opal-commits — Mailing list for CVS commit messages.

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.91,1.92

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

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

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

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.91
retrieving revision 1.92
diff -C2 -d -r1.91 -r1.92
*** ODESimulator.cpp	14 Mar 2005 01:20:55 -0000	1.91
--- ODESimulator.cpp	21 Mar 2005 04:29:05 -0000	1.92
***************
*** 395,400 ****
  				// If at least one of the Solids has a CollisionEventHandler, 
  				// send it a CollisionEvent.
! 				CollisionEventHandler* handler0 = solid0->getEventHandler();
! 				CollisionEventHandler* handler1 = solid1->getEventHandler();
  
  				if (handler0 || handler1)
--- 395,402 ----
  				// 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)
***************
*** 436,440 ****
  				// Old version...
  				//// Early check to save some time.
! 				//if (solid0->getEventHandler() || solid1->getEventHandler())
  				//{
  				//	// Call the event handlers.  Note: we only use one 
--- 438,443 ----
  				// Old version...
  				//// Early check to save some time.
! 				//if (solid0->getCollisionEventHandler() 
! 				//	|| solid1->getCollisionEventHandler())
  				//{
  				//	// Call the event handlers.  Note: we only use one 
***************
*** 456,460 ****
  				//	e.depth = contactArray[0].depth;
  
! 				//	EventHandler* eventHandler = solid0->getEventHandler();
  				//	if (eventHandler)
  				//	{
--- 459,464 ----
  				//	e.depth = contactArray[0].depth;
  
! 				//	EventHandler* eventHandler = 
! 				//		solid0->getCollisionEventHandler();
  				//	if (eventHandler)
  				//	{
***************
*** 467,471 ****
  				//	e.solid1 = solid0;
  
! 				//	eventHandler = solid1->getEventHandler();
  				//	if (eventHandler)
  				//	{
--- 471,475 ----
  				//	e.solid1 = solid0;
  
! 				//	eventHandler = solid1->getCollisionEventHandler();
  				//	if (eventHandler)
  				//	{

[Opal-commits] opal/samples/src Base3DObject.h,1.8,1.9 CapsuleObject.cpp,1.2,1.3

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

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

Modified Files:
	Base3DObject.h CapsuleObject.cpp 
Log Message:
added a PostStepEventHandler that gets notified at the end of every simulation step

Index: Base3DObject.h
===================================================================
RCS file: /cvsroot/opal/opal/samples/src/Base3DObject.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** Base3DObject.h	1 Mar 2005 05:04:20 -0000	1.8
--- Base3DObject.h	21 Mar 2005 04:29:05 -0000	1.9
***************
*** 44,47 ****
--- 44,63 ----
  	}
  
+ 	void DrawCapsule(opal::real radius, opal::real length)
+ 	{
+ 		glPushMatrix();
+ 			glTranslatef(0.0, 0.0, -length * (opal::real)0.5);
+ 			gluCylinder(mQuadric, radius, radius, length, 20, 20);
+ 		glPopMatrix();
+ 		glPushMatrix();
+ 			glTranslatef(0.0, 0.0, length * (opal::real)0.5);
+ 			gluSphere(mQuadric, radius, 20, 20);
+ 		glPopMatrix();
+ 		glPushMatrix();
+ 			glTranslatef(0.0, 0.0, -length * (opal::real)0.5);
+ 			gluSphere(mQuadric, radius, 20, 20);
+ 		glPopMatrix();
+ 	}
+ 
  	void DrawBox(const opal::Vec3r& dimensions)
  	{

Index: CapsuleObject.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/src/CapsuleObject.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** CapsuleObject.cpp	4 Mar 2005 05:09:23 -0000	1.2
--- CapsuleObject.cpp	21 Mar 2005 04:29:05 -0000	1.3
***************
*** 35,50 ****
  		glMultMatrixf(mSolid->getTransform().getData());
  		glMultMatrixf(mOffset.getData());
! 		glPushMatrix();
! 			glTranslatef(0.0, 0.0, -mLength * (opal::real)0.5);
! 			gluCylinder(mQuadric, mRadius, mRadius, mLength, 20, 20);
! 		glPopMatrix();
! 		glPushMatrix();
! 			glTranslatef(0.0, 0.0, mLength * (opal::real)0.5);
! 			gluSphere(mQuadric, mRadius, 20, 20);
! 		glPopMatrix();
! 		glPushMatrix();
! 			glTranslatef(0.0, 0.0, -mLength * (opal::real)0.5);
! 			gluSphere(mQuadric, mRadius, 20, 20);
! 		glPopMatrix();
  	glPopMatrix();
  }
--- 35,39 ----
  		glMultMatrixf(mSolid->getTransform().getData());
  		glMultMatrixf(mOffset.getData());
! 		DrawCapsule(mRadius, mLength);
  	glPopMatrix();
  }

[Opal-commits] opal/samples/simple_objects main.cpp,1.25,1.26

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

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

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

Index: main.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/simple_objects/main.cpp,v
retrieving revision 1.25
retrieving revision 1.26
diff -C2 -d -r1.25 -r1.26
*** main.cpp	13 Mar 2005 23:06:54 -0000	1.25
--- main.cpp	21 Mar 2005 04:29:05 -0000	1.26
***************
*** 13,17 ****
  #include "../src/CarObject.h"
  #include "../src/Timer.h"
- #include <opal/Matrix44r.h>
  
  #define SDL_SYSTEMS_USED SDL_INIT_VIDEO
--- 13,16 ----

[Opal-commits] opal/samples/car main.cpp,1.23,1.24

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

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

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

Index: main.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/car/main.cpp,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** main.cpp	1 Mar 2005 05:04:19 -0000	1.23
--- main.cpp	21 Mar 2005 04:29:04 -0000	1.24
***************
*** 12,16 ****
  #include "../src/CarObject.h"
  #include "../src/Timer.h"
- #include <opal/Matrix44r.h>
  
  #define SDL_SYSTEMS_USED SDL_INIT_VIDEO
--- 12,15 ----

[Opal-commits] opal/src VolumeSensor.h,1.3,1.4

[Andres R. <ar...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24480/src

Modified Files:
	VolumeSensor.h 
Log Message:
added getSolid back into sensor and added clearShapes into ODESolid (I think)

Index: VolumeSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** VolumeSensor.h	14 Mar 2005 05:18:27 -0000	1.3
--- VolumeSensor.h	21 Mar 2005 03:53:57 -0000	1.4
***************
*** 75,88 ****
  
  		/// Returns the number of Solids in the results.
! 		OPAL_DECL int OPAL_CALL getNumSolids()const
  		{
! 			return (int)(mSolidList.size());
  		}
  
! 		// This is probably not needed...
! 		//Solid* getSolid(unsigned int i)const
! 		//{
! 		//	return mSolidList.at(i);
! 		//}
  
  		/// Removes all Solids from the results.
--- 75,87 ----
  
  		/// Returns the number of Solids in the results.
! 		OPAL_DECL unsigned int OPAL_CALL getNumSolids()const
  		{
! 			return (unsigned int)(mSolidList.size());
  		}
  
! 		OPAL_DECL Solid* OPAL_CALL getSolid(unsigned int i)const
! 		{
! 			return mSolidList.at(i);
! 		}
  
  		/// Removes all Solids from the results.

[Opal-commits] opal/src/ODE ODESolid.cpp,1.76,1.77

[Andres R. <ar...@us...>]

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24480/src/ODE

Modified Files:
	ODESolid.cpp 
Log Message:
added getSolid back into sensor and added clearShapes into ODESolid (I think)

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.76
retrieving revision 1.77
diff -C2 -d -r1.76 -r1.77
*** ODESolid.cpp	10 Mar 2005 21:11:05 -0000	1.76
--- ODESolid.cpp	21 Mar 2005 03:53:57 -0000	1.77
***************
*** 96,101 ****
  			// Delete the geom data object.
  			delete mGeomDataList[i];
- 
- 			mGeomDataList.pop_back();
  		}
  		mGeomDataList.clear();
--- 96,99 ----

[Opal-commits] opal/src BlueprintManager.cpp,1.32,1.33 SConscript,1.15,1.16

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4849/src

Modified Files:
	BlueprintManager.cpp SConscript 
Log Message:
improved error messages of XML attribute parsing


Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** SConscript	14 Mar 2005 05:18:27 -0000	1.15
--- SConscript	14 Mar 2005 22:36:31 -0000	1.16
***************
*** 35,39 ****
  	RaycastSensorData.h
  	Rayr.h
- 	RayShapeData.h
  	Sensor.h
  	SensorData.h
--- 35,38 ----

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.32
retrieving revision 1.33
diff -C2 -d -r1.32 -r1.33
*** BlueprintManager.cpp	13 Mar 2005 23:07:09 -0000	1.32
--- BlueprintManager.cpp	14 Mar 2005 22:36:31 -0000	1.33
***************
*** 1524,1529 ****
  			{
  				OPAL_LOGGER("warning") << 
! 					"opal::BlueprintManager::getAttribute: Missing attribute " 
! 					<< name << ". Value will be set to 0.0." << std::endl;
  				return 0;
  			}
--- 1524,1531 ----
  			{
  				OPAL_LOGGER("warning") << 
! 					"opal::BlueprintManager::getAttribute: Element " 
! 					<< nodePtr->Value() << " is missing attribute " 
! 					<< name << ".  Parameter will be set to 0.0." 
! 					<< std::endl;
  				return 0;
  			}
***************
*** 1549,1554 ****
  			{
  				OPAL_LOGGER("warning") << 
! 					"opal::BlueprintManager::getAttribute: Missing attribute " 
! 					<< name << ". Value will be set to NULL." << std::endl;
  				return "";
  			}
--- 1551,1558 ----
  			{
  				OPAL_LOGGER("warning") << 
! 					"opal::BlueprintManager::getAttribute: Element " 
! 					<< nodePtr->Value() << " is missing attribute " 
! 					<< name << ".  Parameter will be set to \"\"." 
! 					<< std::endl;
  				return "";
  			}

[Opal-commits] opal/src AccelerationSensor.cpp,NONE,1.1 AccelerationSensor.h,NONE,1.1 AccelerationSensorData.h,NONE,1.1 VelocitySensor.cpp,NONE,1.1 VelocitySensor.h,NONE,1.1 VelocitySensorData.h,NONE,1.1 RaycastSensor.h,1.4,1.5 SConscript,1.14,1.15 Simulator.cpp,1.46,1.47 VolumeSensor.h,1.2,1.3 opal.h,1.22,1.23

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23596/src

Modified Files:
	RaycastSensor.h SConscript Simulator.cpp VolumeSensor.h opal.h 
Added Files:
	AccelerationSensor.cpp AccelerationSensor.h 
	AccelerationSensorData.h VelocitySensor.cpp VelocitySensor.h 
	VelocitySensorData.h 
Log Message:
added VelocitySensor and AccelerationSensor

--- NEW FILE: AccelerationSensor.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_ACCELERATION_SENSOR_H
#define OPAL_ACCELERATION_SENSOR_H

#include "Defines.h"
#include "Sensor.h"
#include "AccelerationSensorData.h"

namespace opal
{
	/// A Sensor that monitors the linear and angular acceleration of a 
	/// Solid.  Using its transform, it can be set to a desired offset from 
	/// the attached Solid.  This Sensor does nothing if it is not attached 
	/// to a Solid (i.e. its returned values are always zero).
	class AccelerationSensor : public Sensor
	{
	public:
		AccelerationSensor();

		virtual ~AccelerationSensor();

		/// Initializes the Sensor with the given data structure.  If the 
		/// Solid pointer in the data is valid, the Sensor's offset will 
		/// be relative to the Solid's transform instead of the global 
		/// origin.
		virtual void OPAL_CALL init(const AccelerationSensorData& data);

		/// Returns all data describing the Sensor.
		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);

		virtual bool OPAL_CALL isEnabled()const;

		virtual void OPAL_CALL setTransform(const Matrix44r& t);

		virtual const Matrix44r& OPAL_CALL getTransform()const;

		virtual SensorType OPAL_CALL getType()const;

		virtual void OPAL_CALL setName(const std::string& name);

		virtual const std::string& OPAL_CALL getName()const;

		virtual void OPAL_CALL internal_update();

		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);

	protected:
		/// Stores data describing the Sensor.
		AccelerationSensorData mData;

	private:
	};
}

#endif


--- NEW FILE: AccelerationSensor.cpp ---
/*************************************************************************
 *                                                                       *
 * 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.                *
 *                                                                       *
 *************************************************************************/

#include "AccelerationSensor.h"
#include "Simulator.h"

namespace opal
{
	AccelerationSensor::AccelerationSensor()
	{
		// "mData" is initialized in its own constructor.
	}

	AccelerationSensor::~AccelerationSensor()
	{
	}

	void AccelerationSensor::init(const AccelerationSensorData& data)
	{
		Sensor::init();
		mData = data;
	}

	const AccelerationSensorData& AccelerationSensor::getData()const
	{
		return mData;
	}

	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
	}

	void AccelerationSensor::setEnabled(bool e)
	{
		if (!mInitCalled)
		{
			return;
		}

		mData.enabled = e;
	}

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

	SensorType AccelerationSensor::getType()const
	{
		return mData.getType();
	}

	void AccelerationSensor::setTransform(const Matrix44r& t)
	{
		mData.transform = t;
	}

	const Matrix44r& AccelerationSensor::getTransform()const
	{
		return mData.transform;
	}

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

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

	void AccelerationSensor::internal_update()
	{
		if (mData.enabled)
		{
			// TODO: update acceleration calculations
		}
	}

	bool AccelerationSensor::internal_dependsOn(Solid* solid)
	{
		if (solid == mData.solid)
		{
			return true;
		}
		else
		{
			return false;
		}
	}
}

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.22
retrieving revision 1.23
diff -C2 -d -r1.22 -r1.23
*** opal.h	12 Mar 2005 01:21:17 -0000	1.22
--- opal.h	14 Mar 2005 05:18:27 -0000	1.23
***************
*** 54,59 ****
--- 54,63 ----
  #include "Sensor.h"
  #include "SensorData.h"
+ #include "AccelerationSensor.h"
+ #include "AccelerationSensorData.h"
  #include "RaycastSensor.h"
  #include "RaycastSensorData.h"
+ #include "VelocitySensor.h"
+ #include "VelocitySensorData.h"
  #include "VolumeSensor.h"
  #include "VolumeSensorData.h"

--- NEW FILE: VelocitySensor.cpp ---
/*************************************************************************
 *                                                                       *
 * 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.                *
 *                                                                       *
 *************************************************************************/

#include "VelocitySensor.h"
#include "Simulator.h"

namespace opal
{
	VelocitySensor::VelocitySensor()
	{
		// "mData" is initialized in its own constructor.
	}

	VelocitySensor::~VelocitySensor()
	{
	}

	void VelocitySensor::init(const VelocitySensorData& data)
	{
		Sensor::init();
		mData = data;
	}

	const VelocitySensorData& VelocitySensor::getData()const
	{
		return mData;
	}

	real VelocitySensor::getGlobalLinearVel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// in global coordinates.

		// TODO: get the velocity of the Solid at the Sensor's position.

		return 0; // temporary
	}

	real VelocitySensor::getGlobalAngularVel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// in global coordinates.

		// TODO: get the velocity of the Solid at the Sensor's position.

		return 0; // temporary
	}

	real VelocitySensor::getLocalLinearVel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// relative to the Solid.

		// TODO: get the velocity of the Solid at the Sensor's position.

		return 0; // temporary
	}

	real VelocitySensor::getLocalAngularVel()const
	{
		if (!mData.solid)
		{
			return 0;
		}

		// TODO: use the Sensor's transform to find its actual position 
		// relative to the Solid.

		// TODO: get the velocity of the Solid at the Sensor's position.

		return 0; // temporary
	}

	void VelocitySensor::setEnabled(bool e)
	{
		if (!mInitCalled)
		{
			return;
		}

		mData.enabled = e;
	}

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

	SensorType VelocitySensor::getType()const
	{
		return mData.getType();
	}

	void VelocitySensor::setTransform(const Matrix44r& t)
	{
		mData.transform = t;
	}

	const Matrix44r& VelocitySensor::getTransform()const
	{
		return mData.transform;
	}

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

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

	void VelocitySensor::internal_update()
	{
		if (mData.enabled)
		{
			// Do nothing.
		}
	}

	bool VelocitySensor::internal_dependsOn(Solid* solid)
	{
		if (solid == mData.solid)
		{
			return true;
		}
		else
		{
			return false;
		}
	}
}

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.46
retrieving revision 1.47
diff -C2 -d -r1.46 -r1.47
*** Simulator.cpp	13 Mar 2005 23:07:10 -0000	1.46
--- Simulator.cpp	14 Mar 2005 05:18:27 -0000	1.47
***************
*** 38,41 ****
--- 38,43 ----
  #include "SpringMotor.h"
  #include "RaycastSensor.h"
+ #include "VelocitySensor.h"
+ #include "AccelerationSensor.h"
  #include "VolumeSensor.h"
  

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

#ifndef OPAL_VELOCITY_SENSOR_H
#define OPAL_VELOCITY_SENSOR_H

#include "Defines.h"
#include "Sensor.h"
#include "VelocitySensorData.h"

namespace opal
{
	/// A Sensor that monitors the linear and angular velocity of a Solid.  
	/// Using its transform, it can be set to a desired offset from the 
	/// attached Solid.  This Sensor does nothing if it is not attached 
	/// to a Solid (i.e. its returned values are always zero).  Note that 
	/// if you never need the velocity offset from a Solid, you can also 
	/// use the Solid's get velocity functions.
	class VelocitySensor : public Sensor
	{
	public:
		VelocitySensor();

		virtual ~VelocitySensor();

		/// Initializes the Sensor with the given data structure.  If the 
		/// Solid pointer in the data is valid, the Sensor's offset will 
		/// be relative to the Solid's transform instead of the global 
		/// origin.
		virtual void OPAL_CALL init(const VelocitySensorData& data);

		/// Returns all data describing the Sensor.
		virtual const VelocitySensorData& OPAL_CALL getData()const;

		/// Returns the Sensor's global linear velocity.
		virtual real OPAL_CALL getGlobalLinearVel()const;

		/// Returns the Sensor's global angular velocity.
		virtual real OPAL_CALL getGlobalAngularVel()const;

		/// Returns the Sensor's local linear velocity.
		virtual real OPAL_CALL getLocalLinearVel()const;

		/// Returns the Sensor's local angular velocity.
		virtual real OPAL_CALL getLocalAngularVel()const;

		virtual void OPAL_CALL setEnabled(bool e);

		virtual bool OPAL_CALL isEnabled()const;

		virtual void OPAL_CALL setTransform(const Matrix44r& t);

		virtual const Matrix44r& OPAL_CALL getTransform()const;

		virtual SensorType OPAL_CALL getType()const;

		virtual void OPAL_CALL setName(const std::string& name);

		virtual const std::string& OPAL_CALL getName()const;

		virtual void OPAL_CALL internal_update();

		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);

	protected:
		/// Stores data describing the Sensor.
		VelocitySensorData mData;

	private:
	};
}

#endif


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

#ifndef OPAL_VELOCITY_SENSOR_DATA_H
#define OPAL_VELOCITY_SENSOR_DATA_H

#include "Defines.h"
#include "SensorData.h"

namespace opal
{
	/// A data structure describing a VelocitySensor.
	class VelocitySensorData : public SensorData
	{
	public:
		OPAL_DECL VelocitySensorData()
		: SensorData()
		{
			mType = VELOCITY_SENSOR;
		}

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

		OPAL_DECL virtual ~VelocitySensorData()
		{
		}

		/// Makes a deep copy.
		OPAL_DECL virtual void OPAL_CALL operator=(
			const VelocitySensorData& data)
		{
			mType = data.mType;
			enabled = data.enabled;
			name = data.name;
			solid = data.solid;
			internal_solidIndex = data.internal_solidIndex;
			internal_solidName = data.internal_solidName;
			transform = data.transform;
		}

	protected:

	private:
	};
}

#endif

Index: RaycastSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** RaycastSensor.h	12 Mar 2005 01:21:16 -0000	1.4
--- RaycastSensor.h	14 Mar 2005 05:18:27 -0000	1.5
***************
*** 85,89 ****
  
  	/// A Sensor that fires a ray into a scene and returns data describing 
! 	/// the intersection, if any.  This Sensor does not fire a ray on 
  	/// every time step because that would be a waste of time in most 
  	/// cases; it must be "fired" manually.
--- 85,89 ----
  
  	/// A Sensor that fires a ray into a scene and returns data describing 
! 	/// the closest intersection, if any.  This Sensor does not fire a ray 
  	/// every time step because that would be a waste of time in most 
  	/// cases; it must be "fired" manually.

Index: VolumeSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** VolumeSensor.h	14 Mar 2005 01:20:53 -0000	1.2
--- VolumeSensor.h	14 Mar 2005 05:18:27 -0000	1.3
***************
*** 114,118 ****
  	/// a specified volume.  Each volume query returns a data structure 
  	/// containing a list of those Solids.  This Sensor does not do a volume 
! 	/// query on every time step because that would be a waste of time in 
  	/// most cases; it must be queried manually.
  	class VolumeSensor : public Sensor
--- 114,118 ----
  	/// a specified volume.  Each volume query returns a data structure 
  	/// containing a list of those Solids.  This Sensor does not do a volume 
! 	/// query every time step because that would be a waste of time in 
  	/// most cases; it must be queried manually.
  	class VolumeSensor : public Sensor

--- NEW FILE: AccelerationSensorData.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_ACCELERATION_SENSOR_DATA_H
#define OPAL_ACCELERATION_SENSOR_DATA_H

#include "Defines.h"
#include "SensorData.h"

namespace opal
{
	/// A data structure describing an AccelerationSensor.
	class AccelerationSensorData : public SensorData
	{
	public:
		OPAL_DECL AccelerationSensorData()
		: SensorData()
		{
			mType = ACCELERATION_SENSOR;
		}

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

		OPAL_DECL virtual ~AccelerationSensorData()
		{
		}

		/// Makes a deep copy.
		OPAL_DECL virtual void OPAL_CALL operator=(
			const AccelerationSensorData& data)
		{
			mType = data.mType;
			enabled = data.enabled;
			name = data.name;
			solid = data.solid;
			internal_solidIndex = data.internal_solidIndex;
			internal_solidName = data.internal_solidName;
			transform = data.transform;
		}

	protected:

	private:
	};
}

#endif

Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** SConscript	12 Mar 2005 01:21:16 -0000	1.14
--- SConscript	14 Mar 2005 05:18:27 -0000	1.15
***************
*** 4,7 ****
--- 4,9 ----
  # OPAL headers
  headers = Split("""
+ 	AccelerationSensor.h
+ 	AccelerationSensorData.h
  	AttractorMotor.h
  	AttractorMotorData.h
***************
*** 50,53 ****
--- 52,57 ----
  	ThrusterMotorData.h
  	Vec3r.h
+ 	VelocitySensor.h
+ 	VelocitySensorData.h
  	VolumeSensor.h
  	VolumeSensorData.h
***************
*** 56,59 ****
--- 60,64 ----
  # OPAL sources
  sources = Split("""
+ 	AccelerationSensor.cpp
  	AttractorMotor.cpp
  	Blueprint.cpp
***************
*** 73,76 ****
--- 78,82 ----
  	SpringMotor.cpp
  	ThrusterMotor.cpp
+ 	VelocitySensor.cpp
  	VolumeSensor.cpp
  """)

[Opal-commits] opal/vc7 opal-ode.vcproj,1.18,1.19

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

Update of /cvsroot/opal/opal/vc7
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23596/vc7

Modified Files:
	opal-ode.vcproj 
Log Message:
added VelocitySensor and AccelerationSensor

Index: opal-ode.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/vc7/opal-ode.vcproj,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** opal-ode.vcproj	12 Mar 2005 01:21:17 -0000	1.18
--- opal-ode.vcproj	14 Mar 2005 05:18:28 -0000	1.19
***************
*** 116,119 ****
--- 116,122 ----
  			Filter="">
  			<File
+ 				RelativePath="..\src\AccelerationSensor.cpp">
+ 			</File>
+ 			<File
  				RelativePath="..\src\AttractorMotor.cpp">
  			</File>
***************
*** 167,170 ****
--- 170,176 ----
  			</File>
  			<File
+ 				RelativePath="..\src\VelocitySensor.cpp">
+ 			</File>
+ 			<File
  				RelativePath="..\src\VolumeSensor.cpp">
  			</File>
***************
*** 174,177 ****
--- 180,189 ----
  			Filter="">
  			<File
+ 				RelativePath="..\src\AccelerationSensor.h">
+ 			</File>
+ 			<File
+ 				RelativePath="..\src\AccelerationSensorData.h">
+ 			</File>
+ 			<File
  				RelativePath="..\src\AttractorMotor.h">
  			</File>
***************
*** 291,294 ****
--- 303,312 ----
  			</File>
  			<File
+ 				RelativePath="..\src\VelocitySensor.h">
+ 			</File>
+ 			<File
+ 				RelativePath="..\src\VelocitySensorData.h">
+ 			</File>
+ 			<File
  				RelativePath="..\src\VolumeSensor.h">
  			</File>

[Opal-commits] opal todo.txt,1.54,1.55

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23596

Modified Files:
	todo.txt 
Log Message:
added VelocitySensor and AccelerationSensor

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.54
retrieving revision 1.55
diff -C2 -d -r1.54 -r1.55
*** todo.txt	13 Mar 2005 23:07:12 -0000	1.54
--- todo.txt	14 Mar 2005 05:18:28 -0000	1.55
***************
*** 3,9 ****
  
  * additional sensors
! 	- vel, accel, incline/orientation; relate these to vestibular senses?
  
! * sensors
  	- parse from xml
  	- add to xml example
--- 3,11 ----
  
  * additional sensors
! 	- incline/orientation relative to an initial orientation
  
! * finish implementing accel and vel sensors
! 
! * accel and vel sensors:
  	- parse from xml
  	- add to xml example
***************
*** 12,15 ****
--- 14,27 ----
  	- 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
  
***************
*** 28,41 ****
  	- called at the start of a time step
  
- * 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
- 
  * dynamic number of contact joints?
  	- depends on types of objects
--- 40,43 ----

[Opal-commits] opal/src/ODE ODESimulator.h,1.64,1.65

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23596/src/ODE

Modified Files:
	ODESimulator.h 
Log Message:
added VelocitySensor and AccelerationSensor

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.64
retrieving revision 1.65
diff -C2 -d -r1.64 -r1.65
*** ODESimulator.h	14 Mar 2005 01:20:55 -0000	1.64
--- ODESimulator.h	14 Mar 2005 05:18:26 -0000	1.65
***************
*** 32,36 ****
--- 32,38 ----
  #include "../Defines.h"
  #include "../Simulator.h"
+ #include "../AccelerationSensor.h"
  #include "../RaycastSensor.h"
+ #include "../VelocitySensor.h"
  #include "../VolumeSensor.h"
  #include "ODESolid.h"

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.90,1.91 ODESimulator.h,1.63,1.64

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27784/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
finished implementing RaycastSensor and VolumeSensor

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.63
retrieving revision 1.64
diff -C2 -d -r1.63 -r1.64
*** ODESimulator.h	12 Mar 2005 01:21:15 -0000	1.63
--- ODESimulator.h	14 Mar 2005 01:20:55 -0000	1.64
***************
*** 97,101 ****
  
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length);
  
  		/// Helper function used for ray casting.  
--- 97,101 ----
  
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length, const Solid* attachedSolid);
  
  		/// Helper function used for ray casting.  
***************
*** 107,111 ****
  
  		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume);
  
  	protected:
--- 107,111 ----
  
  		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume, const Solid* attachedSolid);
  
  	protected:
***************
*** 132,135 ****
--- 132,141 ----
  		/// Used for ray casting.  
  		RaycastResult mRaycastResult;
+ 
+ 		/// Used for ray casting and volume queries.  If a RaycastSensor or 
+ 		/// VolumeSensor is attached to a Solid, this pointer will point to 
+ 		/// that Solid.  It is used to make sure the raycasts and collision 
+ 		/// query doesn't collide with the attached Solid.
+ 		const Solid* mSensorSolid;
  	private:
  	};

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.90
retrieving revision 1.91
diff -C2 -d -r1.90 -r1.91
*** ODESimulator.cpp	12 Mar 2005 01:21:08 -0000	1.90
--- ODESimulator.cpp	14 Mar 2005 01:20:55 -0000	1.91
***************
*** 76,79 ****
--- 76,81 ----
  		setSolverAccuracy(defaults::solverAccuracy);
  		mCollisionCount = 0;
+ 		// "mRaycastResult" is initialized in its own constructor.
+ 		mSensorSolid = NULL;
  	}
  
***************
*** 82,85 ****
--- 84,108 ----
  	}
  
+ 	Solid* ODESimulator::createSolid()
+ 	{
+ 		Solid* newSolid = new ODESolid(mWorldID, mRootSpaceID);
+ 		addSolid(newSolid);
+ 		return newSolid;
+ 	}
+ 
+ 	Space* ODESimulator::createSpace()
+ 	{
+ 		Space* newSpace = new ODESpace();
+ 		addSpace(newSpace);
+ 		return newSpace;
+ 	}
+ 
+ 	Joint* ODESimulator::createJoint()
+ 	{
+ 		Joint* newJoint = new ODEJoint(mWorldID);
+ 		addJoint(newJoint);
+ 		return newJoint;
+ 	}
+ 
  	void ODESimulator::destroy()
  	{
***************
*** 690,694 ****
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				//colliding a space with either a geom or another space
  				dSpaceCollide2(o0, o1, data, 
  					&internal_volumeCollisionCallback);
--- 713,717 ----
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				// Colliding a space with either a geom or another space.
  				dSpaceCollide2(o0, o1, data, 
  					&internal_volumeCollisionCallback);
***************
*** 696,700 ****
  			else
  			{
! 				//colliding two geoms
  
  				dBodyID o0BodyID = dGeomGetBody(o0);
--- 719,723 ----
  			else
  			{
! 				// Colliding two geoms.
  
  				dBodyID o0BodyID = dGeomGetBody(o0);
***************
*** 749,753 ****
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				//colliding a space with either a geom or another space
  				dSpaceCollide2(o0, o1, data, 
  					&internal_volumeCollisionCallback);
--- 772,776 ----
  			if (dGeomIsSpace(o0) || dGeomIsSpace(o1))
  			{
! 				// Colliding a space with either a geom or another space.
  				dSpaceCollide2(o0, o1, data, 
  					&internal_volumeCollisionCallback);
***************
*** 755,761 ****
  			else
  			{
! 				//colliding two geoms
  
! 				//now actually test for collision between the two geoms
  				dContactGeom contactArray[1];
  				int numContacts = dCollide(o0, o1, 1, contactArray, 
--- 778,784 ----
  			else
  			{
! 				// Colliding two geoms.
  
! 				// Now actually test for collision between the two geoms.
  				dContactGeom contactArray[1];
  				int numContacts = dCollide(o0, o1, 1, contactArray, 
***************
*** 768,772 ****
  				else
  				{
! 					//these two geoms must be intersecting
  					ODESimulator* sim = (ODESimulator*)data;
  
--- 791,795 ----
  				else
  				{
! 					// These two geoms must be intersecting.
  					ODESimulator* sim = (ODESimulator*)data;
  
***************
*** 789,792 ****
--- 812,822 ----
  	void ODESimulator::internal_addCollidedSolid(Solid* solid)
  	{
+ 		// If the collided Solid is attached to the Sensor performing the 
+ 		// volume query, ignore this intersection.
+ 		if (mSensorSolid == solid)
+ 		{
+ 			return;
+ 		}
+ 
  		ODESolid* solidPtr = ((ODESolid*)solid);
  
***************
*** 801,804 ****
--- 831,843 ----
  		const Point3r& intersection, const Vec3r& normal, real distance)
  	{
+ 		// If the collided Solid is attached to the Sensor performing the 
+ 		// raycast, ignore this intersection.
+ 		if (mSensorSolid == solid)
+ 		{
+ 			return;
+ 		}
+ 
+ 		// If this is the first collided Solid or the new intersection 
+ 		// distance is less than the previous intersection's distance...
  		if (NULL == mRaycastResult.solid || (distance < mRaycastResult.distance))
  		{
***************
*** 830,856 ****
  	//}
  
- 	Solid* ODESimulator::createSolid()
- 	{
- 		Solid* newSolid = new ODESolid(mWorldID, mRootSpaceID);
- 		addSolid(newSolid);
- 		return newSolid;
- 	}
- 
- 	Space* ODESimulator::createSpace()
- 	{
- 		Space* newSpace = new ODESpace();
- 		addSpace(newSpace);
- 		return newSpace;
- 	}
- 
- 	Joint* ODESimulator::createJoint()
- 	{
- 		Joint* newJoint = new ODEJoint(mWorldID);
- 		addJoint(newJoint);
- 		return newJoint;
- 	}
- 
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
! 		real length)
  	{
  		Point3r origin = r.getOrigin();
--- 869,874 ----
  	//}
  
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
! 		real length, const Solid* attachedSolid)
  	{
  		Point3r origin = r.getOrigin();
***************
*** 861,864 ****
--- 879,883 ----
  		mRaycastResult.normal.set(1,0,0);
  		mRaycastResult.distance = 0;
+ 		mSensorSolid = attachedSolid;
  
  		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
***************
*** 877,882 ****
  
  	const VolumeQueryResult& ODESimulator::internal_queryVolume(
! 		const Solid* volume)
  	{
  		mCollisionCount++;
  		mVolumeQueryResult.internal_clearSolids();
--- 896,902 ----
  
  	const VolumeQueryResult& ODESimulator::internal_queryVolume(
! 		const Solid* volume, const Solid* attachedSolid)
  	{
+ 		mSensorSolid = attachedSolid;
  		mCollisionCount++;
  		mVolumeQueryResult.internal_clearSolids();

[Opal-commits] opal/src Matrix44r.h,1.28,1.29 RaycastSensor.cpp,1.5,1.6 Sensor.h,1.8,1.9 Simulator.h,1.86,1.87 Solid.cpp,1.26,1.27 Solid.h,1.82,1.83 VolumeSensor.cpp,1.2,1.3 VolumeSensor.h,1.1,1.2

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27784/src

Modified Files:
	Matrix44r.h RaycastSensor.cpp Sensor.h Simulator.h Solid.cpp 
	Solid.h VolumeSensor.cpp VolumeSensor.h 
Log Message:
finished implementing RaycastSensor and VolumeSensor

Index: Sensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Sensor.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** Sensor.h	9 Mar 2005 02:09:49 -0000	1.8
--- Sensor.h	14 Mar 2005 01:20:53 -0000	1.9
***************
*** 34,42 ****
  namespace opal
  {
! 	/// A device that records data from a simulation.  Some Sensors can be 
! 	/// attached to Solids, some can simply be positioned somewhere within 
! 	/// an environment, and some can work either way.  All Sensors start out 
! 	/// disabled and must be initialized via init) before they can be 
! 	/// enabled.  
  	class Sensor
  	{
--- 34,44 ----
  namespace opal
  {
! 	/// A device that records data from a simulation.  Sensors can either be 
! 	/// attached to Solids or just positioned somewhere within an 
! 	/// environment.  Each Sensor maintains a transform matrix; depending 
! 	/// on whether the Sensor is attached to a Solid, the transform is 
! 	/// relative to the attached Solid or the global origin.  All Sensors 
! 	/// start out disabled and must be initialized (via init) before they 
! 	/// can be enabled.  
  	class Sensor
  	{
***************
*** 65,69 ****
  
  		/// Sets the Sensor's transform.
! 		virtual void OPAL_CALL setTransform(const Matrix44r& name) = 0;
  
  		/// Returns the Sensor's transform.
--- 67,71 ----
  
  		/// Sets the Sensor's transform.
! 		virtual void OPAL_CALL setTransform(const Matrix44r& t) = 0;
  
  		/// Returns the Sensor's transform.

Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.26
retrieving revision 1.27
diff -C2 -d -r1.26 -r1.27
*** Solid.cpp	8 Mar 2005 16:10:23 -0000	1.26
--- Solid.cpp	14 Mar 2005 01:20:53 -0000	1.27
***************
*** 137,143 ****
  	}
  
! 	void Solid::setTransform(const Matrix44r& transform)
  	{	
! 		mData.transform = transform;
  		internal_updateEngineTransform();
  	}
--- 137,143 ----
  	}
  
! 	void Solid::setTransform(const Matrix44r& t)
  	{	
! 		mData.transform = t;
  		internal_updateEngineTransform();
  	}

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** RaycastSensor.cpp	13 Mar 2005 23:07:10 -0000	1.5
--- RaycastSensor.cpp	14 Mar 2005 01:20:53 -0000	1.6
***************
*** 59,70 ****
  	const RaycastResult& RaycastSensor::fireRay(real length)
  	{
! 		// TODO: if mData.solid is valid, update this Sensor's ray 
! 		// relative to the Solid; otherwise, update it relative to 
! 		// global origin.
  
! 		// TODO: if this is attached to a Solid, keep the ray from 
! 		// colliding with that Solid.
  
! 		return mSim->internal_fireRay(mData.ray, length);
  	}
  
--- 59,79 ----
  	const RaycastResult& RaycastSensor::fireRay(real length)
  	{
! 		Rayr ray = mData.ray;
  
! 		// If the Sensor is attached to a Solid, we need to transform 
! 		// the ray relative to that Solid's transform.
! 		if (mData.solid)
! 		{
! 			ray = mData.solid->getTransform() * ray;
! 		}
  
! 		// Use the Sensor's transform on the ray.
! 		ray = mData.transform * ray;
! 
! 		// If this is attached to a Solid, the Simulator raycast function 
! 		// will automatically ignore intersections between the ray and 
! 		// that Solid.
! 
! 		return mSim->internal_fireRay(ray, length, mData.solid);
  	}
  

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.82
retrieving revision 1.83
diff -C2 -d -r1.82 -r1.83
*** Solid.h	10 Mar 2005 21:10:36 -0000	1.82
--- Solid.h	14 Mar 2005 01:20:53 -0000	1.83
***************
*** 120,124 ****
  
  		/// Sets this Solid's transform matrix.  
! 		virtual void OPAL_CALL setTransform(const Matrix44r& transform);
  
  		/// Returns a constant reference to this Solid's transform.  
--- 120,124 ----
  
  		/// Sets this Solid's transform matrix.  
! 		virtual void OPAL_CALL setTransform(const Matrix44r& t);
  
  		/// Returns a constant reference to this Solid's transform.  

Index: VolumeSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** VolumeSensor.cpp	13 Mar 2005 23:07:11 -0000	1.2
--- VolumeSensor.cpp	14 Mar 2005 01:20:53 -0000	1.3
***************
*** 52,65 ****
  	}
  
! 	const VolumeQueryResult& VolumeSensor::queryVolume(const Solid* volume)
  	{
! 		// TODO: if mData.solid is valid, update this Sensor's transform 
! 		// relative to the Solid; otherwise, update it relative to 
! 		// global origin.
  
! 		// TODO: if this is attached to a Solid, don't add the volume Solid 
! 		// to the results.
  
! 		return mSim->internal_queryVolume(volume);
  	}
  
--- 52,90 ----
  	}
  
! 	const VolumeQueryResult& VolumeSensor::queryVolume(Solid* volume)
  	{
! 		// The volume Solid's transform will be totally ignored.
  
! 		// Store the volume Solid's transform.
! 		Matrix44r originalVolumeTransform = volume->getTransform();
  
! 		Matrix44r newVolumeTransform;
! 
! 		// If the Sensor is attached to a Solid, we need to transform 
! 		// the volume relative to that Solid's transform.
! 		if (mData.solid)
! 		{
! 			newVolumeTransform = 
! 				mData.solid->getTransform() * newVolumeTransform;
! 		}
! 
! 		// Use the Sensor's transform on the volume.
! 		newVolumeTransform = mData.transform * newVolumeTransform;
! 
! 		// Set the volume's new transform we just setup.
! 		volume->setTransform(newVolumeTransform);
! 
! 		// If this is attached to a Solid, the Simulator volume query 
! 		// function will automatically ignore intersections between the 
! 		// volume and that Solid.
! 
! 		// Query the volume for colliding Solids.
! 		const VolumeQueryResult& result = 
! 			mSim->internal_queryVolume(volume, mData.solid);
! 
! 		// Restore the volume Solid's original transform.
! 		volume->setTransform(originalVolumeTransform);
! 
! 		return result;
  	}
  

Index: VolumeSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** VolumeSensor.h	12 Mar 2005 01:21:17 -0000	1.1
--- VolumeSensor.h	14 Mar 2005 01:20:53 -0000	1.2
***************
*** 131,136 ****
  		/// Queries the Sensor's environment with the given Solid's volume, 
  		/// returning a list of the Solids that collide with that Solid.  
  		virtual const VolumeQueryResult& OPAL_CALL queryVolume(
! 			const Solid* volume);
  
  		virtual void OPAL_CALL setEnabled(bool e);
--- 131,139 ----
  		/// Queries the Sensor's environment with the given Solid's volume, 
  		/// returning a list of the Solids that collide with that Solid.  
+ 		/// The given Solid's transform will be totally ignored; use the 
+ 		/// Sensor's transform instead.  If this Sensor is attached to 
+ 		/// a Solid, that Solid will not be added to the results.
  		virtual const VolumeQueryResult& OPAL_CALL queryVolume(
! 			Solid* volume);
  
  		virtual void OPAL_CALL setEnabled(bool e);

Index: Matrix44r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Matrix44r.h,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** Matrix44r.h	2 Mar 2005 05:30:32 -0000	1.28
--- Matrix44r.h	14 Mar 2005 01:20:52 -0000	1.29
***************
*** 45,49 ****
  	inline Matrix44r operator-(const Matrix44r & lhs, const Matrix44r & rhs);
  	inline Point3r operator*(const Matrix44r & m, const Point3r &p);
! 	inline Rayr operator*(const Matrix44r & m, const Rayr &p);
  	inline bool inverse(Matrix44r & dest, const Matrix44r & src);
  	inline void fastInverse(Matrix44r & dest, const Matrix44r & src);
--- 45,49 ----
  	inline Matrix44r operator-(const Matrix44r & lhs, const Matrix44r & rhs);
  	inline Point3r operator*(const Matrix44r & m, const Point3r &p);
! 	inline Rayr operator*(const Matrix44r & m, const Rayr &r);
  	inline bool inverse(Matrix44r & dest, const Matrix44r & src);
  	inline void fastInverse(Matrix44r & dest, const Matrix44r & src);
***************
*** 543,547 ****
  			result(2, 2)).lengthSquared();
  
! 		//TODO: write opal::abs
  		if(fabs(l0) > eps) l0 = 1.0f / l0;
  		if(fabs(l1) > eps) l1 = 1.0f / l1;
--- 543,547 ----
  			result(2, 2)).lengthSquared();
  
! 		// TODO: write opal::abs.
  		if(fabs(l0) > eps) l0 = 1.0f / l0;
  		if(fabs(l1) > eps) l1 = 1.0f / l1;
***************
*** 648,658 ****
  	}
  
! 	inline Rayr operator*(const Matrix44r & m, const Rayr & p)
  	{
! 		Rayr r(m * p.getOrigin(), m * p.getDir());
! 		return r;
  	}
  }
  
- 
  #endif
--- 648,657 ----
  	}
  
! 	inline Rayr operator*(const Matrix44r & m, const Rayr & r)
  	{
! 		Rayr ray(m * r.getOrigin(), m * r.getDir());
! 		return ray;
  	}
  }
  
  #endif

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.86
retrieving revision 1.87
diff -C2 -d -r1.86 -r1.87
*** Simulator.h	13 Mar 2005 23:07:11 -0000	1.86
--- Simulator.h	14 Mar 2005 01:20:53 -0000	1.87
***************
*** 226,234 ****
  		/// into the scene and returns intersections results.
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length) = 0;
  
  		/// Helper function used for volume queries.
  		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume) = 0;
  
  		/// Returns the Simulator's contact group flags.
--- 226,234 ----
  		/// 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.
  		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
! 			const Solid* volume, const Solid* attachedSolid) = 0;
  
  		/// Returns the Simulator's contact group flags.

[Opal-commits] opal/src Defines.h,1.68,1.69

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv312/src

Modified Files:
	Defines.h 
Log Message:
changed ODE's global CFM from 1e-3 to 1e-5, hopefully making Joints less jittery during normal motion (not at stops)

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.68
retrieving revision 1.69
diff -C2 -d -r1.68 -r1.69
*** Defines.h	8 Mar 2005 22:05:02 -0000	1.68
--- Defines.h	13 Mar 2005 23:40:53 -0000	1.69
***************
*** 395,400 ****
  			const real minERP=(real)0.1;
  			const real maxERP=(real)0.9;
! 			const real globalCFM=(real)1e-3;
! 			const real jointFudgeFactor=(real)0.001;
  			const real maxFriction=(real)1000.0;
  			const real maxCorrectingVel=(real)40.0;
--- 395,400 ----
  			const real minERP=(real)0.1;
  			const real maxERP=(real)0.9;
! 			const real globalCFM=(real)1e-5;
! 			const real jointFudgeFactor=(real)0.1;
  			const real maxFriction=(real)1000.0;
  			const real maxCorrectingVel=(real)40.0;

[Opal-commits] opal/src Blueprint.cpp,1.17,1.18 BlueprintManager.cpp,1.31,1.32 BlueprintManager.h,1.17,1.18 RaycastSensor.cpp,1.4,1.5 RaycastSensorData.h,1.2,1.3 SensorData.h,1.6,1.7 Simulator.cpp,1.45,1.46 Simulator.h,1.85,1.86 VolumeSensor.cpp,1.1,1.2 VolumeSensorData.h,1.1,1.2

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24830/src

Modified Files:
	Blueprint.cpp BlueprintManager.cpp BlueprintManager.h 
	RaycastSensor.cpp RaycastSensorData.h SensorData.h 
	Simulator.cpp Simulator.h VolumeSensor.cpp VolumeSensorData.h 
Log Message:
added xml parsing for raycast and volume sensors

Index: Blueprint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Blueprint.cpp,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** Blueprint.cpp	28 Feb 2005 03:27:54 -0000	1.17
--- Blueprint.cpp	13 Mar 2005 23:07:09 -0000	1.18
***************
*** 36,39 ****
--- 36,41 ----
  #include "ThrusterMotorData.h"
  #include "SensorData.h"
+ #include "RaycastSensorData.h"
+ #include "VolumeSensorData.h"
  
  namespace opal
***************
*** 210,214 ****
  		}
  
! 		// TODO: once we have Sensors, loop over them here.
  
  		mFinalized = true;
--- 212,230 ----
  		}
  
! 		// Setup Sensor reference indices.
! 		for (i=0; i<mSensorList.size(); ++i)
! 		{
! 			SensorData* data = mSensorList.at(i);
! 
! 			// At this time we have no Sensors with special references 
! 			// besides the standard Solid reference present in every 
! 			// Sensor.  Thus we can just treat them all the same.
! 
! 			// Find the index of the Solid reference.  If the value of 
! 			// the index is -1, the Sensor must not be attached to any 
! 			// Solid.
! 			int solidIndex = getSolidIndex(data->internal_solidName);
! 			data->internal_solidIndex = solidIndex;
! 		}
  
  		mFinalized = true;
***************
*** 327,345 ****
  		else
  		{
! 			// TODO: implement this when we have some Sensors available.
! 			//SensorData* newData = NULL;
  
! 			//// Allocate the right type of Sensor.
! 			//switch(data->getType())
! 			//{
! 			//	case VELOCITY_SENSOR:
! 			//		newData = 
! 			//	new VelocitySensorData(*((VelocitySensorData*)data));
! 			//		break;
! 			//	default:
! 			//		assert(false);
! 			//}
  
! 			//mSensorList.push_back(newData);
  		}
  	}
--- 343,380 ----
  		else
  		{
! 			SensorData* newData = NULL;
  
! 			// Allocate the right type of Sensor.
! 			switch(data->getType())
! 			{
! 				//case ACCELERATION_SENSOR:
! 				//{
! 				//	newData = 
! 				//		new AccelerationSensorData(
! 				//		*((AccelerationSensorData*)data));
! 				//	break;
! 				//}
! 				case RAYCAST_SENSOR:
! 				{
! 					newData = 
! 						new RaycastSensorData(*((RaycastSensorData*)data));
! 					break;
! 				}
! 				//case VELOCITY_SENSOR:
! 				//{
! 				//	newData = 
! 				//		new VelocitySensorData(*((VelocitySensorData*)data));
! 				//}
! 				case VOLUME_SENSOR:
! 				{
! 					newData = 
! 						new VolumeSensorData(*((VolumeSensorData*)data));
! 					break;
! 				}
! 				default:
! 					assert(false);
! 			}
  
! 			mSensorList.push_back(newData);
  		}
  	}

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** RaycastSensor.cpp	12 Mar 2005 01:21:16 -0000	1.4
--- RaycastSensor.cpp	13 Mar 2005 23:07:10 -0000	1.5
***************
*** 60,64 ****
  	{
  		// TODO: if mData.solid is valid, update this Sensor's ray 
! 		// relative to the Solid
  
  		// TODO: if this is attached to a Solid, keep the ray from 
--- 60,65 ----
  	{
  		// TODO: if mData.solid is valid, update this Sensor's ray 
! 		// relative to the Solid; otherwise, update it relative to 
! 		// global origin.
  
  		// TODO: if this is attached to a Solid, keep the ray from 

Index: SensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SensorData.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** SensorData.h	12 Mar 2005 01:21:16 -0000	1.6
--- SensorData.h	13 Mar 2005 23:07:10 -0000	1.7
***************
*** 54,57 ****
--- 54,59 ----
  			name = "";
  			solid = NULL;
+ 			internal_solidIndex = 0;
+ 			internal_solidName = "";
  			// "transform" is initialized in its own constructor.
  		}
***************
*** 75,81 ****
  		/// Pointer to the Solid to which this Sensor is attached.  This 
  		/// will be NULL if the Sensor is not attached to a Solid (i.e. 
! 		/// it is positioned somewhere within the environment).
  		Solid* solid;
  
  		/// If the Sensor is attached to a Solid, this matrix is the global 
  		/// offset from that Solid's transform.  Otherwise, it is just the 
--- 77,89 ----
  		/// Pointer to the Solid to which this Sensor is attached.  This 
  		/// will be NULL if the Sensor is not attached to a Solid (i.e. 
! 		/// it is just positioned somewhere within the environment).
  		Solid* solid;
  
+ 		/// Internal data used for Blueprint instantiation.
+ 		int internal_solidIndex;
+ 
+ 		/// Internal data used for Blueprint instantiation.
+ 		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 

Index: VolumeSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensor.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** VolumeSensor.cpp	12 Mar 2005 01:21:17 -0000	1.1
--- VolumeSensor.cpp	13 Mar 2005 23:07:11 -0000	1.2
***************
*** 55,59 ****
  	{
  		// TODO: if mData.solid is valid, update this Sensor's transform 
! 		// relative to the Solid
  
  		// TODO: if this is attached to a Solid, don't add the volume Solid 
--- 55,60 ----
  	{
  		// TODO: if mData.solid is valid, update this Sensor's transform 
! 		// relative to the Solid; otherwise, update it relative to 
! 		// global origin.
  
  		// TODO: if this is attached to a Solid, don't add the volume Solid 

Index: BlueprintManager.h
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.h,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** BlueprintManager.h	26 Feb 2005 10:22:23 -0000	1.17
--- BlueprintManager.h	13 Mar 2005 23:07:10 -0000	1.18
***************
*** 42,45 ****
--- 42,47 ----
  	class SpringMotorData;
  	class ThrusterMotorData;
+ 	class RaycastSensorData;
+ 	class VolumeSensorData;
  
  	namespace blueprint_manager
***************
*** 56,66 ****
  			/// will be ignored).  The Blueprint can contain any number 
  			/// of Solids, Joints, Motors, and Sensors.  Most of the 
! 			/// object parameters are optional, in which case the usual, 
  			/// default values will be used.  The only required 
  			/// parameters are object types and references to other objects 
! 			/// (i.e. the "References" elements in an XML file.  For example, 
! 			/// a Joint refers to two Solids; if either of those Solids 
! 			/// are not in the file, the Joint will be ignored.  For a 
! 			/// particular element, all attributes are always required.  
  			/// All object names, if used, must be unique.
  			virtual void OPAL_CALL loadFile(Blueprint& bp, 
--- 58,71 ----
  			/// will be ignored).  The Blueprint can contain any number 
  			/// of Solids, Joints, Motors, and Sensors.  Most of the 
! 			/// object parameters are optional, in which case the usual 
  			/// default values will be used.  The only required 
  			/// parameters are object types and references to other objects 
! 			/// (i.e. the "References" elements in an XML file).  For 
! 			/// example, a Joint refers to two Solids; if either of those 
! 			/// Solids are not in the file, the Joint will be ignored.  The 
! 			/// exception is Sensors' references to Solids; these aren't 
! 			/// required because Sensors don't have to be attached to a 
! 			/// Solid.  For a particular element that does exist in the 
! 			/// XML file, all attributes are always required.  
  			/// All object names, if used, must be unique.
  			virtual void OPAL_CALL loadFile(Blueprint& bp, 
***************
*** 126,129 ****
--- 131,146 ----
  				const Blueprint& bp, const std::string& filename);
  
+ 			/// Helper function for parsing RaycastSensor XML elements.  
+ 			/// Allocates and returns a pointer to a new RaycastSensorData 
+ 			/// object.  Returns NULL if the element could not be loaded.
+ 			RaycastSensorData* loadRaycastSensor(const TiXmlNode* nodePtr, 
+ 				const Blueprint& bp, const std::string& filename);
+ 
+ 			/// Helper function for parsing VolumeSensor XML elements.  
+ 			/// Allocates and returns a pointer to a new VolumeSensorData 
+ 			/// object.  Returns NULL if the element could not be loaded.
+ 			VolumeSensorData* loadVolumeSensor(const TiXmlNode* nodePtr, 
+ 				const Blueprint& bp, const std::string& filename);
+ 
  			/// Helper function for parsing Shape XML elements.  Allocates 
  			/// and returns a pointer to a new ShapeData object.  Returns 

Index: RaycastSensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensorData.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** RaycastSensorData.h	11 Mar 2005 05:31:56 -0000	1.2
--- RaycastSensorData.h	13 Mar 2005 23:07:10 -0000	1.3
***************
*** 63,66 ****
--- 63,68 ----
  			name = data.name;
  			solid = data.solid;
+ 			internal_solidIndex = data.internal_solidIndex;
+ 			internal_solidName = data.internal_solidName;
  			transform = data.transform;
  			ray = data.ray;

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.31
retrieving revision 1.32
diff -C2 -d -r1.31 -r1.32
*** BlueprintManager.cpp	8 Mar 2005 22:05:02 -0000	1.31
--- BlueprintManager.cpp	13 Mar 2005 23:07:09 -0000	1.32
***************
*** 38,41 ****
--- 38,43 ----
  #include "SpringMotorData.h"
  #include "SensorData.h"
+ #include "RaycastSensorData.h"
+ #include "VolumeSensorData.h"
  
  #ifdef OPAL_USE_XML
***************
*** 1199,1216 ****
  			}
  
! 			// TODO: implement this once we have some Sensors.
! 			//// Load data for the specific type of Sensor.
! 			//if ("velocity" == type)
  			//{
! 			//	data = loadVelocitySensor(nodePtr, bp, filename);
  			//}
! 			//else
  			//{
! 			//	OPAL_LOGGER("warning") << 
! 			//		"opal::BlueprintManager::loadSensor: Invalid Sensor \
! 			//		type " << type << " in " << filename 
! 			//		<< ". Ignoring the Sensor." << std::endl;
! 			//	return NULL;
  			//}
  
  			// Load Name element if it exists.
--- 1201,1230 ----
  			}
  
! 			// 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)
+ 			{
+ 				data = loadVolumeSensor(nodePtr, bp, filename);
+ 			}
+ 			else
+ 			{
+ 				OPAL_LOGGER("warning") << 
+ 					"opal::BlueprintManager::loadSensor: Invalid Sensor \
+ 					type " << type << " in " << filename 
+ 					<< ". Ignoring the Sensor." << std::endl;
+ 				return NULL;
+ 			}
  
  			// Load Name element if it exists.
***************
*** 1244,1247 ****
--- 1258,1330 ----
  				}
  			}
+ 
+ 			// Load Offset element if it exists.
+ 			TiXmlNode* offsetNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("Offset");
+ 			if (NULL != offsetNodePtr)
+ 			{
+ 				loadOffset(data->transform, offsetNodePtr, filename);
+ 			}
+ 
+ 			// Load References element.  If it doesn't exist, just assume 
+ 			// that this Sensor will not be attached to a Solid.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("References");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				// Get the Solids' names.
+ 				data->internal_solidName = getAttributeString(paramNodePtr, 
+ 					"solid");
+ 			}
+ 			else
+ 			{
+ 				data->internal_solidName = "";
+ 			}
+ #endif
+ 			return data;
+ 		}
+ 
+ 		RaycastSensorData* BlueprintManager::loadRaycastSensor(
+ 			const TiXmlNode* nodePtr, const Blueprint& bp, 
+ 			const std::string& filename)
+ 		{
+ 			// This data structure automatically gets initialized to 
+ 			// default values in its constructor.
+ 			RaycastSensorData* data = new RaycastSensorData();
+ 
+ #ifdef OPAL_USE_XML
+ 
+ 			TiXmlNode* paramNodePtr = NULL;
+ 
+ 			// Load Ray element if it exists.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("Ray");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				Point3r origin;
+ 				Vec3r dir;
+ 				origin[0] = getAttributeReal(paramNodePtr, "originx");
+ 				origin[1] = getAttributeReal(paramNodePtr, "originy");
+ 				origin[2] = getAttributeReal(paramNodePtr, "originz");
+ 				dir[0] = getAttributeReal(paramNodePtr, "dirx");
+ 				dir[1] = getAttributeReal(paramNodePtr, "diry");
+ 				dir[2] = getAttributeReal(paramNodePtr, "dirz");
+ 				data->ray.setOrigin(origin);
+ 				data->ray.setDir(dir);
+ 			}
+ #endif
+ 			return data;
+ 		}
+ 
+ 		VolumeSensorData* BlueprintManager::loadVolumeSensor(
+ 			const TiXmlNode* nodePtr, const Blueprint& bp, 
+ 			const std::string& filename)
+ 		{
+ 			// This data structure automatically gets initialized to 
+ 			// default values in its constructor.
+ 			VolumeSensorData* data = new VolumeSensorData();
+ 
+ #ifdef OPAL_USE_XML
+ 			// Nothing special to load for VolumeSensors.
  #endif
  			return data;

Index: VolumeSensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/VolumeSensorData.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** VolumeSensorData.h	12 Mar 2005 01:21:17 -0000	1.1
--- VolumeSensorData.h	13 Mar 2005 23:07:11 -0000	1.2
***************
*** 62,65 ****
--- 62,67 ----
  			name = data.name;
  			solid = data.solid;
+ 			internal_solidIndex = data.internal_solidIndex;
+ 			internal_solidName = data.internal_solidName;
  			transform = data.transform;
  		}

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.45
retrieving revision 1.46
diff -C2 -d -r1.45 -r1.46
*** Simulator.cpp	12 Mar 2005 01:21:16 -0000	1.45
--- Simulator.cpp	13 Mar 2005 23:07:10 -0000	1.46
***************
*** 234,237 ****
--- 234,238 ----
  	void Simulator::setStepSize(real stepSize)
  	{
+ 		assert(stepSize > 0);
  		mStepSize = stepSize;
  	}
***************
*** 288,291 ****
--- 289,295 ----
  		{
  			Solid* s = createSolid();
+ 
+ 			// Make a local copy of the Solid's data, including all of its 
+ 			// Shapes.
  			SolidData sd = *bp.getSolidData(i);
  
***************
*** 379,389 ****
  		for (i=0; i<bp.getNumJoints(); ++i)
  		{
- 			// Setup the Solid reference pointers.
- 			JointData* data = bp.getJointData(i);
- 			data->solid0 = solidList.at(data->internal_solid0Index);
- 			data->solid1 = solidList.at(data->internal_solid1Index);
- 
  			Joint* j = createJoint();
! 			JointData jd = *data;
  
  			if (useOffset)
--- 383,394 ----
  		for (i=0; i<bp.getNumJoints(); ++i)
  		{
  			Joint* j = createJoint();
! 
! 			// Create a local copy of the Joint's data.
! 			JointData jd = *bp.getJointData(i);
! 
! 			// Setup the Solid reference pointers.
! 			jd.solid0 = solidList.at(jd.internal_solid0Index);
! 			jd.solid1 = solidList.at(jd.internal_solid1Index);
  
  			if (useOffset)
***************
*** 413,480 ****
  		{
  			Motor* m = NULL;
! 			//MotorData* data = bp.getMotorData(i);
  
  			switch(bp.getMotorData(i)->getType())
  			{
- 				
  				case ATTRACTOR_MOTOR:
  				{
! 					AttractorMotorData* data = 
! 						(AttractorMotorData*)(bp.getMotorData(i));
  
  					// Setup the Solid reference pointers.
! 					data->solid0 = solidList.at(data->internal_solid0Index);
! 					data->solid1 = solidList.at(data->internal_solid1Index);
  
  					m = createAttractorMotor();
! 					((AttractorMotor*)m)->init(*data);
  					break;
  				}
  				case GEARED_MOTOR:
  				{
! 					GearedMotorData* data = 
! 						(GearedMotorData*)(bp.getMotorData(i));
  
  					// Setup the Joint reference pointer.
! 					data->joint = jointList.at(data->internal_jointIndex);
  
  					m = createGearedMotor();
! 					((GearedMotor*)m)->init(*data);
  					break;
  				}
  				case SERVO_MOTOR:
  				{
! 					ServoMotorData* data = 
! 						(ServoMotorData*)(bp.getMotorData(i));
  
  					// Setup the Joint reference pointer.
! 					data->joint = jointList.at(data->internal_jointIndex);
  
  					m = createServoMotor();
! 					((ServoMotor*)m)->init(*data);
  					break;
  				}
  				case SPRING_MOTOR:
  				{
! 					SpringMotorData* data = 
! 						(SpringMotorData*)(bp.getMotorData(i));
  
  					// Setup the Solid reference pointer.
! 					data->solid = solidList.at(data->internal_solidIndex);
  
  					m = createSpringMotor();
! 					((SpringMotor*)m)->init(*data);
  					break;
  				}
  				case THRUSTER_MOTOR:
  				{
! 					ThrusterMotorData* data = 
! 						(ThrusterMotorData*)(bp.getMotorData(i));
  
  					// Setup the Solid reference pointer.
! 					data->solid = solidList.at(data->internal_solidIndex);
  
  					m = createThrusterMotor();
! 					((ThrusterMotor*)m)->init(*data);
  					break;
  				}
--- 418,485 ----
  		{
  			Motor* m = NULL;
! 			MotorData* motorData = bp.getMotorData(i);
  
+ 			// Allocate and setup the right type of Motor.
  			switch(bp.getMotorData(i)->getType())
  			{
  				case ATTRACTOR_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					AttractorMotorData data = *(AttractorMotorData*)motorData;
  
  					// Setup the Solid reference pointers.
! 					data.solid0 = solidList.at(data.internal_solid0Index);
! 					data.solid1 = solidList.at(data.internal_solid1Index);
  
  					m = createAttractorMotor();
! 					((AttractorMotor*)m)->init(data);
  					break;
  				}
  				case GEARED_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					GearedMotorData data = *(GearedMotorData*)motorData;
  
  					// Setup the Joint reference pointer.
! 					data.joint = jointList.at(data.internal_jointIndex);
  
  					m = createGearedMotor();
! 					((GearedMotor*)m)->init(data);
  					break;
  				}
  				case SERVO_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					ServoMotorData data = *(ServoMotorData*)motorData;
  
  					// Setup the Joint reference pointer.
! 					data.joint = jointList.at(data.internal_jointIndex);
  
  					m = createServoMotor();
! 					((ServoMotor*)m)->init(data);
  					break;
  				}
  				case SPRING_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					SpringMotorData data = *(SpringMotorData*)motorData;
  
  					// Setup the Solid reference pointer.
! 					data.solid = solidList.at(data.internal_solidIndex);
  
  					m = createSpringMotor();
! 					((SpringMotor*)m)->init(data);
  					break;
  				}
  				case THRUSTER_MOTOR:
  				{
! 					// Make a local copy of the Motor's data.
! 					ThrusterMotorData data = *(ThrusterMotorData*)motorData;
  
  					// Setup the Solid reference pointer.
! 					data.solid = solidList.at(data.internal_solidIndex);
  
  					m = createThrusterMotor();
! 					((ThrusterMotor*)m)->init(data);
  					break;
  				}
***************
*** 487,511 ****
  		}
  
! 		// TODO: implement this when we have Sensors.
! 		//// Create all Sensors in the Blueprint.
! 		// This is outdated...
! 		//for (int i=0; i<bp.getNumSensors(); ++i)
! 		//{
! 		//	Sensor* s = NULL;
! 		//	SensorData* data = bp.getSensorData(i);
  
! 		//	switch(bp.getMotorData(i).getType())
! 		//	{
! 		//		case VELOCITY_SENSOR:
! 		//			m = createVelocitySensor();
! 		//			((VelocitySensor*)m)->init(*((VelocitySensorData*)data));
! 		//			break;
! 		//		default:
! 		//			assert(false);
! 		//	}
  
! 		//	// Add the Sensor to the BlueprintInstance.
! 		//	instance.internal_addSensor(s);
! 		//}
  
  		solidList.clear();
--- 492,587 ----
  		}
  
! 		// Create all Sensors in the Blueprint.
! 		for (i=0; i<bp.getNumSensors(); ++i)
! 		{
! 			Sensor* s = NULL;
! 			SensorData* sensorData = bp.getSensorData(i);
  
! 			// These are necessary because we don't want to change teh 
! 			// Blueprint's Sensor data directly; we need a local copy.
! 			Solid* solidPtr = NULL;
! 			Matrix44r transform = sensorData->transform;
  
! 			// Setup the Solid reference pointer.
! 			if (-1 == sensorData->internal_solidIndex)
! 			{
! 				// This Sensor must not be attached to any Solid.
! 				solidPtr = NULL;
! 			}
! 			else
! 			{
! 				// This Sensor is attached to a Solid.
! 				solidPtr = solidList.at(sensorData->internal_solidIndex);
! 			}
! 
! 			if (useOffset)
! 			{
! 				// Offset the Sensor's transform.
! 				transform = offset * transform;
! 			}
! 
! 			if (useScale)
! 			{
! 				// Scale the Solid's transform.
! 				transform[12] *= scale;
! 				transform[13] *= scale;
! 				transform[14] *= scale;
! 			}
! 
! 			// Allocate the right type of Sensor.
! 			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:
! 				{
! 					// Make a local copy of the Sensor's data.
! 					RaycastSensorData data = *(RaycastSensorData*)sensorData;
! 					data.solid = solidPtr;
! 					data.transform = transform;
! 
! 					s = createRaycastSensor();
! 					((RaycastSensor*)s)->init(data);
! 					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:
! 				{
! 					// Make a local copy of the Sensor's data.
! 					VolumeSensorData data = *(VolumeSensorData*)sensorData;
! 					data.solid = solidPtr;
! 					data.transform = transform;
! 
! 					s = createVolumeSensor();
! 					((VolumeSensor*)s)->init(data);
! 					break;
! 				}
! 				default:
! 					assert(false);
! 			}
! 
! 			// Add the Sensor to the BlueprintInstance.
! 			instance.internal_addSensor(s);
! 		}
  
  		solidList.clear();
***************
*** 734,737 ****
--- 810,820 ----
  	}
  
+ 	VolumeSensor* Simulator::createVolumeSensor()
+ 	{
+ 		VolumeSensor* newSensor = new VolumeSensor(this);
+ 		addSensor(newSensor);
+ 		return newSensor;
+ 	}
+ 
  	void Simulator::destroySensor(Sensor* s)
  	{

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.85
retrieving revision 1.86
diff -C2 -d -r1.85 -r1.86
*** Simulator.h	12 Mar 2005 01:21:17 -0000	1.85
--- Simulator.h	13 Mar 2005 23:07:11 -0000	1.86
***************
*** 45,48 ****
--- 45,49 ----
  	class ThrusterMotor;
  	class RaycastSensor;
+ 	class VolumeSensor;
  	class BlueprintInstance;
  	struct RaycastResult;
***************
*** 70,74 ****
  		virtual bool OPAL_CALL simulate(real dt);
  
! 		/// Sets the constant step size used in the simulation.  
  		virtual void OPAL_CALL setStepSize(real stepSize);
  
--- 71,76 ----
  		virtual bool OPAL_CALL simulate(real dt);
  
! 		/// Sets the constant step size used in the simulation.  The step 
! 		/// size must be greater than zero.
  		virtual void OPAL_CALL setStepSize(real stepSize);
  
***************
*** 201,204 ****
--- 203,209 ----
  		virtual RaycastSensor* OPAL_CALL createRaycastSensor();
  
+ 		/// Creates and returns a pointer to a VolumeSensor.  
+ 		virtual VolumeSensor* OPAL_CALL createVolumeSensor();
+ 
  		/// Immediately destroys the given Sensor.  
  		virtual void OPAL_CALL destroySensor(Sensor* s);

[Opal-commits] opal/samples/simple_objects main.cpp,1.24,1.25 ragdoll.xml,1.1,1.2

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

Update of /cvsroot/opal/opal/samples/simple_objects
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24830/samples/simple_objects

Modified Files:
	main.cpp ragdoll.xml 
Log Message:
added xml parsing for raycast and volume sensors

Index: main.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/simple_objects/main.cpp,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -d -r1.24 -r1.25
*** main.cpp	8 Mar 2005 16:10:21 -0000	1.24
--- main.cpp	13 Mar 2005 23:06:54 -0000	1.25
***************
*** 128,134 ****
  void makeRagdoll()
  {
  	// Instantiate the Blueprint.
  	opal::BlueprintInstance instance;
! 	gSimulator->instantiateBlueprint(instance, gRagdollBP);
  
  	int i=0;
--- 128,137 ----
  void makeRagdoll()
  {
+ 	opal::Matrix44r offset;
+ 	offset.translate(0, 10, 0);
+ 
  	// Instantiate the Blueprint.
  	opal::BlueprintInstance instance;
! 	gSimulator->instantiateBlueprint(instance, gRagdollBP, offset);
  
  	int i=0;

Index: ragdoll.xml
===================================================================
RCS file: /cvsroot/opal/opal/samples/simple_objects/ragdoll.xml,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** ragdoll.xml	1 Mar 2005 05:04:20 -0000	1.1
--- ragdoll.xml	13 Mar 2005 23:07:09 -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] opal todo.txt,1.53,1.54

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv24830

Modified Files:
	todo.txt 
Log Message:
added xml parsing for raycast and volume sensors

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.53
retrieving revision 1.54
diff -C2 -d -r1.53 -r1.54
*** todo.txt	12 Mar 2005 01:21:07 -0000	1.53
--- todo.txt	13 Mar 2005 23:07:12 -0000	1.54
***************
*** 10,13 ****
--- 10,14 ----
  	- add to instantiateBlueprint
  	- add to Blueprint finalize function
+ 	- add to Blueprint addSensor function
  
  * make trimeshes work

[Opal-commits] web documentation.html,1.8,1.9

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

Update of /cvsroot/opal/web
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17528

Modified Files:
	documentation.html 
Log Message:
minor changes

Index: documentation.html
===================================================================
RCS file: /cvsroot/opal/web/documentation.html,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** documentation.html	8 Mar 2005 22:37:37 -0000	1.8
--- documentation.html	12 Mar 2005 01:22:24 -0000	1.9
***************
*** 25,39 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>97</o:Revision>
    <o:TotalTime>107</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-08T22:36:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>317</o:Words>
!   <o:Characters>1807</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>15</o:Lines>
    <o:Paragraphs>4</o:Paragraphs>
!   <o:CharactersWithSpaces>2120</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>107</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-08T22:48:00Z</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>
***************
*** 98,102 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="54274">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
--- 98,102 ----
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="55298">
    <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";
--- 177,187 ----
    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";
***************
*** 216,220 ****
    <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";
--- 217,222 ----
    <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";
***************
*** 224,229 ****
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
    color:black'><a href="files/example.xml">Sample OPAL XML</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: file containing examples of
!   every object type and parameter.<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";
--- 226,231 ----
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
    color:black'><a href="files/example.xml">Sample OPAL XML</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: file containing examples of every
!   object type and parameter.<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";
***************
*** 235,240 ****
    color:black'><a href="api/index.html">API Documentation</a></span><span
    style='font-family:"Book Antiqua";color:black'>: a detailed description of
!   everything in OPAL.<span style='mso-spacerun:yes'>  </span>If a particular
!   concept isn’t discussed in the overview or tutorials, check here.</span><span
    style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:black'><o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";mso-bidi-font-family:
--- 237,242 ----
    color:black'><a href="api/index.html">API Documentation</a></span><span
    style='font-family:"Book Antiqua";color:black'>: a detailed description of
!   everything in OPAL.<span style='mso-spacerun:yes'>  </span>If a particular concept
!   isn’t discussed in the overview or tutorials, check here.</span><span
    style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:black'><o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";mso-bidi-font-family:

[Opal-commits] opal changelog.txt,1.10,1.11 todo.txt,1.52,1.53

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17179

Modified Files:
	changelog.txt todo.txt 
Log Message:
added VolumeSensor

Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** changelog.txt	26 Feb 2005 10:22:22 -0000	1.10
--- changelog.txt	12 Mar 2005 01:21:07 -0000	1.11
***************
*** 2,8 ****
  , 2005
  ------------------------------------------
! 	* Overhauled XML loading system
! 	* New additional object creation system: all objects can be created from/saved to a data structure
! 	* Separate Joint types were combined into a single Joint class
  	* Numerous API changes
  	* Various bug fixes
--- 2,11 ----
  , 2005
  ------------------------------------------
! 	* 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 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
  	* Numerous API changes
  	* Various bug fixes

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.52
retrieving revision 1.53
diff -C2 -d -r1.52 -r1.53
*** todo.txt	9 Mar 2005 02:09:51 -0000	1.52
--- todo.txt	12 Mar 2005 01:21:07 -0000	1.53
***************
*** 2,5 ****
--- 2,8 ----
  =================
  
+ * additional sensors
+ 	- vel, accel, incline/orientation; relate these to vestibular senses?
+ 
  * sensors
  	- parse from xml
***************
*** 8,14 ****
  	- add to Blueprint finalize function
  
- * fix memory allocation across dll boundary
- 	- volume collision check results -> put results in a specific class
- 
  * make trimeshes work
  
--- 11,14 ----
***************
*** 41,60 ****
  	- contact filtering?
  
- * event handling/callbacks
- 	- collisions
- 	- broken joints
- 	- beginning of step
- 
  * look at (and maybe remove) mass ratio stuff
  	- there may be a problem when you have a tiny object between two massive objects; one massive object should affect the other but can't
  	- removing this also may fix the problem where a huge object dropped on a tiny object traps the smaller one underneath; the small one constantly wriggles around, but the large one doesn't move.
  
! * should all modes with multiple options (e.g. spring motor, accel sensor) take bit flags?
  
  * separate Joint back into separate subclasses?
  
! * separate Motors with different modes into separate types?
! 
! * use custom motors?
  	- for one thing, we can't use them in xml
  	- if we use them, should we also have custom sensors?
--- 41,54 ----
  	- contact filtering?
  
  * look at (and maybe remove) mass ratio stuff
  	- there may be a problem when you have a tiny object between two massive objects; one massive object should affect the other but can't
  	- removing this also may fix the problem where a huge object dropped on a tiny object traps the smaller one underneath; the small one constantly wriggles around, but the large one doesn't move.
  
! * should all objects with multiple modes of operation (e.g. spring motor, accel sensor) take bit flags?
! 	- or just separate objects with different modes into separate types?
  
  * separate Joint back into separate subclasses?
  
! * get rid of custom motors?
  	- for one thing, we can't use them in xml
  	- if we use them, should we also have custom sensors?
***************
*** 71,77 ****
  ==============
  
- * joint flags
- 	- allow collisions between joined solids
- 
  * GearedMotor
  	- talk to Jim Bernard
--- 65,68 ----

[Opal-commits] opal/src VolumeSensor.cpp,NONE,1.1 VolumeSensor.h,NONE,1.1 VolumeSensorData.h,NONE,1.1 RaycastSensor.cpp,1.3,1.4 RaycastSensor.h,1.3,1.4 SConscript,1.13,1.14 SensorData.h,1.5,1.6 Simulator.cpp,1.44,1.45 Simulator.h,1.84,1.85 opal.h,1.21,1.22

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17179/src

Modified Files:
	RaycastSensor.cpp RaycastSensor.h SConscript SensorData.h 
	Simulator.cpp Simulator.h opal.h 
Added Files:
	VolumeSensor.cpp VolumeSensor.h VolumeSensorData.h 
Log Message:
added VolumeSensor

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.21
retrieving revision 1.22
diff -C2 -d -r1.21 -r1.22
*** opal.h	9 Mar 2005 02:09:50 -0000	1.21
--- opal.h	12 Mar 2005 01:21:17 -0000	1.22
***************
*** 56,59 ****
--- 56,61 ----
  #include "RaycastSensor.h"
  #include "RaycastSensorData.h"
+ #include "VolumeSensor.h"
+ #include "VolumeSensorData.h"
  #include "EventHandler.h"
  #include "JointBreakEventHandler.h"

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** RaycastSensor.cpp	11 Mar 2005 05:31:56 -0000	1.3
--- RaycastSensor.cpp	12 Mar 2005 01:21:16 -0000	1.4
***************
*** 43,47 ****
  	void RaycastSensor::init(const RaycastSensorData& data)
  	{
- 		assert(data.solid);
  		Sensor::init();
  		mData = data;
--- 43,46 ----
***************
*** 55,63 ****
  	const RaycastResult& RaycastSensor::fireRay()
  	{
! 		return mSim->internal_fireRay(mData.ray, mData.ray.getLength());
  	}
  
  	const RaycastResult& RaycastSensor::fireRay(real length)
  	{
  		return mSim->internal_fireRay(mData.ray, length);
  	}
--- 54,68 ----
  	const RaycastResult& RaycastSensor::fireRay()
  	{
! 		return fireRay(mData.ray.getLength());
  	}
  
  	const RaycastResult& RaycastSensor::fireRay(real length)
  	{
+ 		// TODO: if mData.solid is valid, update this Sensor's ray 
+ 		// relative to the Solid
+ 
+ 		// TODO: if this is attached to a Solid, keep the ray from 
+ 		// colliding with that Solid.
+ 
  		return mSim->internal_fireRay(mData.ray, length);
  	}
***************
*** 117,122 ****
  		if (mData.enabled)
  		{
! 			// TODO: if mData.solid is valid, update this Sensor's ray 
! 			// relative to the Solid
  		}
  	}
--- 122,126 ----
  		if (mData.enabled)
  		{
! 			// Do nothing.
  		}
  	}

Index: SensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SensorData.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** SensorData.h	11 Mar 2005 05:31:56 -0000	1.5
--- SensorData.h	12 Mar 2005 01:21:16 -0000	1.6
***************
*** 36,42 ****
  	enum SensorType
  	{
! 		VELOCITY_SENSOR, 
! 		ACCELERATION_SENSOR, 
! 		RAYCAST_SENSOR
  	};
  
--- 36,43 ----
  	enum SensorType
  	{
! 		ACCELERATION_SENSOR,
! 		RAYCAST_SENSOR,
! 		VELOCITY_SENSOR,
! 		VOLUME_SENSOR
  	};
  
***************
*** 49,53 ****
  			// The initial type doesn't matter since the abstract base 
  			// class will never be instantiated.
! 			mType = VELOCITY_SENSOR;
  			enabled = defaults::sensor::enabled;
  			name = "";
--- 50,54 ----
  			// The initial type doesn't matter since the abstract base 
  			// class will never be instantiated.
! 			mType = ACCELERATION_SENSOR;
  			enabled = defaults::sensor::enabled;
  			name = "";

--- NEW FILE: VolumeSensor.cpp ---
/*************************************************************************
 *                                                                       *
 * 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.                *
 *                                                                       *
 *************************************************************************/

#include "VolumeSensor.h"
#include "Simulator.h"

namespace opal
{
	VolumeSensor::VolumeSensor(Simulator* s)
	{
		// "mData" is initialized in its own constructor.
		mSim = s;
	}

	VolumeSensor::~VolumeSensor()
	{
	}

	void VolumeSensor::init(const VolumeSensorData& data)
	{
		Sensor::init();
		mData = data;
	}

	const VolumeSensorData& VolumeSensor::getData()const
	{
		return mData;
	}

	const VolumeQueryResult& VolumeSensor::queryVolume(const Solid* volume)
	{
		// TODO: if mData.solid is valid, update this Sensor's transform 
		// relative to the Solid

		// TODO: if this is attached to a Solid, don't add the volume Solid 
		// to the results.

		return mSim->internal_queryVolume(volume);
	}

	void VolumeSensor::setEnabled(bool e)
	{
		if (!mInitCalled)
		{
			return;
		}

		mData.enabled = e;
	}

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

	SensorType VolumeSensor::getType()const
	{
		return mData.getType();
	}

	void VolumeSensor::setTransform(const Matrix44r& t)
	{
		mData.transform = t;
	}

	const Matrix44r& VolumeSensor::getTransform()const
	{
		return mData.transform;
	}

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

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

	void VolumeSensor::internal_update()
	{
		if (mData.enabled)
		{
			// Do nothing.
		}
	}

	bool VolumeSensor::internal_dependsOn(Solid* solid)
	{
		if (solid == mData.solid)
		{
			return true;
		}
		else
		{
			return false;
		}
	}
}

Index: RaycastSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** RaycastSensor.h	11 Mar 2005 05:31:56 -0000	1.3
--- RaycastSensor.h	12 Mar 2005 01:21:16 -0000	1.4
***************
*** 41,45 ****
  	struct RaycastResult
  	{
! 		RaycastResult()
  		{
  			solid = NULL;
--- 41,45 ----
  	struct RaycastResult
  	{
! 		OPAL_DECL RaycastResult()
  		{
  			solid = NULL;
***************
*** 49,52 ****
--- 49,72 ----
  		}
  
+ 		/// Copy constructor.
+ 		OPAL_DECL RaycastResult(const RaycastResult& result)
+ 		{
+ 			(*this) = result;
+ 		}
+ 
+ 		OPAL_DECL ~RaycastResult()
+ 		{
+ 		}
+ 
+ 		/// Makes a deep copy.
+ 		OPAL_DECL void OPAL_CALL operator=(
+ 			const RaycastResult& result)
+ 		{
+ 			solid = result.solid;
+ 			intersection = result.intersection;
+ 			normal = result.normal;
+ 			distance = result.distance;
+ 		}
+ 
  		/// The first Solid hit by the ray.  This will remain NULL if no 
  		/// Solid is hit.
***************
*** 75,80 ****
  		virtual ~RaycastSensor();
  
! 		/// Initializes the Sensor with the given data structure.  Solid 
! 		/// pointer in the data must be valid.
  		virtual void OPAL_CALL init(const RaycastSensorData& data);
  
--- 95,102 ----
  		virtual ~RaycastSensor();
  
! 		/// Initializes the Sensor with the given data structure.  If the 
! 		/// Solid pointer in the data is valid, the Sensor's offset will 
! 		/// be relative to the Solid's transform instead of the global 
! 		/// origin.
  		virtual void OPAL_CALL init(const RaycastSensorData& data);
  
***************
*** 83,92 ****
  
  		/// Fires a ray into the Sensor's environment, returning 
! 		/// information about the first intersection encountered.
  		virtual const RaycastResult& OPAL_CALL fireRay();
  
  		/// Fires a ray of a given length into the Sensor's environment
! 		/// information about the first intersection encountered.
! 		virtual const RaycastResult& OPAL_CALL fireRay( real length );
  
  		virtual void OPAL_CALL setEnabled(bool e);
--- 105,117 ----
  
  		/// Fires a ray into the Sensor's environment, returning 
! 		/// information about the first intersection encountered.  The 
! 		/// length of the ray used will be the length of the Sensor's 
! 		/// ray data.  
  		virtual const RaycastResult& OPAL_CALL fireRay();
  
  		/// Fires a ray of a given length into the Sensor's environment
! 		/// information about the first intersection encountered.  The 
! 		/// length of the ray used will be the given length parameter.  
! 		virtual const RaycastResult& OPAL_CALL fireRay(real length);
  
  		virtual void OPAL_CALL setEnabled(bool e);

--- NEW FILE: VolumeSensor.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_VOLUME_SENSOR_H
#define OPAL_VOLUME_SENSOR_H

#include "Defines.h"
#include "Sensor.h"
#include "VolumeSensorData.h"

namespace opal
{
	class Simulator;

	/// A data structure containing information about a specific 
	/// volume query.
	struct VolumeQueryResult
	{
		OPAL_DECL VolumeQueryResult()
		{
		}

		/// Copy constructor.
		OPAL_DECL VolumeQueryResult(const VolumeQueryResult& result)
		{
			(*this) = result;
		}

		OPAL_DECL ~VolumeQueryResult()
		{
			internal_clearSolids();
		}

		/// Makes a deep copy.
		OPAL_DECL void OPAL_CALL operator=(
			const VolumeQueryResult& result)
		{
			unsigned int i=0;
			for (i=0; i<result.mSolidList.size(); ++i)
			{
				mSolidList.push_back(result.mSolidList[i]);
			}
		}

		/// Adds a Solid pointer to the list of results.
		OPAL_DECL void OPAL_CALL internal_addSolid(Solid* s)
		{
			assert(s);
			mSolidList.push_back(s);
		}

		/// Returns the number of Solids in the results.
		OPAL_DECL int OPAL_CALL getNumSolids()const
		{
			return (int)(mSolidList.size());
		}

		// This is probably not needed...
		//Solid* getSolid(unsigned int i)const
		//{
		//	return mSolidList.at(i);
		//}

		/// Removes all Solids from the results.
		OPAL_DECL void OPAL_CALL internal_clearSolids()
		{
			mSolidList.clear();
		}

		/// Removes a specified Solid from the list of collided Solids.
		OPAL_DECL void OPAL_CALL internal_removeSolid(const Solid* s)
		{
			for(size_t i = 0; i<mSolidList.size(); ++i)
			{
				if(mSolidList[i] == s)
				{
					mSolidList[i] = mSolidList.back();
					mSolidList.pop_back();
					return;
				}
			}
		}

	private:
		/// A list of Solids that were found in a volume query.
		std::vector<Solid*> mSolidList;
	};

	/// A Sensor that queries a scene to find which Solids are intersecting 
	/// a specified volume.  Each volume query returns a data structure 
	/// containing a list of those Solids.  This Sensor does not do a volume 
	/// query on every time step because that would be a waste of time in 
	/// most cases; it must be queried manually.
	class VolumeSensor : public Sensor
	{
	public:
		VolumeSensor(Simulator* s);

		virtual ~VolumeSensor();

		/// Initializes the Sensor with the given data structure.
		virtual void OPAL_CALL init(const VolumeSensorData& data);

		/// Returns all data describing the Sensor.
		virtual const VolumeSensorData& OPAL_CALL getData()const;

		/// Queries the Sensor's environment with the given Solid's volume, 
		/// returning a list of the Solids that collide with that Solid.  
		virtual const VolumeQueryResult& OPAL_CALL queryVolume(
			const Solid* volume);

		virtual void OPAL_CALL setEnabled(bool e);

		virtual bool OPAL_CALL isEnabled()const;

		virtual void OPAL_CALL setTransform(const Matrix44r& t);

		virtual const Matrix44r& OPAL_CALL getTransform()const;

		virtual SensorType OPAL_CALL getType()const;

		virtual void OPAL_CALL setName(const std::string& name);

		virtual const std::string& OPAL_CALL getName()const;

		virtual void OPAL_CALL internal_update();

		virtual bool OPAL_CALL internal_dependsOn(Solid* solid);

	protected:
		/// Stores data describing the Sensor.
		VolumeSensorData mData;

		/// Pointer to the Simulator containing this Sensor; used to fire 
		/// rays into the Simulator.
		Simulator* mSim;

	private:
	};
}

#endif


Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.44
retrieving revision 1.45
diff -C2 -d -r1.44 -r1.45
*** Simulator.cpp	9 Mar 2005 02:09:49 -0000	1.44
--- Simulator.cpp	12 Mar 2005 01:21:16 -0000	1.45
***************
*** 38,41 ****
--- 38,42 ----
  #include "SpringMotor.h"
  #include "RaycastSensor.h"
+ #include "VolumeSensor.h"
  
  namespace opal

--- NEW FILE: VolumeSensorData.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_VOLUME_SENSOR_DATA_H
#define OPAL_VOLUME_SENSOR_DATA_H

#include "Defines.h"
#include "SensorData.h"

namespace opal
{
	/// A data structure describing a VolumeSensor.
	class VolumeSensorData : public SensorData
	{
	public:
		OPAL_DECL VolumeSensorData()
		: SensorData()
		{
			mType = VOLUME_SENSOR;
		}

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

		OPAL_DECL virtual ~VolumeSensorData()
		{
		}

		/// Makes a deep copy.
		OPAL_DECL virtual void OPAL_CALL operator=(
			const VolumeSensorData& data)
		{
			mType = data.mType;
			enabled = data.enabled;
			name = data.name;
			solid = data.solid;
			transform = data.transform;
		}

	protected:

	private:
	};
}

#endif

Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** SConscript	9 Mar 2005 02:09:49 -0000	1.13
--- SConscript	12 Mar 2005 01:21:16 -0000	1.14
***************
*** 50,53 ****
--- 50,55 ----
  	ThrusterMotorData.h
  	Vec3r.h
+ 	VolumeSensor.h
+ 	VolumeSensorData.h
  """)
  
***************
*** 71,74 ****
--- 73,77 ----
  	SpringMotor.cpp
  	ThrusterMotor.cpp
+ 	VolumeSensor.cpp
  """)
  

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.84
retrieving revision 1.85
diff -C2 -d -r1.84 -r1.85
*** Simulator.h	11 Mar 2005 05:31:56 -0000	1.84
--- Simulator.h	12 Mar 2005 01:21:17 -0000	1.85
***************
*** 47,50 ****
--- 47,51 ----
  	class BlueprintInstance;
  	struct RaycastResult;
+ 	struct VolumeQueryResult;
  
  	/// A Simulator is an environment that contains simulated objects.  
***************
*** 81,92 ****
  			const Matrix44r& offset=Matrix44r(), real scale=1);
  
- 		/// A convenient volume collision check function.  TODO: replace 
- 		/// with a Sensor.  TODO: the vector pointer here is bad because 
- 		/// memory is allocated within the DLL and deallocated on the 
- 		/// user's side; make a VolumeCollisionReport object with an 
- 		/// add function
- 		//virtual void OPAL_CALL collide(const Solid* solid, 
- 		//	std::vector<Solid*>* solids) = 0;
- 
  		/// Sets the gravity used in the simulation.  
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity) = 0;
--- 82,85 ----
***************
*** 230,233 ****
--- 223,230 ----
  			const Rayr& r, real length) = 0;
  
+ 		/// Helper function used for volume queries.
+ 		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
+ 			const Solid* volume) = 0;
+ 
  		/// Returns the Simulator's contact group flags.
  		virtual unsigned long int OPAL_CALL 

[Opal-commits] opal/vc7 opal-ode.vcproj,1.17,1.18

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

Update of /cvsroot/opal/opal/vc7
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17179/vc7

Modified Files:
	opal-ode.vcproj 
Log Message:
added VolumeSensor

Index: opal-ode.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/vc7/opal-ode.vcproj,v
retrieving revision 1.17
retrieving revision 1.18
diff -C2 -d -r1.17 -r1.18
*** opal-ode.vcproj	9 Mar 2005 02:09:51 -0000	1.17
--- opal-ode.vcproj	12 Mar 2005 01:21:17 -0000	1.18
***************
*** 166,169 ****
--- 166,172 ----
  				RelativePath="..\src\ThrusterMotor.cpp">
  			</File>
+ 			<File
+ 				RelativePath="..\src\VolumeSensor.cpp">
+ 			</File>
  		</Filter>
  		<Filter
***************
*** 287,290 ****
--- 290,299 ----
  				RelativePath="..\src\ThrusterMotorData.h">
  			</File>
+ 			<File
+ 				RelativePath="..\src\VolumeSensor.h">
+ 			</File>
+ 			<File
+ 				RelativePath="..\src\VolumeSensorData.h">
+ 			</File>
  		</Filter>
  		<Filter

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.89,1.90 ODESimulator.h,1.62,1.63

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv17179/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
added VolumeSensor

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.62
retrieving revision 1.63
diff -C2 -d -r1.62 -r1.63
*** ODESimulator.h	11 Mar 2005 05:31:57 -0000	1.62
--- ODESimulator.h	12 Mar 2005 01:21:15 -0000	1.63
***************
*** 33,36 ****
--- 33,37 ----
  #include "../Simulator.h"
  #include "../RaycastSensor.h"
+ #include "../VolumeSensor.h"
  #include "ODESolid.h"
  #include "ODEJoint.h"
***************
*** 73,83 ****
  		// No ODE-specific Motor implementations at this time.
  
  		// SPACES
  
  		virtual Space* OPAL_CALL createSpace();
  
- 		//virtual void OPAL_CALL collide(const Solid* solid, 
- 		//	std::vector<Solid*>* solids);
- 
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity);
  
--- 74,85 ----
  		// No ODE-specific Motor implementations at this time.
  
+ 		// SENSORS
+ 
+ 		// No ODE-specific Sensor implementations at this time.
+ 
  		// SPACES
  
  		virtual Space* OPAL_CALL createSpace();
  
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity);
  
***************
*** 94,100 ****
  		virtual dJointGroupID OPAL_CALL internal_getJointGroupID()const;
  
- 		/// Helper function for volume collision checking.  
- 		void OPAL_CALL internal_addCollidedSolid(Solid* solid);
- 
  		virtual const RaycastResult& OPAL_CALL internal_fireRay(
  			const Rayr& r, real length);
--- 96,99 ----
***************
*** 104,107 ****
--- 103,112 ----
  			const Point3r& intersection, const Vec3r& normal, real distance);
  
+ 		/// Helper function for volume collision checking.  
+ 		virtual void OPAL_CALL internal_addCollidedSolid(Solid* solid);
+ 
+ 		virtual const VolumeQueryResult& OPAL_CALL internal_queryVolume(
+ 			const Solid* volume);
+ 
  	protected:
  
***************
*** 123,127 ****
  		/// Temporary list of Solids that collided in a volume collision 
  		/// check.
! 		std::vector<Solid*> mCollidedSolids;
  
  		/// Used for ray casting.  
--- 128,132 ----
  		/// Temporary list of Solids that collided in a volume collision 
  		/// check.
! 		VolumeQueryResult mVolumeQueryResult;
  
  		/// Used for ray casting.  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.89
retrieving revision 1.90
diff -C2 -d -r1.89 -r1.90
*** ODESimulator.cpp	11 Mar 2005 05:31:57 -0000	1.89
--- ODESimulator.cpp	12 Mar 2005 01:21:08 -0000	1.90
***************
*** 28,32 ****
  #include "ODESimulator.h"
  #include "../ShapeData.h"
- //#include <ode/config.h>
  
  namespace opal
--- 28,31 ----
***************
*** 794,798 ****
  		if (solidPtr->internal_getCollisionCount() != mCollisionCount)
  		{
! 			mCollidedSolids.push_back(solid);
  			solidPtr->internal_setCollisionCount(mCollisionCount);
  		}
--- 793,797 ----
  		if (solidPtr->internal_getCollisionCount() != mCollisionCount)
  		{
! 			mVolumeQueryResult.internal_addSolid(solid);
  			solidPtr->internal_setCollisionCount(mCollisionCount);
  		}
***************
*** 877,906 ****
  	}
  
! 	//void ODESimulator::collide(const Solid* solid, std::vector<Solid*>* solids)
! 	//{
! 	//	mCollisionCount++;
! 	//	mCollidedSolids.clear();
! 	//	const std::vector<GeomData*>* geomList = 
! 	//		((ODESolid*)solid)->internal_getGeomDataList();
! 	//	
! 	//	//check for collisions; this will fill up mCollidedSolids
! 	//	std::vector<GeomData*>::const_iterator iter;
! 	//	for (iter = geomList->begin(); iter != geomList->end(); ++iter)
! 	//	{
! 	//		dSpaceCollide2((*iter)->geomID, (dGeomID)mRootSpaceID, this, 
! 	//			&ode_hidden::internal_pickingCollisionCallback);
! 	//	}
  
! 	//	std::vector<Solid*>::iterator solidIter;
! 	//	for (solidIter = mCollidedSolids.begin(); 
! 	//		solidIter != mCollidedSolids.end(); ++solidIter)
! 	//	{
! 	//		//we don't want the volume solid to be added
! 	//		if (*solidIter != solid)
! 	//		{
! 	//			solids->push_back(*solidIter);
! 	//		}
! 	//	}
! 	//}
  
  	void ODESimulator::setGravity(const Vec3r& gravity)
--- 876,902 ----
  	}
  
! 	const VolumeQueryResult& ODESimulator::internal_queryVolume(
! 		const Solid* volume)
! 	{
! 		mCollisionCount++;
! 		mVolumeQueryResult.internal_clearSolids();
! 		const std::vector<GeomData*>* geomList = 
! 			((ODESolid*)volume)->internal_getGeomDataList();
  
! 		// Check for collisions with each of the volume Solid's geoms.  
! 		// This will fill up mVolumeQueryResult with those Solids that 
! 		// collide with these geoms.
! 		std::vector<GeomData*>::const_iterator iter;
! 		for (iter = geomList->begin(); iter != geomList->end(); ++iter)
! 		{
! 			dSpaceCollide2((*iter)->geomID, (dGeomID)mRootSpaceID, this, 
! 				&ode_hidden::internal_volumeCollisionCallback);
! 		}
! 
! 		// We don't want the volume Solid to be listed in the results.
! 		mVolumeQueryResult.internal_removeSolid(volume);
! 
! 		return mVolumeQueryResult;
! 	}
  
  	void ODESimulator::setGravity(const Vec3r& gravity)

[Opal-commits] opal/src AttractorMotorData.h,1.3,1.4 BoxShapeData.h,1.4,1.5 CapsuleShapeData.h,1.4,1.5 GearedMotorData.h,1.3,1.4 JointData.h,1.5,1.6 MeshShapeData.h,1.3,1.4 MotorData.h,1.2,1.3 PlaneShapeData.h,1.4,1.5 RaycastSensor.cpp,1.2,1.3 RaycastSensor.h,1.2,1.3 RaycastSensorData.h,1.1,1.2 SensorData.h,1.4,1.5 ServoMotorData.h,1.3,1.4 ShapeData.h,1.6,1.7 Simulator.h,1.83,1.84 SolidData.h,1.6,1.7 SphereShapeData.h,1.4,1.5 SpringMotorData.h,1.3,1.4 ThrusterMotorData.h,1.3,1.4

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv32461/src

Modified Files:
	AttractorMotorData.h BoxShapeData.h CapsuleShapeData.h 
	GearedMotorData.h JointData.h MeshShapeData.h MotorData.h 
	PlaneShapeData.h RaycastSensor.cpp RaycastSensor.h 
	RaycastSensorData.h SensorData.h ServoMotorData.h ShapeData.h 
	Simulator.h SolidData.h SphereShapeData.h SpringMotorData.h 
	ThrusterMotorData.h 
Log Message:
made data classes exported through win32 dll interface

Index: SolidData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SolidData.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** SolidData.h	25 Feb 2005 06:40:26 -0000	1.6
--- SolidData.h	11 Mar 2005 05:31:56 -0000	1.7
***************
*** 38,63 ****
  	{
  	public:
! 		SolidData();
  
  		/// Copy constructor.
! 		SolidData(const SolidData& data);
  
! 		virtual ~SolidData();
  
  		/// Adds a new Shape to the SolidData.  This automatically 
  		/// allocates the right ShapeData type.
! 		virtual void OPAL_CALL addShape(const ShapeData& data);
  
  		/// Returns the number of Shapes in this SolidData.
! 		virtual int OPAL_CALL getNumShapes()const;
  
  		/// Returns a pointer to the ShapeData at the given index.
! 		virtual ShapeData* OPAL_CALL getShapeData(unsigned int i)const;
  
  		/// Destroys all Shapes in the SolidData.
! 		virtual void OPAL_CALL destroyShapes();
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const SolidData& data);
  
  		/// Determines whether the Solid is enabled.
--- 38,64 ----
  	{
  	public:
! 		OPAL_DECL SolidData();
  
  		/// Copy constructor.
! 		OPAL_DECL SolidData(const SolidData& data);
  
! 		OPAL_DECL virtual ~SolidData();
  
  		/// Adds a new Shape to the SolidData.  This automatically 
  		/// allocates the right ShapeData type.
! 		OPAL_DECL virtual void OPAL_CALL addShape(const ShapeData& data);
  
  		/// Returns the number of Shapes in this SolidData.
! 		OPAL_DECL virtual int OPAL_CALL getNumShapes()const;
  
  		/// Returns a pointer to the ShapeData at the given index.
! 		OPAL_DECL virtual ShapeData* OPAL_CALL getShapeData(
! 			unsigned int i)const;
  
  		/// Destroys all Shapes in the SolidData.
! 		OPAL_DECL virtual void OPAL_CALL destroyShapes();
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(const SolidData& data);
  
  		/// Determines whether the Solid is enabled.

Index: SphereShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SphereShapeData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** SphereShapeData.h	8 Mar 2005 16:10:23 -0000	1.4
--- SphereShapeData.h	11 Mar 2005 05:31:56 -0000	1.5
***************
*** 38,42 ****
  	{
  	public:
! 		SphereShapeData()
  		: ShapeData()
  		{
--- 38,42 ----
  	{
  	public:
! 		OPAL_DECL SphereShapeData()
  		: ShapeData()
  		{
***************
*** 46,60 ****
  
  		/// Copy constructor.
! 		SphereShapeData(const SphereShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~SphereShapeData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const SphereShapeData& data)
  		{
  			mType = data.mType;
--- 46,61 ----
  
  		/// Copy constructor.
! 		OPAL_DECL SphereShapeData(const SphereShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~SphereShapeData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(
! 			const SphereShapeData& data)
  		{
  			mType = data.mType;

Index: ShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ShapeData.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** ShapeData.h	8 Mar 2005 16:10:23 -0000	1.6
--- ShapeData.h	11 Mar 2005 05:31:56 -0000	1.7
***************
*** 49,53 ****
  	{
  	public:
! 		ShapeData()
  		{
  			// The initial type doesn't matter since the abstract base 
--- 49,53 ----
  	{
  	public:
! 		OPAL_DECL ShapeData()
  		{
  			// The initial type doesn't matter since the abstract base 
***************
*** 59,68 ****
  		}
  
! 		virtual ~ShapeData()
  		{
  		}
  
  		/// Returns the Shape's type.
! 		virtual ShapeType OPAL_CALL getType()const
  		{
  			return mType;
--- 59,68 ----
  		}
  
! 		OPAL_DECL virtual ~ShapeData()
  		{
  		}
  
  		/// Returns the Shape's type.
! 		OPAL_DECL virtual ShapeType OPAL_CALL getType()const
  		{
  			return mType;

Index: SensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SensorData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** SensorData.h	9 Mar 2005 02:09:49 -0000	1.4
--- SensorData.h	11 Mar 2005 05:31:56 -0000	1.5
***************
*** 45,49 ****
  	{
  	public:
! 		SensorData()
  		{
  			// The initial type doesn't matter since the abstract base 
--- 45,49 ----
  	{
  	public:
! 		OPAL_DECL SensorData()
  		{
  			// The initial type doesn't matter since the abstract base 
***************
*** 56,65 ****
  		}
  
! 		virtual ~SensorData()
  		{
  		}
  
  		/// Returns the Sensor's type.
! 		virtual SensorType OPAL_CALL getType()const
  		{
  			return mType;
--- 56,65 ----
  		}
  
! 		OPAL_DECL virtual ~SensorData()
  		{
  		}
  
  		/// Returns the Sensor's type.
! 		OPAL_DECL virtual SensorType OPAL_CALL getType()const
  		{
  			return mType;

Index: MotorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/MotorData.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** MotorData.h	25 Feb 2005 06:40:26 -0000	1.2
--- MotorData.h	11 Mar 2005 05:31:56 -0000	1.3
***************
*** 47,51 ****
  	{
  	public:
! 		MotorData()
  		{
  			// The initial type doesn't matter since the abstract base 
--- 47,51 ----
  	{
  	public:
! 		OPAL_DECL MotorData()
  		{
  			// The initial type doesn't matter since the abstract base 
***************
*** 56,65 ****
  		}
  
! 		virtual ~MotorData()
  		{
  		}
  
  		/// Returns the Motor's type.
! 		virtual MotorType OPAL_CALL getType()const
  		{
  			return mType;
--- 56,65 ----
  		}
  
! 		OPAL_DECL virtual ~MotorData()
  		{
  		}
  
  		/// Returns the Motor's type.
! 		OPAL_DECL virtual MotorType OPAL_CALL getType()const
  		{
  			return mType;

Index: BoxShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/BoxShapeData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** BoxShapeData.h	8 Mar 2005 16:10:23 -0000	1.4
--- BoxShapeData.h	11 Mar 2005 05:31:56 -0000	1.5
***************
*** 38,42 ****
  	{
  	public:
! 		BoxShapeData()
  		: ShapeData()
  		{
--- 38,42 ----
  	{
  	public:
! 		OPAL_DECL BoxShapeData()
  		: ShapeData()
  		{
***************
*** 46,60 ****
  
  		/// Copy constructor.
! 		BoxShapeData(const BoxShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~BoxShapeData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const BoxShapeData& data)
  		{
  			mType = data.mType;
--- 46,60 ----
  
  		/// Copy constructor.
! 		OPAL_DECL BoxShapeData(const BoxShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~BoxShapeData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(const BoxShapeData& data)
  		{
  			mType = data.mType;

Index: CapsuleShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/CapsuleShapeData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** CapsuleShapeData.h	8 Mar 2005 16:10:23 -0000	1.4
--- CapsuleShapeData.h	11 Mar 2005 05:31:56 -0000	1.5
***************
*** 38,42 ****
  	{
  	public:
! 		CapsuleShapeData()
  		: ShapeData()
  		{
--- 38,42 ----
  	{
  	public:
! 		OPAL_DECL CapsuleShapeData()
  		: ShapeData()
  		{
***************
*** 47,61 ****
  
  		/// Copy constructor.
! 		CapsuleShapeData(const CapsuleShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~CapsuleShapeData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const CapsuleShapeData& data)
  		{
  			mType = data.mType;
--- 47,62 ----
  
  		/// Copy constructor.
! 		OPAL_DECL CapsuleShapeData(const CapsuleShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~CapsuleShapeData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(
! 			const CapsuleShapeData& data)
  		{
  			mType = data.mType;

Index: RaycastSensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensorData.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** RaycastSensorData.h	9 Mar 2005 02:09:50 -0000	1.1
--- RaycastSensorData.h	11 Mar 2005 05:31:56 -0000	1.2
***************
*** 38,42 ****
  	{
  	public:
! 		RaycastSensorData()
  		: SensorData()
  		{
--- 38,42 ----
  	{
  	public:
! 		OPAL_DECL RaycastSensorData()
  		: SensorData()
  		{
***************
*** 46,60 ****
  
  		/// Copy constructor.
! 		RaycastSensorData(const RaycastSensorData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~RaycastSensorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const RaycastSensorData& data)
  		{
  			mType = data.mType;
--- 46,61 ----
  
  		/// Copy constructor.
! 		OPAL_DECL RaycastSensorData(const RaycastSensorData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~RaycastSensorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(
! 			const RaycastSensorData& data)
  		{
  			mType = data.mType;

Index: GearedMotorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotorData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** GearedMotorData.h	26 Feb 2005 10:22:23 -0000	1.3
--- GearedMotorData.h	11 Mar 2005 05:31:56 -0000	1.4
***************
*** 38,42 ****
  	{
  	public:
! 		GearedMotorData()
  		: MotorData()
  		{
--- 38,42 ----
  	{
  	public:
! 		OPAL_DECL GearedMotorData()
  		: MotorData()
  		{
***************
*** 52,66 ****
  
  		/// Copy constructor.
! 		GearedMotorData(const GearedMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~GearedMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const GearedMotorData& data)
  		{
  			mType = data.mType;
--- 52,67 ----
  
  		/// Copy constructor.
! 		OPAL_DECL GearedMotorData(const GearedMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~GearedMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(
! 			const GearedMotorData& data)
  		{
  			mType = data.mType;

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.83
retrieving revision 1.84
diff -C2 -d -r1.83 -r1.84
*** Simulator.h	10 Mar 2005 21:13:00 -0000	1.83
--- Simulator.h	11 Mar 2005 05:31:56 -0000	1.84
***************
*** 226,235 ****
  
  		/// Helper function used for ray casting.  Immediately fires a ray 
! 		/// into the scene and returns intersections results.  Takes an 
! 		/// unnormalized ray, which is important because the ray's length 
! 		/// is used when casting the ray into the scene.
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay( const Rayr& r) = 0;
! 
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay( const Rayr& r, real length ) = 0;
  
  		/// Returns the Simulator's contact group flags.
--- 226,232 ----
  
  		/// 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) = 0;
  
  		/// Returns the Simulator's contact group flags.

Index: AttractorMotorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotorData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** AttractorMotorData.h	26 Feb 2005 10:22:23 -0000	1.3
--- AttractorMotorData.h	11 Mar 2005 05:31:56 -0000	1.4
***************
*** 38,42 ****
  	{
  	public:
! 		AttractorMotorData()
  		: MotorData()
  		{
--- 38,42 ----
  	{
  	public:
! 		OPAL_DECL AttractorMotorData()
  		: MotorData()
  		{
***************
*** 53,67 ****
  
  		/// Copy constructor.
! 		AttractorMotorData(const AttractorMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~AttractorMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const AttractorMotorData& data)
  		{
  			mType = data.mType;
--- 53,68 ----
  
  		/// Copy constructor.
! 		OPAL_DECL AttractorMotorData(const AttractorMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~AttractorMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(
! 			const AttractorMotorData& data)
  		{
  			mType = data.mType;

Index: PlaneShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/PlaneShapeData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** PlaneShapeData.h	8 Mar 2005 16:10:23 -0000	1.4
--- PlaneShapeData.h	11 Mar 2005 05:31:56 -0000	1.5
***************
*** 38,42 ****
  	{
  	public:
! 		PlaneShapeData()
  		: ShapeData()
  		{
--- 38,42 ----
  	{
  	public:
! 		OPAL_DECL PlaneShapeData()
  		: ShapeData()
  		{
***************
*** 50,64 ****
  
  		/// Copy constructor.
! 		PlaneShapeData(const PlaneShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~PlaneShapeData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const PlaneShapeData& data)
  		{
  			mType = data.mType;
--- 50,64 ----
  
  		/// Copy constructor.
! 		OPAL_DECL PlaneShapeData(const PlaneShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~PlaneShapeData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(const PlaneShapeData& data)
  		{
  			mType = data.mType;

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** RaycastSensor.cpp	10 Mar 2005 21:13:00 -0000	1.2
--- RaycastSensor.cpp	11 Mar 2005 05:31:56 -0000	1.3
***************
*** 55,59 ****
  	const RaycastResult& RaycastSensor::fireRay()
  	{
! 		return mSim->internal_fireRay(mData.ray);
  	}
  
--- 55,59 ----
  	const RaycastResult& RaycastSensor::fireRay()
  	{
! 		return mSim->internal_fireRay(mData.ray, mData.ray.getLength());
  	}
  

Index: SpringMotorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotorData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** SpringMotorData.h	26 Feb 2005 10:22:23 -0000	1.3
--- SpringMotorData.h	11 Mar 2005 05:31:56 -0000	1.4
***************
*** 52,56 ****
  	{
  	public:
! 		SpringMotorData()
  		: MotorData()
  		{
--- 52,56 ----
  	{
  	public:
! 		OPAL_DECL SpringMotorData()
  		: MotorData()
  		{
***************
*** 71,85 ****
  
  		/// Copy constructor.
! 		SpringMotorData(const SpringMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~SpringMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const SpringMotorData& data)
  		{
  			mType = data.mType;
--- 71,86 ----
  
  		/// Copy constructor.
! 		OPAL_DECL SpringMotorData(const SpringMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~SpringMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(
! 			const SpringMotorData& data)
  		{
  			mType = data.mType;

Index: RaycastSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** RaycastSensor.h	10 Mar 2005 21:13:00 -0000	1.2
--- RaycastSensor.h	11 Mar 2005 05:31:56 -0000	1.3
***************
*** 68,72 ****
  	/// every time step because that would be a waste of time in most 
  	/// cases; it must be "fired" manually.
! 	class OPAL_DECL RaycastSensor : public Sensor
  	{
  	public:
--- 68,72 ----
  	/// every time step because that would be a waste of time in most 
  	/// cases; it must be "fired" manually.
! 	class RaycastSensor : public Sensor
  	{
  	public:

Index: ThrusterMotorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotorData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** ThrusterMotorData.h	26 Feb 2005 10:22:23 -0000	1.3
--- ThrusterMotorData.h	11 Mar 2005 05:31:56 -0000	1.4
***************
*** 38,42 ****
  	{
  	public:
! 		ThrusterMotorData()
  		: MotorData()
  		{
--- 38,42 ----
  	{
  	public:
! 		OPAL_DECL ThrusterMotorData()
  		: MotorData()
  		{
***************
*** 49,63 ****
  
  		/// Copy constructor.
! 		ThrusterMotorData(const ThrusterMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~ThrusterMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const ThrusterMotorData& data)
  		{
  			mType = data.mType;
--- 49,64 ----
  
  		/// Copy constructor.
! 		OPAL_DECL ThrusterMotorData(const ThrusterMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~ThrusterMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(
! 			const ThrusterMotorData& data)
  		{
  			mType = data.mType;

Index: ServoMotorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotorData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** ServoMotorData.h	26 Feb 2005 10:22:23 -0000	1.3
--- ServoMotorData.h	11 Mar 2005 05:31:56 -0000	1.4
***************
*** 50,54 ****
  	{
  	public:
! 		ServoMotorData()
  		: MotorData()
  		{
--- 50,54 ----
  	{
  	public:
! 		OPAL_DECL ServoMotorData()
  		: MotorData()
  		{
***************
*** 66,80 ****
  
  		/// Copy constructor.
! 		ServoMotorData(const ServoMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~ServoMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		virtual void OPAL_CALL operator=(const ServoMotorData& data)
  		{
  			mType = data.mType;
--- 66,80 ----
  
  		/// Copy constructor.
! 		OPAL_DECL ServoMotorData(const ServoMotorData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~ServoMotorData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL virtual void OPAL_CALL operator=(const ServoMotorData& data)
  		{
  			mType = data.mType;

Index: JointData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/JointData.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** JointData.h	8 Mar 2005 22:05:03 -0000	1.5
--- JointData.h	11 Mar 2005 05:31:56 -0000	1.6
***************
*** 82,86 ****
  	{
  	public:
! 		JointData()
  		{
  			mType = defaults::joint::type;
--- 82,86 ----
  	{
  	public:
! 		OPAL_DECL JointData()
  		{
  			mType = defaults::joint::type;
***************
*** 107,121 ****
  
  		/// Copy constructor.
! 		JointData(const JointData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~JointData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		void operator=(const JointData& data)
  		{
  			mType = data.mType;
--- 107,121 ----
  
  		/// Copy constructor.
! 		OPAL_DECL JointData(const JointData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~JointData()
  		{
  		}
  
  		/// Makes a deep copy.
! 		OPAL_DECL void operator=(const JointData& data)
  		{
  			mType = data.mType;
***************
*** 143,147 ****
  
  		/// Sets the Joint's type.
! 		virtual void OPAL_CALL setType(JointType type)
  		{
  			mType = type;
--- 143,147 ----
  
  		/// Sets the Joint's type.
! 		OPAL_DECL virtual void OPAL_CALL setType(JointType type)
  		{
  			mType = type;
***************
*** 149,153 ****
  
  		/// Returns the Joint's type.
! 		virtual JointType OPAL_CALL getType()const
  		{
  			return mType;
--- 149,153 ----
  
  		/// Returns the Joint's type.
! 		OPAL_DECL virtual JointType OPAL_CALL getType()const
  		{
  			return mType;

Index: MeshShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/MeshShapeData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** MeshShapeData.h	8 Mar 2005 16:10:23 -0000	1.3
--- MeshShapeData.h	11 Mar 2005 05:31:56 -0000	1.4
***************
*** 42,46 ****
  	{
  	public:
! 		MeshShapeData()
  		: ShapeData()
  		{
--- 42,46 ----
  	{
  	public:
! 		OPAL_DECL MeshShapeData()
  		: ShapeData()
  		{
***************
*** 53,67 ****
  
  		/// Copy constructor.
! 		MeshShapeData(const MeshShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		virtual ~MeshShapeData()
  		{
  		}
  
  		/// Makes a shallow copy, simply copying data pointers.
! 		virtual void OPAL_CALL operator=(const MeshShapeData& data)
  		{
  			mType = data.mType;
--- 53,67 ----
  
  		/// Copy constructor.
! 		OPAL_DECL MeshShapeData(const MeshShapeData& data)
  		{
  			(*this) = data;
  		}
  
! 		OPAL_DECL virtual ~MeshShapeData()
  		{
  		}
  
  		/// Makes a shallow copy, simply copying data pointers.
! 		OPAL_DECL virtual void OPAL_CALL operator=(const MeshShapeData& data)
  		{
  			mType = data.mType;

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.88,1.89 ODESimulator.h,1.61,1.62

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv32461/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
made data classes exported through win32 dll interface

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.61
retrieving revision 1.62
diff -C2 -d -r1.61 -r1.62
*** ODESimulator.h	10 Mar 2005 21:12:53 -0000	1.61
--- ODESimulator.h	11 Mar 2005 05:31:57 -0000	1.62
***************
*** 97,103 ****
  		void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay( const Rayr& r);
! 
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay( const Rayr& r, real length );
  
  		/// Helper function used for ray casting.  
--- 97,102 ----
  		void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r, real length);
  
  		/// Helper function used for ray casting.  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.88
retrieving revision 1.89
diff -C2 -d -r1.88 -r1.89
*** ODESimulator.cpp	10 Mar 2005 21:12:53 -0000	1.88
--- ODESimulator.cpp	11 Mar 2005 05:31:57 -0000	1.89
***************
*** 852,875 ****
  	}
  
! 	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r)
! 	{
! 		real length = r.getLength();
! 		mRaycastResult =  internal_fireRay( r, length );
! 		return mRaycastResult;
! 	}
! 
! 	const RaycastResult& ODESimulator::internal_fireRay( const Rayr& r, real length )
  	{
  		Point3r origin = r.getOrigin();
  		Vec3r dir = r.getDir();
  
- 		/* I don't think ODE requires this since ray length is separate from the direction -- Andres
- 		// Normalized the vector if possible.
- 		if (0 != length)
- 		{
- 			dir.normalize();
- 		}
- 		*/
- 
  		mRaycastResult.solid = NULL;
  		mRaycastResult.intersection.set(0,0,0);
--- 852,861 ----
  	}
  
! 	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r, 
! 		real length)
  	{
  		Point3r origin = r.getOrigin();
  		Vec3r dir = r.getDir();
  
  		mRaycastResult.solid = NULL;
  		mRaycastResult.intersection.set(0,0,0);

[Opal-commits] opal/src RaycastSensor.cpp,1.1,1.2 RaycastSensor.h,1.1,1.2 Simulator.h,1.82,1.83

[Andres R. <ar...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3842/src

Modified Files:
	RaycastSensor.cpp RaycastSensor.h Simulator.h 
Log Message:
added a raycast that takes ray length separately for optimization

Index: RaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** RaycastSensor.cpp	9 Mar 2005 02:09:50 -0000	1.1
--- RaycastSensor.cpp	10 Mar 2005 21:13:00 -0000	1.2
***************
*** 58,61 ****
--- 58,66 ----
  	}
  
+ 	const RaycastResult& RaycastSensor::fireRay(real length)
+ 	{
+ 		return mSim->internal_fireRay(mData.ray, length);
+ 	}
+ 
  	void RaycastSensor::setEnabled(bool e)
  	{

Index: RaycastSensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/RaycastSensor.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** RaycastSensor.h	9 Mar 2005 02:09:50 -0000	1.1
--- RaycastSensor.h	10 Mar 2005 21:13:00 -0000	1.2
***************
*** 68,72 ****
  	/// every time step because that would be a waste of time in most 
  	/// cases; it must be "fired" manually.
! 	class RaycastSensor : public Sensor
  	{
  	public:
--- 68,72 ----
  	/// every time step because that would be a waste of time in most 
  	/// cases; it must be "fired" manually.
! 	class OPAL_DECL RaycastSensor : public Sensor
  	{
  	public:
***************
*** 86,89 ****
--- 86,93 ----
  		virtual const RaycastResult& OPAL_CALL fireRay();
  
+ 		/// Fires a ray of a given length into the Sensor's environment
+ 		/// information about the first intersection encountered.
+ 		virtual const RaycastResult& OPAL_CALL fireRay( real length );
+ 
  		virtual void OPAL_CALL setEnabled(bool e);
  

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.82
retrieving revision 1.83
diff -C2 -d -r1.82 -r1.83
*** Simulator.h	9 Mar 2005 02:09:50 -0000	1.82
--- Simulator.h	10 Mar 2005 21:13:00 -0000	1.83
***************
*** 229,234 ****
  		/// unnormalized ray, which is important because the ray's length 
  		/// is used when casting the ray into the scene.
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r) = 0;
  
  		/// Returns the Simulator's contact group flags.
--- 229,235 ----
  		/// unnormalized ray, which is important because the ray's length 
  		/// is used when casting the ray into the scene.
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay( const Rayr& r) = 0;
! 
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay( const Rayr& r, real length ) = 0;
  
  		/// Returns the Simulator's contact group flags.