAngularVel = currentGlobalAngularVel;
! 			mPrevLocalLinearVel = currentLocalLinearVel;
! 			mPrevLocalAngularVel = currentLocalAngularVel;
  		}
  	}

Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** SConscript	21 Mar 2005 04:29:05 -0000	1.17
--- SConscript	23 Mar 2005 07:54:34 -0000	1.18
***************
*** 52,57 ****
  	ThrusterMotorData.h
  	Vec3r.h
- 	VelocitySensor.h
- 	VelocitySensorData.h
  	VolumeSensor.h
  	VolumeSensorData.h
--- 52,55 ----
***************
*** 78,82 ****
  	SpringMotor.cpp
  	ThrusterMotor.cpp
- 	VelocitySensor.cpp
  	VolumeSensor.cpp
  """)
--- 76,79 ----

[Opal-commits] opal/src BlueprintManager.cpp,1.33,1.34 SpringMotor.cpp,1.10,1.11 SpringMotor.h,1.12,1.13 SpringMotorData.h,1.4,1.5

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21909/src

Modified Files:
	BlueprintManager.cpp SpringMotor.cpp SpringMotor.h 
	SpringMotorData.h 
Log Message:
added an 'attachOffset' point option to the spring motor which allows the spring to be attached to a solid at a point offset from the solid's center

Index: SpringMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.cpp,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** SpringMotor.cpp	23 Mar 2005 04:04:31 -0000	1.10
--- SpringMotor.cpp	23 Mar 2005 04:52:36 -0000	1.11
***************
*** 41,51 ****
  	}
  
- 	//void SpringMotor::init(Mode m, Solid* s)
- 	//{
- 	//	Motor::init();
- 	//	mSolid = s;
- 	//	mMode = m;
- 	//}
- 
  	void SpringMotor::init(const SpringMotorData& data)
  	{
--- 41,44 ----
***************
*** 102,106 ****
  				Force f;
  				f.singleStep = true;
! 				f.type = GLOBAL_FORCE;
  				f.vec = mData.linearKs * error - 
  					mData.linearKd * mData.solid->getGlobalLinearVel();
--- 95,100 ----
  				Force f;
  				f.singleStep = true;
! 				f.type = GLOBAL_FORCE_AT_LOCAL_POS;
! 				f.pos = mData.attachOffset;
  				f.vec = mData.linearKs * error - 
  					mData.linearKd * mData.solid->getGlobalLinearVel();
***************
*** 176,179 ****
--- 170,183 ----
  	}
  
+ 	void SpringMotor::setAttachOffset(const Point3r& offset)
+ 	{
+ 		mData.attachOffset = offset;
+ 	}
+ 
+ 	const Point3r& SpringMotor::getAttachOffset()const
+ 	{
+ 		return mData.attachOffset;
+ 	}
+ 
  	void SpringMotor::setDesiredTransform(const Matrix44r& transform)
  	{

Index: SpringMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.h,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** SpringMotor.h	23 Mar 2005 04:04:31 -0000	1.12
--- SpringMotor.h	23 Mar 2005 04:52:36 -0000	1.13
***************
*** 69,72 ****
--- 69,79 ----
  		virtual void OPAL_CALL setEnabled(bool e);
  
+ 		/// Sets the spring's attach point on the Solid.  This is a local 
+ 		// offset point from the Solid's position.
+ 		virtual void OPAL_CALL setAttachOffset(const Point3r& offset);
+ 
+ 		/// Returns the spring's attach point on the Solid.
+ 		virtual const Point3r& OPAL_CALL getAttachOffset()const;
+ 
  		/// Sets the desired position and orientation.  
  		virtual void OPAL_CALL setDesiredTransform(const Matrix44r& transform);

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.33
retrieving revision 1.34
diff -C2 -d -r1.33 -r1.34
*** BlueprintManager.cpp	14 Mar 2005 22:36:31 -0000	1.33
--- BlueprintManager.cpp	23 Mar 2005 04:52:26 -0000	1.34
***************
*** 982,985 ****
--- 982,995 ----
  			}
  
+ 			// Load AttachOffset element if it exists.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("AttachOffset");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				data->attachOffset[0] = getAttributeReal(paramNodePtr, "x");
+ 				data->attachOffset[1] = getAttributeReal(paramNodePtr, "y");
+ 				data->attachOffset[2] = getAttributeReal(paramNodePtr, "z");
+ 			}
+ 
  			// Load DesiredPos element if it exists.
  			paramNodePtr = 

Index: SpringMotorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotorData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** SpringMotorData.h	11 Mar 2005 05:31:56 -0000	1.4
--- SpringMotorData.h	23 Mar 2005 04:52:36 -0000	1.5
***************
*** 60,63 ****
--- 60,64 ----
  			internal_solidName = "";
  			mode = LINEAR_MODE;
+ 			// "attachOffset" is initialized in its own constructor.
  			// "desiredPos" is initialized in its own constructor.
  			desiredForward = defaults::motor::spring::desiredForward;
***************
*** 91,94 ****
--- 92,96 ----
  			internal_solidName = data.internal_solidName;
  			mode = data.mode;
+ 			attachOffset = data.attachOffset;
  			desiredPos = data.desiredPos;
  			desiredForward = data.desiredForward;
***************
*** 113,116 ****
--- 115,123 ----
  		SpringMotorMode mode;
  
+ 		/// Local offset (relative to the Solid's position) that defines 
+ 		/// where the SpringMotor attaches to the Solid.  This is only 
+ 		/// used in linear mode.
+ 		Point3r attachOffset;
+ 
  		/// The Motor's desired position.  This is only used if the 
  		/// appropriate mode is set.

[Opal-commits] opal todo.txt,1.56,1.57

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21909

Modified Files:
	todo.txt 
Log Message:
added an 'attachOffset' point option to the spring motor which allows the spring to be attached to a solid at a point offset from the solid's center

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.56
retrieving revision 1.57
diff -C2 -d -r1.56 -r1.57
*** todo.txt	21 Mar 2005 04:29:06 -0000	1.56
--- todo.txt	23 Mar 2005 04:52:37 -0000	1.57
***************
*** 4,10 ****
  * add license notice to samples' source files
  
- * spring motor
- 	- add an option to apply the force at a place other than the solid's center of mass; this will allow the 'picking' demo to attach a spring motor exactly where the user clicks on an object
- 
  * additional sensors
  	- incline/orientation relative to an initial orientation
--- 4,7 ----

[Opal-commits] opal/src AccelerationSensor.cpp,1.1,1.2 AccelerationSensor.h,1.1,1.2 AttractorMotor.cpp,1.20,1.21 AttractorMotor.h,1.27,1.28 GearedMotor.cpp,1.10,1.11 GearedMotor.h,1.10,1.11 Joint.cpp,1.27,1.28 Joint.h,1.65,1.66 Motor.cpp,1.16,1.17 Motor.h,1.37,1.38 RaycastSensor.cpp,1.6,1.7 RaycastSensor.h,1.5,1.6 Sensor.cpp,1.5,1.6 Sensor.h,1.9,1.10 ServoMotor.cpp,1.14,1.15 ServoMotor.h,1.24,1.25 Simulator.cpp,1.49,1.50 SpringMotor.cpp,1.9,1.10 SpringMotor.h,1.11,1.12 ThrusterMotor.cpp,1.10,1.11 ThrusterMotor.h,1.12,1.13 VelocitySensor.cpp,1.1,1.2 VelocitySensor.h,1.1,1.2 VolumeSensor.cpp,1.3,1.4 VolumeSensor.h,1.4,1.5

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv25874/src

Modified Files:
	AccelerationSensor.cpp AccelerationSensor.h AttractorMotor.cpp 
	AttractorMotor.h GearedMotor.cpp GearedMotor.h Joint.cpp 
	Joint.h Motor.cpp Motor.h RaycastSensor.cpp RaycastSensor.h 
	Sensor.cpp Sensor.h ServoMotor.cpp ServoMotor.h Simulator.cpp 
	SpringMotor.cpp SpringMotor.h ThrusterMotor.cpp 
	ThrusterMotor.h VelocitySensor.cpp VelocitySensor.h 
	VolumeSensor.cpp VolumeSensor.h 
Log Message:
renamed overloaded internal_dependsOn functions to avoid gcc and mipspro compiler warnings

Index: Sensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Sensor.h,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** Sensor.h	14 Mar 2005 01:20:53 -0000	1.9
--- Sensor.h	23 Mar 2005 04:04:30 -0000	1.10
***************
*** 83,87 ****
  
  		/// Returns true if this Sensor depends on the given Solid.  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  	protected:
--- 83,87 ----
  
  		/// Returns true if this Sensor depends on the given Solid.  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  	protected:

Index: AccelerationSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AccelerationSensor.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** AccelerationSensor.h	14 Mar 2005 05:18:27 -0000	1.1
--- AccelerationSensor.h	23 Mar 2005 04:04:30 -0000	1.2
***************
*** 83,87 ****
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  	protected:
--- 83,87 ----
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  	protected:

Index: Motor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.h,v
retrieving revision 1.37
retrieving revision 1.38
diff -C2 -d -r1.37 -r1.38
*** Motor.h	9 Mar 2005 02:09:49 -0000	1.37
--- Motor.h	23 Mar 2005 04:04:30 -0000	1.38
***************
*** 82,89 ****
  
  		/// Returns true if this Motor depends on the given Solid.  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  		/// Returns true if this Motor depends on the given Joint.  
! 		virtual bool OPAL_CALL internal_dependsOn(Joint* joint);
  
  		/// Sets whether this is a custom Motor.  Used internally to 
--- 82,89 ----
  
  		/// Returns true if this Motor depends on the given Solid.  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  		/// Returns true if this Motor depends on the given Joint.  
! 		virtual bool OPAL_CALL internal_dependsOnJoint(Joint* j);
  
  		/// Sets whether this is a custom Motor.  Used internally to 

Index: Sensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Sensor.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Sensor.cpp	9 Mar 2005 02:09:49 -0000	1.5
--- Sensor.cpp	23 Mar 2005 04:04:30 -0000	1.6
***************
*** 55,59 ****
  	}
  
! 	bool Sensor::internal_dependsOn(Solid* solid)
  	{
  		return false;
--- 55,59 ----
  	}
  
! 	bool Sensor::internal_dependsOnSolid(Solid* s)
  	{
  		return false;

Index: RaycastSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** RaycastSensor.h	14 Mar 2005 05:18:27 -0000	1.5
--- RaycastSensor.h	23 Mar 2005 04:04:30 -0000	1.6
***************
*** 137,141 ****
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  	protected:
--- 137,141 ----
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  	protected:

Index: SpringMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.h,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** SpringMotor.h	9 Mar 2005 02:09:50 -0000	1.11
--- SpringMotor.h	23 Mar 2005 04:04:31 -0000	1.12
***************
*** 105,109 ****
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  	protected:
--- 105,109 ----
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  	protected:

Index: ThrusterMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.h,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** ThrusterMotor.h	9 Mar 2005 02:09:50 -0000	1.12
--- ThrusterMotor.h	23 Mar 2005 04:04:31 -0000	1.13
***************
*** 77,81 ****
  		virtual const Force& OPAL_CALL getForce()const;
  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  		virtual void OPAL_CALL internal_update();
--- 77,81 ----
  		virtual const Force& OPAL_CALL getForce()const;
  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  		virtual void OPAL_CALL internal_update();

Index: Motor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.cpp,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** Motor.cpp	9 Mar 2005 02:09:49 -0000	1.16
--- Motor.cpp	23 Mar 2005 04:04:30 -0000	1.17
***************
*** 56,65 ****
  	}
  
! 	bool Motor::internal_dependsOn(Solid* solid)
  	{
  		return false;
  	}
  
! 	bool Motor::internal_dependsOn(Joint* joint)
  	{
  		return false;
--- 56,65 ----
  	}
  
! 	bool Motor::internal_dependsOnSolid(Solid* s)
  	{
  		return false;
  	}
  
! 	bool Motor::internal_dependsOnJoint(Joint* j)
  	{
  		return false;

Index: AccelerationSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/AccelerationSensor.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** AccelerationSensor.cpp	14 Mar 2005 05:18:27 -0000	1.1
--- AccelerationSensor.cpp	23 Mar 2005 04:04:30 -0000	1.2
***************
*** 159,165 ****
  	}
  
! 	bool AccelerationSensor::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mData.solid)
  		{
  			return true;
--- 159,165 ----
  	}
  
! 	bool AccelerationSensor::internal_dependsOnSolid(Solid* s)
  	{
! 		if (s == mData.solid)
  		{
  			return true;

Index: GearedMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotor.cpp,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** GearedMotor.cpp	9 Mar 2005 02:09:49 -0000	1.10
--- GearedMotor.cpp	23 Mar 2005 04:04:30 -0000	1.11
***************
*** 143,149 ****
  	}
  
! 	bool GearedMotor::internal_dependsOn(Joint* joint)
  	{
! 		if (joint == mData.joint)
  		{
  			return true;
--- 143,149 ----
  	}
  
! 	bool GearedMotor::internal_dependsOnJoint(Joint* j)
  	{
! 		if (j == mData.joint)
  		{
  			return true;

Index: ServoMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.h,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -d -r1.24 -r1.25
*** ServoMotor.h	9 Mar 2005 02:09:49 -0000	1.24
--- ServoMotor.h	23 Mar 2005 04:04:30 -0000	1.25
***************
*** 105,109 ****
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOn(Joint* joint);
  
  	protected:
--- 105,109 ----
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOnJoint(Joint* j);
  
  	protected:

Index: AttractorMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.h,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** AttractorMotor.h	9 Mar 2005 02:09:49 -0000	1.27
--- AttractorMotor.h	23 Mar 2005 04:04:30 -0000	1.28
***************
*** 84,88 ****
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  	protected:
--- 84,88 ----
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  	protected:

Index: ThrusterMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.cpp,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** ThrusterMotor.cpp	9 Mar 2005 02:09:50 -0000	1.10
--- ThrusterMotor.cpp	23 Mar 2005 04:04:31 -0000	1.11
***************
*** 110,116 ****
  	}
  
! 	bool ThrusterMotor::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mData.solid)
  		{
  			return true;
--- 110,116 ----
  	}
  
! 	bool ThrusterMotor::internal_dependsOnSolid(Solid* s)
  	{
! 		if (s == mData.solid)
  		{
  			return true;

Index: VelocitySensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/VelocitySensor.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** VelocitySensor.h	14 Mar 2005 05:18:27 -0000	1.1
--- VelocitySensor.h	23 Mar 2005 04:04:31 -0000	1.2
***************
*** 85,89 ****
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  	protected:
--- 85,89 ----
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  	protected:

Index: VelocitySensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/VelocitySensor.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** VelocitySensor.cpp	14 Mar 2005 05:18:27 -0000	1.1
--- VelocitySensor.cpp	23 Mar 2005 04:04:31 -0000	1.2
***************
*** 159,165 ****
  	}
  
! 	bool VelocitySensor::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mData.solid)
  		{
  			return true;
--- 159,165 ----
  	}
  
! 	bool VelocitySensor::internal_dependsOnSolid(Solid* s)
  	{
! 		if (s == mData.solid)
  		{
  			return true;

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.49
retrieving revision 1.50
diff -C2 -d -r1.49 -r1.50
*** Simulator.cpp	21 Mar 2005 16:31:22 -0000	1.49
--- Simulator.cpp	23 Mar 2005 04:04:30 -0000	1.50
***************
*** 894,898 ****
  		for (iter = mMotorList.begin(); iter != mMotorList.end(); ++iter)
  		{
! 			if ((*iter)->internal_dependsOn(s))
  			{
  				(*iter)->setEnabled(false);
--- 894,898 ----
  		for (iter = mMotorList.begin(); iter != mMotorList.end(); ++iter)
  		{
! 			if ((*iter)->internal_dependsOnSolid(s))
  			{
  				(*iter)->setEnabled(false);
***************
*** 904,908 ****
  		for (iter2 = mJointList.begin(); iter2 != mJointList.end(); ++iter2)
  		{
! 			if ((*iter2)->internal_dependsOn(s))
  			{
  				(*iter2)->setEnabled(false);
--- 904,908 ----
  		for (iter2 = mJointList.begin(); iter2 != mJointList.end(); ++iter2)
  		{
! 			if ((*iter2)->internal_dependsOnSolid(s))
  			{
  				(*iter2)->setEnabled(false);
***************
*** 914,918 ****
  		for (iter3 = mSensorList.begin(); iter3 != mSensorList.end(); ++iter3)
  		{
! 			if ((*iter3)->internal_dependsOn(s))
  			{
  				(*iter3)->setEnabled(false);
--- 914,918 ----
  		for (iter3 = mSensorList.begin(); iter3 != mSensorList.end(); ++iter3)
  		{
! 			if ((*iter3)->internal_dependsOnSolid(s))
  			{
  				(*iter3)->setEnabled(false);
***************
*** 949,953 ****
  		for (iter = mMotorList.begin(); iter != mMotorList.end(); ++iter)
  		{
! 			if ((*iter)->internal_dependsOn(j))
  			{
  				(*iter)->setEnabled(false);
--- 949,953 ----
  		for (iter = mMotorList.begin(); iter != mMotorList.end(); ++iter)
  		{
! 			if ((*iter)->internal_dependsOnJoint(j))
  			{
  				(*iter)->setEnabled(false);

Index: VolumeSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** VolumeSensor.h	21 Mar 2005 03:53:57 -0000	1.4
--- VolumeSensor.h	23 Mar 2005 04:04:31 -0000	1.5
***************
*** 152,156 ****
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  	protected:
--- 152,156 ----
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  	protected:

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** RaycastSensor.cpp	14 Mar 2005 01:20:53 -0000	1.6
--- RaycastSensor.cpp	23 Mar 2005 04:04:30 -0000	1.7
***************
*** 136,142 ****
  	}
  
! 	bool RaycastSensor::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mData.solid)
  		{
  			return true;
--- 136,142 ----
  	}
  
! 	bool RaycastSensor::internal_dependsOnSolid(Solid* s)
  	{
! 		if (s == mData.solid)
  		{
  			return true;

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** Joint.cpp	21 Mar 2005 04:29:05 -0000	1.27
--- Joint.cpp	23 Mar 2005 04:04:30 -0000	1.28
***************
*** 318,324 ****
  	}
  
! 	bool Joint::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mData.solid0 || solid == mData.solid1)
  		{
  			return true;
--- 318,324 ----
  	}
  
! 	bool Joint::internal_dependsOnSolid(Solid* s)
  	{
! 		if (s == mData.solid0 || s == mData.solid1)
  		{
  			return true;

Index: VolumeSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** VolumeSensor.cpp	14 Mar 2005 01:20:53 -0000	1.3
--- VolumeSensor.cpp	23 Mar 2005 04:04:31 -0000	1.4
***************
*** 137,143 ****
  	}
  
! 	bool VolumeSensor::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mData.solid)
  		{
  			return true;
--- 137,143 ----
  	}
  
! 	bool VolumeSensor::internal_dependsOnSolid(Solid* s)
  	{
! 		if (s == mData.solid)
  		{
  			return true;

Index: SpringMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.cpp,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** SpringMotor.cpp	9 Mar 2005 02:09:50 -0000	1.9
--- SpringMotor.cpp	23 Mar 2005 04:04:31 -0000	1.10
***************
*** 266,272 ****
  	}
  
! 	bool SpringMotor::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mData.solid)
  		{
  			return true;
--- 266,272 ----
  	}
  
! 	bool SpringMotor::internal_dependsOnSolid(Solid* s)
  	{
! 		if (s == mData.solid)
  		{
  			return true;

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -d -r1.65 -r1.66
*** Joint.h	21 Mar 2005 04:29:05 -0000	1.65
--- Joint.h	23 Mar 2005 04:04:30 -0000	1.66
***************
*** 223,227 ****
  
  		/// Returns true if this Joint depends on the given Solid.  
! 		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);
  
  	protected:
--- 223,227 ----
  
  		/// Returns true if this Joint depends on the given Solid.  
! 		virtual bool OPAL_CALL internal_dependsOnSolid(Solid* s);
  
  	protected:

Index: AttractorMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.cpp,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** AttractorMotor.cpp	9 Mar 2005 02:09:49 -0000	1.20
--- AttractorMotor.cpp	23 Mar 2005 04:04:30 -0000	1.21
***************
*** 164,170 ****
  	}
  
! 	bool AttractorMotor::internal_dependsOn(Solid* solid)
  	{
! 		if (solid == mData.solid0 || solid == mData.solid1)
  		{
  			return true;
--- 164,170 ----
  	}
  
! 	bool AttractorMotor::internal_dependsOnSolid(Solid* s)
  	{
! 		if (s == mData.solid0 || s == mData.solid1)
  		{
  			return true;

Index: GearedMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotor.h,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** GearedMotor.h	9 Mar 2005 02:09:49 -0000	1.10
--- GearedMotor.h	23 Mar 2005 04:04:30 -0000	1.11
***************
*** 96,100 ****
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOn(Joint* joint);
  
  	protected:
--- 96,100 ----
  		virtual void OPAL_CALL internal_update();
  
! 		virtual bool OPAL_CALL internal_dependsOnJoint(Joint* j);
  
  	protected:

Index: ServoMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.cpp,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** ServoMotor.cpp	9 Mar 2005 02:09:49 -0000	1.14
--- ServoMotor.cpp	23 Mar 2005 04:04:30 -0000	1.15
***************
*** 231,237 ****
  	}
  
! 	bool ServoMotor::internal_dependsOn(Joint* joint)
  	{
! 		if (joint == mData.joint)
  		{
  			return true;
--- 231,237 ----
  	}
  
! 	bool ServoMotor::internal_dependsOnJoint(Joint* j)
  	{
! 		if (j == mData.joint)
  		{
  			return true;

[Opal-commits] opal/src Solid.cpp,1.28,1.29

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16641/src

Modified Files:
	Solid.cpp 
Log Message:
fixed bug in solid force list - forces weren't getting deleted properly

Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** Solid.cpp	21 Mar 2005 04:29:05 -0000	1.28
--- Solid.cpp	21 Mar 2005 17:52:22 -0000	1.29
***************
*** 332,340 ****
  			{
  				// Delete this force.
! 
! 				// Swap the element to be deleted with the last element.
! 				std::swap((*forceIter), mForceList.back());
! 
! 				// Delete the last element.
  				mForceList.pop_back();
  			}
--- 332,336 ----
  			{
  				// Delete this force.
! 				(*forceIter) = mForceList.back();
  				mForceList.pop_back();
  			}

[Opal-commits] opal/src Simulator.cpp,1.48,1.49

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11216/src

Modified Files:
	Simulator.cpp 
Log Message:
fixed bug - the Simulator's PostStepEventHandler is now called at the right time

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.48
retrieving revision 1.49
diff -C2 -d -r1.48 -r1.49
*** Simulator.cpp	21 Mar 2005 04:29:05 -0000	1.48
--- Simulator.cpp	21 Mar 2005 16:31:22 -0000	1.49
***************
*** 221,230 ****
  						internal_handlePendingCollisionEvents();
  				}
  
! 				// Fire an event to the PostStepEventHandler, if one exists.
! 				if (mPostStepEventHandler)
! 				{
! 					mPostStepEventHandler->handlePostStepEvent();
! 				}
  			}
  
--- 221,230 ----
  						internal_handlePendingCollisionEvents();
  				}
+ 			}
  
! 			// Fire an event to the PostStepEventHandler, if one exists.
! 			if (mPostStepEventHandler)
! 			{
! 				mPostStepEventHandler->handlePostStepEvent();
  			}
  

[Opal-commits] opal/src CollisionEventHandler.h,1.1,1.2 JointBreakEventHandler.h,1.1,1.2 PostStepEventHandler.h,1.1,1.2

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31862/src

Modified Files:
	CollisionEventHandler.h JointBreakEventHandler.h 
	PostStepEventHandler.h 
Log Message:
exported symbols from the event handler classes for the win32 dll interface

Index: PostStepEventHandler.h
===================================================================
RCS file: /cvsroot/opal/opal/src/PostStepEventHandler.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** PostStepEventHandler.h	21 Mar 2005 04:29:05 -0000	1.1
--- PostStepEventHandler.h	21 Mar 2005 05:52:09 -0000	1.2
***************
*** 38,49 ****
  	{
  	public:
! 		PostStepEventHandler();
  
! 		virtual ~PostStepEventHandler();
  
  		/// Called once for each pending CollisionEvent.  This is always 
  		/// called at the end of a time step, so CollisionEvents always 
  		/// get handled right away.
! 		virtual void OPAL_CALL handlePostStepEvent() = 0;
  
  	protected:
--- 38,51 ----
  	{
  	public:
! 		OPAL_DECL PostStepEventHandler()
! 		{}
  
! 		OPAL_DECL virtual ~PostStepEventHandler()
! 		{}
  
  		/// Called once for each pending CollisionEvent.  This is always 
  		/// called at the end of a time step, so CollisionEvents always 
  		/// get handled right away.
! 		OPAL_DECL virtual void OPAL_CALL handlePostStepEvent() = 0;
  
  	protected:

Index: CollisionEventHandler.h
===================================================================
RCS file: /cvsroot/opal/opal/src/CollisionEventHandler.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** CollisionEventHandler.h	8 Mar 2005 16:10:23 -0000	1.1
--- CollisionEventHandler.h	21 Mar 2005 05:52:09 -0000	1.2
***************
*** 72,93 ****
  	{
  	public:
! 		CollisionEventHandler();
  
! 		virtual ~CollisionEventHandler();
  
  		/// Called once for each pending CollisionEvent.  This is always 
  		/// called at the end of a time step, so CollisionEvents always 
  		/// get handled right away.
! 		virtual void OPAL_CALL handleCollisionEvent(
  			const CollisionEvent& e) = 0;
  
  		/// Adds a CollisionEvent to this handler's internal list.  These 
  		/// will get handled at the end of the current time step.
! 		virtual void OPAL_CALL internal_pushCollisionEvent(
  			const CollisionEvent& e);
  
  		/// Loops through the pending CollisionEvents, calling the event 
  		/// handling function (which is always user-defined) for each.
! 		virtual void OPAL_CALL internal_handlePendingCollisionEvents();
  
  	protected:
--- 72,94 ----
  	{
  	public:
! 		OPAL_DECL CollisionEventHandler();
  
! 		OPAL_DECL virtual ~CollisionEventHandler();
  
  		/// Called once for each pending CollisionEvent.  This is always 
  		/// called at the end of a time step, so CollisionEvents always 
  		/// get handled right away.
! 		OPAL_DECL virtual void OPAL_CALL handleCollisionEvent(
  			const CollisionEvent& e) = 0;
  
  		/// Adds a CollisionEvent to this handler's internal list.  These 
  		/// will get handled at the end of the current time step.
! 		OPAL_DECL virtual void OPAL_CALL internal_pushCollisionEvent(
  			const CollisionEvent& e);
  
  		/// Loops through the pending CollisionEvents, calling the event 
  		/// handling function (which is always user-defined) for each.
! 		OPAL_DECL virtual void OPAL_CALL 
! 			internal_handlePendingCollisionEvents();
  
  	protected:

Index: JointBreakEventHandler.h
===================================================================
RCS file: /cvsroot/opal/opal/src/JointBreakEventHandler.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** JointBreakEventHandler.h	8 Mar 2005 16:10:24 -0000	1.1
--- JointBreakEventHandler.h	21 Mar 2005 05:52:09 -0000	1.2
***************
*** 40,52 ****
  	{
  	public:
! 		JointBreakEventHandler()
  		{}
  
! 		virtual ~JointBreakEventHandler()
  		{}
  
  		/// Called when a Joint breaks from being damaged.  The Joint will 
  		/// automatically become disabled before this is called.
! 		virtual void OPAL_CALL handleJointBreakEvent(Joint* joint) = 0;
  
  	protected:
--- 40,53 ----
  	{
  	public:
! 		OPAL_DECL JointBreakEventHandler()
  		{}
  
! 		OPAL_DECL virtual ~JointBreakEventHandler()
  		{}
  
  		/// Called when a Joint breaks from being damaged.  The Joint will 
  		/// automatically become disabled before this is called.
! 		OPAL_DECL virtual void OPAL_CALL handleJointBreakEvent(
! 			Joint* joint) = 0;
  
  	protected:

[Opal-commits] opal/src PostStepEventHandler.h,NONE,1.1 Joint.cpp,1.26,1.27 Joint.h,1.64,1.65 SConscript,1.16,1.17 Simulator.cpp,1.47,1.48 Simulator.h,1.87,1.88 Solid.cpp,1.27,1.28 Solid.h,1.83,1.84 opal.h,1.23,1.24

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15060/src

Modified Files:
	Joint.cpp Joint.h SConscript Simulator.cpp Simulator.h 
	Solid.cpp Solid.h opal.h 
Added Files:
	PostStepEventHandler.h 
Log Message:
added a PostStepEventHandler that gets notified at the end of every simulation step

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.26
retrieving revision 1.27
diff -C2 -d -r1.26 -r1.27
*** Joint.cpp	8 Mar 2005 22:05:03 -0000	1.26
--- Joint.cpp	21 Mar 2005 04:29:05 -0000	1.27
***************
*** 34,38 ****
  	{
  		// "mData" is initialized in its own constructor.
! 		mJointBreakEventHandler = NULL;
  		setUserData(NULL);
  		mInitCalled = false;
--- 34,38 ----
  	{
  		// "mData" is initialized in its own constructor.
! 		setJointBreakEventHandler(NULL);
  		setUserData(NULL);
  		mInitCalled = false;
***************
*** 101,109 ****
  	//}
  
! 	void Joint::setEventHandler(JointBreakEventHandler* eventHandler)
  	{
  		mJointBreakEventHandler = eventHandler;
  	}
  
  	void Joint::setLimitsEnabled(int axisNum, bool e)
  	{
--- 101,115 ----
  	//}
  
! 	void Joint::setJointBreakEventHandler(
! 		JointBreakEventHandler* eventHandler)
  	{
  		mJointBreakEventHandler = eventHandler;
  	}
  
+ 	JointBreakEventHandler* Joint::getJointBreakEventHandler()const
+ 	{
+ 		return mJointBreakEventHandler;
+ 	}
+ 
  	void Joint::setLimitsEnabled(int axisNum, bool e)
  	{

Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** Solid.cpp	14 Mar 2005 01:20:53 -0000	1.27
--- Solid.cpp	21 Mar 2005 04:29:05 -0000	1.28
***************
*** 33,37 ****
  	{
  		// "mData" is initialized in its own constructor.
! 		setEventHandler(NULL);
  		setUserData(NULL);
  	}
--- 33,37 ----
  	{
  		// "mData" is initialized in its own constructor.
! 		setCollisionEventHandler(NULL);
  		setUserData(NULL);
  	}
***************
*** 346,355 ****
  	}
  
! 	void Solid::setEventHandler(CollisionEventHandler* eventHandler)
  	{
  		mCollisionEventHandler = eventHandler;
  	}
  
! 	CollisionEventHandler* Solid::getEventHandler()const
  	{
  		return mCollisionEventHandler;
--- 346,355 ----
  	}
  
! 	void Solid::setCollisionEventHandler(CollisionEventHandler* eventHandler)
  	{
  		mCollisionEventHandler = eventHandler;
  	}
  
! 	CollisionEventHandler* Solid::getCollisionEventHandler()const
  	{
  		return mCollisionEventHandler;

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** opal.h	14 Mar 2005 05:18:27 -0000	1.23
--- opal.h	21 Mar 2005 04:29:05 -0000	1.24
***************
*** 65,68 ****
--- 65,69 ----
  #include "JointBreakEventHandler.h"
  #include "CollisionEventHandler.h"
+ #include "PostStepEventHandler.h"
  #include "Blueprint.h"
  #include "BlueprintInstance.h"

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.83
retrieving revision 1.84
diff -C2 -d -r1.83 -r1.84
*** Solid.h	14 Mar 2005 01:20:53 -0000	1.83
--- Solid.h	21 Mar 2005 04:29:05 -0000	1.84
***************
*** 179,188 ****
  		virtual void OPAL_CALL translateMass(const Vec3r& offset) = 0;
  
! 		/// Sets the Solid's event handler.  
! 		virtual void OPAL_CALL setEventHandler(
  			CollisionEventHandler* eventHandler);
  
! 		/// Returns the Solid's event handler.  
! 		virtual CollisionEventHandler* OPAL_CALL getEventHandler()const;
  
  		//// Quickly spinning solids should be set as fast rotating solids to 
--- 179,190 ----
  		virtual void OPAL_CALL translateMass(const Vec3r& offset) = 0;
  
! 		/// Sets the Solid's collision event handler.  
! 		virtual void OPAL_CALL setCollisionEventHandler(
  			CollisionEventHandler* eventHandler);
  
! 		/// Returns the Solid's collision event handler.  If this returns 
! 		/// NULL, the Solid is not using one.
! 		virtual CollisionEventHandler* OPAL_CALL 
! 			getCollisionEventHandler()const;
  
  		//// Quickly spinning solids should be set as fast rotating solids to 
***************
*** 223,227 ****
  		SolidData mData;
  
! 		/// Pointer to this Solid's event handler.  
  		CollisionEventHandler* mCollisionEventHandler;
  
--- 225,229 ----
  		SolidData mData;
  
! 		/// Pointer to this Solid's collision event handler.  
  		CollisionEventHandler* mCollisionEventHandler;
  

--- NEW FILE: PostStepEventHandler.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_POST_STEP_EVENT_HANDLER_H
#define OPAL_POST_STEP_EVENT_HANDLER_H

#include "Defines.h"
#include "EventHandler.h"

namespace opal
{
	/// A listener that gets notified when a simulation step has finished.
	class PostStepEventHandler : public EventHandler
	{
	public:
		PostStepEventHandler();

		virtual ~PostStepEventHandler();

		/// Called once for each pending CollisionEvent.  This is always 
		/// called at the end of a time step, so CollisionEvents always 
		/// get handled right away.
		virtual void OPAL_CALL handlePostStepEvent() = 0;

	protected:

	private:

	};
}

#endif


Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.64
retrieving revision 1.65
diff -C2 -d -r1.64 -r1.65
*** Joint.h	8 Mar 2005 22:05:03 -0000	1.64
--- Joint.h	21 Mar 2005 04:29:05 -0000	1.65
***************
*** 94,101 ****
  		virtual void OPAL_CALL repairAccumDamage();
  
! 		/// Sets the Joint's event handler.  
! 		virtual void OPAL_CALL setEventHandler(
  			JointBreakEventHandler* eventHandler);
  
  		/// Enables or disables the given Joint axis' limits.  
  		virtual void OPAL_CALL setLimitsEnabled(int axisNum, bool e);
--- 94,106 ----
  		virtual void OPAL_CALL repairAccumDamage();
  
! 		/// Sets the Joint's break event handler.  
! 		virtual void OPAL_CALL setJointBreakEventHandler(
  			JointBreakEventHandler* eventHandler);
  
+ 		/// Returns the Joint's break event handler.  If this returns 
+ 		/// NULL, the Joint is not using one.
+ 		virtual JointBreakEventHandler* OPAL_CALL 
+ 			getJointBreakEventHandler()const;
+ 
  		/// Enables or disables the given Joint axis' limits.  
  		virtual void OPAL_CALL setLimitsEnabled(int axisNum, bool e);
***************
*** 243,247 ****
  		JointData mData;
  
! 		/// A pointer to the Joint's event handler.
  		JointBreakEventHandler* mJointBreakEventHandler;
  
--- 248,252 ----
  		JointData mData;
  
! 		/// A pointer to the Joint's break event handler.
  		JointBreakEventHandler* mJointBreakEventHandler;
  

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.47
retrieving revision 1.48
diff -C2 -d -r1.47 -r1.48
*** Simulator.cpp	14 Mar 2005 05:18:27 -0000	1.47
--- Simulator.cpp	21 Mar 2005 04:29:05 -0000	1.48
***************
*** 41,44 ****
--- 41,45 ----
  #include "AccelerationSensor.h"
  #include "VolumeSensor.h"
+ #include "PostStepEventHandler.h"
  
  namespace opal
***************
*** 51,54 ****
--- 52,56 ----
  		setMaxAngularVel(defaults::maxAngularVel);
  		setUserData(NULL);
+ 		setPostStepEventHandler(NULL);
  
  		int i=0;
***************
*** 116,122 ****
  		while (mTimeBuffer >= mStepSize)
  		{
- 			// TODO: Call some user-defined function here; maybe have 
- 			// a BeginStepEventHandler
- 
  			// Update Sensors.
  			std::vector<Sensor*>::iterator sensorIter;
--- 118,121 ----
***************
*** 217,225 ****
  
  				// Update the Solid's CollisionEventHandler if applicable.
! 				if (solid->getEventHandler())
  				{
! 					solid->getEventHandler()->
  						internal_handlePendingCollisionEvents();
  				}
  			}
  
--- 216,230 ----
  
  				// Update the Solid's CollisionEventHandler if applicable.
! 				if (solid->getCollisionEventHandler())
  				{
! 					solid->getCollisionEventHandler()->
  						internal_handlePendingCollisionEvents();
  				}
+ 
+ 				// Fire an event to the PostStepEventHandler, if one exists.
+ 				if (mPostStepEventHandler)
+ 				{
+ 					mPostStepEventHandler->handlePostStepEvent();
+ 				}
  			}
  
***************
*** 240,243 ****
--- 245,264 ----
  	}
  
+ 	real Simulator::getStepSize()
+ 	{
+ 		return mStepSize;
+ 	}
+ 
+ 	void Simulator::setPostStepEventHandler(
+ 		PostStepEventHandler* eventHandler)
+ 	{
+ 		mPostStepEventHandler = eventHandler;
+ 	}
+ 
+ 	PostStepEventHandler* Simulator::getPostStepEventHandler()const
+ 	{
+ 		return mPostStepEventHandler;
+ 	}
+ 
  	void Simulator::instantiateBlueprint(
  		BlueprintInstance& instance, const Blueprint& bp, 

Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** SConscript	14 Mar 2005 22:36:31 -0000	1.16
--- SConscript	21 Mar 2005 04:29:05 -0000	1.17
***************
*** 31,34 ****
--- 31,35 ----
  	Point3r.h
  	Portability.h
+ 	PostStepEventHandler.h
  	Quaternion.h
  	RaycastSensor.h

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.87
retrieving revision 1.88
diff -C2 -d -r1.87 -r1.88
*** Simulator.h	14 Mar 2005 01:20:53 -0000	1.87
--- Simulator.h	21 Mar 2005 04:29:05 -0000	1.88
***************
*** 47,50 ****
--- 47,51 ----
  	class VolumeSensor;
  	class BlueprintInstance;
+ 	class PostStepEventHandler;
  	struct RaycastResult;
  	struct VolumeQueryResult;
***************
*** 75,78 ****
--- 76,91 ----
  		virtual void OPAL_CALL setStepSize(real stepSize);
  
+ 		/// Returns the constant step size used in the simulation.
+ 		virtual real OPAL_CALL getStepSize();
+ 
+ 		/// Sets the Simulator's post-step event handler.  
+ 		virtual void OPAL_CALL setPostStepEventHandler(
+ 			PostStepEventHandler* eventHandler);
+ 
+ 		/// Returns the Simulator's post-step event handler.  If this 
+ 		/// returns NULL, the Simulator is not using one.
+ 		virtual PostStepEventHandler* OPAL_CALL 
+ 			getPostStepEventHandler()const;
+ 
  		/// Creates instances of all objects in a Blueprint and fills the 
  		/// given BlueprintInstance with pointers of the named objects.  The 
***************
*** 325,328 ****
--- 338,344 ----
  		unsigned long int mContactGroupFlags[32];
  
+ 		/// Pointer to the Simulator's post-step event handler.  
+ 		PostStepEventHandler* mPostStepEventHandler;
+ 
  	private:
  	};

[Opal-commits] opal todo.txt,1.55,1.56

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15060

Modified Files:
	todo.txt 
Log Message:
added a PostStepEventHandler that gets notified at the end of every simulation step

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.55
retrieving revision 1.56
diff -C2 -d -r1.55 -r1.56
*** todo.txt	14 Mar 2005 05:18:28 -0000	1.55
--- todo.txt	21 Mar 2005 04:29:06 -0000	1.56
***************
*** 2,8 ****
--- 2,15 ----
  =================
  
+ * add license notice to samples' source files
+ 
+ * spring motor
+ 	- add an option to apply the force at a place other than the solid's center of mass; this will allow the 'picking' demo to attach a spring motor exactly where the user clicks on an object
+ 
  * additional sensors
  	- incline/orientation relative to an initial orientation
  
+ * ray and volume sensors should use contact groups?  ray needs a group parameter; volume sensor just uses the volume solid's group
+ 
  * finish implementing accel and vel sensors
  

[Opal-commits] opal/vc7 opal-ode.vcproj,1.19,1.20

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

Update of /cvsroot/opal/opal/vc7
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15060/vc7

Modified Files:
	opal-ode.vcproj 
Log Message:
added a PostStepEventHandler that gets notified at the end of every simulation step

Index: opal-ode.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/vc7/opal-ode.vcproj,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** opal-ode.vcproj	14 Mar 2005 05:18:28 -0000	1.19
--- opal-ode.vcproj	21 Mar 2005 04:29:06 -0000	1.20
***************
*** 252,255 ****
--- 252,258 ----
  			</File>
  			<File
+ 				RelativePath="..\src\PostStepEventHandler.h">
+ 			</File>
+ 			<File
  				RelativePath="..\src\RaycastSensor.h">
  			</File>