opal-commits — Mailing list for CVS commit messages.

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.87,1.88 ODESimulator.h,1.60,1.61

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3815/src/ODE

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

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.60
retrieving revision 1.61
diff -C2 -d -r1.60 -r1.61
*** ODESimulator.h	9 Mar 2005 02:09:50 -0000	1.60
--- ODESimulator.h	10 Mar 2005 21:12:53 -0000	1.61
***************
*** 97,102 ****
  		void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		virtual const RaycastResult& OPAL_CALL internal_fireRay(
! 			const Rayr& r);
  
  		/// Helper function used for ray casting.  
--- 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.  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.87
retrieving revision 1.88
diff -C2 -d -r1.87 -r1.88
*** ODESimulator.cpp	9 Mar 2005 02:09:50 -0000	1.87
--- ODESimulator.cpp	10 Mar 2005 21:12:53 -0000	1.88
***************
*** 854,861 ****
  	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r)
  	{
- 		Point3r origin = r.getOrigin();
  		real length = r.getLength();
  		Vec3r dir = r.getDir();
  
  		// Normalized the vector if possible.
  		if (0 != length)
--- 854,868 ----
  	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)
***************
*** 863,866 ****
--- 870,874 ----
  			dir.normalize();
  		}
+ 		*/
  
  		mRaycastResult.solid = NULL;
***************
*** 880,884 ****
  		// Finished with ODE ray, so destroy it.
  		dGeomDestroy(rayGeomID);
- 
  		return mRaycastResult;
  	}
--- 888,891 ----

[Opal-commits] opal/src/ODE ODESolid.cpp,1.75,1.76 ODESolid.h,1.64,1.65

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3414/src/ODE

Modified Files:
	ODESolid.cpp ODESolid.h 
Log Message:
added clearShapes function to solid

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.64
retrieving revision 1.65
diff -C2 -d -r1.64 -r1.65
*** ODESolid.h	4 Mar 2005 23:26:54 -0000	1.64
--- ODESolid.h	10 Mar 2005 21:11:05 -0000	1.65
***************
*** 85,88 ****
--- 85,90 ----
  		virtual void OPAL_CALL setStatic(bool s);
  
+ 		virtual void OPAL_CALL clearShapes();
+ 
  		virtual void OPAL_CALL addShape(const ShapeData& data);
  

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.75
retrieving revision 1.76
diff -C2 -d -r1.75 -r1.76
*** ODESolid.cpp	5 Mar 2005 21:26:24 -0000	1.75
--- ODESolid.cpp	10 Mar 2005 21:11:05 -0000	1.76
***************
*** 68,102 ****
  	}
  
  	void ODESolid::destroyGeoms()
  	{
! 		while (!mGeomDataList.empty())
  		{
! 			// Note: do not delete the Solid pointer.  It will get deleted 
! 			// elsewhere.
! 
! 			if (0 != mGeomDataList.back()->transformID)
  			{
! 				// This geom uses a transform geom.  Destroy it.
! 				dGeomDestroy(mGeomDataList.back()->transformID);
  			}
! 
  #ifdef OPAL_USE_MESH
! 			if (0 != mGeomDataList.back()->trimeshDataID)
  			{
  				// This geom uses a trimesh.  Destroy it.  (This does NOT 
  				// touch the user's mesh data, just internal ODE trimesh 
  				// data.)
! 				dGeomTriMeshDataDestroy(mGeomDataList.back()->trimeshDataID);
  			}
  #endif
- 
  			// Destroy the ODE geom.
! 			dGeomDestroy(mGeomDataList.back()->geomID);
  
  			// Delete the geom data object.
! 			delete mGeomDataList.back();
  
  			mGeomDataList.pop_back();
  		}
  	}
  
--- 68,103 ----
  	}
  
+ 	void ODESolid::clearShapes()
+ 	{
+ 		destroyGeoms();
+ 	}
+ 
  	void ODESolid::destroyGeoms()
  	{
! 		for( size_t i = 0; i<mGeomDataList.size(); ++i )
  		{
! 			if( 0 != mGeomDataList[i]->transformID )
  			{
! 				dGeomDestroy(mGeomDataList[i]->transformID);
  			}
! 		
  #ifdef OPAL_USE_MESH
! 			if (0 != mGeomDataList[i]->trimeshDataID)
  			{
  				// This geom uses a trimesh.  Destroy it.  (This does NOT 
  				// touch the user's mesh data, just internal ODE trimesh 
  				// data.)
! 				dGeomTriMeshDataDestroy(mGeomDataList[i]->trimeshDataID);
  			}
  #endif
  			// Destroy the ODE geom.
! 			dGeomDestroy(mGeomDataList[i]->geomID);
  
  			// Delete the geom data object.
! 			delete mGeomDataList[i];
  
  			mGeomDataList.pop_back();
  		}
+ 		mGeomDataList.clear();
  	}
  

[Opal-commits] opal/src Solid.h,1.81,1.82

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv3302/src

Modified Files:
	Solid.h 
Log Message:
added clearShapes function to solid


Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.81
retrieving revision 1.82
diff -C2 -d -r1.81 -r1.82
*** Solid.h	8 Mar 2005 16:10:23 -0000	1.81
--- Solid.h	10 Mar 2005 21:10:36 -0000	1.82
***************
*** 140,143 ****
--- 140,146 ----
  		virtual Quaternion OPAL_CALL getQuaternion()const;
  
+ 		/// Removes all shapes from this Solid.
+ 		virtual void OPAL_CALL clearShapes() = 0;
+ 
  		/// Adds a Shape to this Solid.
  		virtual void OPAL_CALL addShape(const ShapeData& data) = 0;

[Opal-commits] opal/src RaycastSensor.cpp,NONE,1.1 RaycastSensor.h,NONE,1.1 RaycastSensorData.h,NONE,1.1 AttractorMotor.cpp,1.19,1.20 AttractorMotor.h,1.26,1.27 GearedMotor.cpp,1.9,1.10 GearedMotor.h,1.9,1.10 Motor.cpp,1.15,1.16 Motor.h,1.36,1.37 SConscript,1.12,1.13 Sensor.cpp,1.4,1.5 Sensor.h,1.7,1.8 SensorData.h,1.3,1.4 ServoMotor.cpp,1.13,1.14 ServoMotor.h,1.23,1.24 Simulator.cpp,1.43,1.44 Simulator.h,1.81,1.82 SpringMotor.cpp,1.8,1.9 SpringMotor.h,1.10,1.11 ThrusterMotor.cpp,1.9,1.10 ThrusterMotor.h,1.11,1.12 opal.h,1.20,1.21

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11688/src

Modified Files:
	AttractorMotor.cpp AttractorMotor.h GearedMotor.cpp 
	GearedMotor.h Motor.cpp Motor.h SConscript Sensor.cpp Sensor.h 
	SensorData.h ServoMotor.cpp ServoMotor.h Simulator.cpp 
	Simulator.h SpringMotor.cpp SpringMotor.h ThrusterMotor.cpp 
	ThrusterMotor.h opal.h 
Added Files:
	RaycastSensor.cpp RaycastSensor.h RaycastSensorData.h 
Log Message:
added a RaycastSensor, which replaces the old Simulator ray casting functions

Index: Sensor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Sensor.h,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** Sensor.h	25 Feb 2005 06:40:26 -0000	1.7
--- Sensor.h	9 Mar 2005 02:09:49 -0000	1.8
***************
*** 30,40 ****
  
  #include "Defines.h"
  
  namespace opal
  {
! 	/// A device that records data from a simulation.  Some Sensors must 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
--- 30,41 ----
  
  #include "Defines.h"
+ #include "SensorData.h"
  
  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
***************
*** 60,63 ****
--- 61,73 ----
  		virtual void* OPAL_CALL getUserData();
  
+ 		/// Returns the Sensor type.  
+ 		virtual SensorType OPAL_CALL getType()const = 0;
+ 
+ 		/// Sets the Sensor's transform.
+ 		virtual void OPAL_CALL setTransform(const Matrix44r& name) = 0;
+ 
+ 		/// Returns the Sensor's transform.
+ 		virtual const Matrix44r& OPAL_CALL getTransform()const = 0;
+ 
  		/// Sets the Sensor's name.
  		virtual void OPAL_CALL setName(const std::string& name) = 0;
***************
*** 74,79 ****
  
  	protected:
! 		/// True if the Sensor is enabled.
! 		//bool mEnabled;
  
  		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 
--- 84,89 ----
  
  	protected:
! 		/// Called by subclasses when they are initialized.  
! 		void init();
  
  		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** opal.h	8 Mar 2005 16:10:23 -0000	1.20
--- opal.h	9 Mar 2005 02:09:50 -0000	1.21
***************
*** 54,57 ****
--- 54,59 ----
  #include "Sensor.h"
  #include "SensorData.h"
+ #include "RaycastSensor.h"
+ #include "RaycastSensorData.h"
  #include "EventHandler.h"
  #include "JointBreakEventHandler.h"

Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** SConscript	8 Mar 2005 16:10:23 -0000	1.12
--- SConscript	9 Mar 2005 02:09:49 -0000	1.13
***************
*** 30,33 ****
--- 30,35 ----
  	Portability.h
  	Quaternion.h
+ 	RaycastSensor.h
+ 	RaycastSensorData.h
  	Rayr.h
  	RayShapeData.h
***************
*** 61,64 ****
--- 63,67 ----
  	Logger.cpp
  	Motor.cpp
+ 	RaycastSensor.cpp
  	Sensor.cpp
  	ServoMotor.cpp

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.43
retrieving revision 1.44
diff -C2 -d -r1.43 -r1.44
*** Simulator.cpp	8 Mar 2005 16:10:23 -0000	1.43
--- Simulator.cpp	9 Mar 2005 02:09:49 -0000	1.44
***************
*** 32,35 ****
--- 32,41 ----
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
+ #include "ThrusterMotor.h"
+ #include "GearedMotor.h"
+ #include "ServoMotor.h"
+ #include "AttractorMotor.h"
+ #include "SpringMotor.h"
+ #include "RaycastSensor.h"
  
  namespace opal
***************
*** 107,111 ****
  		while (mTimeBuffer >= mStepSize)
  		{
! 			// TODO: Call some user-defined function here...
  
  			// Update Sensors.
--- 113,118 ----
  		while (mTimeBuffer >= mStepSize)
  		{
! 			// TODO: Call some user-defined function here; maybe have 
! 			// a BeginStepEventHandler
  
  			// Update Sensors.
***************
*** 606,609 ****
--- 613,626 ----
  	}
  
+ 	void Simulator::setupContactGroup(unsigned int group, 
+ 		bool makeContacts)
+ 	{
+ 		int i=0;
+ 		for (i=0; i<32; ++i)
+ 		{
+ 			setupContactGroups(group, i, makeContacts);
+ 		}
+ 	}
+ 
  	unsigned long int Simulator::internal_getContactGroupFlags(
  		unsigned int groupNum)const
***************
*** 709,720 ****
  	}
  
! 	Solid* Simulator::createSensor()
  	{
! 		//Sensor* newSensor = new Sensor();
! 		//addSensor(newSensor);
! 		//return newSensor;
! 
! 		// Temporary...
! 		return NULL;
  	}
  
--- 726,734 ----
  	}
  
! 	RaycastSensor* Simulator::createRaycastSensor()
  	{
! 		RaycastSensor* newSensor = new RaycastSensor(this);
! 		addSensor(newSensor);
! 		return newSensor;
  	}
  

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.81
retrieving revision 1.82
diff -C2 -d -r1.81 -r1.82
*** Simulator.h	8 Mar 2005 22:05:03 -0000	1.81
--- Simulator.h	9 Mar 2005 02:09:50 -0000	1.82
***************
*** 34,42 ****
  #include "Solid.h"
  #include "Space.h"
- #include "ThrusterMotor.h"
- #include "GearedMotor.h"
- #include "ServoMotor.h"
- #include "AttractorMotor.h"
- #include "SpringMotor.h"
  #include "Blueprint.h"
  #include "Sensor.h"
--- 34,37 ----
***************
*** 44,74 ****
  namespace opal
  {
  	class BlueprintInstance;
! 
! 	/// A data structure containing information about a specific 
! 	/// intersection from a ray cast.
! 	struct RaycastResult
! 	{
! 		RaycastResult()
! 		{
! 			solid = NULL;
! 			// "intersection" is initialized in its own constructor.
! 			// "normal" is initialized in its own constructor.
! 			distance = 0;
! 		}
! 
! 		/// The first Solid hit by the ray.  
! 		Solid* solid;
! 
! 		/// The point of intersection.  
! 		Point3r intersection;
! 
! 		/// The normal vector at the point of intersection.  
! 		Vec3r normal;
! 
! 		/// The distance from the base of the ray to the intersection 
! 		/// point.
! 		real distance;
! 	};
  
  	/// A Simulator is an environment that contains simulated objects.  
--- 39,50 ----
  namespace opal
  {
+ 	class AttractorMotor;
+ 	class GearedMotor;
+ 	class ServoMotor;
+ 	class SpringMotor;
+ 	class ThrusterMotor;
+ 	class RaycastSensor;
  	class BlueprintInstance;
! 	struct RaycastResult;
  
  	/// A Simulator is an environment that contains simulated objects.  
***************
*** 113,121 ****
  		//	std::vector<Solid*>* solids) = 0;
  
- 		/// A convenient ray casting function.  TODO: replace with a 
- 		/// Sensor.
- 		virtual RaycastResult OPAL_CALL shootRay(const Point3r& origin, 
- 			const Vec3r& dir, real length) = 0;
- 
  		/// Sets the gravity used in the simulation.  
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity) = 0;
--- 89,92 ----
***************
*** 169,172 ****
--- 140,151 ----
  			unsigned int group1, bool makeContacts);
  
+ 		/// Similar to setupContactGroups.  Determines how a single contact 
+ 		/// group interacts with all other groups.  This is useful when 
+ 		/// you want to e.g. disable collisions between a group and 
+ 		/// everything else for a "trigger volume."  (See setupContactGroups 
+ 		/// for more details).
+ 		virtual void OPAL_CALL setupContactGroup(unsigned int group, 
+ 			bool makeContacts);		
+ 
  		// SOLIDS
  
***************
*** 226,231 ****
  		// SENSORS
  
! 		/// Creates and returns a pointer to a Sensor.  
! 		virtual Solid* OPAL_CALL createSensor();
  
  		/// Immediately destroys the given Sensor.  
--- 205,210 ----
  		// SENSORS
  
! 		/// Creates and returns a pointer to a RaycastSensor.  
! 		virtual RaycastSensor* OPAL_CALL createRaycastSensor();
  
  		/// Immediately destroys the given Sensor.  
***************
*** 246,249 ****
--- 225,235 ----
  		virtual void OPAL_CALL internal_stepPhysics() = 0;
  
+ 		/// 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;
+ 
  		/// Returns the Simulator's contact group flags.
  		virtual unsigned long int OPAL_CALL 

Index: Sensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Sensor.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** Sensor.cpp	25 Feb 2005 06:40:26 -0000	1.4
--- Sensor.cpp	9 Mar 2005 02:09:49 -0000	1.5
***************
*** 32,37 ****
  	Sensor::Sensor()
  	{
- 		// "mData" is initialized in its own constructor.
- 		//mEnabled = false;
  		mInitCalled = false;
  		setUserData(NULL);
--- 32,35 ----
***************
*** 42,45 ****
--- 40,48 ----
  	}
  
+ 	void Sensor::init()
+ 	{
+ 		mInitCalled = true;
+ 	}
+ 
  	void Sensor::setUserData(void* data)
  	{

--- NEW FILE: RaycastSensor.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_RAYCAST_SENSOR_H
#define OPAL_RAYCAST_SENSOR_H

#include "Defines.h"
#include "Sensor.h"
#include "RaycastSensorData.h"

namespace opal
{
	class Simulator;

	/// A data structure containing information about a specific 
	/// intersection from a ray cast.
	struct RaycastResult
	{
		RaycastResult()
		{
			solid = NULL;
			// "intersection" is initialized in its own constructor.
			// "normal" is initialized in its own constructor.
			distance = 0;
		}

		/// The first Solid hit by the ray.  This will remain NULL if no 
		/// Solid is hit.
		Solid* solid;

		/// The point of intersection.  
		Point3r intersection;

		/// The normal vector at the point of intersection.  
		Vec3r normal;

		/// The distance from the base of the ray to the intersection 
		/// point.
		real distance;
	};

	/// 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.
	class RaycastSensor : public Sensor
	{
	public:
		RaycastSensor(Simulator* s);

		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);

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

		/// Fires a ray into the Sensor's environment, returning 
		/// information about the first intersection encountered.
		virtual const RaycastResult& OPAL_CALL fireRay();

		virtual void OPAL_CALL setEnabled(bool e);

		virtual bool OPAL_CALL isEnabled()const;

		/// Sets the Sensor's ray.
		virtual void OPAL_CALL setRay(Rayr r);

		/// Returns the Sensor's ray.
		virtual const Rayr& OPAL_CALL getRay()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.
		RaycastSensorData mData;

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

	private:
	};
}

#endif


Index: GearedMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotor.h,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** GearedMotor.h	1 Mar 2005 05:04:22 -0000	1.9
--- GearedMotor.h	9 Mar 2005 02:09:49 -0000	1.10
***************
*** 65,68 ****
--- 65,70 ----
  		virtual const GearedMotorData& OPAL_CALL getData()const;
  
+ 		virtual MotorType OPAL_CALL getType()const;
+ 
  		virtual void OPAL_CALL setName(const std::string& name);
  
***************
*** 100,121 ****
  		GearedMotorData mData;
  
- 		///// Pointer to the Joint affected by this Motor.
- 		//Joint* mJoint;
- 
- 		///// The index of the specific Joint axis affected by this Motor.
- 		//int mJointAxisNum;
- 
- 		///// The maximum amount of torque that can be applied to the Joint 
- 		///// axis.
- 		//real mMaxTorque;
- 
- 		///// The inverse of the maximum velocity that can be achieved by 
- 		///// the Motor.  The inverse is cached for faster computations.
- 		//real mMaxVelInverse;
- 
- 		///// The throttle (i.e. the "gas") affects how much of the available 
- 		///// torque is applied to the Joint axis.
- 		//real mThrottle;
- 
  	private:
  
--- 102,105 ----

Index: SpringMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.h,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** SpringMotor.h	8 Mar 2005 16:10:23 -0000	1.10
--- SpringMotor.h	9 Mar 2005 02:09:50 -0000	1.11
***************
*** 59,62 ****
--- 59,64 ----
  		virtual const SpringMotorData& OPAL_CALL getData()const;
  
+ 		virtual MotorType OPAL_CALL getType()const;
+ 
  		virtual void OPAL_CALL setName(const std::string& name);
  

Index: SensorData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SensorData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** SensorData.h	25 Feb 2005 06:40:26 -0000	1.3
--- SensorData.h	9 Mar 2005 02:09:49 -0000	1.4
***************
*** 37,41 ****
  	{
  		VELOCITY_SENSOR, 
! 		ACCELERATION_SENSOR
  	};
  
--- 37,42 ----
  	{
  		VELOCITY_SENSOR, 
! 		ACCELERATION_SENSOR, 
! 		RAYCAST_SENSOR
  	};
  
***************
*** 51,54 ****
--- 52,57 ----
  			enabled = defaults::sensor::enabled;
  			name = "";
+ 			solid = NULL;
+ 			// "transform" is initialized in its own constructor.
  		}
  
***************
*** 69,72 ****
--- 72,85 ----
  		std::string name;
  
+ 		/// 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 
+ 		/// Sensor's global transform.
+ 		Matrix44r transform;
+ 
  	protected:
  		/// The Sensor type.

Index: ThrusterMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.h,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** ThrusterMotor.h	8 Mar 2005 16:10:23 -0000	1.11
--- ThrusterMotor.h	9 Mar 2005 02:09:50 -0000	1.12
***************
*** 59,62 ****
--- 59,64 ----
  		virtual const ThrusterMotorData& OPAL_CALL getData()const;
  
+ 		virtual MotorType OPAL_CALL getType()const;
+ 
  		virtual void OPAL_CALL setName(const std::string& name);
  

Index: Motor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.cpp,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** Motor.cpp	5 Mar 2005 21:26:24 -0000	1.15
--- Motor.cpp	9 Mar 2005 02:09:49 -0000	1.16
***************
*** 32,36 ****
  	Motor::Motor()
  	{
- 		// "mData" is initialized in its own constructor.
  		//mIsCustom = false;
  		mInitCalled = false;
--- 32,35 ----
***************
*** 45,49 ****
  	{
  		mInitCalled = true;
- 		//mEnabled = true;
  	}
  
--- 44,47 ----

Index: GearedMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/GearedMotor.cpp,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** GearedMotor.cpp	1 Mar 2005 05:04:22 -0000	1.9
--- GearedMotor.cpp	9 Mar 2005 02:09:49 -0000	1.10
***************
*** 62,65 ****
--- 62,70 ----
  	}
  
+ 	MotorType GearedMotor::getType()const
+ 	{
+ 		return mData.getType();
+ 	}
+ 
  	void GearedMotor::setName(const std::string& name)
  	{

Index: ServoMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.h,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** ServoMotor.h	1 Mar 2005 05:04:22 -0000	1.23
--- ServoMotor.h	9 Mar 2005 02:09:49 -0000	1.24
***************
*** 61,64 ****
--- 61,66 ----
  		virtual const ServoMotorData& OPAL_CALL getData()const;
  
+ 		virtual MotorType OPAL_CALL getType()const;
+ 
  		virtual void OPAL_CALL setName(const std::string& name);
  
***************
*** 109,137 ****
  		ServoMotorData mData;
  
- 		///// Pointer to the Joint affected by this Motor.  
- 		//Joint* mJoint;
- 
- 		///// The Motor's mode of operation.
- 		//Mode mMode;
- 
- 		///// The index of the Joint axes affected by this Motor.
- 		//int mJointAxis;
- 
- 		///// The Motor's desired position.  This is only used if the 
- 		///// appropriate mode is set.
- 		//real mDesiredPos;
- 		//
- 		///// The Motor's desired position.  This is only used if the 
- 		///// appropriate mode is set.		
- 		//real mDesiredVel;
- 
- 		///// The maximum amount of force that can be used to help the 
- 		///// Joint axis achieve its desired position or velocity.
- 		//real mMaxForce;
- 
- 		///// A constant used in desired position mode that scaled how fast 
- 		///// the Joint axis will achieve its desired position.
- 		//real mRestoreSpeed;
- 
  	private:
  
--- 111,114 ----

Index: AttractorMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.h,v
retrieving revision 1.26
retrieving revision 1.27
diff -C2 -d -r1.26 -r1.27
*** AttractorMotor.h	8 Mar 2005 16:10:23 -0000	1.26
--- AttractorMotor.h	9 Mar 2005 02:09:49 -0000	1.27
***************
*** 60,63 ****
--- 60,65 ----
  		virtual const AttractorMotorData& OPAL_CALL getData()const;
  
+ 		virtual MotorType OPAL_CALL getType()const;
+ 
  		virtual void OPAL_CALL setName(const std::string& name);
  

Index: ThrusterMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.cpp,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** ThrusterMotor.cpp	4 Mar 2005 05:09:24 -0000	1.9
--- ThrusterMotor.cpp	9 Mar 2005 02:09:50 -0000	1.10
***************
*** 61,64 ****
--- 61,69 ----
  	}
  
+ 	MotorType ThrusterMotor::getType()const
+ 	{
+ 		return mData.getType();
+ 	}
+ 
  	void ThrusterMotor::setName(const std::string& name)
  	{

--- NEW FILE: RaycastSensorData.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_RAYCAST_SENSOR_DATA_H
#define OPAL_RAYCAST_SENSOR_DATA_H

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

namespace opal
{
	/// A data structure describing a RaycastSensor.
	class RaycastSensorData : public SensorData
	{
	public:
		RaycastSensorData()
		: SensorData()
		{
			mType = RAYCAST_SENSOR;
			// "ray" is initialized in its own constructor.
		}

		/// 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;
			enabled = data.enabled;
			name = data.name;
			solid = data.solid;
			transform = data.transform;
			ray = data.ray;
		}

		/// The ray used by this Sensor for ray casting.  The length of the 
		/// ray is important; objects beyond the length of the ray will not 
		/// be intersected.  Keep in mind that the Sensor's transform may 
		/// affect the ray's final origin and direction.  
		Rayr ray;

	protected:

	private:
	};
}

#endif

--- NEW FILE: RaycastSensor.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 "RaycastSensor.h"
#include "Simulator.h"

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

	RaycastSensor::~RaycastSensor()
	{
	}

	void RaycastSensor::init(const RaycastSensorData& data)
	{
		assert(data.solid);
		Sensor::init();
		mData = data;
	}

	const RaycastSensorData& RaycastSensor::getData()const
	{
		return mData;
	}

	const RaycastResult& RaycastSensor::fireRay()
	{
		return mSim->internal_fireRay(mData.ray);
	}

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

		mData.enabled = e;
	}

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

	void RaycastSensor::setRay(Rayr r)
	{
		mData.ray = r;
	}

	const Rayr& RaycastSensor::getRay()const
	{
		return mData.ray;
	}

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

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

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

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

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

	void RaycastSensor::internal_update()
	{
		if (mData.enabled)
		{
			// TODO: if mData.solid is valid, update this Sensor's ray 
			// relative to the Solid
		}
	}

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

Index: ServoMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.cpp,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** ServoMotor.cpp	1 Mar 2005 05:04:22 -0000	1.13
--- ServoMotor.cpp	9 Mar 2005 02:09:49 -0000	1.14
***************
*** 90,93 ****
--- 90,98 ----
  	}
  
+ 	MotorType ServoMotor::getType()const
+ 	{
+ 		return mData.getType();
+ 	}
+ 
  	void ServoMotor::setName(const std::string& name)
  	{

Index: SpringMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.cpp,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** SpringMotor.cpp	1 Mar 2005 05:04:22 -0000	1.8
--- SpringMotor.cpp	9 Mar 2005 02:09:50 -0000	1.9
***************
*** 60,63 ****
--- 60,68 ----
  	}
  
+ 	MotorType SpringMotor::getType()const
+ 	{
+ 		return mData.getType();
+ 	}
+ 
  	void SpringMotor::setName(const std::string& name)
  	{

Index: AttractorMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.cpp,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** AttractorMotor.cpp	4 Mar 2005 23:26:53 -0000	1.19
--- AttractorMotor.cpp	9 Mar 2005 02:09:49 -0000	1.20
***************
*** 73,76 ****
--- 73,81 ----
  	}
  
+ 	MotorType AttractorMotor::getType()const
+ 	{
+ 		return mData.getType();
+ 	}
+ 
  	void AttractorMotor::setName(const std::string& name)
  	{

Index: Motor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.h,v
retrieving revision 1.36
retrieving revision 1.37
diff -C2 -d -r1.36 -r1.37
*** Motor.h	5 Mar 2005 21:26:24 -0000	1.36
--- Motor.h	9 Mar 2005 02:09:49 -0000	1.37
***************
*** 30,33 ****
--- 30,34 ----
  
  #include "Defines.h"
+ #include "MotorData.h"
  
  namespace opal
***************
*** 67,70 ****
--- 68,74 ----
  		virtual void* OPAL_CALL getUserData();
  
+ 		/// Returns the Motor type.  
+ 		virtual MotorType OPAL_CALL getType()const = 0;
+ 
  		/// Sets the Motor's name.
  		virtual void OPAL_CALL setName(const std::string& name) = 0;
***************
*** 94,100 ****
  		void init();
  
- 		/// True if the Motor is enabled.
- 		//bool mEnabled;
- 
  		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 
  		/// will never delete it).  
--- 98,101 ----

[Opal-commits] opal/vc7 opal-ode.vcproj,1.16,1.17

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

Update of /cvsroot/opal/opal/vc7
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11688/vc7

Modified Files:
	opal-ode.vcproj 
Log Message:
added a RaycastSensor, which replaces the old Simulator ray casting functions

Index: opal-ode.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/vc7/opal-ode.vcproj,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** opal-ode.vcproj	8 Mar 2005 16:10:25 -0000	1.16
--- opal-ode.vcproj	9 Mar 2005 02:09:51 -0000	1.17
***************
*** 143,146 ****
--- 143,149 ----
  			</File>
  			<File
+ 				RelativePath="..\src\RaycastSensor.cpp">
+ 			</File>
+ 			<File
  				RelativePath="..\src\Sensor.cpp">
  			</File>
***************
*** 234,237 ****
--- 237,246 ----
  			</File>
  			<File
+ 				RelativePath="..\src\RaycastSensor.h">
+ 			</File>
+ 			<File
+ 				RelativePath="..\src\RaycastSensorData.h">
+ 			</File>
+ 			<File
  				RelativePath="..\src\Sensor.h">
  			</File>

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.86,1.87 ODESimulator.h,1.59,1.60

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11688/src/ODE

Modified Files:
	ODESimulator.cpp ODESimulator.h 
Log Message:
added a RaycastSensor, which replaces the old Simulator ray casting functions

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.59
retrieving revision 1.60
diff -C2 -d -r1.59 -r1.60
*** ODESimulator.h	8 Mar 2005 22:05:05 -0000	1.59
--- ODESimulator.h	9 Mar 2005 02:09:50 -0000	1.60
***************
*** 32,35 ****
--- 32,36 ----
  #include "../Defines.h"
  #include "../Simulator.h"
+ #include "../RaycastSensor.h"
  #include "ODESolid.h"
  #include "ODEJoint.h"
***************
*** 56,59 ****
--- 57,62 ----
  		ODESimulator();
  
+ 		virtual ~ODESimulator();
+ 
  		virtual void OPAL_CALL destroy();
  
***************
*** 77,83 ****
  		//	std::vector<Solid*>* solids);
  
- 		virtual RaycastResult OPAL_CALL shootRay(const Point3r& origin, 
- 			const Vec3r& dir, real length);
- 
  		virtual void OPAL_CALL setGravity(const Vec3r& gravity);
  
--- 80,83 ----
***************
*** 88,106 ****
  		virtual void OPAL_CALL internal_stepPhysics();
  
! 		dWorldID OPAL_CALL internal_getWorldID()const;
  
! 		dSpaceID OPAL_CALL internal_getSpaceID()const;
  
! 		dJointGroupID OPAL_CALL internal_getJointGroupID()const;
  
  		/// Helper function for volume collision checking.  
  		void OPAL_CALL internal_addCollidedSolid(Solid* solid);
  
! 		/// Helper function for ray casting.  
! 		void OPAL_CALL internal_setRaycastResult(Solid* solid, 
  			const Point3r& intersection, const Vec3r& normal, real distance);
  
  	protected:
- 		virtual ~ODESimulator();
  
  		/// The ODE world ID used by this Simulator.  
--- 88,108 ----
  		virtual void OPAL_CALL internal_stepPhysics();
  
! 		virtual dWorldID OPAL_CALL internal_getWorldID()const;
  
! 		virtual dSpaceID OPAL_CALL internal_getSpaceID()const;
  
! 		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);
! 
! 		/// Helper function used for ray casting.  
! 		virtual void OPAL_CALL internal_setRaycastResult(Solid* solid, 
  			const Point3r& intersection, const Vec3r& normal, real distance);
  
  	protected:
  
  		/// The ODE world ID used by this Simulator.  

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.86
retrieving revision 1.87
diff -C2 -d -r1.86 -r1.87
*** ODESimulator.cpp	8 Mar 2005 22:05:04 -0000	1.86
--- ODESimulator.cpp	9 Mar 2005 02:09:50 -0000	1.87
***************
*** 812,816 ****
  
  	//helper function for collision callback
! 	//void createOneSidedContact)dJointID contactJoint, dBodyID movingObject, 
  	//										 dBodyID staticObject, dVector3 pos)
  	//{
--- 812,816 ----
  
  	//helper function for collision callback
! 	//void createOneSidedContact(dJointID contactJoint, dBodyID movingObject, 
  	//										 dBodyID staticObject, dVector3 pos)
  	//{
***************
*** 846,850 ****
  
  	Joint* ODESimulator::createJoint()
! 	{		
  		Joint* newJoint = new ODEJoint(mWorldID);
  		addJoint(newJoint);
--- 846,850 ----
  
  	Joint* ODESimulator::createJoint()
! 	{
  		Joint* newJoint = new ODEJoint(mWorldID);
  		addJoint(newJoint);
***************
*** 852,855 ****
--- 852,887 ----
  	}
  
+ 	const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r)
+ 	{
+ 		Point3r origin = r.getOrigin();
+ 		real length = r.getLength();
+ 		Vec3r dir = r.getDir();
+ 
+ 		// Normalized the vector if possible.
+ 		if (0 != length)
+ 		{
+ 			dir.normalize();
+ 		}
+ 
+ 		mRaycastResult.solid = NULL;
+ 		mRaycastResult.intersection.set(0,0,0);
+ 		mRaycastResult.normal.set(1,0,0);
+ 		mRaycastResult.distance = 0;
+ 
+ 		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
+ 		dGeomRaySet(rayGeomID, origin[0], origin[1], origin[2], dir[0], 
+ 			dir[1], dir[2]);
+ 
+ 		// Check for collisions.  This will fill mRaycastResult with valid 
+ 		// data.  Its Solid pointer will remain NULL if nothing was hit.
+ 		dSpaceCollide2(rayGeomID, (dGeomID)mRootSpaceID, this, 
+ 			&ode_hidden::internal_raycastCollisionCallback);
+ 
+ 		// Finished with ODE ray, so destroy it.
+ 		dGeomDestroy(rayGeomID);
+ 
+ 		return mRaycastResult;
+ 	}
+ 
  	//void ODESimulator::collide(const Solid* solid, std::vector<Solid*>* solids)
  	//{
***************
*** 879,910 ****
  	//}
  
- 	RaycastResult ODESimulator::shootRay(const Point3r& origin, 
- 		const Vec3r& dir, real length)
- 	{
- 		mRaycastResult.solid = NULL;
- 		mRaycastResult.intersection.set(0,0,0);
- 		mRaycastResult.normal.set(1,0,0);
- 		mRaycastResult.distance = 0;
- 
- 		dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
- 		dGeomRaySet(rayGeomID, origin[0], origin[1], origin[2], dir[0], 
- 			dir[1], dir[2]);
- 
- 		//check for collisions; this will fill mRaycastResult (if a collision occurs)
- 		dSpaceCollide2(rayGeomID, (dGeomID)mRootSpaceID, this, 
- 			&ode_hidden::internal_raycastCollisionCallback);
- 
- 		RaycastResult result;
- 		result.solid = mRaycastResult.solid; //note that this may remain NULL
- 		result.intersection = mRaycastResult.intersection;
- 		result.normal = mRaycastResult.normal;
- 		result.distance = mRaycastResult.distance;
- 
- 		// Finished with ODE ray, so destroy it.
- 		dGeomDestroy(rayGeomID);
- 
- 		return result;
- 	}
- 
  	void ODESimulator::setGravity(const Vec3r& gravity)
  	{
--- 911,914 ----

[Opal-commits] opal todo.txt,1.51,1.52

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11688

Modified Files:
	todo.txt 
Log Message:
added a RaycastSensor, which replaces the old Simulator ray casting functions

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.51
retrieving revision 1.52
diff -C2 -d -r1.51 -r1.52
*** todo.txt	8 Mar 2005 16:10:25 -0000	1.51
--- todo.txt	9 Mar 2005 02:09:51 -0000	1.52
***************
*** 2,27 ****
  =================
  
! * look at scons dylib-building problem on os x
  
  * fix memory allocation across dll boundary
  	- volume collision check results -> put results in a specific class
  
- * certain function calls during collision events crash the system
- 	- definitely bad:
- 		- setStatic, setPosition, setTransform, setVelocity, setSpace, addShape, setSleeping, simulator::destroySolid/Joint, etc.
- 	- maybe bad:
- 		- setEnabled, translateMass
- 	- solution: create an event queue and call the functions at a safe time
- 	- don't use events when it's already "safe" (i.e. not in collision detection mode), just apply them instantly; i.e. have a "safe" boolean that's set to false only when in collision detection
- 	- per step, or per frame?
- 	- replace 'garbage' system with delayed destroy events
- 	- alternative solution: just make collision callback calls happen at the end of the step; but this could be a problem because sometimes you might want to ignore contacts... but maybe it wouldn't matter if we don't return the boolean from the collision events and used some other contact-generation flag system (i.e. the "category/collide" bits); how should we handle this?
- 
- * Add a boolean to Solid that determines if it generates contacts at all (the docking volume shouldn't collide with anything but should generate collision events still).
- 	- maybe look at a more powerful solution with collide flags
- 
- * reenable collision detection for static-static, static-sleeping cases (or have an option)
- 	- solution: probably use collision groups for this
- 
  * make trimeshes work
  
--- 2,14 ----
  =================
  
! * sensors
! 	- parse from xml
! 	- add to xml example
! 	- add to instantiateBlueprint
! 	- add to Blueprint finalize function
  
  * fix memory allocation across dll boundary
  	- volume collision check results -> put results in a specific class
  
  * make trimeshes work
  
***************
*** 33,36 ****
--- 20,30 ----
  	- non-fatal errors just print a warning
  
+ * joint motion damping?
+ 	- useful for ragdolls
+ 	- one solution: just use a servo in desired vel mode, set desired vel to 0
+ 
+ * BeginStepEventHandler
+ 	- 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)
***************
*** 39,50 ****
  		- 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)
- 	- CollisionSensor
- 		- hold a queue of collision events (attach to a solid, to a single shape, or to nothing?)
- 		- use callback functions
- 		- user-derived class
- 		- vital part of "trigger volumes"
- 		- not available in XML because they're derived; ignore these when saving and loading
- 	- JointBreakSensor
- 		- not available in XML because they're derived; ignore these when saving and loading
  	- VelocitySensor: linear vel (i.e. "velocimeter") and/or angular vel ("gyroscope") sensor
  	- AccelerationSensor (i.e. "accelerometer"): linear and/or angular acceleration sensor
--- 33,36 ----

[Opal-commits] web overview.html,NONE,1.1 documentation.html,1.7,1.8 downloads.html,1.1,1.2 todo.txt,1.4,1.5 manual.html,1.3,NONE

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

Update of /cvsroot/opal/web
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23133

Modified Files:
	documentation.html downloads.html todo.txt 
Added Files:
	overview.html 
Removed Files:
	manual.html 
Log Message:
renamed "manual" to "overview", because that's really what it is

Index: documentation.html
===================================================================
RCS file: /cvsroot/opal/web/documentation.html,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** documentation.html	8 Mar 2005 16:20:50 -0000	1.7
--- documentation.html	8 Mar 2005 22:37:37 -0000	1.8
***************
*** 25,39 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>94</o:Revision>
!   <o:TotalTime>104</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-05T19:56:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>316</o:Words>
!   <o:Characters>1805</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>15</o:Lines>
    <o:Paragraphs>4</o:Paragraphs>
!   <o:CharactersWithSpaces>2117</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>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>
***************
*** 98,102 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="52226">
    <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="54274">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
***************
*** 179,192 ****
    <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) manual, 2) tutorials, 3)
!   API reference.<span style='mso-spacerun:yes'>  </span>The manual 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";
!   color:black'><a href="manual.html">OPAL Manual</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: a short, high-level overview
!   of the major components and how they work together.<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";
--- 179,191 ----
    <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";
!   color:black'><a href="overview.html">OPAL Overview</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: a short, high-level intro to
!   the major components and how they work together.<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";
***************
*** 217,225 ****
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
    color:black'><a href="tutorial7.html">Tutorial 7</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: OPAL XML Saving and Loading<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
!   color:black'><a href="tutorial7.html">Tutorial 8</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: 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";
--- 216,224 ----
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
    color:black'><a href="tutorial7.html">Tutorial 7</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: Event Handlers<o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
!   color:black'><a href="tutorial8.html">Tutorial 8</a></span><span
!   style='font-family:"Book Antiqua";color:black'>: OPAL XML Saving and Loading<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";
***************
*** 237,241 ****
    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 manual 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:
--- 236,240 ----
    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:

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/web/todo.txt,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** todo.txt	8 Mar 2005 16:20:51 -0000	1.4
--- todo.txt	8 Mar 2005 22:37:37 -0000	1.5
***************
*** 1,5 ****
  For Version 0.3.0
  =================
! * manual
  	- add diagrams
  
--- 1,5 ----
  For Version 0.3.0
  =================
! * overview
  	- add diagrams
  
***************
*** 7,10 ****
--- 7,11 ----
  	- move XML samples into xml tutorial; or maybe have a Blueprints page on the OPAL site; maybe remove example.xml and just describe every xml element/attribute somewhere)
  	- describe trigger volumes somewhere
+ 	- add diagrams
  
  * post api notes
***************
*** 12,16 ****
  For Version 0.4.0
  =================
! * add a faq to docs page/manual
  	- Q: which physics engines will be supported in the future?
  	- A: The focus is on cross-platform, Open Source physics engines.  Currently there are not a lot of options available besides ODE, but if other fully-featured engines of this type come along, OPAL will be ready to integrate them.
--- 13,17 ----
  For Version 0.4.0
  =================
! * add a faq to docs page/overview
  	- Q: which physics engines will be supported in the future?
  	- A: The focus is on cross-platform, Open Source physics engines.  Currently there are not a lot of options available besides ODE, but if other fully-featured engines of this type come along, OPAL will be ready to integrate them.
***************
*** 18,22 ****
  
  
! Preliminary Manual Notes
  ========================
  
--- 19,23 ----
  
  
! Preliminary Overview Notes
  ========================
  

--- NEW FILE: overview.html ---
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
<html xmlns:v="urn:schemas-microsoft-com:vml"
xmlns:o="urn:schemas-microsoft-com:office:office"
xmlns:w="urn:schemas-microsoft-com:office:word"
xmlns="http://www.w3.org/TR/REC-html40">

<head>
<meta http-equiv=Content-Type content="text/html; charset=windows-1252">
<meta name=ProgId content=Word.Document>
<meta name=Generator content="Microsoft Word 10">
<meta name=Originator content="Microsoft Word 10">
<link rel=File-List href="overview_files/filelist.xml">
<link rel=Edit-Time-Data href="overview_files/editdata.mso">
<!--[if !mso]>
<style>
v\:* {behavior:url(#default#VML);}
o\:* {behavior:url(#default#VML);}
w\:* {behavior:url(#default#VML);}
.shape {behavior:url(#default#VML);}
</style>
<![endif]-->
<title>OPAL: Open Physics Abstraction Layer</title>
<!--[if gte mso 9]><xml>
 <o:DocumentProperties>
  <o:Author>Tyler Streeter</o:Author>
  <o:LastAuthor>Tyler Streeter</o:LastAuthor>
  <o:Revision>99</o:Revision>
  <o:TotalTime>165</o:TotalTime>
  <o:Created>2004-06-05T15:20:00Z</o:Created>
  <o:LastSaved>2005-03-08T22:33:00Z</o:LastSaved>
  <o:Pages>1</o:Pages>
  <o:Words>416</o:Words>
  <o:Characters>2372</o:Characters>
  <o:Company>none</o:Company>
  <o:Lines>19</o:Lines>
  <o:Paragraphs>5</o:Paragraphs>
  <o:CharactersWithSpaces>2783</o:CharactersWithSpaces>
  <o:Version>10.6714</o:Version>
 </o:DocumentProperties>
</xml><![endif]--><!--[if gte mso 9]><xml>
 <w:WordDocument>
  <w:SpellingState>Clean</w:SpellingState>
  <w:GrammarState>Clean</w:GrammarState>
  <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
 </w:WordDocument>
</xml><![endif]-->
<style>
<!--
 /* Font Definitions */
 @font-face
	{font-family:"Book Antiqua";
	panose-1:2 4 6 2 5 3 5 3 3 4;
	mso-font-charset:0;
	mso-generic-font-family:roman;
	mso-font-pitch:variable;
	mso-font-signature:647 0 0 0 159 0;}
 /* Style Definitions */
 p.MsoNormal, li.MsoNormal, div.MsoNormal
	{mso-style-parent:"";
	margin:0in;
	margin-bottom:.0001pt;
	mso-pagination:widow-orphan;
	font-size:12.0pt;
	font-family:"Times New Roman";
	mso-fareast-font-family:"Times New Roman";
	color:white;}
a:link, span.MsoHyperlink
	{color:#3366FF;
	text-decoration:underline;
	text-underline:single;}
a:visited, span.MsoHyperlinkFollowed
	{color:#000066;
	text-decoration:underline;
	text-underline:single;}
span.SpellE
	{mso-style-name:"";
	mso-spl-e:yes;}
span.GramE
	{mso-style-name:"";
	mso-gram-e:yes;}
@page Section1
	{size:8.5in 11.0in;
	margin:1.0in 1.25in 1.0in 1.25in;
	mso-header-margin:.5in;
	mso-footer-margin:.5in;
	mso-paper-source:0;}
div.Section1
	{page:Section1;}
 /* List Definitions */
 @list l0
	{mso-list-id:250621957;
	mso-list-template-ids:-759426884;}
@list l0:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	mso-ansi-font-size:10.0pt;
	font-family:"Courier New";
	mso-bidi-font-family:"Times New Roman";}
@list l1
	{mso-list-id:331566560;
	mso-list-template-ids:-1562768502;}
@list l1:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	mso-ansi-font-size:10.0pt;
	font-family:"Courier New";
	mso-bidi-font-family:"Times New Roman";}
@list l2
	{mso-list-id:478962415;
	mso-list-template-ids:1417844744;}
@list l2:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	mso-ansi-font-size:10.0pt;
	font-family:"Courier New";
	mso-bidi-font-family:"Times New Roman";}
@list l3
	{mso-list-id:482813319;
	mso-list-type:hybrid;
	mso-list-template-ids:-413384936 67698691 67698691 67698693 67698689 67698691 67698693 67698689 67698691 67698693;}
@list l3:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	font-family:"Courier New";}
@list l3:level2
	{mso-level-tab-stop:1.0in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l3:level3
	{mso-level-tab-stop:1.5in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l3:level4
	{mso-level-tab-stop:2.0in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l3:level5
	{mso-level-tab-stop:2.5in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l3:level6
	{mso-level-tab-stop:3.0in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l3:level7
	{mso-level-tab-stop:3.5in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l3:level8
	{mso-level-tab-stop:4.0in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l3:level9
	{mso-level-tab-stop:4.5in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l4
	{mso-list-id:935554082;
	mso-list-template-ids:1353771306;}
@list l4:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	mso-ansi-font-size:10.0pt;
	font-family:"Courier New";
	mso-bidi-font-family:"Times New Roman";}
@list l5
	{mso-list-id:977732788;
	mso-list-template-ids:1142328856;}
@list l5:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	mso-ansi-font-size:10.0pt;
	font-family:"Courier New";
	mso-bidi-font-family:"Times New Roman";}
@list l6
	{mso-list-id:1377509408;
	mso-list-type:hybrid;
	mso-list-template-ids:986361314 67698691 67698691 67698693 67698689 67698691 67698693 67698689 67698691 67698693;}
@list l6:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	font-family:"Courier New";}
@list l6:level2
	{mso-level-tab-stop:1.0in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l6:level3
	{mso-level-tab-stop:1.5in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l6:level4
	{mso-level-tab-stop:2.0in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l6:level5
	{mso-level-tab-stop:2.5in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l6:level6
	{mso-level-tab-stop:3.0in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l6:level7
	{mso-level-tab-stop:3.5in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l6:level8
	{mso-level-tab-stop:4.0in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l6:level9
	{mso-level-tab-stop:4.5in;
	mso-level-number-position:left;
	text-indent:-.25in;}
@list l7
	{mso-list-id:1543900918;
	mso-list-template-ids:1052961724;}
@list l7:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	mso-ansi-font-size:10.0pt;
	font-family:"Courier New";
	mso-bidi-font-family:"Times New Roman";}
@list l8
	{mso-list-id:1660957522;
	mso-list-template-ids:524451748;}
@list l8:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	mso-ansi-font-size:10.0pt;
	font-family:"Courier New";
	mso-bidi-font-family:"Times New Roman";}
@list l9
	{mso-list-id:2121534931;
	mso-list-template-ids:-289104414;}
@list l9:level1
	{mso-level-number-format:bullet;
	mso-level-text:o;
	mso-level-tab-stop:.5in;
	mso-level-number-position:left;
	text-indent:-.25in;
	mso-ansi-font-size:10.0pt;
	font-family:"Courier New";
	mso-bidi-font-family:"Times New Roman";}
ol
	{margin-bottom:0in;}
ul
	{margin-bottom:0in;}
-->
</style>
<!--[if gte mso 10]>
<style>
 /* Style Definitions */
 table.MsoNormalTable
	{mso-style-name:"Table Normal";
	mso-tstyle-rowband-size:0;
	mso-tstyle-colband-size:0;
	mso-style-noshow:yes;
	mso-style-parent:"";
	mso-padding-alt:0in 5.4pt 0in 5.4pt;
	mso-para-margin:0in;
	mso-para-margin-bottom:.0001pt;
	mso-pagination:widow-orphan;
	font-size:10.0pt;
	font-family:"Times New Roman";}
</style>
<![endif]--><!--[if gte mso 9]><xml>
 <o:shapedefaults v:ext="edit" spidmax="48130">
  <o:colormenu v:ext="edit" fillcolor="white"/>
 </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
 <o:shapelayout v:ext="edit">
  <o:idmap v:ext="edit" data="1"/>
 </o:shapelayout></xml><![endif]-->
</head>

<body bgcolor=white lang=EN-US link="#3366FF" vlink="#000066" style='tab-interval:
.5in' alink="#ffcc33">

<div class=Section1>

<table class=MsoNormalTable border=0 cellspacing=0 cellpadding=0 width="95%"
 style='width:95.58%;mso-cellspacing:0in;mso-padding-alt:7.5pt 7.5pt 7.5pt 7.5pt'>
 <tr style='mso-yfti-irow:0;mso-yfti-lastrow:yes'>
  <td width=1295 valign=top style='width:777.0pt;padding:7.5pt 7.5pt 7.5pt 7.5pt'>
  <p class=MsoNormal align=center style='text-align:center'><span
  style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:black'><o:p>&nbsp;</o:p></span></p>
  <p class=MsoNormal align=center style='text-align:center'><span
  style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:black'><o:p>&nbsp;</o:p></span></p>
  <p class=MsoNormal align=center style='text-align:center'><span
  style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:#333333'><img
  width=534 height=129 id="_x0000_i1025" src="files/opal_logo.jpg" border=0><o:p></o:p></span></p>
  <p class=MsoNormal align=center style='text-align:center'><span
  style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:black'><o:p>&nbsp;</o:p></span></p>
  <p class=MsoNormal align=center style='text-align:center'><span
  style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:black'><o:p>&nbsp;</o:p></span></p>
  <p class=MsoNormal align=center style='text-align:center'><span
  style='font-size:22.0pt;font-family:"Book Antiqua";mso-bidi-font-family:Arial;
  color:black'>OPAL Overview<o:p></o:p></span></p>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span
  style='font-size:20.0pt;font-family:"Book Antiqua";color:black'>Introduction<o:p></o:p></span></b></p>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'>This is
  a short, simple overview of <span class=SpellE>OPAL’s</span> components.<span
  style='mso-spacerun:yes'>  </span>It is meant to give you a general
  understanding of how the different objects work together.<span
  style='mso-spacerun:yes'>  </span>It will first cover the most important OPAL
  objects, <span class=GramE>then</span> describe a few others that aren’t as
  critical to understanding how the system works.<span
  style='mso-spacerun:yes'>  </span>More specific instructions for creating and
  managing these objects can be found in the tutorials.<span
  style='mso-spacerun:yes'>  </span>Additionally, the API reference contains
  more details about every OPAL class, <span class=SpellE>struct</span>,
  function, variable, etc.<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'><o:p>&nbsp;</o:p></span></p>
  <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span
  style='font-size:20.0pt;font-family:"Book Antiqua";color:black'>Main Objects<o:p></o:p></span></b></p>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <ul style='margin-top:0in' type=circle>
   <li class=MsoNormal style='color:black;mso-list:l6 level1 lfo3;tab-stops:
       list .5in'><b style='mso-bidi-font-weight:normal'><span
       style='font-size:14.0pt;font-family:"Book Antiqua"'>Simulators</span></b><span
       style='font-family:"Book Antiqua"'>: Simulators are factories that
       create, maintain, and destroy most other objects.<span
       style='mso-spacerun:yes'>  </span>They encapsulate all collision
       detection and physics simulation.<o:p></o:p></span></li>
  </ul>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <ul style='margin-top:0in' type=circle>
   <li class=MsoNormal style='color:black;mso-list:l6 level1 lfo3;tab-stops:
       list .5in'><b style='mso-bidi-font-weight:normal'><span
       style='font-size:14.0pt;font-family:"Book Antiqua"'>Solids</span></b><span
       style='font-family:"Book Antiqua"'>: A Solid is analogous to a physical
       object in the real world.<span style='mso-spacerun:yes'>  </span>It can
       be static (just a shape, not physically simulated) or dynamic (has a shape,
       mass, and is physically simulated).<span style='mso-spacerun:yes'> 
       </span>It contains no moving parts.<span style='mso-spacerun:yes'> 
       </span>Complex objects with moving parts can be built from multiple
       Solids with Joints.<o:p></o:p></span></li>
  </ul>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <ul style='margin-top:0in' type=circle>
   <li class=MsoNormal style='color:black;mso-list:l6 level1 lfo3;tab-stops:
       list .5in'><b style='mso-bidi-font-weight:normal'><span
       style='font-size:14.0pt;font-family:"Book Antiqua"'>Joints</span></b><span
       style='font-family:"Book Antiqua"'>: Joints connect two Solids,
       constraining their relative motion.<span style='mso-spacerun:yes'> 
       </span>There are several types of Joints, each constraining motion in
       different ways.<o:p></o:p></span></li>
  </ul>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <ul style='margin-top:0in' type=circle>
   <li class=MsoNormal style='color:black;mso-list:l6 level1 lfo3;tab-stops:
       list .5in'><b style='mso-bidi-font-weight:normal'><span
       style='font-size:14.0pt;font-family:"Book Antiqua"'>Motors</span></b><span
       style='font-family:"Book Antiqua"'>: A Motor applies forces/torques to
       Solids or Joints to achieve some desired effect.<span
       style='mso-spacerun:yes'>  </span>There are several types of
       Motors.<span style='mso-spacerun:yes'>  </span><o:p></o:p></span></li>
  </ul>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <ul style='margin-top:0in' type=circle>
   <li class=MsoNormal style='color:black;mso-list:l6 level1 lfo3;tab-stops:
       list .5in'><b style='mso-bidi-font-weight:normal'><span
       style='font-size:14.0pt;font-family:"Book Antiqua"'>Sensors</span></b><span
       style='font-family:"Book Antiqua"'>: Sensors acquire data from a
       simulation.<span style='mso-spacerun:yes'>  </span>There are several types
       of Sensors.<span style='mso-spacerun:yes'>  </span>Some can be attached
       to Solids, some can be set to a static position in the environment, and
       some can work either way.<o:p></o:p></span></li>
  </ul>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";mso-bidi-font-family:
  Arial;color:black'><o:p>&nbsp;</o:p></span></p>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";mso-bidi-font-family:
  Arial;color:black'><o:p>&nbsp;</o:p></span></p>
  <p class=MsoNormal><b style='mso-bidi-font-weight:normal'><span
  style='font-size:20.0pt;font-family:"Book Antiqua";color:black'>Other Objects<o:p></o:p></span></b></p>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <ul style='margin-top:0in' type=circle>
   <li class=MsoNormal style='color:black;mso-list:l3 level1 lfo10;tab-stops:
       list .5in'><b style='mso-bidi-font-weight:normal'><span
       style='font-size:14.0pt;font-family:"Book Antiqua"'>Shapes</span></b><span
       style='font-family:"Book Antiqua"'>: Shapes are used for collision
       detection.<span style='mso-spacerun:yes'>  </span>They are added to
       Solids; if a Solid doesn’t contain any Shapes, it cannot collide with
       anything.<span style='mso-spacerun:yes'>  </span>There are several types
       of Shapes.<span style='mso-spacerun:yes'>  </span>Each Shape can use a
       different Material<o:p></o:p></span></li>
  </ul>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <ul style='margin-top:0in' type=circle>
   <li class=MsoNormal style='color:black;mso-list:l3 level1 lfo10;tab-stops:
       list .5in'><b style='mso-bidi-font-weight:normal'><span
       style='font-size:14.0pt;font-family:"Book Antiqua";mso-bidi-font-family:
       Arial'>Materials</span></b><span style='font-family:"Book Antiqua";
       mso-bidi-font-family:Arial'>: Materials define what happens when two
       Solids (or, more specifically, two Shapes) collide.<span
       style='mso-spacerun:yes'>  </span>Materials consist of several
       properties, including friction, bounciness, density, etc.</span><span
       style='font-family:"Book Antiqua"'><o:p></o:p></span></li>
  </ul>
  <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
  <ul style='margin-top:0in' type=circle>
   <li class=MsoNormal style='color:black;mso-list:l3 level1 lfo10;tab-stops:
       list .5in'><b style='mso-bidi-font-weight:normal'><span
       style='font-size:14.0pt;font-family:"Book Antiqua"'>Data objects and
       Blueprints</span></b><span style='font-family:"Book Antiqua"'>: Each of
       the main OPAL objects stores an internal data structure describing the
       object in detail.<span style='mso-spacerun:yes'>  </span>These data
       structures can be built from scratch and used to generate several
       identical objects.<span style='mso-spacerun:yes'>  </span>They can be
       retrieved from an existing object and used to make clones.<span
       style='mso-spacerun:yes'>  </span>They can also be used to construct
       OPAL Blueprints.<span style='mso-spacerun:yes'>  </span>Blueprints are
       collections of complex systems involving Solids, Joints, Motors, and/or
       Sensors.<span style='mso-spacerun:yes'>  </span>They can be constructed
       from a set of manually-designed data structures or from data structures
       pulled out of a set of existing objects.<span style='mso-spacerun:yes'> 
       </span>They can be saved to and loaded from <span class=SpellE>OPAL’s</span>
       XML-based file format.<o:p></o:p></span></li>
  </ul>
  </td>
 </tr>
</table>

<p class=MsoNormal align=center style='margin-bottom:12.0pt;text-align:center'><span
style='font-size:10.0pt;font-family:"Book Antiqua";mso-bidi-font-family:Arial;
color:#333333'><o:p>&nbsp;</o:p></span></p>

<p class=MsoNormal align=center style='margin-bottom:12.0pt;text-align:center'><span
style='font-size:8.0pt;font-family:"Book Antiqua";mso-bidi-font-family:Arial;
color:black'>OPAL is Copyright © 2004-2005 Alan Fischer, Andres Reinot, and
Tyler Streeter<o:p></o:p></span></p>

</div>

</body>

</html>

--- manual.html DELETED ---

Index: downloads.html
===================================================================
RCS file: /cvsroot/opal/web/downloads.html,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** downloads.html	25 Feb 2005 19:56:17 -0000	1.1
--- downloads.html	8 Mar 2005 22:37:37 -0000	1.2
***************
*** 25,44 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>76</o:Revision>
!   <o:TotalTime>74</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-02-25T19:45:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>147</o:Words>
!   <o:Characters>844</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>7</o:Lines>
    <o:Paragraphs>1</o:Paragraphs>
!   <o:CharactersWithSpaces>990</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
-   <w:Zoom>BestFit</w:Zoom>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
   </w:WordDocument>
--- 25,43 ----
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>77</o:Revision>
!   <o:TotalTime>75</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-08T14:22:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>148</o:Words>
!   <o:Characters>846</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>7</o:Lines>
    <o:Paragraphs>1</o:Paragraphs>
!   <o:CharactersWithSpaces>993</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
   </w:WordDocument>
***************
*** 99,103 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="41986">
    <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="43010">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
***************
*** 152,156 ****
    Arial;color:#333333'><a href="http://sourceforge.net/projects/opal"><span
    style='color:#333333;text-decoration:none;text-underline:none'><img border=0
!   width=88 height=31 id="_x0000_i1027" src="files/sf_logo.png"></span></a><o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
    mso-bidi-font-family:Arial;color:#333333'><o:p>&nbsp;</o:p></span></p>
--- 151,155 ----
    Arial;color:#333333'><a href="http://sourceforge.net/projects/opal"><span
    style='color:#333333;text-decoration:none;text-underline:none'><img border=0
!   width=88 height=31 id="_x0000_i1025" src="files/sf_logo.png"></span></a><o:p></o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
    mso-bidi-font-family:Arial;color:#333333'><o:p>&nbsp;</o:p></span></p>
***************
*** 158,162 ****
    Arial;color:#333333'><a href="http://www.opensource.org/"><span
    style='color:#333333;text-decoration:none;text-underline:none'><img border=0
!   width=75 height=65 id="_x0000_i1025" src="files/opensource_logo.png"></span></a><o:p></o:p></span></p>
    </td>
    <td width=1145 valign=top style='width:687.0pt;padding:7.5pt 7.5pt 7.5pt 7.5pt'>
--- 157,161 ----
    Arial;color:#333333'><a href="http://www.opensource.org/"><span
    style='color:#333333;text-decoration:none;text-underline:none'><img border=0
!   width=75 height=65 id="_x0000_i1026" src="files/opensource_logo.png"></span></a><o:p></o:p></span></p>
    </td>
    <td width=1145 valign=top style='width:687.0pt;padding:7.5pt 7.5pt 7.5pt 7.5pt'>
***************
*** 167,171 ****
    <p class=MsoNormal align=center style='text-align:center'><span
    style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:#333333'><img
!   border=0 width=534 height=129 id="_x0000_i1026" src="files/opal_logo.jpg"><o:p></o:p></span></p>
    <p class=MsoNormal align=center style='text-align:center'><span
    style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:black'><o:p>&nbsp;</o:p></span></p>
--- 166,170 ----
    <p class=MsoNormal align=center style='text-align:center'><span
    style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:#333333'><img
!   border=0 width=534 height=129 id="_x0000_i1027" src="files/opal_logo.jpg"><o:p></o:p></span></p>
    <p class=MsoNormal align=center style='text-align:center'><span
    style='font-family:"Book Antiqua";mso-bidi-font-family:Arial;color:black'><o:p>&nbsp;</o:p></span></p>
***************
*** 178,187 ****
    color:black'>Downloads<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'>All
!   downloads are hosted on SourceForge.<span style='mso-spacerun:yes'> 
!   </span>Visit the <a href="http://sourceforge.net/projects/opal">OPAL
!   SourceForge project page</a> to download source code, compiled binary files,
!   and documentation.</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:
    Arial;color:black'><o:p>&nbsp;</o:p></span></p>
--- 177,185 ----
    color:black'>Downloads<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'>All downloads
!   are hosted on SourceForge.<span style='mso-spacerun:yes'>  </span>Visit the <a
!   href="http://sourceforge.net/projects/opal">OPAL SourceForge project page</a>
!   to download source code and compiled binary files.</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:
    Arial;color:black'><o:p>&nbsp;</o:p></span></p>

[Opal-commits] web/files example.xml,1.5,1.6

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

Update of /cvsroot/opal/web/files
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv23133/files

Modified Files:
	example.xml 
Log Message:
renamed "manual" to "overview", because that's really what it is

Index: example.xml
===================================================================
RCS file: /cvsroot/opal/web/files/example.xml,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** example.xml	8 Mar 2005 16:20:51 -0000	1.5
--- example.xml	8 Mar 2005 22:37:37 -0000	1.6
***************
*** 53,56 ****
--- 53,57 ----
  		<AccumThresh value="0.0"/>
  		<AccumDamage value="0.0"/>
+ 		<ContactsEnabled value="false"/>
  		<Axis>
  			<AxisNum value="0"/>

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.28,1.29 ODEJoint.h,1.31,1.32 ODESimulator.cpp,1.85,1.86 ODESimulator.h,1.58,1.59

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13926/src/ODE

Modified Files:
	ODEJoint.cpp ODEJoint.h ODESimulator.cpp ODESimulator.h 
Log Message:
added a "contacts enabled" feature to Joints

Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.58
retrieving revision 1.59
diff -C2 -d -r1.58 -r1.59
*** ODESimulator.h	3 Mar 2005 04:39:57 -0000	1.58
--- ODESimulator.h	8 Mar 2005 22:05:05 -0000	1.59
***************
*** 132,136 ****
  	{
  		// These function don't use the OPAL_CALL calling convention 
! 		// because they are functors passed to ODE which expects a different 
  		// calling convention.
  
--- 132,136 ----
  	{
  		// These function don't use the OPAL_CALL calling convention 
! 		// because they are functors passed to ODE, which expects a different 
  		// calling convention.
  
***************
*** 138,141 ****
--- 138,146 ----
  		void internal_collisionCallback(void* data, dGeomID o0, dGeomID o1);
  
+ 		/// Assuming the two ODE bodies are connected by an ODE joint, this 
+ 		/// function returns the OPAL Joint connecting the two bodies' 
+ 		/// Solids.
+ 		Joint* internal_getCommonJoint(dBodyID body0, dBodyID body1);
+ 
  		/// Special collision callback functor for volume collision 
  		/// checking.

Index: ODEJoint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.h,v
retrieving revision 1.31
retrieving revision 1.32
diff -C2 -d -r1.31 -r1.32
*** ODEJoint.h	4 Mar 2005 23:26:54 -0000	1.31
--- ODEJoint.h	8 Mar 2005 22:05:04 -0000	1.32
***************
*** 74,77 ****
--- 74,80 ----
  			real value);
  
+ 		/// Returns the ODE joint ID of this ODEJoint.  
+ 		dJointID OPAL_CALL internal_getJointID()const;
+ 
  	protected:
  		virtual void setAxis(int axisNum, const JointAxis& axis);

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.85
retrieving revision 1.86
diff -C2 -d -r1.85 -r1.86
*** ODESimulator.cpp	8 Mar 2005 16:10:24 -0000	1.85
--- ODESimulator.cpp	8 Mar 2005 22:05:04 -0000	1.86
***************
*** 291,302 ****
  				// 5. Two Solids connected by a Joint (besides ODE 
  				//    contact joints, which never generate 
! 				//    contacts) (note: both must have 
! 				//    bodies to check this): this is enforced for now; it 
! 				//    might be nice to have a Joint option that says whether 
! 				//    the Joint's two 
! 				//    Solids generate contacts with each other... I'll 
! 				//    mark that as a TODO; if this is implemented, be sure 
! 				//    to update the comments for 
! 				//    Simulator::setupContactGroups.
  				// 6. Solid0 is static and Solid1 is sleeping: not enforced 
  				//    because sometimes you might want to wake up a sleeping 
--- 291,296 ----
  				// 5. Two Solids connected by a Joint (besides ODE 
  				//    contact joints, which never generate 
! 				//    contacts) with contacts disabled; (note: both must have 
! 				//    bodies to check this): this is enforced.
  				// 6. Solid0 is static and Solid1 is sleeping: not enforced 
  				//    because sometimes you might want to wake up a sleeping 
***************
*** 314,321 ****
  				}
  
! 				// TODO: find a way to get access to the Joint* for #5...
! 				// check if ODE has user data* for joints.  If this 
! 				// doesn't work, just have a boolean in the Simulator that 
! 				// affects all Joints.
  
  				if (//(0 == o0BodyID && 0 == o1BodyID) //case 1
--- 308,319 ----
  				}
  
! 				Joint* commonJoint = NULL;
! 				if (bothHaveBodies && dAreConnectedExcluding(o0BodyID, 
! 					o1BodyID, dJointTypeContact))
! 				{
! 					// This will become non-NULL only if there exists an ODE 
! 					// joint connecting the two bodies.
! 					commonJoint = internal_getCommonJoint(o0BodyID, o1BodyID);
! 				}
  
  				if (//(0 == o0BodyID && 0 == o1BodyID) //case 1
***************
*** 323,330 ****
  					(bothHaveBodies && !dBodyIsEnabled(o0BodyID) && 
  						!dBodyIsEnabled(o1BodyID)) //case 3
! 					//|| (connected by a fixed joint) // case 4 TODO
! 					|| (bothHaveBodies && dAreConnectedExcluding(
! 						o0BodyID, o1BodyID, dJointTypeContact)) //&& TODO
! 						//jointContactsEnabled) //case 5
  					//|| (0 == o0BodyID && !dBodyIsEnabled(o1BodyID)) //case 6
  					//|| (0 == o1BodyID && !dBodyIsEnabled(o0BodyID)) //case 7
--- 321,328 ----
  					(bothHaveBodies && !dBodyIsEnabled(o0BodyID) && 
  						!dBodyIsEnabled(o1BodyID)) //case 3
! 					|| (commonJoint && 
! 						commonJoint->getType() == FIXED_JOINT) // case 4
! 					|| (commonJoint && 
! 						!commonJoint->areContactsEnabled()) // case 5
  					//|| (0 == o0BodyID && !dBodyIsEnabled(o1BodyID)) //case 6
  					//|| (0 == o1BodyID && !dBodyIsEnabled(o0BodyID)) //case 7
***************
*** 650,653 ****
--- 648,687 ----
  		}
  
+ 		Joint* internal_getCommonJoint(dBodyID body0, dBodyID body1)
+ 		{
+ 			// First we need to find the ODE joint connecting the bodies 
+ 			// (it would be ideal if ODE included this functionality...).  
+ 			// We only need to check one of the bodies' ODE joints 
+ 			// because it is assumed here that the two bodies are 
+ 			// connected, thus they should have a common ODE joint.
+ 			int numJoints0 = dBodyGetNumJoints(body0);
+ 			dJointID theJoint = 0;
+ 
+ 			// Loop through body0's ODE joints.
+ 			int i=0;
+ 			for (i=0; i<numJoints0; ++i)
+ 			{
+ 				dJointID currentJoint = dBodyGetJoint(body0, i);
+ 				dBodyID jointBody0 = dJointGetBody(currentJoint, 0);
+ 				dBodyID jointBody1 = dJointGetBody(currentJoint, 1);
+ 
+ 				if ((jointBody0 == body0 && jointBody1 == body1) || 
+ 					(jointBody0 == body1 && jointBody1 == body0))
+ 				{
+ 					// This is the ODE joint connecting the two bodies.  
+ 					// Note that if the two bodies are connected by multiple 
+ 					// Joints, the behavior is undefined.
+ 					theJoint = currentJoint;
+ 				}
+ 			}
+ 
+ 			// Make sure the ODE joint was actually found.  This should 
+ 			// be guaranteed.
+ 			assert(theJoint);
+ 
+ 			// Now return the associated OPAL Joint.
+ 			return (Joint*)dJointGetData(theJoint);
+ 		}
+ 
  		// Note: o0 should always be the main object (the geom to check against
  		// everything else).

Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.28
retrieving revision 1.29
diff -C2 -d -r1.28 -r1.29
*** ODEJoint.cpp	8 Mar 2005 16:10:24 -0000	1.28
--- ODEJoint.cpp	8 Mar 2005 22:05:03 -0000	1.29
***************
*** 208,211 ****
--- 208,221 ----
  		setAxis(1, data.axis[1]);
  		setAxis(2, data.axis[2]);
+ 
+ 		// Set the ODE joint's userdata pointer.
+ 		if (BALL_JOINT == mData.getType())
+ 		{
+ 			dJointSetData(mAMotorID, this);
+ 		}
+ 		else
+ 		{
+ 			dJointSetData(mJointID, this);
+ 		}
  	}
  
***************
*** 865,868 ****
--- 875,890 ----
  	}
  
+ 	dJointID ODEJoint::internal_getJointID()const
+ 	{
+ 		if (BALL_JOINT == mData.getType())
+ 		{
+ 			return mAMotorID;
+ 		}
+ 		else
+ 		{
+ 			return mJointID;
+ 		}
+ 	}
+ 
  	void ODEJoint::attachODEBodies(Solid* s0, Solid* s1)
  	{

[Opal-commits] opal/src BlueprintManager.cpp,1.30,1.31 Defines.h,1.67,1.68 Joint.cpp,1.25,1.26 Joint.h,1.63,1.64 JointData.h,1.4,1.5 Simulator.h,1.80,1.81

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13926/src

Modified Files:
	BlueprintManager.cpp Defines.h Joint.cpp Joint.h JointData.h 
	Simulator.h 
Log Message:
added a "contacts enabled" feature to Joints

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.67
retrieving revision 1.68
diff -C2 -d -r1.67 -r1.68
*** Defines.h	8 Mar 2005 16:10:23 -0000	1.67
--- Defines.h	8 Mar 2005 22:05:02 -0000	1.68
***************
*** 328,332 ****
  			const real breakThresh = (real)100.0;
  			const real accumThresh = (real)1000.0;
! 			const bool enableContacts = false;
  		}
  
--- 328,332 ----
  			const real breakThresh = (real)100.0;
  			const real accumThresh = (real)1000.0;
! 			const bool contactsEnabled = false;
  		}
  

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -d -r1.30 -r1.31
*** BlueprintManager.cpp	5 Mar 2005 21:26:23 -0000	1.30
--- BlueprintManager.cpp	8 Mar 2005 22:05:02 -0000	1.31
***************
*** 486,489 ****
--- 486,512 ----
  			}
  
+ 			// Load ContactsEnabled element if it exists.
+ 			paramNodePtr = 
+ 				const_cast<TiXmlNode*>(nodePtr)->FirstChild("ContactsEnabled");
+ 			if (NULL != paramNodePtr)
+ 			{
+ 				std::string value = getAttributeString(paramNodePtr, "value");
+ 				if ("true" == value)
+ 				{
+ 					data->contactsEnabled = true;
+ 				}
+ 				else if ("false" == value)
+ 				{
+ 					data->contactsEnabled = false;
+ 				}
+ 				else
+ 				{
+ 					OPAL_LOGGER("warning") << 
+ 						"opal::BlueprintManager::loadJoint: Invalid value "
+ 						<< value << " for Joint ContactsEnabled parameter in " 
+ 						<< filename << " will be ignored." << std::endl;
+ 				}
+ 			}
+ 
  			// Loop over Axis elements if they exist.
  			TiXmlNode* axisNodePtr = NULL;

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.25
retrieving revision 1.26
diff -C2 -d -r1.25 -r1.26
*** Joint.cpp	8 Mar 2005 16:10:23 -0000	1.25
--- Joint.cpp	8 Mar 2005 22:05:03 -0000	1.26
***************
*** 67,70 ****
--- 67,80 ----
  	}
  
+ 	void Joint::setContactsEnabled(bool e)
+ 	{
+ 		mData.contactsEnabled;
+ 	}
+ 
+ 	bool Joint::areContactsEnabled()const
+ 	{
+ 		return mData.contactsEnabled;
+ 	}
+ 
  	JointType Joint::getType()const
  	{

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.63
retrieving revision 1.64
diff -C2 -d -r1.63 -r1.64
*** Joint.h	8 Mar 2005 16:10:23 -0000	1.63
--- Joint.h	8 Mar 2005 22:05:03 -0000	1.64
***************
*** 74,77 ****
--- 74,85 ----
  		virtual const std::string& OPAL_CALL getName()const;
  
+ 		/// Sets whether the Joint's two Solids are constrained by 
+ 		/// physical contacts.
+ 		virtual void OPAL_CALL setContactsEnabled(bool e);
+ 
+ 		/// Returns whether the Joint's two Solids are constrained by 
+ 		/// physical contacts.
+ 		virtual bool OPAL_CALL areContactsEnabled()const;
+ 
  		/// Returns the Joint type.  
  		virtual JointType OPAL_CALL getType()const;

Index: JointData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/JointData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** JointData.h	8 Mar 2005 16:10:23 -0000	1.4
--- JointData.h	8 Mar 2005 22:05:03 -0000	1.5
***************
*** 103,107 ****
  			accumThresh = defaults::joint::accumThresh;
  			accumDamage = 0;
! 			enableContacts = defaults::joint::enableContacts;
  		}
  
--- 103,107 ----
  			accumThresh = defaults::joint::accumThresh;
  			accumDamage = 0;
! 			contactsEnabled = defaults::joint::contactsEnabled;
  		}
  
***************
*** 139,143 ****
  			accumThresh = data.accumThresh;
  			accumDamage = data.accumDamage;
! 			enableContacts = data.enableContacts;
  		}
  
--- 139,143 ----
  			accumThresh = data.accumThresh;
  			accumDamage = data.accumDamage;
! 			contactsEnabled = data.contactsEnabled;
  		}
  
***************
*** 199,204 ****
  
  		/// Determines whether Solids connected by this Joint should make 
! 		/// contacts when they collide.
! 		bool enableContacts;
  
  	protected:
--- 199,206 ----
  
  		/// Determines whether Solids connected by this Joint should make 
! 		/// contacts when they collide.  If multiple Joints connect the same 
! 		/// two Solids, each with different contactsEnabled settings, 
! 		/// the behavior is undefined.
! 		bool contactsEnabled;
  
  	protected:

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.80
retrieving revision 1.81
diff -C2 -d -r1.80 -r1.81
*** Simulator.h	8 Mar 2005 16:10:23 -0000	1.80
--- Simulator.h	8 Mar 2005 22:05:03 -0000	1.81
***************
*** 160,164 ****
  		/// each other.  Keep in mind that the following cases are already 
  		/// ignored when performing collision detection: two sleeping 
! 		/// Solids don't collide, two Solids connected by a fixed Joint 
  		/// don't collide; two Solids connected by a Joint with its 
  		/// contacts enabled property set to false don't collide.  
--- 160,164 ----
  		/// each other.  Keep in mind that the following cases are already 
  		/// ignored when performing collision detection: two sleeping 
! 		/// Solids don't collide; two Solids connected by a fixed Joint 
  		/// don't collide; two Solids connected by a Joint with its 
  		/// contacts enabled property set to false don't collide.  

[Opal-commits] web documentation.html,1.6,1.7 index.html,1.4,1.5 todo.txt,1.3,1.4

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

Update of /cvsroot/opal/web
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14739

Modified Files:
	documentation.html index.html todo.txt 
Log Message:
minor changes

Index: documentation.html
===================================================================
RCS file: /cvsroot/opal/web/documentation.html,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** documentation.html	3 Mar 2005 02:22:48 -0000	1.6
--- documentation.html	8 Mar 2005 16:20:50 -0000	1.7
***************
*** 25,45 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>93</o:Revision>
!   <o:TotalTime>103</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-03T02:21:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>307</o:Words>
!   <o:Characters>1754</o:Characters>
    <o:Company>none</o:Company>
!   <o:Lines>14</o:Lines>
    <o:Paragraphs>4</o:Paragraphs>
!   <o:CharactersWithSpaces>2057</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
-   <w:Zoom>90</w:Zoom>
-   <w:GrammarState>Clean</w:GrammarState>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
   </w:WordDocument>
--- 25,43 ----
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>94</o:Revision>
!   <o:TotalTime>104</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-05T19:56:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
!   <o:Words>316</o:Words>
!   <o:Characters>1805</o:Characters>
    <o:Company>none</o:Company>
!   <o:Lines>15</o:Lines>
    <o:Paragraphs>4</o:Paragraphs>
!   <o:CharactersWithSpaces>2117</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
   </w:WordDocument>
***************
*** 73,79 ****
  	text-decoration:underline;
  	text-underline:single;}
- span.GramE
- 	{mso-style-name:"";
- 	mso-gram-e:yes;}
  @page Section1
  	{size:8.5in 11.0in;
--- 71,74 ----
***************
*** 103,107 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="51202">
    <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="52226">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
***************
*** 225,228 ****
--- 220,227 ----
    <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
    <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
+   color:black'><a href="tutorial7.html">Tutorial 8</a></span><span
+   style='font-family:"Book Antiqua";color:black'>: Event Handlers<o:p></o:p></span></p>
+   <p class=MsoNormal><span style='font-family:"Book Antiqua";color:black'><o:p>&nbsp;</o:p></span></p>
+   <p class=MsoNormal><span style='font-size:14.0pt;font-family:"Book Antiqua";
    color:black'><a href="files/example.xml">Sample OPAL XML</a></span><span
    style='font-family:"Book Antiqua";color:black'>: file containing examples of
***************
*** 238,244 ****
    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 manual or <span class=GramE>tutorials,</span>
!   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:
    Arial;color:black'><o:p>&nbsp;</o:p></span></p>
--- 237,242 ----
    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 manual 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:
    Arial;color:black'><o:p>&nbsp;</o:p></span></p>

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/web/todo.txt,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** todo.txt	2 Mar 2005 19:25:53 -0000	1.3
--- todo.txt	8 Mar 2005 16:20:51 -0000	1.4
***************
*** 4,8 ****
  	- add diagrams
  
! * tutorials (move XML samples into xml tutorial; maybe remove example.xml and just describe every xml element/attribute somewhere)
  
  * post api notes
--- 4,10 ----
  	- add diagrams
  
! * tutorials
! 	- move XML samples into xml tutorial; or maybe have a Blueprints page on the OPAL site; maybe remove example.xml and just describe every xml element/attribute somewhere)
! 	- describe trigger volumes somewhere
  
  * post api notes
***************
*** 68,71 ****
--- 70,79 ----
  * all objects are created with default parameters
  
+ * describe the different between contacts and collision events
+ 	- contacts are physical constraints that keep objects from passing through each other
+ 	- collision events are messages sent to CollisionEventHandlers when two objects collide
+ 
+ * explain "internal_"
+ 
  * OPAL contains several math classes
  

Index: index.html
===================================================================
RCS file: /cvsroot/opal/web/index.html,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** index.html	1 Mar 2005 05:06:34 -0000	1.4
--- index.html	8 Mar 2005 16:20:50 -0000	1.5
***************
*** 25,44 ****
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>93</o:Revision>
    <o:TotalTime>185</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-02-28T20:10:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
    <o:Words>353</o:Words>
!   <o:Characters>2013</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>16</o:Lines>
    <o:Paragraphs>4</o:Paragraphs>
!   <o:CharactersWithSpaces>2362</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
-   <w:Zoom>90</w:Zoom>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
   </w:WordDocument>
--- 25,43 ----
    <o:Author>Tyler Streeter</o:Author>
    <o:LastAuthor>Tyler Streeter</o:LastAuthor>
!   <o:Revision>94</o:Revision>
    <o:TotalTime>185</o:TotalTime>
    <o:Created>2004-06-05T15:20:00Z</o:Created>
!   <o:LastSaved>2005-03-05T21:23:00Z</o:LastSaved>
    <o:Pages>1</o:Pages>
    <o:Words>353</o:Words>
!   <o:Characters>2014</o:Characters>
    <o:Company>none</o:Company>
    <o:Lines>16</o:Lines>
    <o:Paragraphs>4</o:Paragraphs>
!   <o:CharactersWithSpaces>2363</o:CharactersWithSpaces>
    <o:Version>10.6714</o:Version>
   </o:DocumentProperties>
  </xml><![endif]--><!--[if gte mso 9]><xml>
   <w:WordDocument>
    <w:BrowserLevel>MicrosoftInternetExplorer4</w:BrowserLevel>
   </w:WordDocument>
***************
*** 82,87 ****
   /* List Definitions */
   @list l0
! 	{mso-list-id:165675122;
! 	mso-list-template-ids:1648548578;}
  @list l0:level1
  	{mso-level-number-format:bullet;
--- 81,86 ----
   /* List Definitions */
   @list l0
! 	{mso-list-id:115409783;
! 	mso-list-template-ids:551446078;}
  @list l0:level1
  	{mso-level-number-format:bullet;
***************
*** 93,98 ****
  	font-family:Symbol;}
  @list l1
! 	{mso-list-id:197016475;
! 	mso-list-template-ids:-1377924264;}
  @list l1:level1
  	{mso-level-number-format:bullet;
--- 92,97 ----
  	font-family:Symbol;}
  @list l1
! 	{mso-list-id:291595687;
! 	mso-list-template-ids:152726192;}
  @list l1:level1
  	{mso-level-number-format:bullet;
***************
*** 197,202 ****
  	text-indent:-.25in;}
  @list l4
! 	{mso-list-id:1537161361;
! 	mso-list-template-ids:-1892780142;}
  @list l4:level1
  	{mso-level-number-format:bullet;
--- 196,201 ----
  	text-indent:-.25in;}
  @list l4
! 	{mso-list-id:1435324032;
! 	mso-list-template-ids:2048665346;}
  @list l4:level1
  	{mso-level-number-format:bullet;
***************
*** 355,360 ****
  	text-indent:-.25in;}
  @list l8
! 	{mso-list-id:1852790110;
! 	mso-list-template-ids:1589906662;}
  @list l8:level1
  	{mso-level-number-format:bullet;
--- 354,359 ----
  	text-indent:-.25in;}
  @list l8
! 	{mso-list-id:1782603386;
! 	mso-list-template-ids:-2078486872;}
  @list l8:level1
  	{mso-level-number-format:bullet;
***************
*** 366,371 ****
  	font-family:Symbol;}
  @list l9
! 	{mso-list-id:2066367664;
! 	mso-list-template-ids:-1841290904;}
  @list l9:level1
  	{mso-level-number-format:bullet;
--- 365,370 ----
  	font-family:Symbol;}
  @list l9
! 	{mso-list-id:1798143110;
! 	mso-list-template-ids:-325428240;}
  @list l9:level1
  	{mso-level-number-format:bullet;
***************
*** 399,403 ****
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="44034">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
--- 398,402 ----
  </style>
  <![endif]--><!--[if gte mso 9]><xml>
!  <o:shapedefaults v:ext="edit" spidmax="45058">
    <o:colormenu v:ext="edit" fillcolor="white"/>
   </o:shapedefaults></xml><![endif]--><!--[if gte mso 9]><xml>
***************
*** 522,526 ****
     <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
!        Arial'>Collision detection primitives<o:p></o:p></span></li>
    </ul>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
--- 521,525 ----
     <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
         list .5in'><span style='font-family:"Book Antiqua";mso-bidi-font-family:
!        Arial'>Collision detection primitive shapes<o:p></o:p></span></li>
    </ul>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
***************
*** 548,557 ****
    </span></span></span><![endif]><span style='font-family:"Book Antiqua";
    mso-bidi-font-family:Arial;color:black'>Planes<o:p></o:p></span></p>
-   <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
-   l6 level3 lfo8;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
-   style='font-family:"Courier New";mso-fareast-font-family:"Courier New";
-   color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
-   </span></span></span><![endif]><span style='font-family:"Book Antiqua";
-   mso-bidi-font-family:Arial;color:black'>Rays<o:p></o:p></span></p>
    <ul style='margin-top:0in' type=disc>
     <li class=MsoNormal style='color:black;mso-list:l7 level1 lfo6;tab-stops:
--- 547,550 ----
***************
*** 571,576 ****
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
    </span></span></span><![endif]><span style='font-family:"Book Antiqua";
!   mso-bidi-font-family:Arial;color:black'>Universal joints (two rotational degrees
!   of freedom)<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
    l5 level3 lfo11;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span
--- 564,569 ----
    color:black'><span style='mso-list:Ignore'>o<span style='font:7.0pt "Times New Roman"'>&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;
    </span></span></span><![endif]><span style='font-family:"Book Antiqua";
!   mso-bidi-font-family:Arial;color:black'>Universal joints (two rotational
!   degrees of freedom)<o:p></o:p></span></p>
    <p class=MsoNormal style='margin-left:68.3pt;text-indent:-.25in;mso-list:
    l5 level3 lfo11;tab-stops:list 68.3pt 1.5in'><![if !supportLists]><span

[Opal-commits] web/files example.xml,1.4,1.5

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

Update of /cvsroot/opal/web/files
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14739/files

Modified Files:
	example.xml 
Log Message:
minor changes

Index: example.xml
===================================================================
RCS file: /cvsroot/opal/web/files/example.xml,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** example.xml	26 Feb 2005 10:23:34 -0000	1.4
--- example.xml	8 Mar 2005 16:20:51 -0000	1.5
***************
*** 43,53 ****
  		</Shape>
  	</Solid>
- 	<Solid>
- 		<Name value="ray1"/>
- 		<Static value="true"/>
- 		<Shape type="ray">
- 			<Dimensions originx="2.0" originy="5.0" originz="9.0" dirx="1.0" diry="0.0" dirz="0.0"/>
- 		</Shape>
- 	</Solid>
  	<Joint>
  		<Name value="myJoint1"/>
--- 43,46 ----

[Opal-commits] opal/samples/src BoxObject.h,1.5,1.6 CapsuleObject.h,1.2,1.3 SphereObject.h,1.5,1.6

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

Update of /cvsroot/opal/opal/samples/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11795/samples/src

Modified Files:
	BoxObject.h CapsuleObject.h SphereObject.h 
Log Message:
added contact groups; added separate event handlers for collisions and joint break events; commented out mass ratio stuff

Index: CapsuleObject.h
===================================================================
RCS file: /cvsroot/opal/opal/samples/src/CapsuleObject.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** CapsuleObject.h	4 Mar 2005 05:09:23 -0000	1.2
--- CapsuleObject.h	8 Mar 2005 16:10:22 -0000	1.3
***************
*** 8,12 ****
  public:
  	CapsuleObject(opal::Simulator* sim, opal::Solid* s, opal::real radius, 
! 		opal::real length, const opal::Matrix44r& offset);
  
  	~CapsuleObject();
--- 8,12 ----
  public:
  	CapsuleObject(opal::Simulator* sim, opal::Solid* s, opal::real radius, 
! 		opal::real length, const opal::Matrix44r& offset=opal::Matrix44r());
  
  	~CapsuleObject();

Index: SphereObject.h
===================================================================
RCS file: /cvsroot/opal/opal/samples/src/SphereObject.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** SphereObject.h	4 Mar 2005 05:09:23 -0000	1.5
--- SphereObject.h	8 Mar 2005 16:10:22 -0000	1.6
***************
*** 8,12 ****
  public:
  	SphereObject(opal::Simulator* sim, opal::Solid* s, opal::real radius, 
! 		const opal::Matrix44r& offset);
  
  	~SphereObject();
--- 8,12 ----
  public:
  	SphereObject(opal::Simulator* sim, opal::Solid* s, opal::real radius, 
! 		const opal::Matrix44r& offset=opal::Matrix44r());
  
  	~SphereObject();

Index: BoxObject.h
===================================================================
RCS file: /cvsroot/opal/opal/samples/src/BoxObject.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** BoxObject.h	4 Mar 2005 05:09:23 -0000	1.5
--- BoxObject.h	8 Mar 2005 16:10:22 -0000	1.6
***************
*** 8,12 ****
  public:
  	BoxObject(opal::Simulator* sim, opal::Solid* s, opal::Vec3r size, 
! 		const opal::Matrix44r& offset);
  
  	~BoxObject();
--- 8,12 ----
  public:
  	BoxObject(opal::Simulator* sim, opal::Solid* s, opal::Vec3r size, 
! 		const opal::Matrix44r& offset=opal::Matrix44r());
  
  	~BoxObject();

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

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

Update of /cvsroot/opal/opal/samples/simple_objects
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11795/samples/simple_objects

Modified Files:
	main.cpp 
Log Message:
added contact groups; added separate event handlers for collisions and joint break events; commented out mass ratio stuff

Index: main.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/simple_objects/main.cpp,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** main.cpp	4 Mar 2005 05:09:23 -0000	1.23
--- main.cpp	8 Mar 2005 16:10:21 -0000	1.24
***************
*** 213,221 ****
  				break;
  			}
- 			case opal::RAY_SHAPE:
- 			{
- 				// Not implemented.
- 				break;
- 			}
  			case opal::MESH_SHAPE:
  			{
--- 213,216 ----

[Opal-commits] opal/samples/car car.vcproj,1.11,1.12

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

Update of /cvsroot/opal/opal/samples/car
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11795/samples/car

Modified Files:
	car.vcproj 
Log Message:
added contact groups; added separate event handlers for collisions and joint break events; commented out mass ratio stuff

Index: car.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/samples/car/car.vcproj,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** car.vcproj	9 Feb 2005 07:12:45 -0000	1.11
--- car.vcproj	8 Mar 2005 16:10:20 -0000	1.12
***************
*** 126,129 ****
--- 126,132 ----
  			</File>
  			<File
+ 				RelativePath="..\src\CapsuleObject.cpp">
+ 			</File>
+ 			<File
  				RelativePath="..\src\CarObject.cpp">
  			</File>
***************
*** 149,152 ****
--- 152,158 ----
  			</File>
  			<File
+ 				RelativePath="..\src\CapsuleObject.h">
+ 			</File>
+ 			<File
  				RelativePath="..\src\CarObject.h">
  			</File>

[Opal-commits] opal/src CollisionEventHandler.cpp,NONE,1.1 CollisionEventHandler.h,NONE,1.1 JointBreakEventHandler.h,NONE,1.1 AttractorMotor.h,1.25,1.26 BoxShapeData.h,1.3,1.4 CapsuleShapeData.h,1.3,1.4 Defines.h,1.66,1.67 EventHandler.h,1.20,1.21 Joint.cpp,1.24,1.25 Joint.h,1.62,1.63 JointData.h,1.3,1.4 Logger.cpp,1.2,1.3 Logger.h,1.3,1.4 MeshShapeData.h,1.2,1.3 PlaneShapeData.h,1.3,1.4 SConscript,1.11,1.12 ShapeData.h,1.5,1.6 Simulator.cpp,1.42,1.43 Simulator.h,1.79,1.80 Singleton.h,1.7,1.8 Solid.cpp,1.25,1.26 Solid.h,1.80,1.81 SphereShapeData.h,1.3,1.4 SpringMotor.h,1.9,1.10 ThrusterMotor.h,1.10,1.11 opal.h,1.19,1.20

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11795/src

Modified Files:
	AttractorMotor.h BoxShapeData.h CapsuleShapeData.h Defines.h 
	EventHandler.h Joint.cpp Joint.h JointData.h Logger.cpp 
	Logger.h MeshShapeData.h PlaneShapeData.h SConscript 
	ShapeData.h Simulator.cpp Simulator.h Singleton.h Solid.cpp 
	Solid.h SphereShapeData.h SpringMotor.h ThrusterMotor.h opal.h 
Added Files:
	CollisionEventHandler.cpp CollisionEventHandler.h 
	JointBreakEventHandler.h 
Log Message:
added contact groups; added separate event handlers for collisions and joint break events; commented out mass ratio stuff

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** opal.h	5 Mar 2005 21:26:24 -0000	1.19
--- opal.h	8 Mar 2005 16:10:23 -0000	1.20
***************
*** 55,58 ****
--- 55,60 ----
  #include "SensorData.h"
  #include "EventHandler.h"
+ #include "JointBreakEventHandler.h"
+ #include "CollisionEventHandler.h"
  #include "Blueprint.h"
  #include "BlueprintInstance.h"

Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** SConscript	26 Feb 2005 10:22:23 -0000	1.11
--- SConscript	8 Mar 2005 16:10:23 -0000	1.12
***************
*** 11,14 ****
--- 11,15 ----
  	BoxShapeData.h
  	CapsuleShapeData.h
+ 	CollisionEventHandler.h
  	Defines.h
  	EventHandler.h
***************
*** 16,19 ****
--- 17,21 ----
  	GearedMotorData.h
  	Joint.h
+ 	JointBreakEventHandler.h
  	JointData.h
  	Logger.h
***************
*** 54,57 ****
--- 56,60 ----
  	BlueprintInstance.cpp
  	BlueprintManager.cpp
+ 	CollisionEventHandler.cpp
  	GearedMotor.cpp
  	Joint.cpp

Index: ShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ShapeData.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** ShapeData.h	5 Mar 2005 21:26:24 -0000	1.5
--- ShapeData.h	8 Mar 2005 16:10:23 -0000	1.6
***************
*** 56,59 ****
--- 56,60 ----
  			// Leave the offset as an identity matrix.
  			material = defaults::shape::material;
+ 			contactGroup = defaults::shape::contactGroup;
  		}
  
***************
*** 74,77 ****
--- 75,82 ----
  		Material material;
  
+ 		/// The Shape's contact group.  If this exceeds 31, bad things 
+ 		/// might happen since there are only 32 groups.
+ 		unsigned long int contactGroup;
+ 
  	protected:
  		/// The Shape type.

Index: Logger.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Logger.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Logger.h	28 Feb 2005 03:27:56 -0000	1.3
--- Logger.h	8 Mar 2005 16:10:23 -0000	1.4
***************
*** 74,77 ****
--- 74,78 ----
  			//static void unsilenceStream(const std::string& name);
  
+ 			/// Returns the named stream.
  			std::ostream& OPAL_CALL stream(const std::string& name);
  

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.79
retrieving revision 1.80
diff -C2 -d -r1.79 -r1.80
*** Simulator.h	5 Mar 2005 21:26:24 -0000	1.79
--- Simulator.h	8 Mar 2005 16:10:23 -0000	1.80
***************
*** 50,53 ****
--- 50,61 ----
  	struct RaycastResult
  	{
+ 		RaycastResult()
+ 		{
+ 			solid = NULL;
+ 			// "intersection" is initialized in its own constructor.
+ 			// "normal" is initialized in its own constructor.
+ 			distance = 0;
+ 		}
+ 
  		/// The first Solid hit by the ray.  
  		Solid* solid;
***************
*** 150,156 ****
  		/// last argument is true, the two groups will generate physical 
  		/// points when they collide.  Otherwise, they will pass through 
! 		/// each other.  This does not affect collision events; two 
! 		/// colliding objects might not generate contacts but still 
! 		/// generate collision events.
  		virtual void OPAL_CALL setupContactGroups(unsigned int group0, 
  			unsigned int group1, bool makeContacts);
--- 158,169 ----
  		/// last argument is true, the two groups will generate physical 
  		/// points when they collide.  Otherwise, they will pass through 
! 		/// each other.  Keep in mind that the following cases are already 
! 		/// ignored when performing collision detection: two sleeping 
! 		/// Solids don't collide, two Solids connected by a fixed Joint 
! 		/// don't collide; two Solids connected by a Joint with its 
! 		/// contacts enabled property set to false don't collide.  
! 		/// Note that contact groups do not affect collision events; two 
! 		/// colliding objects might not generate contacts and still 
! 		/// generate collision events sent to their CollisionEventHandlers.
  		virtual void OPAL_CALL setupContactGroups(unsigned int group0, 
  			unsigned int group1, bool makeContacts);
***************
*** 161,168 ****
  		virtual Solid* OPAL_CALL createSolid() = 0;
  
! 		/// Marks the given Solid as garbage.  
  		virtual void OPAL_CALL destroySolid(Solid* s);
  
! 		/// Marks all Solids in the Simulator as garbage.  
  		virtual void OPAL_CALL destroyAllSolids();
  
--- 174,183 ----
  		virtual Solid* OPAL_CALL createSolid() = 0;
  
! 		/// Immediately destroys the given Solid.  All Joints, Motors, and 
! 		/// Sensors that depend on this Solid will be automatically 
! 		/// disabled.
  		virtual void OPAL_CALL destroySolid(Solid* s);
  
! 		/// Immediately destroys all Solids in the Simulator.  
  		virtual void OPAL_CALL destroyAllSolids();
  
***************
*** 175,182 ****
  		virtual Joint* OPAL_CALL createJoint() = 0;
  
! 		/// Marks the given Joint as garbage.  
  		virtual void OPAL_CALL destroyJoint(Joint* j);
  
! 		/// Marks all Joints in the Simulator as garbage.  
  		virtual void OPAL_CALL destroyAllJoints();
  
--- 190,198 ----
  		virtual Joint* OPAL_CALL createJoint() = 0;
  
! 		/// Immediately destroys the given Joint.  All Motors that depend 
! 		/// on this Solid will be automatically disabled.
  		virtual void OPAL_CALL destroyJoint(Joint* j);
  
! 		/// Immediately destroys all Joints in the Simulator.  
  		virtual void OPAL_CALL destroyAllJoints();
  
***************
*** 202,209 ****
  		//virtual void OPAL_CALL registerCustomMotor(Motor* m);
  
! 		/// Marks the given Motor as garbage.  
  		virtual void OPAL_CALL destroyMotor(Motor* m);
  
! 		/// Marks all Motors in the Simulator as garbage.  
  		virtual void OPAL_CALL destroyAllMotors();
  
--- 218,225 ----
  		//virtual void OPAL_CALL registerCustomMotor(Motor* m);
  
! 		/// Immediately destroys the given Motor.  
  		virtual void OPAL_CALL destroyMotor(Motor* m);
  
! 		/// Immediately destroys all Motors in the Simulator.  
  		virtual void OPAL_CALL destroyAllMotors();
  
***************
*** 213,220 ****
  		virtual Solid* OPAL_CALL createSensor();
  
! 		/// Marks the given Sensor as garbage.  
  		virtual void OPAL_CALL destroySensor(Sensor* s);
  
! 		/// Marks all Sensors in the Simulator as garbage.  
  		virtual void OPAL_CALL destroyAllSensors();
  
--- 229,236 ----
  		virtual Solid* OPAL_CALL createSensor();
  
! 		/// Immediately destroys the given Sensor.  
  		virtual void OPAL_CALL destroySensor(Sensor* s);
  
! 		/// Immediately destroys all Sensors in the Simulator.  
  		virtual void OPAL_CALL destroyAllSensors();
  
***************
*** 230,238 ****
  		virtual void OPAL_CALL internal_stepPhysics() = 0;
  
  	protected:
  		virtual ~Simulator();
  
! 		/// Destroys all objects in the Simulator marked as garbage.  
! 		void collectGarbage();
  
  		/// Adds a Solid to the internal list of Solids.  
--- 246,257 ----
  		virtual void OPAL_CALL internal_stepPhysics() = 0;
  
+ 		/// Returns the Simulator's contact group flags.
+ 		virtual unsigned long int OPAL_CALL 
+ 			internal_getContactGroupFlags(unsigned int groupNum)const;
  	protected:
  		virtual ~Simulator();
  
! 		///// Destroys all objects in the Simulator marked as garbage.  
! 		//void collectGarbage();
  
  		/// Adds a Solid to the internal list of Solids.  
***************
*** 300,314 ****
  		std::vector<Sensor*> mSensorList;
  
! 		/// An internal list of all Solids marked as garbage.  
! 		std::vector<Solid*> mSolidGarbageList;
  
! 		/// An internal list of all Joints.  
! 		std::vector<Joint*> mJointGarbageList;
  
! 		/// An internal list of all Motors marked as garbage.  
! 		std::vector<Motor*> mMotorGarbageList;
  
! 		/// An internal list of all Sensors marked as garbage.  
! 		std::vector<Sensor*> mSensorGarbageList;
  
  		/// Spaces are stored here so the user doesn't have to destroy them; 
--- 319,333 ----
  		std::vector<Sensor*> mSensorList;
  
! 		///// An internal list of all Solids marked as garbage.  
! 		//std::vector<Solid*> mSolidGarbageList;
  
! 		///// An internal list of all Joints.  
! 		//std::vector<Joint*> mJointGarbageList;
  
! 		///// An internal list of all Motors marked as garbage.  
! 		//std::vector<Motor*> mMotorGarbageList;
  
! 		///// An internal list of all Sensors marked as garbage.  
! 		//std::vector<Sensor*> mSensorGarbageList;
  
  		/// Spaces are stored here so the user doesn't have to destroy them; 

Index: PlaneShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/PlaneShapeData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** PlaneShapeData.h	3 Mar 2005 02:32:28 -0000	1.3
--- PlaneShapeData.h	8 Mar 2005 16:10:23 -0000	1.4
***************
*** 65,68 ****
--- 65,69 ----
  			offset = data.offset;
  			material = data.material;
+ 			contactGroup = data.contactGroup;
  
  			for (int i=0; i<4; ++i)

--- NEW FILE: CollisionEventHandler.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_COLLISION_EVENT_HANDLER_H
#define OPAL_COLLISION_EVENT_HANDLER_H

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

namespace opal
{
	class Solid;

	/// A data structure containing info about a specific collision event 
	/// involving two Solids.
	struct CollisionEvent
	{
		CollisionEvent()
		{
			thisSolid = NULL;
			otherSolid = NULL;
			// "pos" is initialized in its own constructor.
			// "normal" is initialized in its own constructor.
			depth = 0;
		}

		/// The colliding Solid whose CollisionEventHandler gets called.
		Solid* thisSolid;

		/// The Solid that collided with the one owning the 
		/// CollisionEventHandler.
		Solid* otherSolid;

		/// The point of collision.
		Point3r pos;

		/// The normal vector at the point of collision.
		Vec3r normal;

		/// The depth of interpenetration.  This may not be very helpful 
		/// if the two Solids are allowed to pass through each other (i.e. 
		/// their contact groups do not generate contacts).
		real depth;
	};

	/// A listener that gets notified when two Solids touch.
	class CollisionEventHandler : public EventHandler
	{
	public:
		CollisionEventHandler();

		virtual ~CollisionEventHandler();

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

		/// Adds a CollisionEvent to this handler's internal list.  These 
		/// will get handled at the end of the current time step.
		virtual void OPAL_CALL internal_pushCollisionEvent(
			const CollisionEvent& e);

		/// Loops through the pending CollisionEvents, calling the event 
		/// handling function (which is always user-defined) for each.
		virtual void OPAL_CALL internal_handlePendingCollisionEvents();

	protected:
		/// This list holds pending CollisionEvents.  It allows events to 
		/// be queued during collision detection and handled at a safe time.
		std::vector<CollisionEvent> mPendingCollisionEvents;

	private:

	};
}

#endif


Index: SpringMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SpringMotor.h,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** SpringMotor.h	1 Mar 2005 05:04:22 -0000	1.9
--- SpringMotor.h	8 Mar 2005 16:10:23 -0000	1.10
***************
*** 109,146 ****
  		SpringMotorData mData;
  
- 		///// Pointer to the Solid affected by this Motor.  
- 		//Solid* mSolid;
- 
- 		///// The Motor's mode of operation.  
- 		//Mode mMode;
- 
- 		///// The Motor's desired position.  This is only used if the 
- 		///// appropriate mode is set.
- 		//Point3r mDesiredPos;
- 
- 		///// The Motor's desired forward direction, part of the desired 
- 		///// orientation.  This is only used if the appropriate mode is set.
- 		//Vec3r mDesiredForward;
- 
- 		///// The Motor's desired up direction, part of the desired 
- 		///// orientation.  This is only used if the appropriate mode is set.
- 		//Vec3r mDesiredUp;
- 
- 		///// The Motor's desired right direction, part of the desired 
- 		///// orientation.  This is only used if the appropriate mode is set.
- 		//Vec3r mDesiredRight;
- 
- 		///// The damping constant for linear mode.  
- 		//real mLinearKd;
- 
- 		///// The spring constant for linear mode.  
- 		//real mLinearKs;
- 
- 		///// The damping constant for angular mode.  
- 		//real mAngularKd;
- 
- 		///// The spring constant for angular mode.  
- 		//real mAngularKs;
- 
  	private:
  	};
--- 109,112 ----

Index: ThrusterMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ThrusterMotor.h,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** ThrusterMotor.h	4 Mar 2005 05:09:24 -0000	1.10
--- ThrusterMotor.h	8 Mar 2005 16:10:23 -0000	1.11
***************
*** 83,92 ****
  		ThrusterMotorData mData;
  
- 		/// Pointer to the Solid affected by this Motor.  
- 		//Solid* mSolid;
- 
- 		/// The Force that gets applied to the Solid every time step.  
- 		//Force mForce;
- 
  	private:
  	};
--- 83,86 ----

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.80
retrieving revision 1.81
diff -C2 -d -r1.80 -r1.81
*** Solid.h	4 Mar 2005 23:26:54 -0000	1.80
--- Solid.h	8 Mar 2005 16:10:23 -0000	1.81
***************
*** 30,34 ****
  
  #include "Defines.h"
! #include "EventHandler.h"
  #include "SolidData.h"
  
--- 30,34 ----
  
  #include "Defines.h"
! #include "CollisionEventHandler.h"
  #include "SolidData.h"
  
***************
*** 177,184 ****
  
  		/// Sets the Solid's event handler.  
! 		virtual void OPAL_CALL setEventHandler(EventHandler* eventHandler);
  
  		/// Returns the Solid's event handler.  
! 		virtual EventHandler* OPAL_CALL getEventHandler()const;
  
  		//// Quickly spinning solids should be set as fast rotating solids to 
--- 177,185 ----
  
  		/// Sets the Solid's event handler.  
! 		virtual void OPAL_CALL setEventHandler(
! 			CollisionEventHandler* eventHandler);
  
  		/// Returns the Solid's event handler.  
! 		virtual CollisionEventHandler* OPAL_CALL getEventHandler()const;
  
  		//// Quickly spinning solids should be set as fast rotating solids to 
***************
*** 220,224 ****
  
  		/// Pointer to this Solid's event handler.  
! 		EventHandler* mEventHandler;
  
  		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 
--- 221,225 ----
  
  		/// Pointer to this Solid's event handler.  
! 		CollisionEventHandler* mCollisionEventHandler;
  
  		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 

Index: CapsuleShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/CapsuleShapeData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** CapsuleShapeData.h	3 Mar 2005 02:32:28 -0000	1.3
--- CapsuleShapeData.h	8 Mar 2005 16:10:23 -0000	1.4
***************
*** 62,65 ****
--- 62,66 ----
  			offset = data.offset;
  			material = data.material;
+ 			contactGroup = data.contactGroup;
  			radius = data.radius;
  			length = data.length;

Index: SphereShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/SphereShapeData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** SphereShapeData.h	3 Mar 2005 02:32:28 -0000	1.3
--- SphereShapeData.h	8 Mar 2005 16:10:23 -0000	1.4
***************
*** 61,64 ****
--- 61,65 ----
  			offset = data.offset;
  			material = data.material;
+ 			contactGroup = data.contactGroup;
  			radius = data.radius;
  		}

Index: AttractorMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/AttractorMotor.h,v
retrieving revision 1.25
retrieving revision 1.26
diff -C2 -d -r1.25 -r1.26
*** AttractorMotor.h	1 Mar 2005 05:04:22 -0000	1.25
--- AttractorMotor.h	8 Mar 2005 16:10:23 -0000	1.26
***************
*** 88,97 ****
  		AttractorMotorData mData;
  
- 		/// Pointer to Solid 0.
- 		//Solid* mSolid0;
- 
- 		/// Pointer to Solid 1.
- 		//Solid* mSolid1;
- 
  		/// Cached copy of Solid 0's mass.
  		real mSolid0Mass;
--- 88,91 ----
***************
*** 100,112 ****
  		real mSolid1Mass;
  
- 		/// Constant used to scale attraction (repulsion if strength < 0).  
- 		//real mStrength;
- 
  		/// Cached copy of strength * m0 * m1.   
  		real mMassConstant;
  
- 		/// Determines exponential relationship of attraction/repulsion.  
- 		//real mExponent;
- 
  	private:
  
--- 94,100 ----

Index: BoxShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/BoxShapeData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** BoxShapeData.h	3 Mar 2005 02:32:28 -0000	1.3
--- BoxShapeData.h	8 Mar 2005 16:10:23 -0000	1.4
***************
*** 61,64 ****
--- 61,65 ----
  			offset = data.offset;
  			material = data.material;
+ 			contactGroup = data.contactGroup;
  			dimensions = data.dimensions;
  		}

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.66
retrieving revision 1.67
diff -C2 -d -r1.66 -r1.67
*** Defines.h	5 Mar 2005 21:26:24 -0000	1.66
--- Defines.h	8 Mar 2005 16:10:23 -0000	1.67
***************
*** 283,286 ****
--- 283,289 ----
  		const real maxAngularVel = (real)1000.0;
  
+ 		/// All groups make contacts with all other groups by default.
+ 		const unsigned long int contactGroupFlags = 0xFFFFFFFF;
+ 
  		/// Default parameters used in Solid creation.
  		namespace solid
***************
*** 325,328 ****
--- 328,332 ----
  			const real breakThresh = (real)100.0;
  			const real accumThresh = (real)1000.0;
+ 			const bool enableContacts = false;
  		}
  

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.42
retrieving revision 1.43
diff -C2 -d -r1.42 -r1.43
*** Simulator.cpp	5 Mar 2005 21:26:24 -0000	1.42
--- Simulator.cpp	8 Mar 2005 16:10:23 -0000	1.43
***************
*** 39,76 ****
  		mTimeBuffer = 0;
  		setStepSize(defaults::stepSize);
- 		//setDefaultLinearDamping(defaults::linearDamping);
- 		//setDefaultAngularDamping(defaults::angularDamping);
- 		//mAllowPartialFrames = defaults::allowPartialFrames;
  		setMaxLinearVel(defaults::maxLinearVel);
  		setMaxAngularVel(defaults::maxAngularVel);
  		setUserData(NULL);
  	}
  
  	Simulator::~Simulator()
  	{
! 		// Mark everything as garbage, then collect the garbage.
! 		size_t i;
  
! 		for (i=0; i<mSolidList.size(); ++i)
! 		{
! 			mSolidGarbageList.push_back(mSolidList[i]);
! 		}
  
! 		for (i=0; i<mJointList.size(); ++i)
! 		{
! 			mJointGarbageList.push_back(mJointList[i]);
! 		}
  
! 		for (i=0; i<mMotorList.size(); ++i)
! 		{
! 			mMotorGarbageList.push_back(mMotorList[i]);
! 		}
  
! 		for (i=0; i<mSensorList.size(); ++i)
! 		{
! 			mSensorGarbageList.push_back(mSensorList[i]);
! 		}
  
! 		collectGarbage();
  
  		while (!mSpaceList.empty())
--- 39,84 ----
  		mTimeBuffer = 0;
  		setStepSize(defaults::stepSize);
  		setMaxLinearVel(defaults::maxLinearVel);
  		setMaxAngularVel(defaults::maxAngularVel);
  		setUserData(NULL);
+ 
+ 		int i=0;
+ 		for (i=0; i<32; ++i)
+ 		{
+ 			mContactGroupFlags[i] = defaults::contactGroupFlags;
+ 		}
  	}
  
  	Simulator::~Simulator()
  	{
! 		//// Mark everything as garbage, then collect the garbage.
! 		//size_t i;
  
! 		//for (i=0; i<mSolidList.size(); ++i)
! 		//{
! 		//	mSolidGarbageList.push_back(mSolidList[i]);
! 		//}
  
! 		//for (i=0; i<mJointList.size(); ++i)
! 		//{
! 		//	mJointGarbageList.push_back(mJointList[i]);
! 		//}
  
! 		//for (i=0; i<mMotorList.size(); ++i)
! 		//{
! 		//	mMotorGarbageList.push_back(mMotorList[i]);
! 		//}
  
! 		//for (i=0; i<mSensorList.size(); ++i)
! 		//{
! 		//	mSensorGarbageList.push_back(mSensorList[i]);
! 		//}
  
! 		//collectGarbage();
! 
! 		destroyAllSolids();
! 		destroyAllJoints();
! 		destroyAllMotors();
! 		destroyAllSensors();
  
  		while (!mSpaceList.empty())
***************
*** 130,135 ****
  				jointIter != mJointList.end(); ++jointIter)
  			{
! 				// If the Joint gets broken here, it will automatically 
! 				// send a Joint break event.
  				(*jointIter)->internal_update();
  			}
--- 138,144 ----
  				jointIter != mJointList.end(); ++jointIter)
  			{
! 				// If a Joint gets broken here, it will automatically 
! 				// send a Joint break event to the Joint's 
! 				// JointBreakEventHandler (assuming one exists).
  				(*jointIter)->internal_update();
  			}
***************
*** 139,143 ****
  			internal_stepPhysics();
  
! 			// Loop over Solids again.
  			for (solidIter = mSolidList.begin(); 
  				solidIter != mSolidList.end(); ++solidIter)
--- 148,152 ----
  			internal_stepPhysics();
  
! 			// Loop over Solids again to handle a few more things...
  			for (solidIter = mSolidList.begin(); 
  				solidIter != mSolidList.end(); ++solidIter)
***************
*** 194,202 ****
  
  				// Update the sleeping value from the physics engine.  This 
! 				// needs to be updated to keep the Solid's SolidDate valid.
  				solid->internal_updateSleeping();
  
! 				//// Update accelerations
! 				//solid->internal_updateAcceleration(dt);
  			}
  
--- 203,215 ----
  
  				// Update the sleeping value from the physics engine.  This 
! 				// needs to be updated to keep the Solid's SolidData valid.
  				solid->internal_updateSleeping();
  
! 				// Update the Solid's CollisionEventHandler if applicable.
! 				if (solid->getEventHandler())
! 				{
! 					solid->getEventHandler()->
! 						internal_handlePendingCollisionEvents();
! 				}
  			}
  
***************
*** 205,210 ****
  		}
  
! 		// Deallocate memory here now that it's safe.
! 		collectGarbage();
  
  		return stepOccurred;
--- 218,223 ----
  		}
  
! 		//// Deallocate memory here now that it's safe.
! 		//collectGarbage();
  
  		return stepOccurred;
***************
*** 549,554 ****
--- 562,584 ----
  		unsigned int group1, bool makeContacts)
  	{
+ 		if (group0 > 31)
+ 		{
+ 			OPAL_LOGGER("warning") << "opal::Simulator::setupContactGroups: " 
+ 				<< "Invalid contact group " << group0 
+ 				<< ". Request will be ignored." << std::endl;
+ 			return;
+ 		}
+ 
+ 		if (group1 > 31)
+ 		{
+ 			OPAL_LOGGER("warning") << "opal::Simulator::setupContactGroups: " 
+ 				<< "Invalid contact group " << group1 
+ 				<< ". Request will be ignored." << std::endl;
+ 			return;
+ 		}
+ 
  		// The interaction always goes both ways, so we need to set the bit 
  		// flags both ways.
+ 
  		unsigned long int group0Bit = 1 << group0;
  		unsigned long int group1Bit = 1 << group1;
***************
*** 556,580 ****
  		if (makeContacts)
  		{
! 			//m
  		}
  		else
  		{
  
  		}
  	}
  
  	void Simulator::destroySolid(Solid* s)
  	{
! 		mSolidGarbageList.push_back(s);
  	}
  
  	void Simulator::destroyAllSolids()
  	{
- 		// Just mark everything as garbage; it'll get destroyed at the end of 
- 		// the current step.
- 
  		for (size_t i=0; i<mSolidList.size(); ++i)
  		{
! 			mSolidGarbageList.push_back(mSolidList[i]);
  		}
  	}
--- 586,627 ----
  		if (makeContacts)
  		{
! 			// Raise the group1 bit in group0's array.
! 			mContactGroupFlags[group0] |= group1Bit;
! 
! 			// Raise the group0 bit in group1's array.
! 			mContactGroupFlags[group1] |= group0Bit;
  		}
  		else
  		{
+ 			unsigned long int tempMask = 0xFFFFFFFF;
+ 			unsigned long int notGroup0Bit = group0 ^ tempMask;
+ 			unsigned long int notGroup1Bit = group1 ^ tempMask;
+ 
+ 			// Lower the group1 bit in group0's array.
+ 			mContactGroupFlags[group0] &= notGroup1Bit;
  
+ 			// Lower the group0 bit in group1's array.
+ 			mContactGroupFlags[group1] &= notGroup0Bit;
  		}
  	}
  
+ 	unsigned long int Simulator::internal_getContactGroupFlags(
+ 		unsigned int groupNum)const
+ 	{
+ 		return mContactGroupFlags[groupNum];
+ 	}
+ 
  	void Simulator::destroySolid(Solid* s)
  	{
! 		//mSolidGarbageList.push_back(s);
! 		removeSolid(s);
  	}
  
  	void Simulator::destroyAllSolids()
  	{
  		for (size_t i=0; i<mSolidList.size(); ++i)
  		{
! 			//mSolidGarbageList.push_back(mSolidList[i]);
! 			removeSolid(mSolidList[i]);
  		}
  	}
***************
*** 587,591 ****
  	void Simulator::destroyJoint(Joint* j)
  	{
! 		mJointGarbageList.push_back(j);
  	}
  
--- 634,639 ----
  	void Simulator::destroyJoint(Joint* j)
  	{
! 		//mJointGarbageList.push_back(j);
! 		removeJoint(j);
  	}
  
***************
*** 597,601 ****
  		for (size_t i=0; i<mJointList.size(); ++i)
  		{
! 			mJointGarbageList.push_back(mJointList[i]);
  		}
  	}
--- 645,650 ----
  		for (size_t i=0; i<mJointList.size(); ++i)
  		{
! 			//mJointGarbageList.push_back(mJointList[i]);
! 			removeJoint(mJointList[i]);
  		}
  	}
***************
*** 644,648 ****
  	void Simulator::destroyMotor(Motor* m)
  	{
! 		mMotorGarbageList.push_back(m);
  	}
  
--- 693,698 ----
  	void Simulator::destroyMotor(Motor* m)
  	{
! 		//mMotorGarbageList.push_back(m);
! 		removeMotor(m);
  	}
  
***************
*** 654,658 ****
  		for (size_t i=0; i<mMotorList.size(); ++i)
  		{
! 			mMotorGarbageList.push_back(mMotorList[i]);
  		}
  	}
--- 704,709 ----
  		for (size_t i=0; i<mMotorList.size(); ++i)
  		{
! 			//mMotorGarbageList.push_back(mMotorList[i]);
! 			removeMotor(mMotorList[i]);
  		}
  	}
***************
*** 670,674 ****
  	void Simulator::destroySensor(Sensor* s)
  	{
! 		mSensorGarbageList.push_back(s);
  	}
  
--- 721,726 ----
  	void Simulator::destroySensor(Sensor* s)
  	{
! 		//mSensorGarbageList.push_back(s);
! 		removeSensor(s);
  	}
  
***************
*** 680,684 ****
  		for (size_t i=0; i<mSensorList.size(); ++i)
  		{
! 			mSensorGarbageList.push_back(mSensorList[i]);
  		}
  	}
--- 732,737 ----
  		for (size_t i=0; i<mSensorList.size(); ++i)
  		{
! 			//mSensorGarbageList.push_back(mSensorList[i]);
! 			removeSensor(mSensorList[i]);
  		}
  	}
***************
*** 712,718 ****
  	void Simulator::removeSolid(Solid* s)
  	{
! 		// TODO: make this more efficient by not iterating through all Motors 
! 		// and Joints; maybe have the Solid maintain pointers to things that 
! 		// depend on it.
  
  		// Disable Motors that depend on the given Solid.
--- 765,771 ----
  	void Simulator::removeSolid(Solid* s)
  	{
! 		// TODO: make this more efficient by not iterating through all Motors, 
! 		// Sensors, and Joints; maybe have the Solid maintain pointers to 
! 		// things that depend on it.
  
  		// Disable Motors that depend on the given Solid.
***************
*** 767,772 ****
  	void Simulator::removeJoint(Joint* j)
  	{
! 		// TODO: make this more efficient by not iterating through all Motors 
! 		// and Joints; maybe have the Solid maintain pointers to things that 
  		// depend on it.
  
--- 820,825 ----
  	void Simulator::removeJoint(Joint* j)
  	{
! 		// TODO: make this more efficient by not iterating through all Motors; 
! 		// maybe have the Solid maintain pointers to things that 
  		// depend on it.
  
***************
*** 844,871 ****
  	}
  
! 	void Simulator::collectGarbage()
! 	{
! 		size_t i;
  
! 		for (i=0; i<mSolidGarbageList.size(); ++i)
! 		{
! 			removeSolid(mSolidGarbageList[i]);
! 		}
  
! 		mSolidGarbageList.clear();
  
! 		for (i=0; i<mJointGarbageList.size(); ++i)
! 		{
! 			removeJoint(mJointGarbageList[i]);
! 		}
  
! 		mJointGarbageList.clear();
  
! 		for (i=0; i<mMotorGarbageList.size(); ++i)
! 		{
! 			removeMotor(mMotorGarbageList[i]);
! 		}
  
! 		mMotorGarbageList.clear();
! 	}
  }
--- 897,931 ----
  	}
  
! 	//void Simulator::collectGarbage()
! 	//{
! 	//	size_t i;
  
! 	//	for (i=0; i<mSolidGarbageList.size(); ++i)
! 	//	{
! 	//		removeSolid(mSolidGarbageList[i]);
! 	//	}
  
! 	//	mSolidGarbageList.clear();
  
! 	//	for (i=0; i<mJointGarbageList.size(); ++i)
! 	//	{
! 	//		removeJoint(mJointGarbageList[i]);
! 	//	}
  
! 	//	mJointGarbageList.clear();
  
! 	//	for (i=0; i<mMotorGarbageList.size(); ++i)
! 	//	{
! 	//		removeMotor(mMotorGarbageList[i]);
! 	//	}
  
! 	//	mMotorGarbageList.clear();
! 
! 	//	for (i=0; i<mSensorGarbageList.size(); ++i)
! 	//	{
! 	//		removeSensor(mSensorGarbageList[i]);
! 	//	}
! 
! 	//	mSensorGarbageList.clear();
! 	//}
  }

Index: Singleton.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Singleton.h,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** Singleton.h	18 Feb 2005 23:59:37 -0000	1.7
--- Singleton.h	8 Mar 2005 16:10:23 -0000	1.8
***************
*** 42,47 ****
  		static TYPE& OPAL_CALL instance()
  		{
- 			//static TYPE* mSelf)new TYPE);
- 			//return *mSelf;
  			static TYPE mSelf;
  			return mSelf;
--- 42,45 ----

Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.25
retrieving revision 1.26
diff -C2 -d -r1.25 -r1.26
*** Solid.cpp	1 Mar 2005 05:04:22 -0000	1.25
--- Solid.cpp	8 Mar 2005 16:10:23 -0000	1.26
***************
*** 333,340 ****
  				// Delete this force.
  
! 				//swap the element to be deleted with the last element
  				std::swap((*forceIter), mForceList.back());
  
! 				//delete the last element
  				mForceList.pop_back();
  			}
--- 333,340 ----
  				// Delete this force.
  
! 				// Swap the element to be deleted with the last element.
  				std::swap((*forceIter), mForceList.back());
  
! 				// Delete the last element.
  				mForceList.pop_back();
  			}
***************
*** 346,357 ****
  	}
  
! 	void Solid::setEventHandler(EventHandler* eventHandler)
  	{
! 		mEventHandler = eventHandler;
  	}
  
! 	EventHandler* Solid::getEventHandler()const
  	{
! 		return mEventHandler;
  	}
  
--- 346,357 ----
  	}
  
! 	void Solid::setEventHandler(CollisionEventHandler* eventHandler)
  	{
! 		mCollisionEventHandler = eventHandler;
  	}
  
! 	CollisionEventHandler* Solid::getEventHandler()const
  	{
! 		return mCollisionEventHandler;
  	}
  

--- NEW FILE: JointBreakEventHandler.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_JOINT_BREAK_EVENT_HANDLER_H
#define OPAL_JOINT_BREAK_EVENT_HANDLER_H

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

namespace opal
{
	class Joint;

	/// A listener that gets notified when a particular Joint breaks.  
	class JointBreakEventHandler : public EventHandler
	{
	public:
		JointBreakEventHandler()
		{}

		virtual ~JointBreakEventHandler()
		{}

		/// Called when a Joint breaks from being damaged.  The Joint will 
		/// automatically become disabled before this is called.
		virtual void OPAL_CALL handleJointBreakEvent(Joint* joint) = 0;

	protected:

	private:

	};
}

#endif


Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.24
retrieving revision 1.25
diff -C2 -d -r1.24 -r1.25
*** Joint.cpp	5 Mar 2005 21:26:24 -0000	1.24
--- Joint.cpp	8 Mar 2005 16:10:23 -0000	1.25
***************
*** 34,38 ****
  	{
  		// "mData" is initialized in its own constructor.
! 		mEventHandler = NULL;
  		setUserData(NULL);
  		mInitCalled = false;
--- 34,38 ----
  	{
  		// "mData" is initialized in its own constructor.
! 		mJointBreakEventHandler = NULL;
  		setUserData(NULL);
  		mInitCalled = false;
***************
*** 91,97 ****
  	//}
  
! 	void Joint::setEventHandler(EventHandler* eventHandler)
  	{
! 		mEventHandler = eventHandler;
  	}
  
--- 91,97 ----
  	//}
  
! 	void Joint::setEventHandler(JointBreakEventHandler* eventHandler)
  	{
! 		mJointBreakEventHandler = eventHandler;
  	}
  
***************
*** 351,357 ****
  		{
  			setEnabled(false);
! 			if (mEventHandler)
  			{
! 				mEventHandler->handleJointBreakEvent(this);
  			}
  		}
--- 351,357 ----
  		{
  			setEnabled(false);
! 			if (mJointBreakEventHandler)
  			{
! 				mJointBreakEventHandler->handleJointBreakEvent(this);
  			}
  		}

--- NEW FILE: CollisionEventHandler.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 "CollisionEventHandler.h"

namespace opal
{
	CollisionEventHandler::CollisionEventHandler()
	{
	}

	CollisionEventHandler::~CollisionEventHandler()
	{
		mPendingCollisionEvents.clear();
	}

	void CollisionEventHandler::internal_pushCollisionEvent(
		const CollisionEvent& e)
	{
		mPendingCollisionEvents.push_back(e);
	}

	void CollisionEventHandler::internal_handlePendingCollisionEvents()
	{
		std::vector<CollisionEvent>::iterator iter;
		for (iter = mPendingCollisionEvents.begin(); 
			iter != mPendingCollisionEvents.end(); ++iter)
		{
			handleCollisionEvent(*iter);
		}
	}
}

Index: EventHandler.h
===================================================================
RCS file: /cvsroot/opal/opal/src/EventHandler.h,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** EventHandler.h	5 Mar 2005 21:26:24 -0000	1.20
--- EventHandler.h	8 Mar 2005 16:10:23 -0000	1.21
***************
*** 33,61 ****
  namespace opal
  {
! 	class Joint;
! 	class Solid;
! 
! 	/// A data structure containing info about a specific point collision 
! 	/// between two Solids.
! 	struct CollisionEvent
! 	{
! 		/// One of the Solids that collided.
! 		Solid* solid0;
! 
! 		/// One of the Solids that collided.
! 		Solid* solid1;
! 
! 		/// The point of collision.
! 		Point3r pos;
! 
! 		/// The normal vector at the point of collision.
! 		Vec3r normal;
! 
! 		/// The depth of interpenetration.
! 		real depth;
! 	};
! 
! 	/// The EventHandler should be subclassed by users to catch collision 
! 	/// events and Joint break events.
  	class EventHandler
  	{
--- 33,38 ----
  namespace opal
  {
! 	/// Base class for various other event handling classes.  EventHandlers 
! 	/// are listeners that respond to particular events.
  	class EventHandler
  	{
***************
*** 64,77 ****
  		{}
  
! 		/// Called when two Solids collide.  The first Solid in the 
! 		/// CollisionEvent is the one whose event handler got called.
! 		virtual bool OPAL_CALL handleCollisionEvent(
! 			const CollisionEvent& event)
! 		{
! 			return true;
! 		}
! 
! 		/// Called when a Joint breaks from being damaged.  
! 		virtual void OPAL_CALL handleJointBreakEvent(Joint* joint)
  		{}
  
--- 41,45 ----
  		{}
  
! 		virtual ~EventHandler()
  		{}
  

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.62
retrieving revision 1.63
diff -C2 -d -r1.62 -r1.63
*** Joint.h	5 Mar 2005 21:26:24 -0000	1.62
--- Joint.h	8 Mar 2005 16:10:23 -0000	1.63
***************
*** 30,34 ****
  
  #include "Defines.h"
! #include "EventHandler.h"
  #include "JointData.h"
  
--- 30,34 ----
  
  #include "Defines.h"
! #include "JointBreakEventHandler.h"
  #include "JointData.h"
  
***************
*** 87,91 ****
  
  		/// Sets the Joint's event handler.  
! 		virtual void OPAL_CALL setEventHandler(EventHandler* eventHandler);
  
  		/// Enables or disables the given Joint axis' limits.  
--- 87,92 ----
  
  		/// Sets the Joint's event handler.  
! 		virtual void OPAL_CALL setEventHandler(
! 			JointBreakEventHandler* eventHandler);
  
  		/// Enables or disables the given Joint axis' limits.  
***************
*** 235,239 ****
  
  		/// A pointer to the Joint's event handler.
! 		EventHandler* mEventHandler;
  
  		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 
--- 236,240 ----
  
  		/// A pointer to the Joint's event handler.
! 		JointBreakEventHandler* mJointBreakEventHandler;
  
  		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 

Index: MeshShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/MeshShapeData.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** MeshShapeData.h	22 Feb 2005 19:46:29 -0000	1.2
--- MeshShapeData.h	8 Mar 2005 16:10:23 -0000	1.3
***************
*** 68,71 ****
--- 68,72 ----
  			offset = data.offset;
  			material = data.material;
+ 			contactGroup = data.contactGroup;
  			vertexArray[0] = data.vertexArray[0];
  			numVertices = data.numVertices;

Index: JointData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/JointData.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** JointData.h	26 Feb 2005 10:22:23 -0000	1.3
--- JointData.h	8 Mar 2005 16:10:23 -0000	1.4
***************
*** 103,106 ****
--- 103,107 ----
  			accumThresh = defaults::joint::accumThresh;
  			accumDamage = 0;
+ 			enableContacts = defaults::joint::enableContacts;
  		}
  
***************
*** 138,141 ****
--- 139,143 ----
  			accumThresh = data.accumThresh;
  			accumDamage = data.accumDamage;
+ 			enableContacts = data.enableContacts;
  		}
  
***************
*** 196,199 ****
--- 198,205 ----
  		real accumDamage;
  
+ 		/// Determines whether Solids connected by this Joint should make 
+ 		/// contacts when they collide.
+ 		bool enableContacts;
+ 
  	protected:
  		/// The Joint type.  

Index: Logger.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Logger.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Logger.cpp	26 Feb 2005 10:22:23 -0000	1.2
--- Logger.cpp	8 Mar 2005 16:10:23 -0000	1.3
***************
*** 6,14 ****
  	namespace logger
  	{
- 		//std::map<std::string, Logger::Stream> Logger::mStreams;
- 
  		Logger::Logger()
  		{
! 			init();
  		}
  
--- 6,24 ----
  	namespace logger
  	{
  		Logger::Logger()
  		{
! 			//static std::ofstream debugOut, warningOut, errorOut;
! 			//debugOut.open("opal_debug.log");
! 			//warningOut.open("opal_warning.log");
! 			//errorOut.open("opal_error.log");
! 
! 			//setStream("debug", &debugOut, "[OPAL debug] ");
! 			//setStream("warning", &warningOut, "[OPAL warning] ");
! 			//setStream("error", &errorOut, "[OPAL error] ");
! 			//setStream("performance", &std::cout);
! 
! 			setStream("debug", &std::cout, "[OPAL debug] ");
! 			setStream("warning", &std::cout, "[OPAL warning] ");
! 			setStream("error", &std::cout, "[OPAL error] ");
  		}
  
***************
*** 66,86 ****
  			return *(s.stream);
  		}
- 
- 		void Logger::init()
- 		{
- 			//static std::ofstream debugOut, warningOut, errorOut;
- 			//debugOut.open("opal_debug.log");
- 			//warningOut.open("opal_warning.log");
- 			//errorOut.open("opal_error.log");
- 
- 			//setStream("debug", &debugOut, "[OPAL debug] ");
- 			//setStream("warning", &warningOut, "[OPAL warning] ");
- 			//setStream("error", &errorOut, "[OPAL error] ");
- 			//setStream("performance", &std::cout);
- 
- 			setStream("debug", &std::cout, "[OPAL debug] ");
- 			setStream("warning", &std::cout, "[OPAL warning] ");
- 			setStream("error", &std::cout, "[OPAL error] ");
- 		}
  	}
  }
--- 76,79 ----

[Opal-commits] opal/vc7 opal-ode.vcproj,1.15,1.16

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

Update of /cvsroot/opal/opal/vc7
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11795/vc7

Modified Files:
	opal-ode.vcproj 
Log Message:
added contact groups; added separate event handlers for collisions and joint break events; commented out mass ratio stuff

Index: opal-ode.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/vc7/opal-ode.vcproj,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** opal-ode.vcproj	5 Mar 2005 21:26:24 -0000	1.15
--- opal-ode.vcproj	8 Mar 2005 16:10:25 -0000	1.16
***************
*** 128,131 ****
--- 128,134 ----
  			</File>
  			<File
+ 				RelativePath="..\src\CollisionEventHandler.cpp">
+ 			</File>
+ 			<File
  				RelativePath="..\src\GearedMotor.cpp">
  			</File>
***************
*** 186,189 ****
--- 189,195 ----
  			</File>
  			<File
+ 				RelativePath="..\src\CollisionEventHandler.h">
+ 			</File>
+ 			<File
  				RelativePath="..\src\Defines.h">
  			</File>
***************
*** 201,204 ****
--- 207,213 ----
  			</File>
  			<File
+ 				RelativePath="..\src\JointBreakEventHandler.h">
+ 			</File>
+ 			<File
  				RelativePath="..\src\JointData.h">
  			</File>

[Opal-commits] opal todo.txt,1.50,1.51

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11795

Modified Files:
	todo.txt 
Log Message:
added contact groups; added separate event handlers for collisions and joint break events; commented out mass ratio stuff

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.50
retrieving revision 1.51
diff -C2 -d -r1.50 -r1.51
*** todo.txt	5 Mar 2005 21:26:23 -0000	1.50
--- todo.txt	8 Mar 2005 16:10:25 -0000	1.51
***************
*** 2,9 ****
  =================
  
- * remove ray and plane from the usual set of shapes?
- 	- Simulator::createPlane; this might cause problems since the plane needs Material, collision group, etc.
- 	- ray is just used for raycasting anyway, it'll be used in the raycast sensor
- 
  * look at scons dylib-building problem on os x
  
--- 2,5 ----
***************
*** 66,69 ****
--- 62,66 ----
  * 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?

[Opal-commits] opal/src/ODE ODEJoint.cpp,1.27,1.28 ODESimulator.cpp,1.84,1.85

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11795/src/ODE

Modified Files:
	ODEJoint.cpp ODESimulator.cpp 
Log Message:
added contact groups; added separate event handlers for collisions and joint break events; commented out mass ratio stuff

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.84
retrieving revision 1.85
diff -C2 -d -r1.84 -r1.85
*** ODESimulator.cpp	5 Mar 2005 21:26:24 -0000	1.84
--- ODESimulator.cpp	8 Mar 2005 16:10:24 -0000	1.85
***************
*** 76,80 ****
  
  		setSolverAccuracy(defaults::solverAccuracy);
- 		//setDefaultSleepiness(defaults::sleepiness);
  		mCollisionCount = 0;
  	}
--- 76,79 ----
***************
*** 258,264 ****
  				dSpaceCollide2(o0, o1, data, &internal_collisionCallback);
  				
- 				// Colliding all geoms internal to the space.
  				if (dGeomIsSpace(o0))
  				{
  					dSpaceCollide((dSpaceID)o0, data, 
  						&internal_collisionCallback);
--- 257,263 ----
  				dSpaceCollide2(o0, o1, data, &internal_collisionCallback);
  				
  				if (dGeomIsSpace(o0))
  				{
+ 					// Colliding all geoms internal to the space.
  					dSpaceCollide((dSpaceID)o0, data, 
  						&internal_collisionCallback);
***************
*** 267,270 ****
--- 266,270 ----
  				if (dGeomIsSpace(o1))
  				{
+ 					// Colliding all geoms internal to the space.
  					dSpaceCollide((dSpaceID)o1, data, 
  						&internal_collisionCallback);
***************
*** 275,279 ****
  				// Colliding two geoms.
  
! 				// Use category/collide bitfields here?
  
  				dBodyID o0BodyID = dGeomGetBody(o0);
--- 275,308 ----
  				// Colliding two geoms.
  
! 				// The following is a set of special cases where we might 
! 				// not want to do collision detection (but not all are 
! 				// enforced here for various reasons): 
! 				// 1. Two static Solids (neither geom has a body): this is 
! 				//    not enforced because sometimes you might want two 
! 				//    static Solids to generate collision events.
! 				// 2. Two Shapes that are part of the same Solid (they 
! 				//    share a body): this is not enforced because ODE 
! 				//    already takes care of it.
! 				// 3. Two sleeping Solids (note: both must have bodies to 
! 				//	  check this): this is enforced.  ODE should handle 
! 				//	  this, but it doesn't.
! 				// 4. Two Solids connected by a fixed Joint: this is 
! 				//    enforced.
! 				// 5. Two Solids connected by a Joint (besides ODE 
! 				//    contact joints, which never generate 
! 				//    contacts) (note: both must have 
! 				//    bodies to check this): this is enforced for now; it 
! 				//    might be nice to have a Joint option that says whether 
! 				//    the Joint's two 
! 				//    Solids generate contacts with each other... I'll 
! 				//    mark that as a TODO; if this is implemented, be sure 
! 				//    to update the comments for 
! 				//    Simulator::setupContactGroups.
! 				// 6. Solid0 is static and Solid1 is sleeping: not enforced 
! 				//    because sometimes you might want to wake up a sleeping 
! 				//    Solid with a static Solid.
! 				// 7. Solid1 is static and Solid0 is sleeping: not enforced 
! 				//    because sometimes you might want to wake up a sleeping 
! 				//    Solid with a static Solid.
  
  				dBodyID o0BodyID = dGeomGetBody(o0);
***************
*** 285,309 ****
  				}
  
! 				// Don't do collision detection for the following cases:
! 				// 1. two static solids (neither geom has a body)
! 				// 2. two shapes that are part of the same solid (they share a 
! 				//	body)
! 				// 3. two sleeping solids - note: both must have bodies to 
! 				//	check this
! 				// 4. two joined solids (but not contact joints); note: both 
! 				//	must have bodies to check this
! 				// 5. solid0 is static and solid1 is sleeping
! 				// 6. solid1 is static and solid0 is sleeping
! 				// Note: cases 5 and 6 will keep static solids from waking up 
! 				// sleeping solids
  
! 				if ((0 == o0BodyID && 0 == o1BodyID) //case 1
! 					//|| (o0BodyID == o1BodyID) //case 2 -> handled by ODE
! 					|| (bothHaveBodies && !dBodyIsEnabled(o0BodyID) && 
  						!dBodyIsEnabled(o1BodyID)) //case 3
! 					|| (bothHaveBodies && dAreConnectedExcluding(o0BodyID, 
! 						o1BodyID, dJointTypeContact)) //case 4
! 					|| (0 == o0BodyID && !dBodyIsEnabled(o1BodyID)) //case 5
! 					|| (0 == o1BodyID && !dBodyIsEnabled(o0BodyID)) //case 6
  					)
  				{
--- 314,332 ----
  				}
  
! 				// TODO: find a way to get access to the Joint* for #5...
! 				// check if ODE has user data* for joints.  If this 
! 				// doesn't work, just have a boolean in the Simulator that 
! 				// affects all Joints.
  
! 				if (//(0 == o0BodyID && 0 == o1BodyID) //case 1
! 					//|| (o0BodyID == o1BodyID) //case 2
! 					(bothHaveBodies && !dBodyIsEnabled(o0BodyID) && 
  						!dBodyIsEnabled(o1BodyID)) //case 3
! 					//|| (connected by a fixed joint) // case 4 TODO
! 					|| (bothHaveBodies && dAreConnectedExcluding(
! 						o0BodyID, o1BodyID, dJointTypeContact)) //&& TODO
! 						//jointContactsEnabled) //case 5
! 					//|| (0 == o0BodyID && !dBodyIsEnabled(o1BodyID)) //case 6
! 					//|| (0 == o1BodyID && !dBodyIsEnabled(o0BodyID)) //case 7
  					)
  				{
***************
*** 321,324 ****
--- 344,349 ----
  					sizeof(dContactGeom));
  
+ 				// If the two objects didn't make any contacts, they weren't 
+ 				// touching, so just return.
  				if (0 == numContacts)
  				{
***************
*** 327,342 ****
  
  				dContact tempContact;
! 				bool generateContacts0 = true; // Default to true.
! 				bool generateContacts1 = true; // Default to true.
! 				GeomData* geomData0 = ((GeomData*)dGeomGetData(o0));
  				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
  				Solid* solid0 = geomData0->solid;
  				Solid* solid1 = geomData1->solid;
  
! 				// Early check to save some time.
! 				if (solid0->getEventHandler() || solid1->getEventHandler())
  				{
! 					// Call the event handlers.  Note: we only use one 
! 					// contact point per collision; just use the first one 
  					// in the contact array.  The order of the Solids 
  					// passed to the event handlers is important: the first 
--- 352,385 ----
  
  				dContact tempContact;
! 				//bool generateContacts0 = true; // Default to true.
! 				//bool generateContacts1 = true; // Default to true.
! 				GeomData* geomData0 = (GeomData*)dGeomGetData(o0);
  				GeomData* geomData1 = ((GeomData*)dGeomGetData(o1));
+ 				const ShapeData* shape0 = geomData0->shape;
+ 				const ShapeData* shape1 = geomData1->shape;
  				Solid* solid0 = geomData0->solid;
  				Solid* solid1 = geomData1->solid;
  
! 				// We only need to check for "one side" of the contact group 
! 				// here because the groups are always setup both ways (i.e. 
! 				// the interaction between object 0's contact group and 
! 				// object 1's contact group is always symmetric).
! 				bool makeContacts = false;
! 				unsigned long int group1Bit = 1 << shape1->contactGroup;
! 				if (sim->internal_getContactGroupFlags(shape0->contactGroup)
! 					& group1Bit)
  				{
! 					makeContacts = true;
! 				}
! 
! 				// If at least one of the Solids has a CollisionEventHandler, 
! 				// send it a CollisionEvent.
! 				CollisionEventHandler* handler0 = solid0->getEventHandler();
! 				CollisionEventHandler* handler1 = solid1->getEventHandler();
! 
! 				if (handler0 || handler1)
! 				{
! 					// Call the CollisionEventHandlers.  Note that we only 
! 					// use one contact point per collision: just the first one 
  					// in the contact array.  The order of the Solids 
  					// passed to the event handlers is important: the first 
***************
*** 345,350 ****
  
  					CollisionEvent e;
! 					e.solid0 = solid0;
! 					e.solid1 = solid1;
  					e.pos[0] = contactArray[0].pos[0];
  					e.pos[1] = contactArray[0].pos[1];
--- 388,393 ----
  
  					CollisionEvent e;
! 					e.thisSolid = solid0;
! 					e.otherSolid = solid1;
  					e.pos[0] = contactArray[0].pos[0];
  					e.pos[1] = contactArray[0].pos[1];
***************
*** 355,392 ****
  					e.depth = contactArray[0].depth;
  
! 					EventHandler* eventHandler = solid0->getEventHandler();
! 					if (eventHandler)
  					{
! 						generateContacts0 = 
! 							eventHandler->handleCollisionEvent(e);
  					}
  
! 					e.normal *= -1; // Invert normal.
! 					e.solid0 = solid1; // Swap solid pointers.
! 					e.solid1 = solid0;
! 
! 					eventHandler = solid1->getEventHandler();
! 					if (eventHandler)
  					{
! 						generateContacts1 = 
! 							eventHandler->handleCollisionEvent(e);
  					}
  				}
  
! 				// Handle one-sided contacts for two cases: 1) only one of 
! 				// the above event handlers actually wants contacts generated, 
! 				// 2) if the mass ratio is above some threshold, treat it as 
! 				// a one-sided collision solution: treat the more massive 
! 				// object as static, calculate the collision like normal 
! 				// (with the massive one being static), then also add the 
! 				// massive object's velocity to the smaller one (velocity 
! 				// calculated at the point of collision).
  
! 				if (true == generateContacts0 || true == generateContacts1)
  				{
  					for(int i=0; i<numContacts; ++i)
  					{
! 						const Material* m0 = &(geomData0->shape->material);
! 						const Material* m1 = &(geomData1->shape->material);
  
  						tempContact.surface.mode = dContactBounce | 
--- 398,464 ----
  					e.depth = contactArray[0].depth;
  
! 					if (handler0)
  					{
! 						handler0->handleCollisionEvent(e);
  					}
  
! 					if (handler1)
  					{
! 						// For the other Solid's CollisionEventHandler, we need 
! 						// to invert the normal and swap the Solid pointers.
! 						e.normal *= -1;
! 						e.thisSolid = solid1;
! 						e.otherSolid = solid0;
! 						handler1->handleCollisionEvent(e);
  					}
  				}
  
! 				// Old version...
! 				//// Early check to save some time.
! 				//if (solid0->getEventHandler() || solid1->getEventHandler())
! 				//{
! 				//	// Call the event handlers.  Note: we only use one 
! 				//	// contact point per collision; just use the first one 
! 				//	// in the contact array.  The order of the Solids 
! 				//	// passed to the event handlers is important: the first 
! 				//	// one should be the one whose event handler is 
! 				//	// getting called.
  
! 				//	CollisionEvent e;
! 				//	e.solid0 = solid0;
! 				//	e.solid1 = solid1;
! 				//	e.pos[0] = contactArray[0].pos[0];
! 				//	e.pos[1] = contactArray[0].pos[1];
! 				//	e.pos[2] = contactArray[0].pos[2];
! 				//	e.normal[0] = contactArray[0].normal[0];
! 				//	e.normal[1] = contactArray[0].normal[1];
! 				//	e.normal[2] = contactArray[0].normal[2];
! 				//	e.depth = contactArray[0].depth;
! 
! 				//	EventHandler* eventHandler = solid0->getEventHandler();
! 				//	if (eventHandler)
! 				//	{
! 				//		generateContacts0 = 
! 				//			eventHandler->handleCollisionEvent(e);
! 				//	}
! 
! 				//	e.normal *= -1; // Invert normal.
! 				//	e.solid0 = solid1; // Swap solid pointers.
! 				//	e.solid1 = solid0;
! 
! 				//	eventHandler = solid1->getEventHandler();
! 				//	if (eventHandler)
! 				//	{
! 				//		generateContacts1 = 
! 				//			eventHandler->handleCollisionEvent(e);
! 				//	}
! 				//}
! 
! 				if (makeContacts)
  				{
  					for(int i=0; i<numContacts; ++i)
  					{
! 						const Material* m0 = &(shape0->material);
! 						const Material* m1 = &(shape1->material);
  
  						tempContact.surface.mode = dContactBounce | 
***************
*** 448,545 ****
  							theWorldID, theJointGroupID, &tempContact);
  
! 						if (!bothHaveBodies)
! 						{
! 							// at least one object is static, so just handle 
! 							// things like normal
! 							dJointAttach(contactJoint, o0BodyID, o1BodyID);
! 						}
! 						else
! 						{
! 							// calculate mass ratio (use mass1 / mass2); if 
! 							// the ratio is too high, mass1 is too large; if 
! 							// the ratio is too low, mass2 is too large
! 							real massRatio = 0;
! 							dMass mass0, mass1;
! 							dBodyGetMass(o0BodyID, &mass0);
! 							dBodyGetMass(o1BodyID, &mass1);
! 							massRatio = mass0.mass / mass1.mass;
  
! 							// here we handle all the different collision 
! 							// cases: one solid or the other or both may want 
! 							// contacts generated; also, the mass ratio may 
! 							// be outside the acceptable range
  
! 							if (true == generateContacts0 && true == 
! 								generateContacts1)
! 							{
! 								// both want contacts, neither wants to be 
! 								// static
! 								if (massRatio > defaults::ode::maxMassRatio)
! 								{
! 									// ratio is too high - mass0 is too large, 
! 									// treat solid0 as static
! 									dBodyEnable(o1BodyID);
! 									dJointAttach(contactJoint, 0, o1BodyID);
! 								}
! 								else if (massRatio < 
! 									defaults::ode::minMassRatio)
! 								{
! 									// ratio is too low - mass1 is too large, 
! 									// treat solid1 as static
! 									dBodyEnable(o0BodyID);
! 									dJointAttach(contactJoint, o0BodyID, 0);
! 								}
! 								else
! 								{
! 									//ratio is good - no static objects
! 									dJointAttach(contactJoint, o0BodyID, 
! 										o1BodyID);
! 								}
! 							}
! 							else if (true == generateContacts0)
! 							{
! 								// solid0 wants contacts, solid1 wants to be 
! 								// static
! 								if (massRatio > defaults::ode::maxMassRatio)
! 								{
! 									// ratio is too high - mass0 is too large, 
! 									// treat solid0 and solid1 as static
! 									// i.e. don't generate a contact joint
! 								}
! 								else
! 								{
! 									// this block handles two cases which have 
! 									// the same result:
! 									// 1. ratio is too low - mass1 is too 
! 									//	large, treat solid1 as static
! 									// 2. ratio is good - treat solid1 as 
! 									//	static
! 									dBodyEnable(o0BodyID);
! 									dJointAttach(contactJoint, o0BodyID, 0);
! 								}
! 							}
! 							else //generateContacts1 must be true
! 							{
! 								// solid1 wants contacts, solid0 wants to be 
! 								// static
! 								if (massRatio < defaults::ode::minMassRatio)
! 								{
! 									// ratio is too low - mass1 is too large, 
! 									// treat solid0 and solid1 as static
! 									// i.e. don't generate a contact joint
! 								}						
! 								else
! 								{
! 									// this block handles two cases which have 
! 									// the same result:
! 									// 1. ratio is too high - mass0 is too 
! 									//	large, treat solid0 as static
! 									// 2. ratio is good - treat solid0 as 
! 									//	static
! 									dBodyEnable(o1BodyID);
! 									dJointAttach(contactJoint, 0, o1BodyID);
! 								}
! 							}
! 						}
  					}
  				}
--- 520,648 ----
  							theWorldID, theJointGroupID, &tempContact);
  
! 						// Note: the following line of code replaces the 
! 						// rest of this function which is commented out.  
! 						// TODO: test this and make sure the mass ratio 
! 						// issues are unimportant and that we never need 
! 						// "one-sided" contacts between two Solids.
! 						dJointAttach(contactJoint, o0BodyID, o1BodyID);
  
! 						//if (!bothHaveBodies)
! 						//{
! 						//	// at least one object is static, so just handle 
! 						//	// things like normal
! 						//	dJointAttach(contactJoint, o0BodyID, o1BodyID);
! 						//}
! 						//else
! 						//{
! 						//	// TODO: We probably need to remove the following chunk of 
! 						//	// code.  The first case is obsolete since now both sides 
! 						//	// always get contacts, if at all.  (There isn't really a 
! 						//	// good reason to have one side use contacts but not the 
! 						//	// other; the side not wanting contacts would appear to be 
! 						//	// static, so just make it static in the first place.  On 
! 						//	// the other hand, this may end up being desirable if 
! 						//	// an object should be moved by some objects but not 
! 						//	// others, and the "others" *do* collid with the first 
! 						//	// object... but this situation may never come up.  The 
! 						//	// second case, using mass ratios to determine whether two 
! 						//	// objects should collide, might not be an issue.  Mass 
! 						//	// ratios might only be a problem when the two objects are 
! 						//	// constantly connected with a Joint.
  
! 						//	// Handle one-sided contacts for two cases: 1) only one of 
! 						//	// the above event handlers actually wants contacts generated, 
! 						//	// 2) if the mass ratio is above some threshold, treat it as 
! 						//	// a one-sided collision solution: treat the more massive 
! 						//	// object as static, calculate the collision like normal 
! 						//	// (with the massive one being static), then also add the 
! 						//	// massive object's velocity to the smaller one (velocity 
! 						//	// calculated at the point of collision).
! 
! 						//	// calculate mass ratio (use mass1 / mass2); if 
! 						//	// the ratio is too high, mass1 is too large; if 
! 						//	// the ratio is too low, mass2 is too large
! 						//	real massRatio = 0;
! 						//	dMass mass0, mass1;
! 						//	dBodyGetMass(o0BodyID, &mass0);
! 						//	dBodyGetMass(o1BodyID, &mass1);
! 						//	massRatio = mass0.mass / mass1.mass;
! 
! 						//	// here we handle all the different collision 
! 						//	// cases: one solid or the other or both may want 
! 						//	// contacts generated; also, the mass ratio may 
! 						//	// be outside the acceptable range
! 
! 						//	if (true == generateContacts0 && true == 
! 						//		generateContacts1)
! 						//	{
! 						//		// both want contacts, neither wants to be 
! 						//		// static
! 						//		if (massRatio > defaults::ode::maxMassRatio)
! 						//		{
! 						//			// ratio is too high - mass0 is too large, 
! 						//			// treat solid0 as static
! 						//			dBodyEnable(o1BodyID);
! 						//			dJointAttach(contactJoint, 0, o1BodyID);
! 						//		}
! 						//		else if (massRatio < 
! 						//			defaults::ode::minMassRatio)
! 						//		{
! 						//			// ratio is too low - mass1 is too large, 
! 						//			// treat solid1 as static
! 						//			dBodyEnable(o0BodyID);
! 						//			dJointAttach(contactJoint, o0BodyID, 0);
! 						//		}
! 						//		else
! 						//		{
! 						//			//ratio is good - no static objects
! 						//			dJointAttach(contactJoint, o0BodyID, 
! 						//				o1BodyID);
! 						//		}
! 						//	}
! 						//	else if (true == generateContacts0)
! 						//	{
! 						//		// solid0 wants contacts, solid1 wants to be 
! 						//		// static
! 						//		if (massRatio > defaults::ode::maxMassRatio)
! 						//		{
! 						//			// ratio is too high - mass0 is too large, 
! 						//			// treat solid0 and solid1 as static
! 						//			// i.e. don't generate a contact joint
! 						//		}
! 						//		else
! 						//		{
! 						//			// this block handles two cases which have 
! 						//			// the same result:
! 						//			// 1. ratio is too low - mass1 is too 
! 						//			//	large, treat solid1 as static
! 						//			// 2. ratio is good - treat solid1 as 
! 						//			//	static
! 						//			dBodyEnable(o0BodyID);
! 						//			dJointAttach(contactJoint, o0BodyID, 0);
! 						//		}
! 						//	}
! 						//	else //generateContacts1 must be true
! 						//	{
! 						//		// solid1 wants contacts, solid0 wants to be 
! 						//		// static
! 						//		if (massRatio < defaults::ode::minMassRatio)
! 						//		{
! 						//			// ratio is too low - mass1 is too large, 
! 						//			// treat solid0 and solid1 as static
! 						//			// i.e. don't generate a contact joint
! 						//		}						
! 						//		else
! 						//		{
! 						//			// this block handles two cases which have 
! 						//			// the same result:
! 						//			// 1. ratio is too high - mass0 is too 
! 						//			//	large, treat solid0 as static
! 						//			// 2. ratio is good - treat solid0 as 
! 						//			//	static
! 						//			dBodyEnable(o1BodyID);
! 						//			dJointAttach(contactJoint, 0, o1BodyID);
! 						//		}
! 						//	}
! 						//}
  					}
  				}

Index: ODEJoint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.cpp,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** ODEJoint.cpp	1 Mar 2005 05:04:23 -0000	1.27
--- ODEJoint.cpp	8 Mar 2005 16:10:24 -0000	1.28
***************
*** 59,63 ****
  
  			// Reset event handler.
! 			mEventHandler = NULL;
  		}
  
--- 59,63 ----
  
  			// Reset event handler.
! 			mJointBreakEventHandler = NULL;
  		}
  

[Opal-commits] opal/src BlueprintManager.cpp,1.29,1.30 Defines.h,1.65,1.66 EventHandler.h,1.19,1.20 Joint.cpp,1.23,1.24 Joint.h,1.61,1.62 Motor.cpp,1.14,1.15 Motor.h,1.35,1.36 ShapeData.h,1.4,1.5 Simulator.cpp,1.41,1.42 Simulator.h,1.78,1.79 SolidData.cpp,1.2,1.3 opal.h,1.18,1.19 RayShapeData.h,1.3,NONE

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

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5467/src

Modified Files:
	BlueprintManager.cpp Defines.h EventHandler.h Joint.cpp 
	Joint.h Motor.cpp Motor.h ShapeData.h Simulator.cpp 
	Simulator.h SolidData.cpp opal.h 
Removed Files:
	RayShapeData.h 
Log Message:
removed the Ray Shape; it should only be used for raycasting, not as an actual Shape attached to Solids

Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** opal.h	26 Feb 2005 10:22:23 -0000	1.18
--- opal.h	5 Mar 2005 21:26:24 -0000	1.19
***************
*** 37,41 ****
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
- #include "RayShapeData.h"
  #include "MeshShapeData.h"
  #include "Motor.h"
--- 37,40 ----

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.65
retrieving revision 1.66
diff -C2 -d -r1.65 -r1.66
*** Defines.h	4 Mar 2005 23:26:53 -0000	1.65
--- Defines.h	5 Mar 2005 21:26:24 -0000	1.66
***************
*** 297,300 ****
--- 297,301 ----
  		{
  			const Material material = opal::globals::woodMaterial;
+ 			const unsigned int contactGroup = 0;
  			const Vec3r boxDimensions = Vec3r(1, 1, 1);
  			const real sphereRadius = 1;
***************
*** 302,307 ****
  			const real capsuleLength = 1;
  			const real planeABCD[4] = {0, 1, 0, 0};
! 			const Point3r rayOrigin = Point3r(0, 0, 0);
! 			const Vec3r rayDir = Vec3r(0, 0, -1);
  		}
  
--- 303,308 ----
  			const real capsuleLength = 1;
  			const real planeABCD[4] = {0, 1, 0, 0};
! 			//const Point3r rayOrigin = Point3r(0, 0, 0);
! 			//const Vec3r rayDir = Vec3r(0, 0, -1);
  		}
  

Index: Motor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.h,v
retrieving revision 1.35
retrieving revision 1.36
diff -C2 -d -r1.35 -r1.36
*** Motor.h	25 Feb 2005 06:40:26 -0000	1.35
--- Motor.h	5 Mar 2005 21:26:24 -0000	1.36
***************
*** 42,49 ****
  	/// attain a desired state, users should use a Motor that takes a 
  	/// desired position or velocity, automatically applying forces every 
! 	/// time step to attain that state.  Custom Motors can be created by 
! 	/// subclassing the base Motor class, implementing a few virtual 
! 	/// functions, and adding Motor instances to the simulation via the 
! 	/// Simulator class (see Simulator for details).  All Motors start out 
  	/// disabled and must be initialized via init before they can be 
  	/// enabled.  
--- 42,46 ----
  	/// attain a desired state, users should use a Motor that takes a 
  	/// desired position or velocity, automatically applying forces every 
! 	/// time step to attain that state.  All Motors start out 
  	/// disabled and must be initialized via init before they can be 
  	/// enabled.  
***************
*** 88,95 ****
  		/// Sets whether this is a custom Motor.  Used internally to 
  		/// track custom Motors which must not be destroyed by OPAL.
! 		virtual void OPAL_CALL internal_setCustom(bool c);
  
  		/// Returns true if this is a custom Motor.  
! 		virtual bool OPAL_CALL internal_isCustom();
  
  	protected:
--- 85,92 ----
  		/// Sets whether this is a custom Motor.  Used internally to 
  		/// track custom Motors which must not be destroyed by OPAL.
! 		//virtual void OPAL_CALL internal_setCustom(bool c);
  
  		/// Returns true if this is a custom Motor.  
! 		//virtual bool OPAL_CALL internal_isCustom();
  
  	protected:
***************
*** 106,110 ****
  		/// True if this is a custom Motor.  This is used to ensure that 
  		/// custom Motors are not destroyed by OPAL.
! 		bool mIsCustom;
  
  		/// True if the Motor has been initialized.  Some Motors use 
--- 103,107 ----
  		/// True if this is a custom Motor.  This is used to ensure that 
  		/// custom Motors are not destroyed by OPAL.
! 		//bool mIsCustom;
  
  		/// True if the Motor has been initialized.  Some Motors use 

Index: ShapeData.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ShapeData.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** ShapeData.h	1 Mar 2005 05:04:22 -0000	1.4
--- ShapeData.h	5 Mar 2005 21:26:24 -0000	1.5
***************
*** 40,44 ****
  		CAPSULE_SHAPE,
  		PLANE_SHAPE,
! 		RAY_SHAPE,
  		MESH_SHAPE
  	};
--- 40,44 ----
  		CAPSULE_SHAPE,
  		PLANE_SHAPE,
! 		//RAY_SHAPE,
  		MESH_SHAPE
  	};

Index: Simulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.h,v
retrieving revision 1.78
retrieving revision 1.79
diff -C2 -d -r1.78 -r1.79
*** Simulator.h	4 Mar 2005 23:26:53 -0000	1.78
--- Simulator.h	5 Mar 2005 21:26:24 -0000	1.79
***************
*** 147,150 ****
--- 147,159 ----
  		virtual void* OPAL_CALL getUserData();
  
+ 		/// Defines the interaction between two contact groups.  If the 
+ 		/// last argument is true, the two groups will generate physical 
+ 		/// points when they collide.  Otherwise, they will pass through 
+ 		/// each other.  This does not affect collision events; two 
+ 		/// colliding objects might not generate contacts but still 
+ 		/// generate collision events.
+ 		virtual void OPAL_CALL setupContactGroups(unsigned int group0, 
+ 			unsigned int group1, bool makeContacts);
+ 
  		// SOLIDS
  
***************
*** 191,195 ****
  		/// Inform the Simulator of a custom Motor.  Custom Motors are 
  		/// allocated and deallocated by the user
! 		virtual void OPAL_CALL registerCustomMotor(Motor* m);
  
  		/// Marks the given Motor as garbage.  
--- 200,204 ----
  		/// Inform the Simulator of a custom Motor.  Custom Motors are 
  		/// allocated and deallocated by the user
! 		//virtual void OPAL_CALL registerCustomMotor(Motor* m);
  
  		/// Marks the given Motor as garbage.  
***************
*** 307,310 ****
--- 316,323 ----
  		std::vector<Space*> mSpaceList;
  
+ 		/// A set of bitfields used to describe how different contact groups 
+ 		/// interact.
+ 		unsigned long int mContactGroupFlags[32];
+ 
  	private:
  	};

--- RayShapeData.h DELETED ---

Index: Joint.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.cpp,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** Joint.cpp	1 Mar 2005 05:04:22 -0000	1.23
--- Joint.cpp	5 Mar 2005 21:26:24 -0000	1.24
***************
*** 80,84 ****
  	}
  
! 	void Joint::restoreAccumDamage()
  	{
  		mData.accumDamage = 0;
--- 80,84 ----
  	}
  
! 	void Joint::repairAccumDamage()
  	{
  		mData.accumDamage = 0;

Index: EventHandler.h
===================================================================
RCS file: /cvsroot/opal/opal/src/EventHandler.h,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** EventHandler.h	18 Feb 2005 23:59:36 -0000	1.19
--- EventHandler.h	5 Mar 2005 21:26:24 -0000	1.20
***************
*** 64,69 ****
  		{}
  
! 		/// Called when two Solids collide.  Returns true if collision 
! 		/// contacts should be generated between the two Solids.
  		virtual bool OPAL_CALL handleCollisionEvent(
  			const CollisionEvent& event)
--- 64,69 ----
  		{}
  
! 		/// Called when two Solids collide.  The first Solid in the 
! 		/// CollisionEvent is the one whose event handler got called.
  		virtual bool OPAL_CALL handleCollisionEvent(
  			const CollisionEvent& event)

Index: Joint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Joint.h,v
retrieving revision 1.61
retrieving revision 1.62
diff -C2 -d -r1.61 -r1.62
*** Joint.h	4 Mar 2005 23:26:53 -0000	1.61
--- Joint.h	5 Mar 2005 21:26:24 -0000	1.62
***************
*** 82,88 ****
  			real breakThresh, real accumThresh=0);
  
! 		/// Restores accumulated damage to breakable Joints in accumulated 
  		/// damage mode.  This does not reenable the Joint.
! 		virtual void OPAL_CALL restoreAccumDamage();
  
  		/// Sets the Joint's event handler.  
--- 82,88 ----
  			real breakThresh, real accumThresh=0);
  
! 		/// Repairs accumulated damage to breakable Joints in accumulated 
  		/// damage mode.  This does not reenable the Joint.
! 		virtual void OPAL_CALL repairAccumDamage();
  
  		/// Sets the Joint's event handler.  

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** BlueprintManager.cpp	4 Mar 2005 23:26:53 -0000	1.29
--- BlueprintManager.cpp	5 Mar 2005 21:26:23 -0000	1.30
***************
*** 31,35 ****
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
- #include "RayShapeData.h"
  #include "MotorData.h"
  #include "AttractorMotorData.h"
--- 31,34 ----
***************
*** 1278,1296 ****
  				planeData->abcd[3] = getAttributeReal(dimensionsNodePtr, "d");
  			}
! 			else if ("ray" == type)
! 			{
! 				RayShapeData* rayData = new RayShapeData();
! 				data = rayData;
! 				Point3r origin;
! 				origin[0] = getAttributeReal(dimensionsNodePtr, "originx");
! 				origin[1] = getAttributeReal(dimensionsNodePtr, "originy");
! 				origin[2] = getAttributeReal(dimensionsNodePtr, "originz");
! 				rayData->ray.setOrigin(origin);
! 				Vec3r dir;
! 				dir[0] = getAttributeReal(dimensionsNodePtr, "dirx");
! 				dir[1] = getAttributeReal(dimensionsNodePtr, "diry");
! 				dir[2] = getAttributeReal(dimensionsNodePtr, "dirz");
! 				rayData->ray.setDir(dir);
! 			}
  			// MESH_SHAPE type not supported in OPAL XML.
  			else
--- 1277,1295 ----
  				planeData->abcd[3] = getAttributeReal(dimensionsNodePtr, "d");
  			}
! 			//else if ("ray" == type)
! 			//{
! 			//	RayShapeData* rayData = new RayShapeData();
! 			//	data = rayData;
! 			//	Point3r origin;
! 			//	origin[0] = getAttributeReal(dimensionsNodePtr, "originx");
! 			//	origin[1] = getAttributeReal(dimensionsNodePtr, "originy");
! 			//	origin[2] = getAttributeReal(dimensionsNodePtr, "originz");
! 			//	rayData->ray.setOrigin(origin);
! 			//	Vec3r dir;
! 			//	dir[0] = getAttributeReal(dimensionsNodePtr, "dirx");
! 			//	dir[1] = getAttributeReal(dimensionsNodePtr, "diry");
! 			//	dir[2] = getAttributeReal(dimensionsNodePtr, "dirz");
! 			//	rayData->ray.setDir(dir);
! 			//}
  			// MESH_SHAPE type not supported in OPAL XML.
  			else

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.41
retrieving revision 1.42
diff -C2 -d -r1.41 -r1.42
*** Simulator.cpp	3 Mar 2005 04:39:55 -0000	1.41
--- Simulator.cpp	5 Mar 2005 21:26:24 -0000	1.42
***************
*** 32,36 ****
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
- #include "RayShapeData.h"
  
  namespace opal
--- 32,35 ----
***************
*** 102,106 ****
  			// TODO: Call some user-defined function here...
  
! 			// Update sensors.
  			std::vector<Sensor*>::iterator sensorIter;
  			for (sensorIter = mSensorList.begin(); 
--- 101,105 ----
  			// TODO: Call some user-defined function here...
  
! 			// Update Sensors.
  			std::vector<Sensor*>::iterator sensorIter;
  			for (sensorIter = mSensorList.begin(); 
***************
*** 110,114 ****
  			}
  
! 			// Update motors.
  			std::vector<Motor*>::iterator motorIter;
  			for (motorIter = mMotorList.begin(); 
--- 109,113 ----
  			}
  
! 			// Update Motors.
  			std::vector<Motor*>::iterator motorIter;
  			for (motorIter = mMotorList.begin(); 
***************
*** 126,162 ****
  			}
  
! 			// Update joints, check for broken joints.
  			std::vector<Joint*>::iterator jointIter;
  			for (jointIter = mJointList.begin(); 
! 				jointIter != mJointList.end();)
  			{
! 				Joint* j = (*jointIter);
! 				j->internal_update();
! 
! 				// Don't automatically destroy the Joint anymore; just notify 
! 				// the user and let them handle it.
! 
! 				//if (j->internal_isBroken())
! 				//{
! 				//	// Send a Joint break event.
! 				//	j->internal_handleJointBreakEvent();
! 
! 				//	//// don't use Simulator::destroyJoint here because that would loop
! 				//	//// over the joints multiple times;
! 				//	//// swap the element to be deleted with the last element
! 				//	//std::swap(j, mJointList.back());
! 
! 				//	//// update iterator
! 				//	//(*jointIter) = j;
! 
! 				//	//// delete the last element
! 				//	//delete mJointList.back();
! 				//	//mJointList.pop_back();
! 				//	destroyJoint(j);
! 				//}
! 				//else
! 				//{
! 					++jointIter;
! 				//}
  			}
  
--- 125,136 ----
  			}
  
! 			// Update Joints.
  			std::vector<Joint*>::iterator jointIter;
  			for (jointIter = mJointList.begin(); 
! 				jointIter != mJointList.end(); ++jointIter)
  			{
! 				// If the Joint gets broken here, it will automatically 
! 				// send a Joint break event.
! 				(*jointIter)->internal_update();
  			}
  
***************
*** 353,365 ****
  							break;
  						}
! 						case RAY_SHAPE:
! 						{
! 							RayShapeData* rayData = 
! 								(RayShapeData*)shapeData;
! 							Point3r origin = rayData->ray.getOrigin();
! 							origin = scale * origin;
! 							rayData->ray.setOrigin(origin);
! 							break;
! 						}
  						case MESH_SHAPE:
  						{
--- 327,339 ----
  							break;
  						}
! 						//case RAY_SHAPE:
! 						//{
! 						//	RayShapeData* rayData = 
! 						//		(RayShapeData*)shapeData;
! 						//	Point3r origin = rayData->ray.getOrigin();
! 						//	origin = scale * origin;
! 						//	rayData->ray.setOrigin(origin);
! 						//	break;
! 						//}
  						case MESH_SHAPE:
  						{
***************
*** 572,575 ****
--- 546,567 ----
  	}
  
+ 	void Simulator::setupContactGroups(unsigned int group0, 
+ 		unsigned int group1, bool makeContacts)
+ 	{
+ 		// The interaction always goes both ways, so we need to set the bit 
+ 		// flags both ways.
+ 		unsigned long int group0Bit = 1 << group0;
+ 		unsigned long int group1Bit = 1 << group1;
+ 
+ 		if (makeContacts)
+ 		{
+ 			//m
+ 		}
+ 		else
+ 		{
+ 
+ 		}
+ 	}
+ 
  	void Simulator::destroySolid(Solid* s)
  	{
***************
*** 644,652 ****
  	}
  
! 	void Simulator::registerCustomMotor(Motor* m)
! 	{
! 		m->internal_setCustom(true);
! 		addMotor(m);
! 	}
  
  	void Simulator::destroyMotor(Motor* m)
--- 636,644 ----
  	}
  
! 	//void Simulator::registerCustomMotor(Motor* m)
! 	//{
! 	//	m->internal_setCustom(true);
! 	//	addMotor(m);
! 	//}
  
  	void Simulator::destroyMotor(Motor* m)
***************
*** 814,821 ****
  			if(mMotorList[i] == m)
  			{
! 				if (!m->internal_isCustom())
! 				{
! 					delete m;
! 				}
  				mMotorList[i] = mMotorList.back();
  				mMotorList.pop_back();
--- 806,814 ----
  			if(mMotorList[i] == m)
  			{
! 				//if (!m->internal_isCustom())
! 				//{
! 				//	delete m;
! 				//}
! 				delete m;
  				mMotorList[i] = mMotorList.back();
  				mMotorList.pop_back();

Index: SolidData.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/SolidData.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** SolidData.cpp	1 Mar 2005 05:04:22 -0000	1.2
--- SolidData.cpp	5 Mar 2005 21:26:24 -0000	1.3
***************
*** 31,35 ****
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
- #include "RayShapeData.h"
  #include "MeshShapeData.h"
  
--- 31,34 ----
***************
*** 87,95 ****
  				break;
  			}
! 			case RAY_SHAPE:
! 			{
! 				newShape = new RayShapeData((RayShapeData&)data);
! 				break;
! 			}
  			case MESH_SHAPE:
  			{
--- 86,94 ----
  				break;
  			}
! 			//case RAY_SHAPE:
! 			//{
! 			//	newShape = new RayShapeData((RayShapeData&)data);
! 			//	break;
! 			//}
  			case MESH_SHAPE:
  			{

Index: Motor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Motor.cpp,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** Motor.cpp	25 Feb 2005 06:40:26 -0000	1.14
--- Motor.cpp	5 Mar 2005 21:26:24 -0000	1.15
***************
*** 33,37 ****
  	{
  		// "mData" is initialized in its own constructor.
! 		mIsCustom = false;
  		mInitCalled = false;
  		setUserData(NULL);
--- 33,37 ----
  	{
  		// "mData" is initialized in its own constructor.
! 		//mIsCustom = false;
  		mInitCalled = false;
  		setUserData(NULL);
***************
*** 68,79 ****
  	}
  
! 	void Motor::internal_setCustom(bool c)
! 	{
! 		mIsCustom = c;
! 	}
  
! 	bool Motor::internal_isCustom()
! 	{
! 		return mIsCustom;
! 	}
  }
--- 68,79 ----
  	}
  
! 	//void Motor::internal_setCustom(bool c)
! 	//{
! 	//	mIsCustom = c;
! 	//}
  
! 	//bool Motor::internal_isCustom()
! 	//{
! 	//	return mIsCustom;
! 	//}
  }

[Opal-commits] opal/src/ODE ODESimulator.cpp,1.83,1.84 ODESolid.cpp,1.74,1.75

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5467/src/ODE

Modified Files:
	ODESimulator.cpp ODESolid.cpp 
Log Message:
removed the Ray Shape; it should only be used for raycasting, not as an actual Shape attached to Solids

Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.83
retrieving revision 1.84
diff -C2 -d -r1.83 -r1.84
*** ODESimulator.cpp	4 Mar 2005 05:09:24 -0000	1.83
--- ODESimulator.cpp	5 Mar 2005 21:26:24 -0000	1.84
***************
*** 337,344 ****
  				if (solid0->getEventHandler() || solid1->getEventHandler())
  				{
! 					// Call the event handlers - they will return true if 
! 					// they want contacts generated.  Note: we only want up to 
! 					// two events per object/object collision; just use the 
! 					// first contact to pass data to the event handlers.
  
  					CollisionEvent e;
--- 337,346 ----
  				if (solid0->getEventHandler() || solid1->getEventHandler())
  				{
! 					// Call the event handlers.  Note: we only use one 
! 					// contact point per collision; just use the first one 
! 					// in the contact array.  The order of the Solids 
! 					// passed to the event handlers is important: the first 
! 					// one should be the one whose event handler is 
! 					// getting called.
  
  					CollisionEvent e;
***************
*** 762,766 ****
  		result.distance = mRaycastResult.distance;
  
! 		// finished with ray, so destroy it
  		dGeomDestroy(rayGeomID);
  
--- 764,768 ----
  		result.distance = mRaycastResult.distance;
  
! 		// Finished with ODE ray, so destroy it.
  		dGeomDestroy(rayGeomID);
  

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.74
retrieving revision 1.75
diff -C2 -d -r1.74 -r1.75
*** ODESolid.cpp	4 Mar 2005 23:26:54 -0000	1.74
--- ODESolid.cpp	5 Mar 2005 21:26:24 -0000	1.75
***************
*** 32,36 ****
  #include "../CapsuleShapeData.h"
  #include "../PlaneShapeData.h"
- #include "../RayShapeData.h"
  #include "../MeshShapeData.h"
  
--- 32,35 ----
***************
*** 337,343 ****
  							// Planes have no mass.
  							break;
! 						case RAY_SHAPE:
! 							// Rays have no mass.
! 							break;
  						case MESH_SHAPE:
  							// Not implemented.
--- 336,342 ----
  							// Planes have no mass.
  							break;
! 						//case RAY_SHAPE:
! 						//	// Rays have no mass.
! 						//	break;
  						case MESH_SHAPE:
  							// Not implemented.
***************
*** 580,596 ****
  				break;
  			}
! 			case RAY_SHAPE:
! 			{
! 				RayShapeData& rayData = (RayShapeData&)data;
! 				newGeomID = dCreateRay(spaceID, 
! 					(dReal)rayData.ray.getLength());
! 				Point3r origin = rayData.ray.getOrigin();
! 				Vec3r dir = rayData.ray.getDir();
! 				dGeomRaySet(newGeomID, (dReal)origin[0], (dReal)origin[1], 
! 					(dReal)origin[2], (dReal)dir[0], (dReal)dir[1], 
! 					(dReal)dir[2]);
! 				// Note: rays don't have mass.
! 				break;
! 			}
  #ifdef OPAL_USE_MESH
  			case MESH_SHAPE:
--- 579,595 ----
  				break;
  			}
! 			//case RAY_SHAPE:
! 			//{
! 			//	RayShapeData& rayData = (RayShapeData&)data;
! 			//	newGeomID = dCreateRay(spaceID, 
! 			//		(dReal)rayData.ray.getLength());
! 			//	Point3r origin = rayData.ray.getOrigin();
! 			//	Vec3r dir = rayData.ray.getDir();
! 			//	dGeomRaySet(newGeomID, (dReal)origin[0], (dReal)origin[1], 
! 			//		(dReal)origin[2], (dReal)dir[0], (dReal)dir[1], 
! 			//		(dReal)dir[2]);
! 			//	// Note: rays don't have mass.
! 			//	break;
! 			//}
  #ifdef OPAL_USE_MESH
  			case MESH_SHAPE:

[Opal-commits] opal/vc7 opal-ode.vcproj,1.14,1.15

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

Update of /cvsroot/opal/opal/vc7
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5467/vc7

Modified Files:
	opal-ode.vcproj 
Log Message:
removed the Ray Shape; it should only be used for raycasting, not as an actual Shape attached to Solids

Index: opal-ode.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/vc7/opal-ode.vcproj,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** opal-ode.vcproj	4 Mar 2005 23:26:55 -0000	1.14
--- opal-ode.vcproj	5 Mar 2005 21:26:24 -0000	1.15
***************
*** 225,231 ****
  			</File>
  			<File
- 				RelativePath="..\src\RayShapeData.h">
- 			</File>
- 			<File
  				RelativePath="..\src\Sensor.h">
  			</File>
--- 225,228 ----

[Opal-commits] opal readme.txt,1.35,1.36 todo.txt,1.49,1.50

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

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5467

Modified Files:
	readme.txt todo.txt 
Log Message:
removed the Ray Shape; it should only be used for raycasting, not as an actual Shape attached to Solids

Index: todo.txt
===================================================================
RCS file: /cvsroot/opal/opal/todo.txt,v
retrieving revision 1.49
retrieving revision 1.50
diff -C2 -d -r1.49 -r1.50
*** todo.txt	4 Mar 2005 23:26:53 -0000	1.49
--- todo.txt	5 Mar 2005 21:26:23 -0000	1.50
***************
*** 2,9 ****
  =================
  
! * look at scons dylib-building problem on os x
  
! * add scons examples to readme
! 	- mention that paths might need to be full paths
  
  * fix memory allocation across dll boundary
--- 2,10 ----
  =================
  
! * remove ray and plane from the usual set of shapes?
! 	- Simulator::createPlane; this might cause problems since the plane needs Material, collision group, etc.
! 	- ray is just used for raycasting anyway, it'll be used in the raycast sensor
  
! * look at scons dylib-building problem on os x
  
  * fix memory allocation across dll boundary
***************
*** 25,39 ****
  
  * reenable collision detection for static-static, static-sleeping cases (or have an option)
  
  * make trimeshes work
  
- * get rid of custom motors?
- 	- for one thing, we can't use them in xml
- 
  For Version 0.4.0
  =================
  
- * custom sensors?
- 
  * search and replace existing assert() calls
  	- fatal errors print a message and assert
--- 26,36 ----
  
  * reenable collision detection for static-static, static-sleeping cases (or have an option)
+ 	- solution: probably use collision groups for this
  
  * make trimeshes work
  
  For Version 0.4.0
  =================
  
  * search and replace existing assert() calls
  	- fatal errors print a message and assert
***************
*** 46,54 ****
  		- 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)
! 	- ContactSensor
! 		- hold a queue of contact events (attach to a solid, to a single shape, or to nothing?)
  		- use callback functions
  		- user-derived class
  		- vital part of "trigger volumes"
  	- VelocitySensor: linear vel (i.e. "velocimeter") and/or angular vel ("gyroscope") sensor
  	- AccelerationSensor (i.e. "accelerometer"): linear and/or angular acceleration sensor
--- 43,54 ----
  		- 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)
! 	- CollisionSensor
! 		- hold a queue of collision events (attach to a solid, to a single shape, or to nothing?)
  		- use callback functions
  		- user-derived class
  		- vital part of "trigger volumes"
+ 		- not available in XML because they're derived; ignore these when saving and loading
+ 	- JointBreakSensor
+ 		- not available in XML because they're derived; ignore these when saving and loading
  	- VelocitySensor: linear vel (i.e. "velocimeter") and/or angular vel ("gyroscope") sensor
  	- AccelerationSensor (i.e. "accelerometer"): linear and/or angular acceleration sensor
***************
*** 73,76 ****
--- 73,80 ----
  * 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?
+ 
  Build System
  ============

Index: readme.txt
===================================================================
RCS file: /cvsroot/opal/opal/readme.txt,v
retrieving revision 1.35
retrieving revision 1.36
diff -C2 -d -r1.35 -r1.36
*** readme.txt	3 Feb 2005 21:07:56 -0000	1.35
--- readme.txt	5 Mar 2005 21:26:23 -0000	1.36
***************
*** 30,33 ****
--- 30,53 ----
  Use the provided SConstruct (on any platform) to build a shared library for OPAL.  A target physics engine is required (e.g. "scons ODE").  Type "scons -h" to get a description of targets and build options.  The "install" target can be used to copy the headers and compiled library to some user-defined location.
  
+ For example, to build the OPAL library with ODE support, type:
+ 
+ scons ODE
+ 
+ This should generate opal-ode.so or opal-ode.dll, depending on the platform.  Note that it builds the optimized version by default.  To build the debug version without XML support, type:
+ 
+ scons ODE debug=true XML=false
+ 
+ You can specify additional include and library paths like this:
+ 
+ scons ODE extra_include_path=/path/to/includes extra_lib_path=/path/to/libs
+ 
+ Finally, to install the OPAL headers and library, do this:
+ 
+ scons ODE install prefix=/path/to/install/dir
+ 
+ This will create "include" and "lib" directories if they don't exist in the given prefix.  The "install" will automatically make sure the built library is up-to-date.  You can actually just type "scons ODE install prefix=/path/to/install/dir" to have SCons build and install everything.
+ 
+ Be aware that any paths used here should be full paths, not relative ones.
+ 
  
  ------------------------------------

[Opal-commits] opal/src/ODE ODEJoint.h,1.30,1.31 ODESolid.cpp,1.73,1.74 ODESolid.h,1.63,1.64

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

Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv21757/src/ODE

Modified Files:
	ODEJoint.h ODESolid.cpp ODESolid.h 
Log Message:
added a define to conditionally compile mesh support (mainly for ODE on IRIX which can't use trimeshes); removed some old commented-out code

Index: ODEJoint.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODEJoint.h,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -d -r1.30 -r1.31
*** ODEJoint.h	26 Feb 2005 10:22:24 -0000	1.30
--- ODEJoint.h	4 Mar 2005 23:26:54 -0000	1.31
***************
*** 57,64 ****
  		virtual void OPAL_CALL setLimitsEnabled(int axisNum, bool e);
  
- 		//virtual void OPAL_CALL setLimits(int axisNum, JointLimits l);
- 
- 		//virtual const JointLimits& OPAL_CALL getLimits(int axisNum)const;
- 
  		virtual void OPAL_CALL setEnabled(bool e);
  
--- 57,60 ----
***************
*** 87,94 ****
  		void setJointParam(int parameter, dReal value);
  
- 		/// Helper function to make it easier to get parameters for 
- 		/// various ODE Joint types.
- 		//real getJointParam(int parameter)const;
- 
  		/// Returns the current amount of stress on this Joint.
  		virtual real calcStress();
--- 83,86 ----

Index: ODESolid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.h,v
retrieving revision 1.63
retrieving revision 1.64
diff -C2 -d -r1.63 -r1.64
*** ODESolid.h	25 Feb 2005 06:40:26 -0000	1.63
--- ODESolid.h	4 Mar 2005 23:26:54 -0000	1.64
***************
*** 47,51 ****
--- 47,53 ----
  			spaceID = 0;
  			transformID = 0;
+ #ifdef OPAL_USE_MESH
  			trimeshDataID = 0;
+ #endif
  		}
  
***************
*** 55,59 ****
--- 57,63 ----
  		dSpaceID spaceID;
  		dGeomID transformID;
+ #ifdef OPAL_USE_MESH
  		dTriMeshDataID trimeshDataID; // only used for Solids with trimeshes
+ #endif
  	};
  
***************
*** 83,115 ****
  		virtual void OPAL_CALL addShape(const ShapeData& data);
  
- 		//virtual void OPAL_CALL addBox(const Vec3r& dimensions, 
- 		//	const Matrix44r& offset = Matrix44r(), 
- 		//	const Material& m = defaults::material);
- 
- 		//virtual void OPAL_CALL addSphere(real radius, 
- 		//	const Matrix44r& offset = Matrix44r(), 
- 		//	const Material& m = defaults::material);
- 
- 		//virtual void OPAL_CALL addPlane(real abcd[4], 
- 		//	const Material& m = defaults::material);
- 
- 		////note: normal cylinders are not yet part of standard ODE
- 		////virtual void addCylinder(real radius, real length, 
- 		////	const Matrix44r& offset = Matrix44r(), 
- 		////	const Material& m = defaults::material);
- 
- 		//virtual void OPAL_CALL addCapsule(real radius, real length, 
- 		//	const Matrix44r& offset = Matrix44r(), 
- 		//	const Material& m = defaults::material);
- 
- 		//virtual void OPAL_CALL addRay(const Point3r& origin, const Vec3r& dir, 
- 		//	real length, const Matrix44r& offset = Matrix44r(), 
- 		//	const Material& m = defaults::material);
- 		//
- 		//virtual void OPAL_CALL addMesh(const real* vertexArray[3], 
- 		//	int numVertices, const int* faceArray, int numFaces, 
- 		//	const Matrix44r& offset = Matrix44r(), 
- 		//	const Material& m = defaults::material);
- 
  		virtual void OPAL_CALL setLocalLinearVel(const Vec3r& vel);
  
--- 87,90 ----

Index: ODESolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESolid.cpp,v
retrieving revision 1.73
retrieving revision 1.74
diff -C2 -d -r1.73 -r1.74
*** ODESolid.cpp	1 Mar 2005 05:04:23 -0000	1.73
--- ODESolid.cpp	4 Mar 2005 23:26:54 -0000	1.74
***************
*** 82,85 ****
--- 82,86 ----
  			}
  
+ #ifdef OPAL_USE_MESH
  			if (0 != mGeomDataList.back()->trimeshDataID)
  			{
***************
*** 89,92 ****
--- 90,94 ----
  				dGeomTriMeshDataDestroy(mGeomDataList.back()->trimeshDataID);
  			}
+ #endif
  
  			// Destroy the ODE geom.
***************
*** 338,342 ****
  							// Rays have no mass.
  							break;
! 						// TODO: add MESH_SHAPE type
  						default:
  							assert(false);
--- 340,346 ----
  							// Rays have no mass.
  							break;
! 						case MESH_SHAPE:
! 							// Not implemented.
! 							break;
  						default:
  							assert(false);
***************
*** 480,484 ****
--- 484,492 ----
  		dGeomID newGeomID = NULL;
  		dGeomID newTransformID = NULL;
+ 
+ #ifdef OPAL_USE_MESH
  		dTriMeshDataID newTrimeshDataID = NULL;
+ #endif
+ 
  		dSpaceID spaceID = NULL;
  		dMass newMass;
***************
*** 487,492 ****
  		{
  			// No offset transform.
- 			//newGeomID = dCreateBox(mSpaceID, dimensions[0], dimensions[1], 
- 			//	dimensions[2]);
  			spaceID = mSpaceID;
  			newTransformID = 0;
--- 495,498 ----
***************
*** 495,500 ****
  		{
  			// Use ODE's geom transform object.
- 			//newGeomID = dCreateBox(0, dimensions[0], dimensions[1], 
- 			//	dimensions[2]);
  			spaceID = 0;
  			newTransformID = dCreateGeomTransform(mSpaceID);
--- 501,504 ----
***************
*** 534,542 ****
  					(dReal)capsuleData.radius, (dReal)capsuleData.length);
  
! 				//The "direction" parameter orients the mass along one of the 
! 				//body's local axes; x=1, y=2, z=3.  TODO: This might be weird 
! 				//if this capsule is not oriented along one of the body's axes.  
! 				//Maybe have a default value in the Simulator that the user can 
! 				//change.
  				dMassSetCappedCylinder(&newMass, (dReal)data.material.density, 
  					3, (dReal)capsuleData.radius, (dReal)capsuleData.length);
--- 538,546 ----
  					(dReal)capsuleData.radius, (dReal)capsuleData.length);
  
! 				// The "direction" parameter orients the mass along one of the 
! 				// body's local axes; x=1, y=2, z=3.  TODO: This might be weird 
! 				// if this capsule is not oriented along one of the body's axes.  
! 				// Maybe have a default value in the Simulator that the user can 
! 				// change.
  				dMassSetCappedCylinder(&newMass, (dReal)data.material.density, 
  					3, (dReal)capsuleData.radius, (dReal)capsuleData.length);
***************
*** 548,553 ****
  				if (!mData.isStatic)
  				{
! 					// TODO: print warning: opal::ODESolid::addPlane: plane 
! 					// Shape added to a non-static Solid.
  
  					// ODE planes can't have bodies, so make it static.
--- 552,558 ----
  				if (!mData.isStatic)
  				{
! 					OPAL_LOGGER("warning") << "opal::ODESolid::addPlane: " << 
! 					"Plane Shape added to a non-static Solid.  " << 
! 					"The Solid will be made static." << std::endl;
  
  					// ODE planes can't have bodies, so make it static.
***************
*** 588,591 ****
--- 593,597 ----
  				break;
  			}
+ #ifdef OPAL_USE_MESH
  			case MESH_SHAPE:
  			{
***************
*** 607,610 ****
--- 613,617 ----
  				break;
  			}
+ #endif
  			default:
  				assert(false);
***************
*** 623,627 ****
--- 630,637 ----
  		newGeomData->transformID = newTransformID;
  		newGeomData->spaceID = mSpaceID;
+ 
+ #ifdef OPAL_USE_MESH
  		newGeomData->trimeshDataID = newTrimeshDataID;
+ #endif
  
  		// Setup the geom.
***************
*** 629,915 ****
  	}
  
- 	//void ODESolid::addBox(const Vec3r& dimensions, const Matrix44r& offset, 
- 	//	const Material& m)
- 	//{
- 	//	dGeomID newGeomID;
- 	//	dGeomID newTransformID;
- 
- 	//	if(Matrix44r() == offset)
- 	//	{
- 	//		//no offset transform
- 	//		newGeomID = dCreateBox(mSpaceID, dimensions[0], dimensions[1], 
- 	//			dimensions[2]);
- 	//		newTransformID = 0;
- 	//	}
- 	//	else
- 	//	{
- 	//		//use ODE's geom transform object
- 	//		newGeomID = dCreateBox(0, dimensions[0], dimensions[1], 
- 	//			dimensions[2]);
- 	//		newTransformID = dCreateGeomTransform(mSpaceID);
- 	//	}
- 
- 	//	if (!mStatic)
- 	//	{
- 	//		//setup new mass
- 	//		dMass newMass;
- 	//		dMassSetBox(&newMass, m.density, dimensions[0], dimensions[1], 
- 	//			dimensions[2]);
- 	//		addMass(newMass, offset);
- 	//	}
- 
- 	//	GeomData* newGeomData = new GeomData;
- 
- 	//	newGeomData->solid = this;
- 	//	newGeomData->geomID = newGeomID;
- 	//	newGeomData->transformID = newTransformID;
- 	//	newGeomData->spaceID = mSpaceID;
- 	//	newGeomData->shape.type = BOX_SHAPE;
- 	//	newGeomData->shape.material = m;
- 	//	newGeomData->shape.offset = offset;
- 	//	newGeomData->shape.dimensions[0] = dimensions[0];
- 	//	newGeomData->shape.dimensions[1] = dimensions[1];
- 	//	newGeomData->shape.dimensions[2] = dimensions[2];
- 
- 	//	setupNewGeom(newGeomData);
- 	//}
- 
- 	//void ODESolid::addSphere(real radius, const Matrix44r& offset, 
- 	//	const Material& m)
- 	//{
- 	//	dGeomID newGeomID;
- 	//	dGeomID newTransformID;
- 
- 	//	if(Matrix44r() == offset)
- 	//	{
- 	//		//no offset transform
- 	//		newGeomID = dCreateSphere(mSpaceID, radius);
- 	//		newTransformID = 0;
- 	//	}
- 	//	else
- 	//	{
- 	//		//use ODE's geom transform object
- 	//		newGeomID = dCreateSphere(0, radius);
- 	//		newTransformID = dCreateGeomTransform(mSpaceID);
- 	//	}
- 
- 	//	if (!mStatic)
- 	//	{
- 	//		//setup new mass
- 	//		dMass newMass;
- 	//		dMassSetSphere(&newMass, m.density, radius);
- 	//		addMass(newMass, offset);
- 	//	}
- 
- 	//	GeomData* newGeomData = new GeomData;
- 
- 	//	newGeomData->solid = this;
- 	//	newGeomData->geomID = newGeomID;
- 	//	newGeomData->transformID = newTransformID;
- 	//	newGeomData->spaceID = mSpaceID;
- 	//	newGeomData->shape.type = SPHERE_SHAPE;
- 	//	newGeomData->shape.material = m;
- 	//	newGeomData->shape.offset = offset;
- 	//	newGeomData->shape.dimensions[0] = radius;
- 
- 	//	setupNewGeom(newGeomData);
- 	//}
- 
- 	//void ODESolid::addPlane(real abcd[4], const Material& m)
- 	//{
- 	//	//TODO: figure out what to do with ODE planes; setting their transform
- 	//	//crashes since ODE planes can't be moved
- 
- 	//	if (!mStatic)
- 	//	{
- 	//		std::cout << "Error in opal::ODESolid::addPlane: Plane shape \
- 	//					 added to a non-static solid" << std::endl;
- 
- 	//		//ODE planes can't have bodies
- 	//		assert(false);
- 	//	}
- 
- 	//	dGeomID newGeomID;
- 
- 	//	// ODE planes must have their normal vector (abc) normalized
- 	//	Vec3r normal(abcd[0], abcd[1], abcd[2]);
- 	//	normal.normalize();
- 	//	abcd[0] = normal[0];
- 	//	abcd[1] = normal[1];
- 	//	abcd[2] = normal[2];
- 
- 	//	//no offset transform
- 	//	newGeomID = dCreatePlane(mSpaceID, abcd[0], abcd[1], abcd[2], 
- 	//		abcd[3]);
- 
- 	//	// note: no mass for this object since planes can't have mass
- 
- 	//	mIsPlaceable = false;
- 
- 	//	GeomData* newGeomData = new GeomData;
- 
- 	//	newGeomData->solid = this;
- 	//	newGeomData->geomID = newGeomID;
- 	//	newGeomData->transformID = 0;
- 	//	newGeomData->spaceID = mSpaceID;
- 	//	newGeomData->shape.type = PLANE_SHAPE;
- 	//	newGeomData->shape.material = m;
- 	//	newGeomData->shape.offset.makeIdentity();
- 	//	newGeomData->shape.dimensions[0] = abcd[0];
- 	//	newGeomData->shape.dimensions[1] = abcd[1];
- 	//	newGeomData->shape.dimensions[2] = abcd[2];
- 	//	newGeomData->shape.dimensions[3] = abcd[3];
- 
- 	//	setupNewGeom(newGeomData);
- 	//}
- 
- 	//void ODESolid::addCapsule(real radius, real length, 
- 	//	const Matrix44r& offset, const Material& m)
- 	//{
- 	//	dGeomID newGeomID;
- 	//	dGeomID newTransformID;
- 
- 	//	if(Matrix44r() == offset)
- 	//	{
- 	//		//no offset transform
- 	//		newGeomID = dCreateCCylinder(mSpaceID, radius, length);
- 	//		newTransformID = 0;
- 	//	}
- 	//	else
- 	//	{
- 	//		//use ODE's geom transform object
- 	//		newGeomID = dCreateCCylinder(0, radius, length);
- 	//		newTransformID = dCreateGeomTransform(mSpaceID);
- 	//	}
- 
- 	//	if (!mStatic)
- 	//	{
- 	//		//setup new mass
- 	//		dMass newMass;
- 	//		// The "direction" parameter orients the mass along one of the 
- 	//		// body's local axes; x=1, y=2, z=3.  TODO: This might be weird 
- 	//		// if this capsule is not oriented along one of the body's axes.  
- 	//		// Maybe have a default value in the Simulator that the user can 
- 	//		// change.
- 	//		dMassSetCappedCylinder(&newMass, m.density, 3, radius, length);
- 	//		addMass(newMass, offset);
- 	//	}
- 
- 	//	GeomData* newGeomData = new GeomData;
- 
- 	//	newGeomData->solid = this;
- 	//	newGeomData->geomID = newGeomID;
- 	//	newGeomData->transformID = newTransformID;
- 	//	newGeomData->spaceID = mSpaceID;
- 	//	newGeomData->shape.type = CAPSULE_SHAPE;
- 	//	newGeomData->shape.material = m;
- 	//	newGeomData->shape.offset = offset;
- 	//	newGeomData->shape.dimensions[0] = radius;
- 	//	newGeomData->shape.dimensions[1] = length;
- 
- 	//	setupNewGeom(newGeomData);
- 	//}
- 
- 	//void ODESolid::addRay(const Point3r& origin, const Vec3r& dir, 
- 	//	real length, const Matrix44r& offset, const Material& m)
- 	//{
- 	//	dGeomID newGeomID;
- 	//	dGeomID newTransformID;
- 
- 	//	if(Matrix44r() == offset)
- 	//	{
- 	//		//no offset transform
- 	//		newGeomID = dCreateRay(mSpaceID, length);
- 	//		dGeomRaySet(newGeomID, origin[0], origin[1], origin[2], dir[0], 
- 	//			dir[1], dir[2]);
- 	//		newTransformID = 0;
- 	//	}
- 	//	else
- 	//	{
- 	//		//use ODE's geom transform object
- 	//		newGeomID = dCreateRay(0, length);
- 	//		dGeomRaySet(newGeomID, origin[0], origin[1], origin[2], dir[0], 
- 	//			dir[1], dir[2]);
- 	//		newTransformID = dCreateGeomTransform(mSpaceID);
- 	//	}
- 
- 	//	//note: no mass for this object since rays can't have mass
- 
- 	//	GeomData* newGeomData = new GeomData;
- 
- 	//	newGeomData->solid = this;
- 	//	newGeomData->geomID = newGeomID;
- 	//	newGeomData->transformID = newTransformID;
- 	//	newGeomData->spaceID = mSpaceID;
- 	//	newGeomData->shape.type = RAY_SHAPE;
- 	//	newGeomData->shape.material = m;
- 	//	newGeomData->shape.offset = offset;
- 	//	newGeomData->shape.dimensions[0] = origin[0];
- 	//	newGeomData->shape.dimensions[1] = origin[1];
- 	//	newGeomData->shape.dimensions[2] = origin[2];
- 	//	newGeomData->shape.dimensions[3] = dir[3];
- 	//	newGeomData->shape.dimensions[4] = dir[4];
- 	//	newGeomData->shape.dimensions[5] = dir[5];
- 	//	newGeomData->shape.dimensions[6] = length;
- 
- 	//	setupNewGeom(newGeomData);
- 	//}
- 
- 	//void ODESolid::addMesh(const real* vertexArray[3], int numVertices, 
- 	//	const int* faceArray, int numFaces, const Matrix44r& offset, 
- 	//	const Material& m)
- 	//{
- 	//	dGeomID newGeomID;
- 	//	dGeomID newTransformID;
- 	//	dTriMeshDataID newTrimeshDataID;
- 
- 	//	// Setup trimesh data pointer.  It is critical that the size of OPAL 
- 	//	// reals at this point match the size of ODE's dReals.
- 	//	newTrimeshDataID = dGeomTriMeshDataCreate();
- 	//	dGeomTriMeshDataBuildSimple(newTrimeshDataID, (dReal*)vertexArray, 
- 	//		numVertices, faceArray, numFaces*3);
- 
- 	//	if(Matrix44r() == offset)
- 	//	{
- 	//		//no offset transform
- 	//		newGeomID = dCreateTriMesh(mSpaceID, newTrimeshDataID, NULL, 
- 	//			NULL, NULL);
- 	//		newTransformID = 0;
- 	//	}
- 	//	else
- 	//	{
- 	//		//use ODE's geom transform object
- 	//		newGeomID = dCreateTriMesh(0, newTrimeshDataID, NULL, NULL, NULL);
- 	//		newTransformID = dCreateGeomTransform(mSpaceID);
- 	//	}
- 
- 	//	if (!mStatic)
- 	//	{
- 	//		// TODO: either do more sophisticated mass calculations, or just 
- 	//		// enforce that all mesh must be static
- 
- 	//		// setup new mass
- 	//		dMass newMass;
- 	//		dMassSetSphere(&newMass, m.density, 1);
- 	//		addMass(newMass, offset);
- 	//	}
- 
- 	//	GeomData* newGeomData = new GeomData;
- 
- 	//	newGeomData->solid = this;
- 	//	newGeomData->geomID = newGeomID;
- 	//	newGeomData->transformID = newTransformID;
- 	//	newGeomData->spaceID = mSpaceID;
- 	//	newGeomData->shape.type = MESH_SHAPE;
- 	//	newGeomData->shape.material = m;
- 	//	newGeomData->shape.offset = offset;
- 	//	newGeomData->trimeshDataID = newTrimeshDataID;
- 
- 	//	// TODO: calculate trimesh dimensions (extents) and store them in the 
- 	//	// geom data struct dimensions
- 
- 	//	setupNewGeom(newGeomData);
- 	//}
- 
  	void ODESolid::setLocalLinearVel(const Vec3r& vel)
  	{
--- 639,642 ----