opal-commits — Mailing list for CVS commit messages.

[Opal-commits] opal/kdevelop opal.kdevelop,1.5,1.6

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/kdevelop
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19716/kdevelop

Modified Files:
	opal.kdevelop 
Log Message:
Fixed some warnings.


Index: opal.kdevelop
===================================================================
RCS file: /cvsroot/opal/opal/kdevelop/opal.kdevelop,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** opal.kdevelop	2 Dec 2005 05:47:20 -0000	1.5
--- opal.kdevelop	7 Dec 2005 00:44:49 -0000	1.6
***************
*** 14,18 ****
      <projectdirectory>.</projectdirectory>
      <absoluteprojectpath>false</absoluteprojectpath>
!     <description></description>
      <versioncontrol/>
    </general>
--- 14,18 ----
      <projectdirectory>.</projectdirectory>
      <absoluteprojectpath>false</absoluteprojectpath>
!     <description/>
      <versioncontrol/>
    </general>
***************
*** 48,63 ****
          <cxxcompiler>kdevgppoptions</cxxcompiler>
          <f77compiler>kdevg77options</f77compiler>
!         <cxxflags>-O0 -g3 -Wall</cxxflags>
          <envvars>
            <envvar value="ccache g++" name="CXX" />
          </envvars>
!         <topsourcedir></topsourcedir>
!         <cppflags></cppflags>
          <ldflags>-lode</ldflags>
!         <ccompilerbinary></ccompilerbinary>
!         <cxxcompilerbinary></cxxcompilerbinary>
!         <f77compilerbinary></f77compilerbinary>
!         <cflags></cflags>
!         <f77flags></f77flags>
        </debug>
      </configurations>
--- 48,63 ----
          <cxxcompiler>kdevgppoptions</cxxcompiler>
          <f77compiler>kdevg77options</f77compiler>
!         <cxxflags>-O0 -g3 -Wall --pedantic</cxxflags>
          <envvars>
            <envvar value="ccache g++" name="CXX" />
          </envvars>
!         <topsourcedir/>
!         <cppflags/>
          <ldflags>-lode</ldflags>
!         <ccompilerbinary/>
!         <cxxcompilerbinary/>
!         <f77compilerbinary/>
!         <cflags/>
!         <f77flags/>
        </debug>
      </configurations>
***************
*** 173,177 ****
      </codecompletion>
      <creategettersetter>
!       <prefixGet></prefixGet>
        <prefixSet>set</prefixSet>
        <prefixVariable>m_,_</prefixVariable>
--- 173,177 ----
      </codecompletion>
      <creategettersetter>
!       <prefixGet/>
        <prefixSet>set</prefixSet>
        <prefixVariable>m_,_</prefixVariable>
***************
*** 194,203 ****
    <kdevdebugger>
      <general>
!       <programargs></programargs>
!       <gdbpath></gdbpath>
!       <dbgshell></dbgshell>
!       <configGdbScript></configGdbScript>
!       <runShellScript></runShellScript>
!       <runGdbScript></runGdbScript>
        <breakonloadinglibs>true</breakonloadinglibs>
        <separatetty>false</separatetty>
--- 194,203 ----
    <kdevdebugger>
      <general>
!       <programargs/>
!       <gdbpath/>
!       <dbgshell/>
!       <configGdbScript/>
!       <runShellScript/>
!       <runGdbScript/>
        <breakonloadinglibs>true</breakonloadinglibs>
        <separatetty>false</separatetty>

[Opal-commits] opal/src Defines.h,1.79,1.80

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19716/src

Modified Files:
	Defines.h 
Log Message:
Fixed some warnings.


Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.79
retrieving revision 1.80
diff -C2 -d -r1.79 -r1.80
*** Defines.h	1 Dec 2005 02:04:54 -0000	1.79
--- Defines.h	7 Dec 2005 00:44:49 -0000	1.80
***************
*** 243,247 ****
  		/// The highest value that can be used for the Simulator's
  		/// max contacts parameter.
! 		const unsigned int maxMaxContacts=(int)128;
  
  		// Pre-defined material settings
--- 243,247 ----
  		/// The highest value that can be used for the Simulator's
  		/// max contacts parameter.
! 		const unsigned int maxMaxContacts = 128;
  
  		// Pre-defined material settings

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

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19716

Modified Files:
	changelog.txt 
Log Message:
Fixed some warnings.


Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.57
retrieving revision 1.58
diff -C2 -d -r1.57 -r1.58
*** changelog.txt	2 Dec 2005 05:47:20 -0000	1.57
--- changelog.txt	7 Dec 2005 00:44:49 -0000	1.58
***************
*** 15,18 ****
--- 15,20 ----
  ------------------------------------------
  
+ 	* 12-6-05: Fixed some warnings. (Oleksandr Lozitskiy)
+ 
  	* 12-2-05: Fixes in ServoMotor, Vec3r to handle float point errors.
  	Updated unit test framework. (Oleksandr Lozitskiy)

[Opal-commits] opal/vc8 opal-ode.vcproj,1.3,1.4

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/vc8
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22357/vc8

Modified Files:
	opal-ode.vcproj 
Log Message:
Removed user-specific directories.

Index: opal-ode.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/vc8/opal-ode.vcproj,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** opal-ode.vcproj	4 Dec 2005 03:27:11 -0000	1.3
--- opal-ode.vcproj	4 Dec 2005 16:40:55 -0000	1.4
***************
*** 45,50 ****
  				EnableIntrinsicFunctions="false"
  				FavorSizeOrSpeed="0"
! 				AdditionalIncludeDirectories=""C:\Olex\work\ode-0.5\include""
! 				PreprocessorDefinitions="WIN32;_DEBUG;_LIB;OPAL_DLL_EXPORTING"
  				MinimalRebuild="true"
  				BasicRuntimeChecks="0"
--- 45,50 ----
  				EnableIntrinsicFunctions="false"
  				FavorSizeOrSpeed="0"
! 				AdditionalIncludeDirectories=""
! 				PreprocessorDefinitions="WIN32;_DEBUG;_LIB;OPAL_DLL_EXPORTING;OPAL_USE_DOUBLE"
  				MinimalRebuild="true"
  				BasicRuntimeChecks="0"
***************
*** 125,130 ****
  				EnableIntrinsicFunctions="true"
  				FavorSizeOrSpeed="1"
! 				AdditionalIncludeDirectories=""C:\Olex\work\ode-0.5\include""
! 				PreprocessorDefinitions="WIN32;NDEBUG;_LIB;OPAL_DLL_EXPORTING"
  				RuntimeLibrary="2"
  				UsePrecompiledHeader="0"
--- 125,130 ----
  				EnableIntrinsicFunctions="true"
  				FavorSizeOrSpeed="1"
! 				AdditionalIncludeDirectories=""
! 				PreprocessorDefinitions="WIN32;NDEBUG;_LIB;OPAL_DLL_EXPORTING;OPAL_USE_DOUBLE"
  				RuntimeLibrary="2"
  				UsePrecompiledHeader="0"

[Opal-commits] opal/src Mass.h,1.1,1.2 Point3r.h,1.15,1.16 Quaternion.h,1.12,1.13 Vec3r.cpp,1.3,1.4 Vec3r.h,1.18,1.19 testQuaternion.cpp,1.3,1.4 testVec3r.cpp,1.3,1.4

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31572/src

Modified Files:
	Mass.h Point3r.h Quaternion.h Vec3r.cpp Vec3r.h 
	testQuaternion.cpp testVec3r.cpp 
Log Message:
Updated vc8 project files. MSVC fixes.

Index: Vec3r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Vec3r.h,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** Vec3r.h	30 Nov 2005 06:28:12 -0000	1.18
--- Vec3r.h	4 Dec 2005 03:27:11 -0000	1.19
***************
*** 31,34 ****
--- 31,35 ----
  // project headers
  #include "OpalMath.h"
+ #include "Portability.h"
  
  // system headers
***************
*** 63,67 ****
  
      /// Returns true if the two vectors are roughly collinear.
!     bool areCollinear( const Vec3r& u, const Vec3r& v );
  
      /// Prints the Vec3r to the given output stream.
--- 64,68 ----
  
      /// Returns true if the two vectors are roughly collinear.
!     inline bool areCollinear( const Vec3r& u, const Vec3r& v );
  
      /// Prints the Vec3r to the given output stream.
***************
*** 81,125 ****
  
              /// default - (0,0,0)
!             Vec3r();
  
!             Vec3r( const Vec3r & src );
  
!             Vec3r( real xx, real yy, real zz );
  
!             Vec3r( const real * data );
  
!             void set( real xx, real yy, real zz );
  
!             void set( real * data );
  
!             real & operator[] ( unsigned int i );
  
!             const real & operator[] ( unsigned int i ) const;
  
!             real lengthSquared() const;
  
!             real length() const;
  
!             void normalize();
  
!             Vec3r unit() const;
  
!             void operator+=( const Vec3r & v );
  
!             void operator-=( const Vec3r & v );
  
!             void operator*=( const Vec3r & v );
  
!             void operator*=( real scalar );
  
!             void operator/=( real scalar );
  
!             void operator/=( const Vec3r & v );
  
!             bool operator==( const Vec3r & v );
  
!             bool operator!=( const Vec3r & v );
  
!             void operator=( const Vec3r & v );
      };
  
--- 82,126 ----
  
              /// default - (0,0,0)
!             OPAL_DECL Vec3r();
  
!             OPAL_DECL Vec3r( const Vec3r & src );
  
!             OPAL_DECL Vec3r( real xx, real yy, real zz );
  
!             OPAL_DECL Vec3r( const real * data );
  
!             OPAL_DECL void OPAL_CALL set( real xx, real yy, real zz );
  
!             OPAL_DECL void OPAL_CALL set( real * data );
  
!             OPAL_DECL real & OPAL_CALL operator[] ( unsigned int i );
  
!             OPAL_DECL const real & OPAL_CALL operator[] ( unsigned int i ) const;
  
!             OPAL_DECL real OPAL_CALL lengthSquared() const;
  
!             OPAL_DECL real OPAL_CALL length() const;
  
!             OPAL_DECL void OPAL_CALL normalize();
  
!             OPAL_DECL Vec3r OPAL_CALL unit() const;
  
!             OPAL_DECL void OPAL_CALL operator+=( const Vec3r & v );
  
!             OPAL_DECL void OPAL_CALL operator-=( const Vec3r & v );
  
!             OPAL_DECL void OPAL_CALL operator*=( const Vec3r & v );
  
!             OPAL_DECL void OPAL_CALL operator*=( real scalar );
  
!             OPAL_DECL void OPAL_CALL operator/=( real scalar );
  
!             OPAL_DECL void OPAL_CALL operator/=( const Vec3r & v );
  
!             OPAL_DECL bool OPAL_CALL operator==( const Vec3r & v );
  
!             OPAL_DECL bool OPAL_CALL operator!=( const Vec3r & v );
  
!             OPAL_DECL void OPAL_CALL operator=( const Vec3r & v );
      };
  
***************
*** 212,215 ****
--- 213,230 ----
      {
          return o << "[" << v.x << " " << v.y << " " << v.z << "]";
+     }	
+ 
+     bool areCollinear( const Vec3r & u, const Vec3r & v )
+     {
+         Vec3r a = u, b = v;
+         a.normalize();
+         b.normalize();
+ 
+         if ( areEqual( a.x, b.x ) && areEqual( a.y, b.y ) && areEqual( a.z, b.z ) )
+             return true;
+         if ( areEqual( a.x, -b.x ) && areEqual( a.y, -b.y ) && areEqual( a.z, -b.z ) )
+             return true;
+ 
+         return false;
      }
  }

Index: Vec3r.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Vec3r.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Vec3r.cpp	2 Dec 2005 05:47:21 -0000	1.3
--- Vec3r.cpp	4 Dec 2005 03:27:11 -0000	1.4
***************
*** 191,207 ****
          return ( !areEqual( x, v.x ) || !areEqual( y , v.y ) || !areEqual( z , v.z ) );
      }
- 
-     bool areCollinear( const Vec3r & u, const Vec3r & v )
-     {
-         Vec3r a = u, b = v;
-         a.normalize();
-         b.normalize();
- 
-         if ( areEqual( a.x, b.x ) && areEqual( a.y, b.y ) && areEqual( a.z, b.z ) )
-             return true;
-         if ( areEqual( a.x, -b.x ) && areEqual( a.y, -b.y ) && areEqual( a.z, -b.z ) )
-             return true;
- 
-         return false;
-     }
  }
--- 191,193 ----

Index: testQuaternion.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testQuaternion.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** testQuaternion.cpp	1 Dec 2005 23:55:21 -0000	1.3
--- testQuaternion.cpp	4 Dec 2005 03:27:11 -0000	1.4
***************
*** 148,154 ****
          QT_CHECK_CLOSE( Quaternion( 0, 0, 0, 0 ).length(), 0 );
          QT_CHECK_CLOSE( Quaternion( 1, 0, 0, 0 ).length(), 1 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 0, 0 ).length(), sqrt( 5 ) );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 0 ).length(), sqrt( 14 ) );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 4 ).length(), sqrt( 30 ) );
      }
  
--- 148,154 ----
          QT_CHECK_CLOSE( Quaternion( 0, 0, 0, 0 ).length(), 0 );
          QT_CHECK_CLOSE( Quaternion( 1, 0, 0, 0 ).length(), 1 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 0, 0 ).length(), sqrt( 5.0 ) );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 0 ).length(), sqrt( 14.0 ) );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 4 ).length(), sqrt( 30.0 ) );
      }
  
***************
*** 169,173 ****
          q.set( 1, 0, 0, 1 );
          q.normalize();
!         QT_CHECK_EQUAL( q, Quaternion( sqrt( 2 ) / 2.0, 0, 0, sqrt( 2 ) / 2.0 ) );
      }
  
--- 169,173 ----
          q.set( 1, 0, 0, 1 );
          q.normalize();
!         QT_CHECK_EQUAL( q, Quaternion( sqrt( 2.0 ) / 2.0, 0, 0, sqrt( 2.0 ) / 2.0 ) );
      }
  

Index: Mass.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Mass.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** Mass.h	1 Dec 2005 02:04:54 -0000	1.1
--- Mass.h	4 Dec 2005 03:27:11 -0000	1.2
***************
*** 46,52 ****
                  center = Vec3r( 0, 0, 0 );
                  inertia.makeIdentity();
!                 inertia[ 0 ] = 1 / 6.0;
! 				inertia[ 5 ] = 1 / 6.0;
! 				inertia[ 10 ] = 1 / 6.0;
              }
  
--- 46,52 ----
                  center = Vec3r( 0, 0, 0 );
                  inertia.makeIdentity();
!                 inertia[ 0 ] = static_cast<real>( 1 / 6.0 );
! 				inertia[ 5 ] = static_cast<real>( 1 / 6.0 );
! 				inertia[ 10 ] = static_cast<real>( 1 / 6.0 );
              }
  

Index: Quaternion.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Quaternion.h,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** Quaternion.h	1 Dec 2005 23:55:21 -0000	1.12
--- Quaternion.h	4 Dec 2005 03:27:11 -0000	1.13
***************
*** 31,34 ****
--- 31,35 ----
  // project headers
  #include "OpalMath.h"
+ #include "Portability.h"
  
  // system headers
***************
*** 47,86 ****
              real z;
  
!             Quaternion();
  
!             Quaternion( real ww, real xx, real yy, real zz );
  
!             Quaternion( const Quaternion& src );
  
!             void set( real ww, real xx, real yy, real zz );
  
!             real lengthSquared() const;
  
!             real length() const;
  
!             void normalize();
  
!             void getAngleAxis( real& angle, Vec3r& axis ) const;
  
!             real getRoll() const;
  
!             real getPitch() const;
  
!             real getYaw() const	;
  
!             real & operator[] ( unsigned int i );
  
!             const real & operator[] ( unsigned int i ) const;
      };
  
! 	Quaternion operator+( const Quaternion &q1, const Quaternion &q2 );
! 	Quaternion operator-( const Quaternion &q1, const Quaternion &q2 );
! 	Quaternion operator*( const Quaternion& q, real scalar );
! 	Quaternion operator*( real scalar, const Quaternion& q );
! 	bool operator==( const Quaternion &q1, const Quaternion &q2 );
! 	bool operator!=( const Quaternion &q1, const Quaternion &q2 );
  
      /// Prints the Quaternion to the given output stream.
! 	std::ostream & operator<<( std::ostream& o, const Quaternion& q );
  
  }
--- 48,87 ----
              real z;
  
!             OPAL_DECL Quaternion();
  
!             OPAL_DECL Quaternion( real ww, real xx, real yy, real zz );
  
!             OPAL_DECL Quaternion( const Quaternion& src );
  
!             OPAL_DECL void OPAL_CALL set( real ww, real xx, real yy, real zz );
  
!             OPAL_DECL real OPAL_CALL lengthSquared() const;
  
!             OPAL_DECL real OPAL_CALL length() const;
  
!             OPAL_DECL void OPAL_CALL normalize();
  
!             OPAL_DECL void OPAL_CALL getAngleAxis( real& angle, Vec3r& axis ) const;
  
!             OPAL_DECL real OPAL_CALL getRoll() const;
  
!             OPAL_DECL real OPAL_CALL getPitch() const;
  
!             OPAL_DECL real OPAL_CALL getYaw() const;
  
!             OPAL_DECL real & OPAL_CALL operator[] ( unsigned int i );
  
!             OPAL_DECL const real & OPAL_CALL operator[] ( unsigned int i ) const;
      };
  
! 	OPAL_DECL Quaternion operator+( const Quaternion &q1, const Quaternion &q2 );
! 	OPAL_DECL Quaternion operator-( const Quaternion &q1, const Quaternion &q2 );
! 	OPAL_DECL Quaternion operator*( const Quaternion& q, real scalar );
! 	OPAL_DECL Quaternion operator*( real scalar, const Quaternion& q );
! 	OPAL_DECL bool operator==( const Quaternion &q1, const Quaternion &q2 );
! 	OPAL_DECL bool operator!=( const Quaternion &q1, const Quaternion &q2 );
  
      /// Prints the Quaternion to the given output stream.
! 	OPAL_DECL std::ostream & operator<<( std::ostream& o, const Quaternion& q );
  
  }

Index: Point3r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Point3r.h,v
retrieving revision 1.15
retrieving revision 1.16
diff -C2 -d -r1.15 -r1.16
*** Point3r.h	1 Dec 2005 02:04:54 -0000	1.15
--- Point3r.h	4 Dec 2005 03:27:11 -0000	1.16
***************
*** 29,35 ****
--- 29,39 ----
  #define OPAL_POINT3R_H
  
+ // project headers
  #include "OpalMath.h"
  #include "Vec3r.h"
  
+ // systeam headers
+ #include <cassert>
+ 
  namespace opal
  {

Index: testVec3r.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testVec3r.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** testVec3r.cpp	2 Dec 2005 05:47:21 -0000	1.3
--- testVec3r.cpp	4 Dec 2005 03:27:11 -0000	1.4
***************
*** 123,127 ****
      {
          Vec3r v( 1, 2, 3 );
!         QT_CHECK_CLOSE( v.length(), sqrt( 1 + 4 + 9 ) );
      }
  
--- 123,127 ----
      {
          Vec3r v( 1, 2, 3 );
!         QT_CHECK_CLOSE( v.length(), sqrt( 1 + 4 + 9.0 ) );
      }
  
***************
*** 129,133 ****
      {
          Vec3r v( -1, -2, -3 );
! 		QT_CHECK_CLOSE( v.length(), sqrt( 1 + 4 + 9 ) );
      }
  
--- 129,133 ----
      {
          Vec3r v( -1, -2, -3 );
! 		QT_CHECK_CLOSE( v.length(), sqrt( 1 + 4 + 9.0 ) );
      }
  

[Opal-commits] opal/src/external/quicktest quicktest.h,1.6,1.7

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src/external/quicktest
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31572/src/external/quicktest

Modified Files:
	quicktest.h 
Log Message:
Updated vc8 project files. MSVC fixes.

Index: quicktest.h
===================================================================
RCS file: /cvsroot/opal/opal/src/external/quicktest/quicktest.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** quicktest.h	2 Dec 2005 05:47:21 -0000	1.6
--- quicktest.h	4 Dec 2005 03:27:11 -0000	1.7
***************
*** 1,386 ****
! /*************************************************************************
! *                                                                       *
! * QuickTest                                                             *
! * Copyright (C) 2005                                                    *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: quicktest.sourceforge.net                                        *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
[...996 lines suppressed...]
! 
! #define QT_FAIL(message)\
!     {\
!         recordFailure(_result, __FILE__, __LINE__, (message));\
!         return;\
!     }\
! 
! 
! 
! /// Prints the given message, followed by a carriage return.
! 
! #define QT_PRINT(message)\
!     {\
!         *(quicktest::TestManager::instance().getOutputStream()) << (message)\
!             << std::endl;\
!     }\
! 
! 
! #endif
! 

[Opal-commits] opal/vc8 opal-ode.vcproj,1.2,1.3 opal.sln,1.1,1.2

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/vc8
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31572/vc8

Modified Files:
	opal-ode.vcproj opal.sln 
Log Message:
Updated vc8 project files. MSVC fixes.

Index: opal-ode.vcproj
===================================================================
RCS file: /cvsroot/opal/opal/vc8/opal-ode.vcproj,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** opal-ode.vcproj	19 Oct 2005 22:16:58 -0000	1.2
--- opal-ode.vcproj	4 Dec 2005 03:27:11 -0000	1.3
***************
*** 7,11 ****
  	RootNamespace="opal-ode"
  	Keyword="Win32Proj"
- 	SignManifests="true"
  	>
  	<Platforms>
--- 7,10 ----
***************
*** 46,50 ****
  				EnableIntrinsicFunctions="false"
  				FavorSizeOrSpeed="0"
! 				AdditionalIncludeDirectories=""
  				PreprocessorDefinitions="WIN32;_DEBUG;_LIB;OPAL_DLL_EXPORTING"
  				MinimalRebuild="true"
--- 45,49 ----
  				EnableIntrinsicFunctions="false"
  				FavorSizeOrSpeed="0"
! 				AdditionalIncludeDirectories="&quot;C:\Olex\work\ode-0.5\include&quot;"
  				PreprocessorDefinitions="WIN32;_DEBUG;_LIB;OPAL_DLL_EXPORTING"
  				MinimalRebuild="true"
***************
*** 67,72 ****
  			<Tool
  				Name="VCLinkerTool"
! 				AdditionalDependencies="ode_d.lib"
  				OutputFile="$(OutDir)/opal-ode_d.dll"
  				IgnoreDefaultLibraryNames="libcmt"
  				GenerateDebugInformation="true"
--- 66,72 ----
  			<Tool
  				Name="VCLinkerTool"
! 				AdditionalDependencies="oded.lib OPCODE_d.lib"
  				OutputFile="$(OutDir)/opal-ode_d.dll"
+ 				AdditionalLibraryDirectories="C:\Olex\work\ode-0.5\lib"
  				IgnoreDefaultLibraryNames="libcmt"
  				GenerateDebugInformation="true"
***************
*** 125,129 ****
  				EnableIntrinsicFunctions="true"
  				FavorSizeOrSpeed="1"
! 				AdditionalIncludeDirectories=""
  				PreprocessorDefinitions="WIN32;NDEBUG;_LIB;OPAL_DLL_EXPORTING"
  				RuntimeLibrary="2"
--- 125,129 ----
  				EnableIntrinsicFunctions="true"
  				FavorSizeOrSpeed="1"
! 				AdditionalIncludeDirectories="&quot;C:\Olex\work\ode-0.5\include&quot;"
  				PreprocessorDefinitions="WIN32;NDEBUG;_LIB;OPAL_DLL_EXPORTING"
  				RuntimeLibrary="2"
***************
*** 144,149 ****
  			<Tool
  				Name="VCLinkerTool"
! 				AdditionalDependencies="ode.lib"
  				OutputFile="$(OutDir)/opal-ode.dll"
  				IgnoreDefaultLibraryNames="libcmt"
  				OptimizeReferences="2"
--- 144,150 ----
  			<Tool
  				Name="VCLinkerTool"
! 				AdditionalDependencies="ode.lib OPCODE.lib"
  				OutputFile="$(OutDir)/opal-ode.dll"
+ 				AdditionalLibraryDirectories="&quot;C:\Olex\work\ode-0.5\lib&quot;"
  				IgnoreDefaultLibraryNames="libcmt"
  				OptimizeReferences="2"
***************
*** 227,230 ****
--- 228,239 ----
  			</File>
  			<File
+ 				RelativePath="..\src\Point3r.cpp"
+ 				>
+ 			</File>
+ 			<File
+ 				RelativePath="..\src\Quaternion.cpp"
+ 				>
+ 			</File>
+ 			<File
  				RelativePath="..\src\RaycastSensor.cpp"
  				>
***************
*** 263,266 ****
--- 272,279 ----
  			</File>
  			<File
+ 				RelativePath="..\src\Vec3r.cpp"
+ 				>
+ 			</File>
+ 			<File
  				RelativePath="..\src\VolumeSensor.cpp"
  				>
***************
*** 351,354 ****
--- 364,371 ----
  			</File>
  			<File
+ 				RelativePath="..\src\Mass.h"
+ 				>
+ 			</File>
+ 			<File
  				RelativePath="..\src\MeshShapeData.h"
  				>

Index: opal.sln
===================================================================
RCS file: /cvsroot/opal/opal/vc8/opal.sln,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** opal.sln	16 Aug 2005 08:28:21 -0000	1.1
--- opal.sln	4 Dec 2005 03:27:11 -0000	1.2
***************
*** 3,6 ****
--- 3,11 ----
  Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "opal-ode", "opal-ode.vcproj", "{312196D4-105B-4444-A33A-2ECE3C7D6D64}"
  EndProject
+ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "unittests", "..\unittests\unittests.vcproj", "{A211B4F7-11A8-4392-9934-ABAE5B31BDA8}"
+ 	ProjectSection(ProjectDependencies) = postProject
+ 		{312196D4-105B-4444-A33A-2ECE3C7D6D64} = {312196D4-105B-4444-A33A-2ECE3C7D6D64}
+ 	EndProjectSection
+ EndProject
  Global
  	GlobalSection(SolutionConfigurationPlatforms) = preSolution
***************
*** 13,16 ****
--- 18,25 ----
  		{312196D4-105B-4444-A33A-2ECE3C7D6D64}.Release|Win32.ActiveCfg = Release|Win32
  		{312196D4-105B-4444-A33A-2ECE3C7D6D64}.Release|Win32.Build.0 = Release|Win32
+ 		{A211B4F7-11A8-4392-9934-ABAE5B31BDA8}.Debug|Win32.ActiveCfg = Debug|Win32
+ 		{A211B4F7-11A8-4392-9934-ABAE5B31BDA8}.Debug|Win32.Build.0 = Debug|Win32
+ 		{A211B4F7-11A8-4392-9934-ABAE5B31BDA8}.Release|Win32.ActiveCfg = Release|Win32
+ 		{A211B4F7-11A8-4392-9934-ABAE5B31BDA8}.Release|Win32.Build.0 = Release|Win32
  	EndGlobalSection
  	GlobalSection(SolutionProperties) = preSolution

[Opal-commits] opal/src ServoMotor.cpp,1.18,1.19 ServoMotor.h,1.25,1.26 Vec3r.cpp,1.2,1.3 testMatrix44r.cpp,1.1,1.2 testVec3r.cpp,1.2,1.3

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26719/src

Modified Files:
	ServoMotor.cpp ServoMotor.h Vec3r.cpp testMatrix44r.cpp 
	testVec3r.cpp 
Log Message:
Fixes in ServoMotor, Vec3r to handle float point errors. Updated unit test framework.


Index: ServoMotor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.cpp,v
retrieving revision 1.18
retrieving revision 1.19
diff -C2 -d -r1.18 -r1.19
*** ServoMotor.cpp	26 Jun 2005 16:57:35 -0000	1.18
--- ServoMotor.cpp	2 Dec 2005 05:47:21 -0000	1.19
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
!  * This library is free software; you can redistribute it and/or         *
!  * modify it under the terms of EITHER:                                  *
!  *   (1) The GNU Lesser General Public License as published by the Free  *
!  *       Software Foundation; either version 2.1 of the License, or (at  *
!  *       your option) any later version. The text of the GNU Lesser      *
!  *       General Public License is included with this library in the     *
!  *       file license-LGPL.txt.                                          *
!  *   (2) The BSD-style license that is included with this library in     *
!  *       the file license-BSD.txt.                                       *
!  *                                                                       *
!  * This library is distributed in the hope that it will be useful,       *
!  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
!  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
!  * license-LGPL.txt and license-BSD.txt for more details.                *
!  *                                                                       *
!  *************************************************************************/
  
  #include "ServoMotor.h"
--- 1,28 ----
  /*************************************************************************
! *                                                                       *
! * Open Physics Abstraction Layer                                        *
! * Copyright (C) 2004-2005                                               *
! * Alan Fischer  ala...@gm...                                  *
! * Andres Reinot  an...@re...                                      *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: opal.sourceforge.net                                             *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
! *   (1) The GNU Lesser General Public License as published by the Free  *
! *       Software Foundation; either version 2.1 of the License, or (at  *
! *       your option) any later version. The text of the GNU Lesser      *
! *       General Public License is included with this library in the     *
! *       file license-LGPL.txt.                                          *
! *   (2) The BSD-style license that is included with this library in     *
! *       the file license-BSD.txt.                                       *
! *                                                                       *
! * This library is distributed in the hope that it will be useful,       *
! * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
! * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
! * license-LGPL.txt and license-BSD.txt for more details.                *
! *                                                                       *
! *************************************************************************/
  
  #include "ServoMotor.h"
***************
*** 30,231 ****
  namespace opal
  {
! 	ServoMotor::ServoMotor()
! 	: Motor()
! 	{
! 		// "mData" will be initialized in its own constructor.
! 	}
  
! 	ServoMotor::~ServoMotor()
! 	{
! 		// We must set the Joint's desired vel and max force to 0 since 
! 		// this Motor won't apply to it anymore.  This is only necessary 
! 		// if this Motor is enabled.
! 		if (mData.enabled && mData.joint)
! 		{
! 			mData.joint->internal_setDesiredVel(mData.jointAxisNum, 0);
! 			mData.joint->internal_setMaxTorque(mData.jointAxisNum, 0);
! 		}
! 	}
  
! 	void ServoMotor::init(const ServoMotorData& data)
! 	{
! 		if (mInitCalled)
! 		{
! 			// If the Servo is already in operation, we first need to 
! 			// set the old Joint's desired vel and max force to 0.  The 
! 			// following function call will automatically handle this 
! 			// when set to false.
! 			setEnabled(false);
! 		}
  
! 		assert(data.joint);
! 		assert(data.jointAxisNum >= 0 && 
! 			data.jointAxisNum < data.joint->getNumAxes());
! 		Motor::init();
! 		assert(data.joint->isRotational(data.jointAxisNum));
! 		mData = data;
! 		setEnabled(mData.enabled);
! 	}
  
! 	const ServoMotorData& ServoMotor::getData()const
! 	{
! 		return mData;
! 	}
  
! 	MotorType ServoMotor::getType()const
! 	{
! 		return mData.getType();
! 	}
  
! 	void ServoMotor::setName(const std::string& name)
! 	{
! 		mData.name = name;
! 	}
  
! 	const std::string& ServoMotor::getName()const
! 	{
! 		return mData.name;
! 	}
  
! 	bool ServoMotor::isEnabled()const
! 	{
! 		return mData.enabled;
! 	}
  
! 	void ServoMotor::setEnabled(bool e)
! 	{
! 		//if (!mInitCalled)
! 		//{
! 		//	return;
! 		//}
  
! 		mData.enabled = e;
  
! 		if (mData.joint)
! 		{
! 			if (e)
! 			{
! 				mData.joint->internal_setDesiredVel(mData.jointAxisNum, 
! 					mData.desiredVel);
! 				mData.joint->internal_setMaxTorque(mData.jointAxisNum, 
! 					mData.maxTorque);
! 			}
! 			else
! 			{
! 				mData.joint->internal_setDesiredVel(mData.jointAxisNum, 0);
! 				mData.joint->internal_setMaxTorque(mData.jointAxisNum, 0);
! 			}
! 		}
! 	}
  
! 	void ServoMotor::internal_update()
! 	{
! 		if (mData.enabled && mData.joint)
! 		{
! 			// Make sure both Solids are awake at this point.
! 			mData.joint->wakeSolids();
  
! 			if (DESIRED_ANGLE_MODE == mData.mode)
! 			{
! 				// No longer support linear degrees of freedom.
! 				//if (true == mData.joint->isRotational(mData.jointAxisNum))
! 				//{
! 					real velocity = mData.desiredAngle - 
! 						mData.joint->getAngle(mData.jointAxisNum);
! 					if ( velocity > 180.0 )
! 						velocity = -360 + velocity;
! 					if ( velocity < -180.0 )
! 						velocity = 360 + velocity;
! 					mData.joint->internal_setDesiredVel(mData.jointAxisNum, 
! 						mData.restoreSpeed * velocity);
! 				//}
! 				//else
! 				//{
! 				//	// This axis must be a linear degree of freedom.
! 				//	real velocity = mData.desiredPos - 
! 				//		mData.joint->getState(mData.jointAxisNum);
! 				//	mData.joint->internal_setDesiredVel(mData.jointAxisNum, 
! 				//		mData.restoreSpeed * velocity);
! 				//}
! 			}
! 			else
! 			{
! 				// Nothing to do for desired velocity mode; the Joint's 
! 				// desired velocity should already handle this.
! 			}
! 		}
! 	}
  
! 	void ServoMotor::setDesiredAngle(real a)
! 	{
! 		assert(a >= mData.joint->getLowLimit(mData.jointAxisNum) 
! 			&& a <= mData.joint->getHighLimit(mData.jointAxisNum));
  
! 		mData.desiredAngle = a;
! 	}
  
! 	void ServoMotor::setDesiredAngleNorm(real a)
! 	{
! 		assert(a >= 0.0 && a <= 1.0);
  
! 		real lowLimit = mData.joint->getLowLimit(mData.jointAxisNum);
! 		real highLimit = mData.joint->getHighLimit(mData.jointAxisNum);
  
! 		// map the pos value onto the joint limits
! 		mData.desiredAngle = a * (highLimit - lowLimit) + lowLimit;
  
! 		// Keep desired angle slightly away from the limit to avoid jitter.
! 		// TODO: fix this; this should just keep the thing away from the 
! 		// limit when it's close, not all the time.
! 		mData.desiredAngle *= (real)0.99;
! 	}
  
! 	real ServoMotor::getDesiredAngle()const
! 	{
! 		return mData.desiredAngle;
! 	}
  
! 	void ServoMotor::setDesiredVel(real vel)
! 	{
! 		mData.desiredVel = vel;
! 		mData.joint->internal_setDesiredVel(mData.jointAxisNum, vel);
! 	}
  
! 	real ServoMotor::getDesiredVel()const
! 	{
! 		return mData.desiredVel;
! 	}
  
! 	void ServoMotor::setMaxTorque(real max)
! 	{
! 		mData.maxTorque = max;
! 		mData.joint->internal_setMaxTorque(mData.jointAxisNum, max);
! 	}
  
! 	real ServoMotor::getMaxTorque()const
! 	{
! 		return mData.maxTorque;
! 	}
  
! 	void ServoMotor::setRestoreSpeed(real speed)
! 	{
! 		mData.restoreSpeed = speed;
! 	}
  
! 	real ServoMotor::getRestoreSpeed()const
! 	{
! 		return mData.restoreSpeed;
! 	}
  
! 	bool ServoMotor::internal_dependsOnJoint(Joint* j)
! 	{
! 		if (j == mData.joint)
! 		{
! 			return true;
! 		}
! 		else
! 		{
! 			return false;
! 		}
! 	}
  }
--- 30,244 ----
  namespace opal
  {
!     ServoMotor::ServoMotor()
!             : Motor()
!     {
!         // "mData" will be initialized in its own constructor.
!     }
  
!     ServoMotor::~ServoMotor()
!     {
!         // We must set the Joint's desired vel and max force to 0 since
!         // this Motor won't apply to it anymore.  This is only necessary
!         // if this Motor is enabled.
!         if ( mData.enabled && mData.joint )
!         {
!             mData.joint->internal_setDesiredVel( mData.jointAxisNum, 0 );
!             mData.joint->internal_setMaxTorque( mData.jointAxisNum, 0 );
!         }
!     }
  
!     void ServoMotor::init( const ServoMotorData& data )
!     {
!         if ( mInitCalled )
!         {
!             // If the Servo is already in operation, we first need to
!             // set the old Joint's desired vel and max force to 0.  The
!             // following function call will automatically handle this
!             // when set to false.
!             setEnabled( false );
!         }
  
!         assert( data.joint );
!         assert( data.jointAxisNum >= 0 &&
!                 data.jointAxisNum < data.joint->getNumAxes() );
!         Motor::init();
!         assert( data.joint->isRotational( data.jointAxisNum ) );
!         mData = data;
!         setEnabled( mData.enabled );
!     }
  
!     const ServoMotorData& ServoMotor::getData() const
!     {
!         return mData;
!     }
  
!     MotorType ServoMotor::getType() const
!     {
!         return mData.getType();
!     }
  
!     void ServoMotor::setName( const std::string& name )
!     {
!         mData.name = name;
!     }
  
!     const std::string& ServoMotor::getName() const
!     {
!         return mData.name;
!     }
  
!     bool ServoMotor::isEnabled() const
!     {
!         return mData.enabled;
!     }
  
!     void ServoMotor::setEnabled( bool e )
!     {
!         //if (!mInitCalled)
!         //{
!         //	return;
!         //}
  
!         mData.enabled = e;
  
!         if ( mData.joint )
!         {
!             if ( e )
!             {
!                 mData.joint->internal_setDesiredVel( mData.jointAxisNum,
!                                                      mData.desiredVel );
!                 mData.joint->internal_setMaxTorque( mData.jointAxisNum,
!                                                     mData.maxTorque );
!             }
!             else
!             {
!                 mData.joint->internal_setDesiredVel( mData.jointAxisNum, 0 );
!                 mData.joint->internal_setMaxTorque( mData.jointAxisNum, 0 );
!             }
!         }
!     }
  
!     void ServoMotor::internal_update()
!     {
!         if ( mData.enabled && mData.joint )
!         {
!             // Make sure both Solids are awake at this point.
!             mData.joint->wakeSolids();
  
!             if ( DESIRED_ANGLE_MODE == mData.mode )
!             {
!                 // No longer support linear degrees of freedom.
!                 //if (true == mData.joint->isRotational(mData.jointAxisNum))
!                 //{
!                 real velocity = mData.desiredAngle -
!                                 mData.joint->getAngle( mData.jointAxisNum );
!                 if ( velocity > 180.0 )
!                     velocity = -360 + velocity;
!                 if ( velocity < -180.0 )
!                     velocity = 360 + velocity;
!                 mData.joint->internal_setDesiredVel( mData.jointAxisNum,
!                                                      mData.restoreSpeed * velocity );
!                 //}
!                 //else
!                 //{
!                 //	// This axis must be a linear degree of freedom.
!                 //	real velocity = mData.desiredPos -
!                 //		mData.joint->getState(mData.jointAxisNum);
!                 //	mData.joint->internal_setDesiredVel(mData.jointAxisNum,
!                 //		mData.restoreSpeed * velocity);
!                 //}
!             }
!             else
!             {
!                 // Nothing to do for desired velocity mode; the Joint's
!                 // desired velocity should already handle this.
!             }
!         }
!     }
  
!     void ServoMotor::setDesiredAngle( real a )
!     {
! 		// this clamping is needed since there are sometimes float point errors
!         real low = mData.joint->getLowLimit( mData.jointAxisNum );
!         if ( a < low )
!         {
!             a = low;
!         }
  
!         real high = mData.joint->getHighLimit( mData.jointAxisNum );
!         if ( a > high )
!         {
!             a = high;
!         }
  
!         mData.desiredAngle = a;
!     }
  
!     void ServoMotor::setDesiredAngleNorm( real a )
!     {
!         if ( a < 0 )
!             a = 0;
!         if ( a > 1 )
!             a = 1;
  
!         real lowLimit = mData.joint->getLowLimit( mData.jointAxisNum );
!         real highLimit = mData.joint->getHighLimit( mData.jointAxisNum );
  
!         // map the pos value onto the joint limits
!         mData.desiredAngle = a * ( highLimit - lowLimit ) + lowLimit;
  
!         // Keep desired angle slightly away from the limit to avoid jitter.
!         // @todo: fix this; this should just keep the thing away from the
!         // limit when it's close, not all the time.
!         mData.desiredAngle *= ( real ) 0.99;
!     }
  
!     real ServoMotor::getDesiredAngle() const
!     {
!         return mData.desiredAngle;
!     }
  
!     void ServoMotor::setDesiredVel( real vel )
!     {
!         mData.desiredVel = vel;
!         mData.joint->internal_setDesiredVel( mData.jointAxisNum, vel );
!     }
  
!     real ServoMotor::getDesiredVel() const
!     {
!         return mData.desiredVel;
!     }
  
!     void ServoMotor::setMaxTorque( real max )
!     {
!         mData.maxTorque = max;
!         mData.joint->internal_setMaxTorque( mData.jointAxisNum, max );
!     }
  
!     real ServoMotor::getMaxTorque() const
!     {
!         return mData.maxTorque;
!     }
  
!     void ServoMotor::setRestoreSpeed( real speed )
!     {
!         mData.restoreSpeed = speed;
!     }
  
!     real ServoMotor::getRestoreSpeed() const
!     {
!         return mData.restoreSpeed;
!     }
! 
!     bool ServoMotor::internal_dependsOnJoint( Joint* j )
!     {
!         if ( j == mData.joint )
!         {
!             return true;
!         }
!         else
!         {
!             return false;
!         }
!     }
  }

Index: testMatrix44r.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testMatrix44r.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** testMatrix44r.cpp	1 Dec 2005 23:55:21 -0000	1.1
--- testMatrix44r.cpp	2 Dec 2005 05:47:21 -0000	1.2
***************
*** 41,45 ****
          Matrix44r m;
          m.setQuaternion( 0, 0, 0, 1 );
!         QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, 180 ) );
      }
  
--- 41,45 ----
          Matrix44r m;
          m.setQuaternion( 0, 0, 0, 1 );
!         QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, -180 ) );
      }
  
***************
*** 48,52 ****
          Matrix44r m;
          m.setQuaternion( Quaternion( 0, 0, 0, 1 ) );
!         QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, 180 ) );
      }
  }
--- 48,52 ----
          Matrix44r m;
          m.setQuaternion( Quaternion( 0, 0, 0, 1 ) );
!         QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, -180 ) );
      }
  }

Index: ServoMotor.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ServoMotor.h,v
retrieving revision 1.25
retrieving revision 1.26
diff -C2 -d -r1.25 -r1.26
*** ServoMotor.h	23 Mar 2005 04:04:30 -0000	1.25
--- ServoMotor.h	2 Dec 2005 05:47:21 -0000	1.26
***************
*** 73,80 ****
--- 73,82 ----
  		/// Sets the desired angle to a value between the Joint axis' 
  		/// limits.
+ 		/// Clamps given angle into allowed range for the joint.
  		virtual void OPAL_CALL setDesiredAngle(real a);
  
  		/// Sets the desired angle to a value between 0.0 and 1.0 which 
  		/// will be mapped to the Joint axis' limits.
+ 		/// Clamps given angle into [0,1] range.
  		virtual void OPAL_CALL setDesiredAngleNorm(real a);
  

Index: testVec3r.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testVec3r.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** testVec3r.cpp	1 Dec 2005 23:55:21 -0000	1.2
--- testVec3r.cpp	2 Dec 2005 05:47:21 -0000	1.3
***************
*** 41,47 ****
      {
          Vec3r v;
!         QT_CHECK_EQUAL( v.x, 0 );
!         QT_CHECK_EQUAL( v.y, 0 );
!         QT_CHECK_EQUAL( v.z, 0 );
      }
  
--- 41,47 ----
      {
          Vec3r v;
! 		QT_CHECK_CLOSE( v.x, 0 );
! 		QT_CHECK_CLOSE( v.y, 0 );
! 		QT_CHECK_CLOSE( v.z, 0 );
      }
  
***************
*** 50,56 ****
          Vec3r copy( 1, 2, 3 );
          Vec3r v( copy );
!         QT_CHECK_EQUAL( v.x, 1 );
!         QT_CHECK_EQUAL( v.y, 2 );
!         QT_CHECK_EQUAL( v.z, 3 );
      }
  
--- 50,56 ----
          Vec3r copy( 1, 2, 3 );
          Vec3r v( copy );
! 		QT_CHECK_CLOSE( v.x, 1 );
! 		QT_CHECK_CLOSE( v.y, 2 );
! 		QT_CHECK_CLOSE( v.z, 3 );
      }
  
***************
*** 58,64 ****
      {
          Vec3r v( 1, 2, 3 );
!         QT_CHECK_EQUAL( v.x, 1 );
!         QT_CHECK_EQUAL( v.y, 2 );
!         QT_CHECK_EQUAL( v.z, 3 );
      }
  
--- 58,64 ----
      {
          Vec3r v( 1, 2, 3 );
! 		QT_CHECK_CLOSE( v.x, 1 );
! 		QT_CHECK_CLOSE( v.y, 2 );
! 		QT_CHECK_CLOSE( v.z, 3 );
      }
  
***************
*** 66,72 ****
      {
          Vec3r v = Vec3r( 1, 2, 3 );
!         QT_CHECK_EQUAL( v.x, 1 );
!         QT_CHECK_EQUAL( v.y, 2 );
!         QT_CHECK_EQUAL( v.z, 3 );
      }
  
--- 66,72 ----
      {
          Vec3r v = Vec3r( 1, 2, 3 );
! 		QT_CHECK_CLOSE( v.x, 1 );
! 		QT_CHECK_CLOSE( v.y, 2 );
! 		QT_CHECK_CLOSE( v.z, 3 );
      }
  
***************
*** 75,81 ****
          real d[] = {1, 2, 3};
          Vec3r v( d );
!         QT_CHECK_EQUAL( v.x, 1 );
!         QT_CHECK_EQUAL( v.y, 2 );
!         QT_CHECK_EQUAL( v.z, 3 );
      }
  
--- 75,81 ----
          real d[] = {1, 2, 3};
          Vec3r v( d );
! 		QT_CHECK_CLOSE( v.x, 1 );
! 		QT_CHECK_CLOSE( v.y, 2 );
! 		QT_CHECK_CLOSE( v.z, 3 );
      }
  
***************
*** 84,90 ****
          Vec3r v;
          v.set( 1, 2, 3 );
!         QT_CHECK_EQUAL( v.x, 1 );
!         QT_CHECK_EQUAL( v.y, 2 );
!         QT_CHECK_EQUAL( v.z, 3 );
      }
  
--- 84,90 ----
          Vec3r v;
          v.set( 1, 2, 3 );
! 		QT_CHECK_CLOSE( v.x, 1 );
! 		QT_CHECK_CLOSE( v.y, 2 );
! 		QT_CHECK_CLOSE( v.z, 3 );
      }
  
***************
*** 94,100 ****
          Vec3r v;
          v.set( d );
!         QT_CHECK_EQUAL( v.x, 1 );
!         QT_CHECK_EQUAL( v.y, 2 );
!         QT_CHECK_EQUAL( v.z, 3 );
      }
  
--- 94,100 ----
          Vec3r v;
          v.set( d );
! 		QT_CHECK_CLOSE( v.x, 1 );
! 		QT_CHECK_CLOSE( v.y, 2 );
! 		QT_CHECK_CLOSE( v.z, 3 );
      }
  
***************
*** 103,109 ****
          Vec3r v( 1, 2, 3 );
  
!         QT_CHECK_EQUAL( v[ 0 ], 1 );
!         QT_CHECK_EQUAL( v[ 1 ], 2 );
!         QT_CHECK_EQUAL( v[ 2 ], 3 );
      }
  
--- 103,109 ----
          Vec3r v( 1, 2, 3 );
  
! 		QT_CHECK_CLOSE( v[ 0 ], 1 );
! 		QT_CHECK_CLOSE( v[ 1 ], 2 );
! 		QT_CHECK_CLOSE( v[ 2 ], 3 );
      }
  
***************
*** 111,115 ****
      {
          Vec3r v( 1, 2, 3 );
!         QT_CHECK_EQUAL( v.lengthSquared(), 1 + 4 + 9 );
      }
  
--- 111,115 ----
      {
          Vec3r v( 1, 2, 3 );
! 		QT_CHECK_CLOSE( v.lengthSquared(), 1 + 4 + 9 );
      }
  
***************
*** 117,121 ****
      {
          Vec3r v( -1, -2, -3 );
!         QT_CHECK_EQUAL( v.lengthSquared(), 1 + 4 + 9 );
      }
  
--- 117,121 ----
      {
          Vec3r v( -1, -2, -3 );
! 		QT_CHECK_CLOSE( v.lengthSquared(), 1 + 4 + 9 );
      }
  
***************
*** 123,127 ****
      {
          Vec3r v( 1, 2, 3 );
!         QT_CHECK_EQUAL( v.length(), sqrt( 1 + 4 + 9 ) );
      }
  
--- 123,127 ----
      {
          Vec3r v( 1, 2, 3 );
!         QT_CHECK_CLOSE( v.length(), sqrt( 1 + 4 + 9 ) );
      }
  
***************
*** 129,133 ****
      {
          Vec3r v( -1, -2, -3 );
!         QT_CHECK_EQUAL( v.length(), sqrt( 1 + 4 + 9 ) );
      }
  
--- 129,133 ----
      {
          Vec3r v( -1, -2, -3 );
! 		QT_CHECK_CLOSE( v.length(), sqrt( 1 + 4 + 9 ) );
      }
  

Index: Vec3r.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Vec3r.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** Vec3r.cpp	1 Dec 2005 02:04:54 -0000	1.2
--- Vec3r.cpp	2 Dec 2005 05:47:21 -0000	1.3
***************
*** 28,32 ****
  
  // class header
! #include "Vec3r.h"
  //#pragma implementation
  
--- 28,32 ----
  
  // class header
! #include "Vec3r.h" 
  //#pragma implementation
  
***************
*** 83,94 ****
          {
              case 0:
!                 return x;
              case 1:
!                 return y;
              case 2:
!                 return z;
              default:
!                 assert( i < 3 );
!                 return z;
          }
      }
--- 83,94 ----
          {
              case 0:
!             return x;
              case 1:
!             return y;
              case 2:
!             return z;
              default:
!             assert( i < 3 );
!             return z;
          }
      }
***************
*** 99,110 ****
          {
              case 0:
!                 return x;
              case 1:
!                 return y;
              case 2:
!                 return z;
              default:
!                 assert( i < 3 );
!                 return z;
          }
      }
--- 99,110 ----
          {
              case 0:
!             return x;
              case 1:
!             return y;
              case 2:
!             return z;
              default:
!             assert( i < 3 );
!             return z;
          }
      }
***************
*** 177,181 ****
      bool Vec3r::operator==( const Vec3r & v )
      {
!         return ( x == v.x && y == v.y && z == v.z );
      }
  
--- 177,181 ----
      bool Vec3r::operator==( const Vec3r & v )
      {
!         return ( areEqual( x, v.x ) && areEqual( y , v.y ) && areEqual( z , v.z ) );
      }
  
***************
*** 189,193 ****
      bool Vec3r::operator!=( const Vec3r & v )
      {
!         return ( x != v.x || y != v.y || z != v.z );
      }
  
--- 189,193 ----
      bool Vec3r::operator!=( const Vec3r & v )
      {
!         return ( !areEqual( x, v.x ) || !areEqual( y , v.y ) || !areEqual( z , v.z ) );
      }
  

[Opal-commits] opal/kdevelop opal.kdevelop,1.4,1.5

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/kdevelop
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26719/kdevelop

Modified Files:
	opal.kdevelop 
Log Message:
Fixes in ServoMotor, Vec3r to handle float point errors. Updated unit test framework.


Index: opal.kdevelop
===================================================================
RCS file: /cvsroot/opal/opal/kdevelop/opal.kdevelop,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** opal.kdevelop	1 Dec 2005 23:55:21 -0000	1.4
--- opal.kdevelop	2 Dec 2005 05:47:20 -0000	1.5
***************
*** 14,18 ****
      <projectdirectory>.</projectdirectory>
      <absoluteprojectpath>false</absoluteprojectpath>
!     <description/>
      <versioncontrol/>
    </general>
--- 14,18 ----
      <projectdirectory>.</projectdirectory>
      <absoluteprojectpath>false</absoluteprojectpath>
!     <description></description>
      <versioncontrol/>
    </general>
***************
*** 52,63 ****
            <envvar value="ccache g++" name="CXX" />
          </envvars>
!         <topsourcedir/>
!         <cppflags>-DOPAL_USE_DOUBLE</cppflags>
          <ldflags>-lode</ldflags>
!         <ccompilerbinary/>
!         <cxxcompilerbinary/>
!         <f77compilerbinary/>
!         <cflags/>
!         <f77flags/>
        </debug>
      </configurations>
--- 52,63 ----
            <envvar value="ccache g++" name="CXX" />
          </envvars>
!         <topsourcedir></topsourcedir>
!         <cppflags></cppflags>
          <ldflags>-lode</ldflags>
!         <ccompilerbinary></ccompilerbinary>
!         <cxxcompilerbinary></cxxcompilerbinary>
!         <f77compilerbinary></f77compilerbinary>
!         <cflags></cflags>
!         <f77flags></f77flags>
        </debug>
      </configurations>
***************
*** 173,177 ****
      </codecompletion>
      <creategettersetter>
!       <prefixGet/>
        <prefixSet>set</prefixSet>
        <prefixVariable>m_,_</prefixVariable>
--- 173,177 ----
      </codecompletion>
      <creategettersetter>
!       <prefixGet></prefixGet>
        <prefixSet>set</prefixSet>
        <prefixVariable>m_,_</prefixVariable>
***************
*** 194,203 ****
    <kdevdebugger>
      <general>
!       <programargs/>
!       <gdbpath/>
!       <dbgshell/>
!       <configGdbScript/>
!       <runShellScript/>
!       <runGdbScript/>
        <breakonloadinglibs>true</breakonloadinglibs>
        <separatetty>false</separatetty>
--- 194,203 ----
    <kdevdebugger>
      <general>
!       <programargs></programargs>
!       <gdbpath></gdbpath>
!       <dbgshell></dbgshell>
!       <configGdbScript></configGdbScript>
!       <runShellScript></runShellScript>
!       <runGdbScript></runGdbScript>
        <breakonloadinglibs>true</breakonloadinglibs>
        <separatetty>false</separatetty>

[Opal-commits] opal/src/external/quicktest quicktest.h,1.5,1.6

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src/external/quicktest
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26719/src/external/quicktest

Modified Files:
	quicktest.h 
Log Message:
Fixes in ServoMotor, Vec3r to handle float point errors. Updated unit test framework.


Index: quicktest.h
===================================================================
RCS file: /cvsroot/opal/opal/src/external/quicktest/quicktest.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** quicktest.h	1 Dec 2005 23:55:21 -0000	1.5
--- quicktest.h	2 Dec 2005 05:47:21 -0000	1.6
***************
*** 102,106 ****
  			static bool areEqual(double x, double y)
  			{
! 				const double EPSILON = 0.000001;
  				double maxVal = 1;
  
--- 102,106 ----
  			static bool areEqual(double x, double y)
  			{
! 				const double EPSILON = 0.00001;
  				double maxVal = 1;
  

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

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv26719

Modified Files:
	changelog.txt 
Log Message:
Fixes in ServoMotor, Vec3r to handle float point errors. Updated unit test framework.


Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.56
retrieving revision 1.57
diff -C2 -d -r1.56 -r1.57
*** changelog.txt	2 Dec 2005 01:47:16 -0000	1.56
--- changelog.txt	2 Dec 2005 05:47:20 -0000	1.57
***************
*** 15,18 ****
--- 15,21 ----
  ------------------------------------------
  
+ 	* 12-2-05: Fixes in ServoMotor, Vec3r to handle float point errors.
+ 	Updated unit test framework. (Oleksandr Lozitskiy)
+ 
  	* 12-1-05: Updated Scons script. (Oleksandr Lozitskiy)
  

[Opal-commits] opal/src SConscript,1.22,1.23

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18025/src

Modified Files:
	SConscript 
Log Message:
Updated Scons script.


Index: SConscript
===================================================================
RCS file: /cvsroot/opal/opal/src/SConscript,v
retrieving revision 1.22
retrieving revision 1.23
diff -C2 -d -r1.22 -r1.23
*** SConscript	30 Nov 2005 06:28:12 -0000	1.22
--- SConscript	2 Dec 2005 01:47:16 -0000	1.23
***************
*** 79,82 ****
--- 79,83 ----
  	Space.cpp
  	SpringMotor.cpp
+ 	Quaternion.cpp
  	ThrusterMotor.cpp
  	VolumeSensor.cpp

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

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18025

Modified Files:
	changelog.txt 
Log Message:
Updated Scons script.


Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.55
retrieving revision 1.56
diff -C2 -d -r1.55 -r1.56
*** changelog.txt	1 Dec 2005 23:55:21 -0000	1.55
--- changelog.txt	2 Dec 2005 01:47:16 -0000	1.56
***************
*** 15,18 ****
--- 15,20 ----
  ------------------------------------------
  
+ 	* 12-1-05: Updated Scons script. (Oleksandr Lozitskiy)
+ 
  	* 12-1-05: More Unit tests. Finished opal::Quaternion. (Oleksandr Lozitskiy)
  

[Opal-commits] opal/src testMatrix44r.cpp,NONE,1.1 Makefile.am,1.7,1.8 Makefile.in,1.7,1.8 Matrix44r.h,1.39,1.40 Quaternion.cpp,1.1,1.2 Quaternion.h,1.11,1.12 testAccelerationSensor.cpp,1.1,1.2 testQuaternion.cpp,1.2,1.3 testVec3r.cpp,1.1,1.2 testsolid.cpp,1.6,1.7

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13924/src

Modified Files:
	Makefile.am Makefile.in Matrix44r.h Quaternion.cpp 
	Quaternion.h testAccelerationSensor.cpp testQuaternion.cpp 
	testVec3r.cpp testsolid.cpp 
Added Files:
	testMatrix44r.cpp 
Log Message:
More Unit tests. Finished opal::Quaternion tests.


Index: Makefile.in
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.in,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** Makefile.in	1 Dec 2005 19:34:03 -0000	1.7
--- Makefile.in	1 Dec 2005 23:55:21 -0000	1.8
***************
*** 71,75 ****
  	testAccelerationSensor.$(OBJEXT) testRaycastSensor.$(OBJEXT) \
  	testSimulator.$(OBJEXT) testVec3r.$(OBJEXT) \
! 	testPoint3r.$(OBJEXT) testQuaternion.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
--- 71,76 ----
  	testAccelerationSensor.$(OBJEXT) testRaycastSensor.$(OBJEXT) \
  	testSimulator.$(OBJEXT) testVec3r.$(OBJEXT) \
! 	testPoint3r.$(OBJEXT) testQuaternion.$(OBJEXT) \
! 	testMatrix44r.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
***************
*** 213,217 ****
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 				testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
--- 214,219 ----
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 					testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 	testMatrix44r.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
***************
*** 321,324 ****
--- 323,327 ----
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/VolumeSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testAccelerationSensor.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testMatrix44r.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testPoint3r.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testQuaternion.Po@am__quote@

Index: testAccelerationSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testAccelerationSensor.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** testAccelerationSensor.cpp	13 Nov 2005 18:51:20 -0000	1.1
--- testAccelerationSensor.cpp	1 Dec 2005 23:55:21 -0000	1.2
***************
*** 98,102 ****
          f.sim->simulate( 1 );
  
!         QT_CHECK_CLOSE( f.sensor->getGlobalLinearAccel() [ 1 ] , 0, 0.001 );
      }
  }
--- 98,102 ----
          f.sim->simulate( 1 );
  
!         QT_CHECK_CLOSE( f.sensor->getGlobalLinearAccel() [ 1 ] , 0 );
      }
  }

Index: testQuaternion.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testQuaternion.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** testQuaternion.cpp	1 Dec 2005 19:34:03 -0000	1.2
--- testQuaternion.cpp	1 Dec 2005 23:55:21 -0000	1.3
***************
*** 29,32 ****
--- 29,33 ----
  // system headers
  #include <quicktest.h>
+ #include <sstream>
  
  // project headers
***************
*** 99,118 ****
      }
  
      QT_TEST( lengthSquared )
      {
!         QT_CHECK_CLOSE( Quaternion( 0, 0, 0, 0 ).lengthSquared(), 0, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 0, 0, 0 ).lengthSquared(), 1, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 0, 0 ).lengthSquared(), 5, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 0 ).lengthSquared(), 14, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 4 ).lengthSquared(), 30, 0.001 );
      }
  
      QT_TEST( length )
      {
!         QT_CHECK_CLOSE( Quaternion( 0, 0, 0, 0 ).length(), 0, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 0, 0, 0 ).length(), 1, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 0, 0 ).length(), sqrt( 5 ), 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 0 ).length(), sqrt( 14 ), 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 4 ).length(), sqrt( 30 ), 0.001 );
      }
  
--- 100,154 ----
      }
  
+     QT_TEST( operator_summation )
+     {
+         QT_CHECK_EQUAL( Quaternion( 1, 0, 0, 0 ) + Quaternion( 0, 1, 0, 0 ),
+                         Quaternion( 1, 1, 0, 0 ) );
+         QT_CHECK_EQUAL( Quaternion( 1, 2, 3, 4 ) + Quaternion( 4, 3, 2, 1 ),
+                         Quaternion( 5, 5, 5, 5 ) );
+     }
+ 
+     QT_TEST( operator_substraction )
+     {
+         QT_CHECK_EQUAL( Quaternion( 1, 0, 0, 0 ) - Quaternion( 0, 1, 0, 0 ),
+                         Quaternion( 1, -1, 0, 0 ) );
+         QT_CHECK_EQUAL( Quaternion( 1, 2, 3, 4 ) - Quaternion( 4, 3, 2, 1 ),
+                         Quaternion( -3, -1, 1, 3 ) );
+     }
+ 
+     QT_TEST( operator_multiply_before_scalar )
+     {
+         QT_CHECK_EQUAL( Quaternion( 1, 0, 0, 0 ) * 5, Quaternion( 5, 0, 0, 0 ) );
+         QT_CHECK_EQUAL( Quaternion( 1, 2, -3, 4 ) * -1, Quaternion( -1, -2, 3, -4 ) );
+     }
+ 
+     QT_TEST( operator_multiply_after_scalar )
+     {
+         QT_CHECK_EQUAL( 5 * Quaternion( 1, 0, 0, 0 ), Quaternion( 5, 0, 0, 0 ) );
+         QT_CHECK_EQUAL( -1 * Quaternion( 1, 2, -3, 4 ), Quaternion( -1, -2, 3, -4 ) );
+     }
+ 
+     QT_TEST( operator_string )
+     {
+ 		std::ostringstream ss;
+         ss << Quaternion( 1, 2, 3, 4 );
+         QT_CHECK_EQUAL( ss.str(), "[1 2 3 4]" );
+     }
+ 
      QT_TEST( lengthSquared )
      {
!         QT_CHECK_CLOSE( Quaternion( 0, 0, 0, 0 ).lengthSquared(), 0 );
!         QT_CHECK_CLOSE( Quaternion( 1, 0, 0, 0 ).lengthSquared(), 1 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 0, 0 ).lengthSquared(), 5 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 0 ).lengthSquared(), 14 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 4 ).lengthSquared(), 30 );
      }
  
      QT_TEST( length )
      {
!         QT_CHECK_CLOSE( Quaternion( 0, 0, 0, 0 ).length(), 0 );
!         QT_CHECK_CLOSE( Quaternion( 1, 0, 0, 0 ).length(), 1 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 0, 0 ).length(), sqrt( 5 ) );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 0 ).length(), sqrt( 14 ) );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 4 ).length(), sqrt( 30 ) );
      }
  
***************
*** 121,125 ****
          Quaternion q( 0, 0, 0, 0 );
          q.normalize();
!         QT_CHECK_NOT_EQUAL( q, Quaternion( 0, 0, 0, 0 ) );
      }
  }
--- 157,212 ----
          Quaternion q( 0, 0, 0, 0 );
          q.normalize();
!         QT_CHECK_EQUAL( q, Quaternion( 0, 0, 0, 0 ) );
! 
!         q.set( 0, 0, 0, 1 );
!         q.normalize();
!         QT_CHECK_EQUAL( q, Quaternion( 0, 0, 0, 1 ) );
! 
!         q.set( 1, 0, 0, 0 );
!         q.normalize();
!         QT_CHECK_EQUAL( q, Quaternion( 1, 0, 0, 0 ) );
! 
!         q.set( 1, 0, 0, 1 );
!         q.normalize();
!         QT_CHECK_EQUAL( q, Quaternion( sqrt( 2 ) / 2.0, 0, 0, sqrt( 2 ) / 2.0 ) );
!     }
! 
!     QT_TEST( getAngleAxis )
!     {
!         Quaternion q( 0, 1, 0, 0 );
!         real angle;
!         Vec3r axis;
!         q.getAngleAxis( angle, axis );
!         QT_CHECK_EQUAL( angle, 180 );
!         QT_CHECK_EQUAL( axis, Vec3r( 1, 0, 0 ) );
! 
!         q.set( 0, 0, 1, 0 );
!         q.getAngleAxis( angle, axis );
!         QT_CHECK_EQUAL( angle, 180 );
!         QT_CHECK_EQUAL( axis, Vec3r( 0, 1, 0 ) );
! 
!         q.set( 1, 0, 1, 0 );
!         q.normalize();
!         q.getAngleAxis( angle, axis );
!         QT_CHECK_CLOSE( angle, 90 );
!         QT_CHECK_EQUAL( axis, Vec3r( 0, 1, 0 ) );
!     }
! 
!     QT_TEST( getRoll_Pitch_Yaw )
!     {
!         Quaternion q( 0, 0, 1, 0 );
!         QT_CHECK_CLOSE( q.getRoll(), 180 );
!         QT_CHECK_CLOSE( q.getPitch(), 0 );
!         QT_CHECK_CLOSE( q.getYaw(), 180 );
! 
!         q.set( 0, 1, 0, 0 );
!         QT_CHECK_CLOSE( q.getRoll(), 180 );
!         QT_CHECK_CLOSE( q.getPitch(), 0 );
!         QT_CHECK_CLOSE( q.getYaw(), 0 );
! 
!         q.set( 0, 0, 0, 1 );
!         QT_CHECK_CLOSE( q.getRoll(), 0 );
!         QT_CHECK_CLOSE( q.getPitch(), 0 );
!         QT_CHECK_CLOSE( q.getYaw(), 180 );
      }
  }

Index: testsolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testsolid.cpp,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** testsolid.cpp	1 Dec 2005 19:34:03 -0000	1.6
--- testsolid.cpp	1 Dec 2005 23:55:21 -0000	1.7
***************
*** 106,110 ****
          f.sim->simulate( 1 );
  
!         QT_CHECK_CLOSE( f.s->getPosition() [ 1 ], p[ 1 ], 0.001 );
      }
  
--- 106,110 ----
          f.sim->simulate( 1 );
  
!         QT_CHECK_CLOSE( f.s->getPosition() [ 1 ], p[ 1 ] );
      }
  
***************
*** 118,122 ****
          f.sim->simulate( 1 );
  
!         QT_CHECK_CLOSE( f.s->getPosition() [ 1 ], p[ 1 ], 0.001 );
      }
  
--- 118,122 ----
          f.sim->simulate( 1 );
  
!         QT_CHECK_CLOSE( f.s->getPosition() [ 1 ], p[ 1 ] );
      }
  
***************
*** 142,146 ****
          f.sim->simulate( 1 );
  
!         QT_CHECK_CLOSE( f.s->getPosition() [ 1 ], p[ 1 ], 0.001 );
      }
  
--- 142,146 ----
          f.sim->simulate( 1 );
  
!         QT_CHECK_CLOSE( f.s->getPosition() [ 1 ], p[ 1 ] );
      }
  
***************
*** 216,225 ****
          Matrix44r m_set = f.s->getInertiaTensor();
          QT_CHECK_EQUAL( m, m_set );
!         QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
  
          mass.mass = 2;
          f.s->setMass( mass, Matrix44r() );
  
!         QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
      }
  
--- 216,225 ----
          Matrix44r m_set = f.s->getInertiaTensor();
          QT_CHECK_EQUAL( m, m_set );
!         QT_CHECK_CLOSE( f.s->getMass(), mass.mass );
  
          mass.mass = 2;
          f.s->setMass( mass, Matrix44r() );
  
!         QT_CHECK_CLOSE( f.s->getMass(), mass.mass );
      }
  

Index: Makefile.am
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.am,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** Makefile.am	1 Dec 2005 19:34:03 -0000	1.7
--- Makefile.am	1 Dec 2005 23:55:21 -0000	1.8
***************
*** 15,19 ****
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 				testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
--- 15,20 ----
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 					testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp \
! 	testMatrix44r.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode

Index: Quaternion.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Quaternion.h,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** Quaternion.h	1 Dec 2005 19:34:03 -0000	1.11
--- Quaternion.h	1 Dec 2005 23:55:21 -0000	1.12
***************
*** 61,65 ****
              void normalize();
  
!             void getAngleAxis( real& angle, Vec3r& axis );
  
              real getRoll() const;
--- 61,65 ----
              void normalize();
  
!             void getAngleAxis( real& angle, Vec3r& axis ) const;
  
              real getRoll() const;

Index: Quaternion.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Quaternion.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** Quaternion.cpp	1 Dec 2005 19:34:03 -0000	1.1
--- Quaternion.cpp	1 Dec 2005 23:55:21 -0000	1.2
***************
*** 83,92 ****
      {
          real len = length();
!         assert( 0 != len );
!         real factor = 1 / len;
!         ( *this ) = ( *this ) * factor;
      }
  
!     void Quaternion::getAngleAxis( real& angle, Vec3r& axis )
      {
          real sqrLen = x * x + y * y + z * z;
--- 83,94 ----
      {
          real len = length();
!         if ( len > 0 )
!         {
!             real factor = 1 / len;
!             ( *this ) = ( *this ) * factor;
!         }
      }
  
!     void Quaternion::getAngleAxis( real& angle, Vec3r& axis ) const
      {
          real sqrLen = x * x + y * y + z * z;
***************
*** 146,158 ****
      const real & Quaternion::operator[] ( unsigned int i ) const
      {
! 		switch ( i )
! 		{
! 			case 0: return w;
! 			case 1: return x;
! 			case 2: return y;
! 			case 3: return z;
! 		}
! 		assert( i < 4 );
! 		return w;
      }
  
--- 148,160 ----
      const real & Quaternion::operator[] ( unsigned int i ) const
      {
!         switch ( i )
!         {
!             case 0: return w;
!             case 1: return x;
!             case 2: return y;
!             case 3: return z;
!         }
!         assert( i < 4 );
!         return w;
      }
  

--- NEW FILE: testMatrix44r.cpp ---
/*************************************************************************
*                                                                       *
* Open Physics Abstraction Layer                                        *
* Copyright (C) 2004-2005                                               *
* Alan Fischer  ala...@gm...                                  *
* Andres Reinot  an...@re...                                      *
* Tyler Streeter  tyl...@gm...                               *
* Oleksandr Lozitskiy mr....@gm...                            *
* All rights reserved.                                                  *
* Web: opal.sourceforge.net                                             *
*                                                                       *
* This library is free software; you can redistribute it and/or         *
* modify it under the terms of EITHER:                                  *
*   (1) The GNU Lesser General Public License as published by the Free  *
*       Software Foundation; either version 2.1 of the License, or (at  *
*       your option) any later version. The text of the GNU Lesser      *
*       General Public License is included with this library in the     *
*       file license-LGPL.txt.                                          *
*   (2) The BSD-style license that is included with this library in     *
*       the file license-BSD.txt.                                       *
*                                                                       *
* This library is distributed in the hope that it will be useful,       *
* but WITHOUT ANY WARRANTY; without even the implied warranty of        *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
* license-LGPL.txt and license-BSD.txt for more details.                *
*                                                                       *
*************************************************************************/

// system headers
#include <quicktest.h>

// project headers
#include "opal.h"

using namespace opal;

namespace testMatrix44r
{
    QT_TEST( setQuaternion_values )
    {
        Matrix44r m;
        m.setQuaternion( 0, 0, 0, 1 );
        QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, 180 ) );
    }

    QT_TEST( setQuaternion_object )
    {
        Matrix44r m;
        m.setQuaternion( Quaternion( 0, 0, 0, 1 ) );
        QT_CHECK_EQUAL( m.getEulerXYZ(), Vec3r( 0, 0, 180 ) );
    }
}

Index: testVec3r.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testVec3r.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** testVec3r.cpp	30 Nov 2005 06:28:12 -0000	1.1
--- testVec3r.cpp	1 Dec 2005 23:55:21 -0000	1.2
***************
*** 289,301 ****
      {
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 1, 0, 0 ) ),
!                         90, 0.0001 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0.5, 0.5, 0 ) ),
!                         90, 0.0001 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, 0.5, 0.5 ) ),
!                         45, 0.0001 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, 0.5, 0.5 ) ),
!                         45, 0.0001 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, 0.5, -0.5 ) ),
!                         90 + 45, 0.0001 );
      }
  
--- 289,301 ----
      {
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 1, 0, 0 ) ),
!                         90 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0.5, 0.5, 0 ) ),
!                         90 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, 0.5, 0.5 ) ),
!                         45 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, 0.5, 0.5 ) ),
!                         45 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, 0.5, -0.5 ) ),
!                         90 + 45 );
      }
  
***************
*** 303,316 ****
      {
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 1, 0, 0 ) ),
!                         90, 0.0001 );
          real s = sqrt( 0.5 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( s, s, 0 ) ),
!                         90, 0.0001 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, s, s ) ),
!                         45, 0.0001 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, s, s ) ),
!                         45, 0.0001 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, s, -s ) ),
!                         90 + 45, 0.0001 );
      }
  
--- 303,316 ----
      {
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 1, 0, 0 ) ),
!                         90 );
          real s = sqrt( 0.5 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( s, s, 0 ) ),
!                         90 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, s, s ) ),
!                         45 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, s, s ) ),
!                         45 );
          QT_CHECK_CLOSE( angleBetween( Vec3r( 0, 0, 1 ) , Vec3r( 0, s, -s ) ),
!                         90 + 45 );
      }
  

Index: Matrix44r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Matrix44r.h,v
retrieving revision 1.39
retrieving revision 1.40
diff -C2 -d -r1.39 -r1.40
*** Matrix44r.h	1 Dec 2005 19:34:03 -0000	1.39
--- Matrix44r.h	1 Dec 2005 23:55:21 -0000	1.40
***************
*** 69,72 ****
--- 69,73 ----
              inline friend Matrix44r operator*( real scalar, Matrix44r m );
  
+ 			/// identity by default
              Matrix44r()
              {
***************
*** 255,258 ****
--- 256,268 ----
              }
  
+ 			inline void setQuaternion( const Quaternion & q )
+ 			{
+ 				real angle;
+ 				Vec3r axis;
+ 				q.getAngleAxis( angle, axis );
+ 				
+ 				setRotation( angle, axis.x, axis.y, axis.z );
+ 			}
+ 
              inline void setRotation( real theta, real x, real y, real z )
              {

[Opal-commits] opal/kdevelop opal.kdevelop,1.3,1.4

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/kdevelop
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13924/kdevelop

Modified Files:
	opal.kdevelop 
Log Message:
More Unit tests. Finished opal::Quaternion tests.


Index: opal.kdevelop
===================================================================
RCS file: /cvsroot/opal/opal/kdevelop/opal.kdevelop,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** opal.kdevelop	1 Dec 2005 02:04:54 -0000	1.3
--- opal.kdevelop	1 Dec 2005 23:55:21 -0000	1.4
***************
*** 14,18 ****
      <projectdirectory>.</projectdirectory>
      <absoluteprojectpath>false</absoluteprojectpath>
!     <description></description>
      <versioncontrol/>
    </general>
--- 14,18 ----
      <projectdirectory>.</projectdirectory>
      <absoluteprojectpath>false</absoluteprojectpath>
!     <description/>
      <versioncontrol/>
    </general>
***************
*** 173,177 ****
      </codecompletion>
      <creategettersetter>
!       <prefixGet></prefixGet>
        <prefixSet>set</prefixSet>
        <prefixVariable>m_,_</prefixVariable>
--- 173,177 ----
      </codecompletion>
      <creategettersetter>
!       <prefixGet/>
        <prefixSet>set</prefixSet>
        <prefixVariable>m_,_</prefixVariable>
***************
*** 194,203 ****
    <kdevdebugger>
      <general>
!       <programargs></programargs>
!       <gdbpath></gdbpath>
!       <dbgshell></dbgshell>
!       <configGdbScript></configGdbScript>
!       <runShellScript></runShellScript>
!       <runGdbScript></runGdbScript>
        <breakonloadinglibs>true</breakonloadinglibs>
        <separatetty>false</separatetty>
--- 194,203 ----
    <kdevdebugger>
      <general>
!       <programargs/>
!       <gdbpath/>
!       <dbgshell/>
!       <configGdbScript/>
!       <runShellScript/>
!       <runGdbScript/>
        <breakonloadinglibs>true</breakonloadinglibs>
        <separatetty>false</separatetty>
***************
*** 211,216 ****
    </kdevdebugger>
    <ctagspart>
!     <customArguments></customArguments>
!     <customTagfilePath></customTagfilePath>
    </ctagspart>
  </kdevelop>
--- 211,216 ----
    </kdevdebugger>
    <ctagspart>
!     <customArguments/>
!     <customTagfilePath/>
    </ctagspart>
  </kdevelop>

[Opal-commits] opal/src/external/quicktest quicktest.h,1.4,1.5

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src/external/quicktest
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13924/src/external/quicktest

Modified Files:
	quicktest.h 
Log Message:
More Unit tests. Finished opal::Quaternion tests.


Index: quicktest.h
===================================================================
RCS file: /cvsroot/opal/opal/src/external/quicktest/quicktest.h,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** quicktest.h	1 Dec 2005 02:04:54 -0000	1.4
--- quicktest.h	1 Dec 2005 23:55:21 -0000	1.5
***************
*** 98,101 ****
--- 98,127 ----
              /// The group name of this test
              std::string mTestGroup;
+ 
+ 			/// helper method
+ 			static bool areEqual(double x, double y)
+ 			{
+ 				const double EPSILON = 0.000001;
+ 				double maxVal = 1;
+ 
+ 				if (fabs(static_cast<double>(x)) > maxVal)
+ 				{
+ 					maxVal = fabs(x);
+ 				}
+ 
+ 				if (fabs(static_cast<double>(y)) > maxVal)
+ 				{
+ 					maxVal = fabs(static_cast<double>(y));
+ 				}
+ 
+ 				if (fabs(static_cast<double>(x - y)) <= EPSILON * maxVal)
+ 				{
+ 					return true;
+ 				}
+ 				else
+ 				{
+ 					return false;
+ 				}
+ 			}
      };
  
***************
*** 245,248 ****
--- 271,275 ----
          {\
              recordFailure(_result, __FILE__, __LINE__, #condition);\
+             return;\
          }\
      }
***************
*** 258,261 ****
--- 285,289 ----
                  << std::endl << "(" << (value2) << ")";\
              recordFailure(_result, __FILE__, __LINE__, oss.str());\
+             return;\
          }\
      }
***************
*** 270,273 ****
--- 298,302 ----
                  << "value2 (" << (value2) << ")";\
              recordFailure(_result, __FILE__, __LINE__, oss.str());\
+             return;\
          }\
      }
***************
*** 276,282 ****
  /// the second parameter.  This is useful for comparing floating point
  /// values.
! #define QT_CHECK_CLOSE(value1, value2, tolerance)\
      {\
!         if (abs((value1)-(value2)) > tolerance)\
          {\
              std::ostringstream oss;\
--- 305,311 ----
  /// the second parameter.  This is useful for comparing floating point
  /// values.
! #define QT_CHECK_CLOSE(value1, value2)\
      {\
!         if (areEqual((value1),(value2)) == false )\
          {\
              std::ostringstream oss;\
***************
*** 284,287 ****
--- 313,317 ----
                  << "value2 (" << (value2) << ")";\
              recordFailure(_result, __FILE__, __LINE__, oss.str());\
+             return;\
          }\
      }
***************
*** 296,299 ****
--- 326,330 ----
                  << "value2 (" << (value2) << ")";\
              recordFailure(_result, __FILE__, __LINE__, oss.str());\
+             return;\
          }\
      }
***************
*** 308,311 ****
--- 339,343 ----
                  << "equal to " << "value2 (" << (value2) << ")";\
              recordFailure(_result, __FILE__, __LINE__, oss.str());\
+             return;\
          }\
      }
***************
*** 320,323 ****
--- 352,356 ----
                  << "value2 (" << (value2) << ")";\
              recordFailure(_result, __FILE__, __LINE__, oss.str());\
+             return;\
          }\
      }
***************
*** 333,336 ****
--- 366,370 ----
                  << "equal to " << "value2 (" << (value2) << ")";\
              recordFailure(_result, __FILE__, __LINE__, oss.str());\
+             return;\
          }\
      }
***************
*** 340,343 ****
--- 374,378 ----
      {\
          recordFailure(_result, __FILE__, __LINE__, (message));\
+         return;\
      }\
  

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

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13924

Modified Files:
	changelog.txt 
Log Message:
More Unit tests. Finished opal::Quaternion tests.


Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.54
retrieving revision 1.55
diff -C2 -d -r1.54 -r1.55
*** changelog.txt	1 Dec 2005 19:34:03 -0000	1.54
--- changelog.txt	1 Dec 2005 23:55:21 -0000	1.55
***************
*** 15,18 ****
--- 15,20 ----
  ------------------------------------------
  
+ 	* 12-1-05: More Unit tests. Finished opal::Quaternion. (Oleksandr Lozitskiy)
+ 
  	* 12-1-05: Fixed Matrix44r::setQuaternion(). Refactored Quaternion.
  	More unit tests. (Oleksandr Lozitskiy)

[Opal-commits] opal/src Quaternion.cpp,NONE,1.1 Makefile.am,1.6,1.7 Makefile.in,1.6,1.7 Matrix44r.h,1.38,1.39 Quaternion.h,1.10,1.11 testQuaternion.cpp,1.1,1.2 testsolid.cpp,1.5,1.6

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19201/src

Modified Files:
	Makefile.am Makefile.in Matrix44r.h Quaternion.h 
	testQuaternion.cpp testsolid.cpp 
Added Files:
	Quaternion.cpp 
Log Message:
Fixed Matrix44r::setQuaternion(). Refactored Quaternion. More unit tests.


Index: Makefile.in
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.in,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** Makefile.in	1 Dec 2005 04:54:44 -0000	1.6
--- Makefile.in	1 Dec 2005 19:34:03 -0000	1.7
***************
*** 62,66 ****
  	ServoMotor.$(OBJEXT) Simulator.$(OBJEXT) Solid.$(OBJEXT) \
  	SolidData.$(OBJEXT) Space.$(OBJEXT) SpringMotor.$(OBJEXT) \
! 	ThrusterMotor.$(OBJEXT) VolumeSensor.$(OBJEXT) Vec3r.$(OBJEXT)
  libopalode_a_OBJECTS = $(am_libopalode_a_OBJECTS)
  am__installdirs = "$(DESTDIR)$(bindir)"
--- 62,67 ----
  	ServoMotor.$(OBJEXT) Simulator.$(OBJEXT) Solid.$(OBJEXT) \
  	SolidData.$(OBJEXT) Space.$(OBJEXT) SpringMotor.$(OBJEXT) \
! 	ThrusterMotor.$(OBJEXT) VolumeSensor.$(OBJEXT) Vec3r.$(OBJEXT) \
! 	Quaternion.$(OBJEXT)
  libopalode_a_OBJECTS = $(am_libopalode_a_OBJECTS)
  am__installdirs = "$(DESTDIR)$(bindir)"
***************
*** 206,213 ****
  noinst_LIBRARIES = libopalode.a
  libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 	BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 	InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 	ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 	ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
--- 207,214 ----
  noinst_LIBRARIES = libopalode.a
  libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 		BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 		InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 		ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 		ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp Quaternion.cpp
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
***************
*** 307,310 ****
--- 308,312 ----
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Logger.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Motor.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Quaternion.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/RaycastSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/Sensor.Po@am__quote@

Index: testQuaternion.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testQuaternion.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** testQuaternion.cpp	1 Dec 2005 04:54:44 -0000	1.1
--- testQuaternion.cpp	1 Dec 2005 19:34:03 -0000	1.2
***************
*** 55,72 ****
      }
  
      QT_TEST( operator_equal )
      {
          QT_CHECK_EQUAL( Quaternion( 0, 0, 0, 0 ), Quaternion( 0, 0, 0, 0 ) );
! 		QT_CHECK_EQUAL( Quaternion( 0, 0, 0, 1 ), Quaternion( 0, 0, 0, 1 ) );
! 		QT_CHECK_EQUAL( Quaternion( 0, 0, 1, 2 ), Quaternion( 0, 0, 1, 2 ) );
! 		QT_CHECK_EQUAL( Quaternion( 1, 2, 0, 3 ), Quaternion( 1, 2, 0, 3 ) );
      }
  
! 	QT_TEST( operator_not_equal )
! 	{
! 		QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 0, 0 ), Quaternion( 1, 0, 0, 0 ) );
! 		QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 0, 1 ), Quaternion( 0, 1, 0, 0 ) );
! 		QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 1, 2 ), Quaternion( 4, 5, 0, 2 ) );
! 		QT_CHECK_NOT_EQUAL( Quaternion( 1, 2, 0, 3 ), Quaternion( 1, 0, 2, 3 ) );
! 	}
  }
--- 55,125 ----
      }
  
+     QT_TEST( set )
+     {
+         Quaternion q;
+         q.set( 1, 2, 3, 4 );
+         QT_CHECK_EQUAL( q[ 0 ], 1 );
+         QT_CHECK_EQUAL( q[ 1 ], 2 );
+         QT_CHECK_EQUAL( q[ 2 ], 3 );
+         QT_CHECK_EQUAL( q[ 3 ], 4 );
+     }
+ 
+     QT_TEST( operator_square_brackets )
+     {
+         Quaternion q( 1, 2, 3, 4 );
+         QT_CHECK_EQUAL( q[ 0 ], 1 );
+         QT_CHECK_EQUAL( q[ 1 ], 2 );
+         QT_CHECK_EQUAL( q[ 2 ], 3 );
+         QT_CHECK_EQUAL( q[ 3 ], 4 );
+     }
+ 
+     QT_TEST( copy_constructor )
+     {
+         Quaternion q( Quaternion( 1, 2, 3, 4 ) );
+         QT_CHECK_EQUAL( q[ 0 ], 1 );
+         QT_CHECK_EQUAL( q[ 1 ], 2 );
+         QT_CHECK_EQUAL( q[ 2 ], 3 );
+         QT_CHECK_EQUAL( q[ 3 ], 4 );
+     }
+ 
      QT_TEST( operator_equal )
      {
          QT_CHECK_EQUAL( Quaternion( 0, 0, 0, 0 ), Quaternion( 0, 0, 0, 0 ) );
!         QT_CHECK_EQUAL( Quaternion( 0, 0, 0, 1 ), Quaternion( 0, 0, 0, 1 ) );
!         QT_CHECK_EQUAL( Quaternion( 0, 0, 1, 2 ), Quaternion( 0, 0, 1, 2 ) );
!         QT_CHECK_EQUAL( Quaternion( 1, 2, 0, 3 ), Quaternion( 1, 2, 0, 3 ) );
      }
  
!     QT_TEST( operator_not_equal )
!     {
!         QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 0, 0 ), Quaternion( 1, 0, 0, 0 ) );
!         QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 0, 1 ), Quaternion( 0, 1, 0, 0 ) );
!         QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 1, 2 ), Quaternion( 4, 5, 0, 2 ) );
!         QT_CHECK_NOT_EQUAL( Quaternion( 1, 2, 0, 3 ), Quaternion( 1, 0, 2, 3 ) );
!     }
! 
!     QT_TEST( lengthSquared )
!     {
!         QT_CHECK_CLOSE( Quaternion( 0, 0, 0, 0 ).lengthSquared(), 0, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 0, 0, 0 ).lengthSquared(), 1, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 0, 0 ).lengthSquared(), 5, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 0 ).lengthSquared(), 14, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 4 ).lengthSquared(), 30, 0.001 );
!     }
! 
!     QT_TEST( length )
!     {
!         QT_CHECK_CLOSE( Quaternion( 0, 0, 0, 0 ).length(), 0, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 0, 0, 0 ).length(), 1, 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 0, 0 ).length(), sqrt( 5 ), 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 0 ).length(), sqrt( 14 ), 0.001 );
!         QT_CHECK_CLOSE( Quaternion( 1, 2, 3, 4 ).length(), sqrt( 30 ), 0.001 );
!     }
! 
!     QT_TEST( normalize )
!     {
!         Quaternion q( 0, 0, 0, 0 );
!         q.normalize();
!         QT_CHECK_NOT_EQUAL( q, Quaternion( 0, 0, 0, 0 ) );
!     }
  }

Index: testsolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testsolid.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** testsolid.cpp	1 Dec 2005 04:54:44 -0000	1.5
--- testsolid.cpp	1 Dec 2005 19:34:03 -0000	1.6
***************
*** 234,237 ****
--- 234,241 ----
  		f.s->setQuaternion( q );
  		QT_CHECK_EQUAL( q, f.s->getQuaternion() );
+ 
+ 		q.set( 0, 0, 0, 1 );
+ 		f.s->setQuaternion( q );
+ 		QT_CHECK_EQUAL( q, f.s->getQuaternion() );
      }
  }

Index: Makefile.am
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.am,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** Makefile.am	1 Dec 2005 04:54:44 -0000	1.6
--- Makefile.am	1 Dec 2005 19:34:03 -0000	1.7
***************
*** 9,16 ****
  noinst_LIBRARIES = libopalode.a
  libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 	BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 	InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 	ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 	ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
--- 9,16 ----
  noinst_LIBRARIES = libopalode.a
  libopalode_a_SOURCES = AccelerationSensor.cpp AttractorMotor.cpp Blueprint.cpp \
! 		BlueprintInstance.cpp BlueprintManager.cpp CollisionEventHandler.cpp GearedMotor.cpp \
! 		InclineSensor.cpp Joint.cpp Logger.cpp Motor.cpp RaycastSensor.cpp Sensor.cpp \
! 		ServoMotor.cpp Simulator.cpp Solid.cpp SolidData.cpp Space.cpp SpringMotor.cpp \
! 		ThrusterMotor.cpp VolumeSensor.cpp Vec3r.cpp Quaternion.cpp
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \

Index: Quaternion.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Quaternion.h,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** Quaternion.h	1 Dec 2005 04:54:44 -0000	1.10
--- Quaternion.h	1 Dec 2005 19:34:03 -0000	1.11
***************
*** 32,206 ****
  #include "OpalMath.h"
  
  namespace opal
  {
!     class Quaternion;
!     inline Quaternion operator+( const Quaternion &q1, const Quaternion &q2 );
!     inline Quaternion operator-( const Quaternion &q1, const Quaternion &q2 );
!     inline Quaternion operator*( const Quaternion& q, real scalar );
!     inline Quaternion operator*( real scalar, const Quaternion& q );
!     inline bool operator==( const Quaternion &q1, const Quaternion &q2 );
! 	inline bool operator!=( const Quaternion &q1, const Quaternion &q2 );
! 
!     /// Prints the Quaternion to the given output stream.
!     inline std::ostream& operator<<( std::ostream& o, const Quaternion& q );
! 
      class Quaternion
      {
-         private:
-             real mData[ 4 ];
- 
          public:
!             Quaternion()
!             {
!                 mData[ 0 ] = 0;
!                 mData[ 1 ] = 0;
!                 mData[ 2 ] = 0;
!                 mData[ 3 ] = 0;
!             }
! 
!             Quaternion( real w, real x, real y, real z )
!             {
!                 mData[ 0 ] = w;
!                 mData[ 1 ] = x;
!                 mData[ 2 ] = y;
!                 mData[ 3 ] = z;
!             }
  
!             Quaternion( const Quaternion& src )
!             {
!                 memcpy( mData, src.mData, 4 * sizeof( real ) );
!             }
  
!             inline void set( real w, real x, real y, real z	)
!             {
!                 mData[ 0 ] = w;
!                 mData[ 1 ] = x;
!                 mData[ 2 ] = y;
!                 mData[ 3 ] = z;
!             }
  
!             inline real lengthSquared() const
!             {
!                 return mData[ 0 ] * mData[ 0 ] + mData[ 1 ] * mData[ 1 ] + mData[ 2 ] * mData[ 2 ] +
!                        mData[ 3 ] * mData[ 3 ];
!             }
  
!             inline real length() const
!             {
!                 return sqrt( lengthSquared() );
!             }
  
!             inline void normalize()
!             {
!                 real len = length();
!                 assert( 0 != len );
!                 real factor = 1 / len;
!                 ( *this ) = ( *this ) * factor;
!             }
  
!             void getAngleAxis( real& angle, Vec3r& axis )
!             {
!                 real sqrLen = mData[ 1 ] * mData[ 1 ] + mData[ 2 ] * mData[ 2 ] +
!                               mData[ 3 ] * mData[ 3 ];
  
!                 if ( sqrLen > 0 )
!                 {
!                     angle = 2 * acos( mData[ 0 ] );
!                     real invLen = 1 / sqrt( sqrLen );
!                     axis[ 0 ] = mData[ 1 ] * invLen;
!                     axis[ 1 ] = mData[ 2 ] * invLen;
!                     axis[ 2 ] = mData[ 3 ] * invLen;
!                 }
!                 else
!                 {
!                     angle = 0;
!                     axis[ 0 ] = 1;
!                     axis[ 1 ] = 0;
!                     axis[ 2 ] = 0;
!                 }
  
!                 // convert to degrees
!                 angle = radToDeg( angle );
!             }
  
!             real getRoll() const
!             {
!                 return radToDeg( atan2( 2 * ( mData[ 2 ] * mData[ 3 ] + mData[ 0 ] * mData[ 1 ] ),
!                                         mData[ 0 ] * mData[ 0 ] - mData[ 1 ] * mData[ 1 ] - mData[ 2 ] * mData[ 2 ] +
!                                         mData[ 3 ] * mData[ 3 ] ) );
!             }
  
!             real getPitch() const
!             {
!                 return radToDeg( asin( -2 * ( mData[ 1 ] * mData[ 3 ] - mData[ 0 ] * mData[ 2 ] ) ) );
!             }
  
!             real getYaw() const
!             {
!                 return radToDeg( atan2( 2 * ( mData[ 1 ] * mData[ 2 ] + mData[ 0 ] * mData[ 3 ] ),
!                                         mData[ 0 ] * mData[ 0 ] + mData[ 1 ] * mData[ 1 ] - mData[ 2 ] * mData[ 2 ] -
!                                         mData[ 3 ] * mData[ 3 ] ) );
!             }
  
!             inline real & operator[] ( unsigned int i )
!             {
!                 assert( i < 4 );
!                 return mData[ i ];
!             }
  
!             inline const real & operator[] ( unsigned int i ) const
!             {
!                 assert( i < 4 );
!                 return mData[ i ];
!             }
      };
  
!     inline Quaternion operator+( const Quaternion &q1, const Quaternion &q2 )
!     {
!         return Quaternion( q1[ 0 ] + q2[ 0 ], q1[ 1 ] + q2[ 1 ], q1[ 2 ] + q2[ 2 ], q1[ 3 ] +
!                            q2[ 3 ] );
!     }
! 
!     inline Quaternion operator-( const Quaternion &q1, const Quaternion &q2 )
!     {
!         return Quaternion( q1[ 0 ] - q2[ 0 ], q1[ 1 ] - q2[ 1 ], q1[ 2 ] - q2[ 2 ], q1[ 3 ] -
!                            q2[ 3 ] );
!     }
! 
!     inline bool operator==( const Quaternion &q1, const Quaternion &q2 )
!     {
!         if ( !areEqual( q1[ 0 ], q2[ 0 ] ) || !areEqual( q1[ 1 ] , q2[ 1 ] ) ||
!                 !areEqual( q1[ 2 ] , q2[ 2 ] ) || !areEqual( q1[ 3 ] , q2[ 3 ] ) )
!             return false;
!         else
!             return true;
!     }
! 
!     inline bool operator!=( const Quaternion &q1, const Quaternion &q2 )
!     {
! 		if ( !areEqual( q1[ 0 ], q2[ 0 ] ) || !areEqual( q1[ 1 ] , q2[ 1 ] ) ||
! 					!areEqual( q1[ 2 ] , q2[ 2 ] ) || !areEqual( q1[ 3 ] , q2[ 3 ] ) )
! 			return true;
! 		else
! 			return false;
!     }
! 
!     inline Quaternion operator*( const Quaternion& q, real scalar )
!     {
!         return Quaternion( scalar * q[ 0 ], scalar * q[ 1 ], scalar * q[ 2 ],
!                            scalar * q[ 3 ] );
!     }
  
!     inline Quaternion operator*( real scalar, const Quaternion& q )
!     {
!         return Quaternion( scalar * q[ 0 ], scalar * q[ 1 ], scalar * q[ 2 ],
!                            scalar * q[ 3 ] );
!     }
  
-     inline std::ostream& operator<<( std::ostream& o, const Quaternion& q )
-     {
-         return o << "[" << q[ 0 ] << " " << q[ 1 ] << " " << q[ 2 ] << " "
-                << q[ 3 ] << "]";
-     }
  }
  
--- 32,87 ----
  #include "OpalMath.h"
  
+ // system headers
+ #include <iostream>
+ 
  namespace opal
  {
! 	class Vec3r;
! 	
      class Quaternion
      {
          public:
!             real w;
!             real x;
!             real y;
!             real z;
  
!             Quaternion();
  
!             Quaternion( real ww, real xx, real yy, real zz );
  
!             Quaternion( const Quaternion& src );
  
!             void set( real ww, real xx, real yy, real zz );
  
!             real lengthSquared() const;
  
!             real length() const;
  
!             void normalize();
  
!             void getAngleAxis( real& angle, Vec3r& axis );
  
!             real getRoll() const;
  
!             real getPitch() const;
  
!             real getYaw() const	;
  
!             real & operator[] ( unsigned int i );
  
!             const real & operator[] ( unsigned int i ) const;
      };
  
! 	Quaternion operator+( const Quaternion &q1, const Quaternion &q2 );
! 	Quaternion operator-( const Quaternion &q1, const Quaternion &q2 );
! 	Quaternion operator*( const Quaternion& q, real scalar );
! 	Quaternion operator*( real scalar, const Quaternion& q );
! 	bool operator==( const Quaternion &q1, const Quaternion &q2 );
! 	bool operator!=( const Quaternion &q1, const Quaternion &q2 );
  
!     /// Prints the Quaternion to the given output stream.
! 	std::ostream & operator<<( std::ostream& o, const Quaternion& q );
  
  }
  

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

// class headers
#include "Quaternion.h"

// system headers
#include <cassert>

// project headers
#include "Vec3r.h"

namespace opal
{
    Quaternion::Quaternion()
    {
        w = 0;
        x = 0;
        y = 0;
        z = 0;
    }

    Quaternion::Quaternion( real ww, real xx, real yy, real zz )
    {
        w = ww;
        x = xx;
        y = yy;
        z = zz;
    }

    Quaternion::Quaternion( const Quaternion& src )
    {
        w = src.w;
        x = src.x;
        y = src.y;
        z = src.z;
    }

    void Quaternion::set( real ww, real xx, real yy, real zz	)
    {
        w = ww;
        x = xx;
        y = yy;
        z = zz;
    }

    real Quaternion::lengthSquared() const
    {
        return w * w + x * x + y * y + z * z;
    }

    real Quaternion::length() const
    {
        return sqrt( lengthSquared() );
    }

    void Quaternion::normalize()
    {
        real len = length();
        assert( 0 != len );
        real factor = 1 / len;
        ( *this ) = ( *this ) * factor;
    }

    void Quaternion::getAngleAxis( real& angle, Vec3r& axis )
    {
        real sqrLen = x * x + y * y + z * z;

        if ( sqrLen > 0 )
        {
            angle = 2 * acos( w );
            real invLen = 1 / sqrt( sqrLen );
            axis.x = x * invLen;
            axis.y = y * invLen;
            axis.z = z * invLen;
        }
        else
        {
            angle = 0;
            axis.x = 1;
            axis.y = 0;
            axis.z = 0;
        }

        // convert to degrees
        angle = radToDeg( angle );
    }

    real Quaternion::getRoll() const
    {
        return radToDeg( atan2( 2 * ( y * z + w * x ),
                                w * w - x * x - y * y +
                                z * z ) );
    }

    real Quaternion::getPitch() const
    {
        return radToDeg( asin( -2 * ( x * z - w * y ) ) );
    }

    real Quaternion::getYaw() const
    {
        return radToDeg( atan2( 2 * ( x * y + w * z ),
                                w * w + x * x - y * y -
                                z * z ) );
    }

    real & Quaternion::operator[] ( unsigned int i )
    {
        switch ( i )
        {
            case 0: return w;
            case 1: return x;
            case 2: return y;
            case 3: return z;
        }
        assert( i < 4 );
        return w;
    }

    const real & Quaternion::operator[] ( unsigned int i ) const
    {
		switch ( i )
		{
			case 0: return w;
			case 1: return x;
			case 2: return y;
			case 3: return z;
		}
		assert( i < 4 );
		return w;
    }

    Quaternion operator+( const Quaternion &q1, const Quaternion &q2 )
    {
        return Quaternion( q1.w + q2.w, q1.x + q2.x, q1.y + q2.y, q1.z + q2.z );
    }

    Quaternion operator-( const Quaternion &q1, const Quaternion &q2 )
    {
        return Quaternion( q1.w - q2.w, q1.x - q2.x, q1.y - q2.y, q1.z - q2.z );
    }

    bool operator==( const Quaternion &q1, const Quaternion &q2 )
    {
        if ( !areEqual( q1.w, q2.w ) || !areEqual( q1.x , q2.x ) ||
                !areEqual( q1.y , q2.y ) || !areEqual( q1.z , q2.z ) )
            return false;
        else
            return true;
    }

    bool operator!=( const Quaternion &q1, const Quaternion &q2 )
    {
        if ( !areEqual( q1.w, q2.w ) || !areEqual( q1.x , q2.x ) ||
                !areEqual( q1.y , q2.y ) || !areEqual( q1.z , q2.z ) )
            return true;
        else
            return false;
    }

    Quaternion operator*( const Quaternion& q, real scalar )
    {
        return Quaternion( scalar * q.w, scalar * q.x, scalar * q.y, scalar * q.z );
    }

    Quaternion operator*( real scalar, const Quaternion& q )
    {
        return Quaternion( scalar * q.w, scalar * q.x, scalar * q.y, scalar * q.z );
    }

    std::ostream& operator<<( std::ostream& o, const Quaternion& q )
    {
        return o << "[" << q.w << " " << q.x << " " << q.y << " " << q.z << "]";
    }
}

Index: Matrix44r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Matrix44r.h,v
retrieving revision 1.38
retrieving revision 1.39
diff -C2 -d -r1.38 -r1.39
*** Matrix44r.h	1 Dec 2005 04:54:44 -0000	1.38
--- Matrix44r.h	1 Dec 2005 19:34:03 -0000	1.39
***************
*** 247,252 ****
              inline void setQuaternion( real w, real x, real y, real z )
              {
!                 if ( !( x == 0 && y == 0 && z == 0 ) )
!                     setRotation( radToDeg( w ), x, y, z );
              }
  
--- 247,256 ----
              inline void setQuaternion( real w, real x, real y, real z )
              {
! 				real angle;
! 				Vec3r axis;
! 				Quaternion q( w, x, y, z );
! 				q.getAngleAxis( angle, axis );
! 				
! 				setRotation( angle, axis.x, axis.y, axis.z );
              }
  

[Opal-commits] opal changelog.txt,1.53,1.54

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19201

Modified Files:
	changelog.txt 
Log Message:
Fixed Matrix44r::setQuaternion(). Refactored Quaternion. More unit tests.


Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.53
retrieving revision 1.54
diff -C2 -d -r1.53 -r1.54
*** changelog.txt	1 Dec 2005 04:54:44 -0000	1.53
--- changelog.txt	1 Dec 2005 19:34:03 -0000	1.54
***************
*** 15,18 ****
--- 15,21 ----
  ------------------------------------------
  
+ 	* 12-1-05: Fixed Matrix44r::setQuaternion(). Refactored Quaternion.
+ 	More unit tests. (Oleksandr Lozitskiy)
+ 
  	* 12-1-05: Added Solid::setQuaternion and Matrix44r::setQuaternion as
  	well as a few unit tests. (Oleksandr Lozitskiy)

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

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv6648

Modified Files:
	changelog.txt 
Log Message:
Solid::setQuaternion and Matrix44r:setQuaternion initial draft.
Added unit tests for Quaternion.


Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.52
retrieving revision 1.53
diff -C2 -d -r1.52 -r1.53
*** changelog.txt	1 Dec 2005 02:04:54 -0000	1.52
--- changelog.txt	1 Dec 2005 04:54:44 -0000	1.53
***************
*** 11,18 ****
  
  
! Version 0.3.2 (possibly 0.4.0 ?)
  (not yet released)
  ------------------------------------------
  
  	* 11-30-05: Implemented Solid::setMass, added unit tests to test it. (Oleksandr Lozitskiy)
  
--- 11,21 ----
  
  
! Version 0.4.0
  (not yet released)
  ------------------------------------------
  
+ 	* 12-1-05: Added Solid::setQuaternion and Matrix44r::setQuaternion as
+ 	well as a few unit tests. (Oleksandr Lozitskiy)
+ 
  	* 11-30-05: Implemented Solid::setMass, added unit tests to test it. (Oleksandr Lozitskiy)
  
***************
*** 29,36 ****
  	QuickTest header. (Oleksandr Lozitskiy)
  
! 	* 11-6-06: Added KDevelop project files. Added skeleton for unit
  	tests. Added quicktest to external headers. (Oleksandr Lozitskiy)
  
! 	* 11-6-06: Refactoring Solid interface. Made a few method const.
  	(Oleksandr Lozitskiy)
  
--- 32,39 ----
  	QuickTest header. (Oleksandr Lozitskiy)
  
! 	* 11-6-05: Added KDevelop project files. Added skeleton for unit
  	tests. Added quicktest to external headers. (Oleksandr Lozitskiy)
  
! 	* 11-6-05: Refactoring Solid interface. Made a few method const.
  	(Oleksandr Lozitskiy)
  

[Opal-commits] opal/src testQuaternion.cpp,NONE,1.1 Makefile.am,1.5,1.6 Makefile.in,1.5,1.6 Matrix44r.h,1.37,1.38 Quaternion.h,1.9,1.10 Solid.cpp,1.39,1.40 Solid.h,1.93,1.94 testsolid.cpp,1.4,1.5

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv6648/src

Modified Files:
	Makefile.am Makefile.in Matrix44r.h Quaternion.h Solid.cpp 
	Solid.h testsolid.cpp 
Added Files:
	testQuaternion.cpp 
Log Message:
Solid::setQuaternion and Matrix44r:setQuaternion initial draft.
Added unit tests for Quaternion.


Index: Solid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.cpp,v
retrieving revision 1.39
retrieving revision 1.40
diff -C2 -d -r1.39 -r1.40
*** Solid.cpp	6 Nov 2005 05:12:21 -0000	1.39
--- Solid.cpp	1 Dec 2005 04:54:44 -0000	1.40
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
!  * This library is free software; you can redistribute it and/or         *
!  * modify it under the terms of EITHER:                                  *
!  *   (1) The GNU Lesser General Public License as published by the Free  *
!  *       Software Foundation; either version 2.1 of the License, or (at  *
!  *       your option) any later version. The text of the GNU Lesser      *
!  *       General Public License is included with this library in the     *
!  *       file license-LGPL.txt.                                          *
!  *   (2) The BSD-style license that is included with this library in     *
!  *       the file license-BSD.txt.                                       *
!  *                                                                       *
!  * This library is distributed in the hope that it will be useful,       *
!  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
!  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
!  * license-LGPL.txt and license-BSD.txt for more details.                *
!  *                                                                       *
!  *************************************************************************/
  
  #include "Solid.h"
--- 1,28 ----
  /*************************************************************************
! *                                                                       *
! * Open Physics Abstraction Layer                                        *
! * Copyright (C) 2004-2005                                               *
! * Alan Fischer  ala...@gm...                                  *
! * Andres Reinot  an...@re...                                      *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: opal.sourceforge.net                                             *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
! *   (1) The GNU Lesser General Public License as published by the Free  *
! *       Software Foundation; either version 2.1 of the License, or (at  *
! *       your option) any later version. The text of the GNU Lesser      *
! *       General Public License is included with this library in the     *
! *       file license-LGPL.txt.                                          *
! *   (2) The BSD-style license that is included with this library in     *
! *       the file license-BSD.txt.                                       *
! *                                                                       *
! * This library is distributed in the hope that it will be useful,       *
! * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
! * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
! * license-LGPL.txt and license-BSD.txt for more details.                *
! *                                                                       *
! *************************************************************************/
  
  #include "Solid.h"
***************
*** 30,318 ****
  namespace opal
  {
! 	Solid::Solid()
! 	{
! 		// "mData" is initialized in its own constructor.
! 		setCollisionEventHandler(NULL);
! 		setUserData(NULL);
! 		resetAABB();
! 	}
  
! 	Solid::~Solid()
! 	{
! 		mForceList.clear();
! 	}
  
! 	void Solid::internal_destroy()
! 	{
! 		delete this;
! 	}
  
! 	const SolidData& Solid::getData()
! 	{
! 		// Update parameters that don't get updated automatically.
! 		mData.sleeping = isSleeping();
  
! 		return mData;
! 	}
  
! 	void Solid::setName(const std::string& name)
! 	{
! 		mData.name = name;
! 	}
  
! 	const std::string& Solid::getName()const
! 	{
! 		return mData.name;
! 	}
  
! 	bool Solid::isEnabled()const
! 	{
! 		return mData.enabled;
! 	}
  
! 	void Solid::setEnabled(bool e)
! 	{
! 		mData.enabled = e;
! 	}
  
! 	bool Solid::isStatic()const
! 	{
! 		return mData.isStatic;
! 	}
  
! 	void Solid::setSleepiness(real s)
! 	{
! 		assert(s >= 0.0 && s <= 1.0);
! 		mData.sleepiness = s;
! 	}
  
! 	real Solid::getSleepiness()const
! 	{
! 		return mData.sleepiness;
! 	}
  
! 	void Solid::setLinearDamping(real ld)
! 	{
! 		assert(ld >= 0.0);
! 		mData.linearDamping = ld;
! 	}
  
! 	real Solid::getLinearDamping()const
! 	{
! 		return mData.linearDamping;
! 	}
  
! 	void Solid::setAngularDamping(real ad)
! 	{
! 		assert(ad >= 0.0);
! 		mData.angularDamping = ad;
! 	}
  
! 	real Solid::getAngularDamping()const
! 	{
! 		return mData.angularDamping;
! 	}
  
! 	void Solid::setUserData(void* data)
! 	{
! 		mUserData = data;
! 	}
  
! 	void* Solid::getUserData()const
! 	{
! 		return mUserData;
! 	}
  
! 	void Solid::setTransform(const Matrix44r& t)
! 	{	
! 		mData.transform = t;
! 		internal_updateEngineTransform();
! 	}
  
! 	const Matrix44r& Solid::getTransform()const
! 	{
! 		return mData.transform;
! 	}
  
! 	void Solid::setPosition(real x, real y, real z)
! 	{
! 		mData.transform.setPosition(x, y, z);
! 		internal_updateEngineTransform();
! 	}
  
! 	void Solid::setPosition(const Point3r & p)
! 	{
! 		setPosition(p[0], p[1], p[2]);
! 	}
  
! 	Point3r Solid::getPosition()const
! 	{
! 		return mData.transform.getPosition();
! 	}
  
! 	Vec3r Solid::getEulerXYZ()const
! 	{
! 		return mData.transform.getEulerXYZ();
! 	}
  
! 	Quaternion Solid::getQuaternion()const
! 	{
! 		return mData.transform.getQuaternion();
! 	}
  
! 	void Solid::getLocalAABB(real aabb[6])const
  	{
! 		for (unsigned int i = 0; i < 6; ++i)
! 		{
! 			aabb[i] = mLocalAABB[i];
! 		}
  	}
  
! 	void Solid::getGlobalAABB(real aabb[6])const
! 	{
! 		Point3r minExtents(mLocalAABB[0], mLocalAABB[2], mLocalAABB[4]);
! 		Point3r maxExtents(mLocalAABB[1], mLocalAABB[3], mLocalAABB[5]);
  
! 		// Transform the AABB extents to global coordinates.
! 		minExtents = mData.transform * minExtents;
! 		maxExtents = mData.transform * maxExtents;
  
! 		aabb[0] = minExtents[0];
! 		aabb[1] = maxExtents[0];
! 		aabb[2] = minExtents[1];
! 		aabb[3] = maxExtents[1];
! 		aabb[4] = minExtents[2];
! 		aabb[5] = maxExtents[2];
! 	}
  
! 	//void Solid::addPlane(const Point3r& point, const Vec3r& normal, const Material& m)
! 	//{
! 	//	Point3r origin(0, 0, 0);
! 	//	Vec3r n = normal;
! 	//	n.normalize();
! 	//	Vec3r v = point - origin;
! 	//
! 	//	real angle = 0;
! 	//	if (0 != v.length())
! 	//	{
! 	//		v.normalize();
! 	//		angle = acos(dot(n,v)); // note: this only works when the two vectors are normalized
! 	//	}
! 	//
! 	//	real length = distance(point, origin);
! 	//	real D = length * cos(angle);
! 	//	real abcd[4] = {n[0], n[1], n[2], D};
! 	//	addPlane(abcd, m);
! 	//}
  
! 	void Solid::addForce(const Force& f)
! 	{
! 		if (mData.enabled && !mData.isStatic && 
! 			!areEqual(f.vec.lengthSquared(), 0))
! 		{
! 			mForceList.push_back(f);
! 		}
! 	}
  
! 	void Solid::internal_applyForces(real stepSize)
! 	{
! 		if (mData.isStatic)
! 		{
! 			return;
! 		}
  
! 		// If there are Forces to apply and the Solid is asleep, wake it up.
! 		if(!mForceList.empty() && isSleeping())
! 		{
! 			setSleeping(false);
! 		}
  
! 		real invStepSize = 1 / stepSize;
  
! 		for (unsigned int i = 0; i < mForceList.size();)
! 		{
! 			if (true == mForceList[i].singleStep)
! 			{
! 				mForceList[i].duration = stepSize;
! 			}
! 			else if (mForceList[i].duration < stepSize)
! 			{
! 				// Scale the size of the force/torque.
! 				mForceList[i].vec *= (mForceList[i].duration * invStepSize);
! 			}
  
! 			// Apply the actual force/torque.
! 			applyForce(mForceList[i]);
  
! 			// The following is ok for all cases (even when duration is 
! 			// < mStepSize).
! 			mForceList[i].duration -= stepSize;
  
! 			if (mForceList[i].duration <= 0)
! 			{
! 				// Delete this force.
! 				mForceList[i] = mForceList.back();
! 				mForceList.pop_back();
! 			}
! 			else
! 			{
! 				++i;
! 			}
! 		}
! 	}
  
! 	void Solid::setCollisionEventHandler(CollisionEventHandler* eventHandler)
! 	{
! 		mCollisionEventHandler = eventHandler;
! 	}
  
! 	CollisionEventHandler* Solid::getCollisionEventHandler()const
! 	{
! 		return mCollisionEventHandler;
! 	}
  
! 	void Solid::addToLocalAABB(const real aabb[6])
! 	{
! 		// Loop over the 3 dimensions of the AABB's extents.
! 		for (unsigned int i = 0; i < 3; ++i)
! 		{
! 			if (aabb[i * 2] < mLocalAABB[i * 2])
! 			{
! 				mLocalAABB[i * 2] = aabb[i * 2];
! 			}
  
! 			if (aabb[i * 2 + 1] > mLocalAABB[i * 2 + 1])
! 			{
! 				mLocalAABB[i * 2 + 1] = aabb[i * 2 + 1];
! 			}
! 		}
! 	}
  
! 	void Solid::resetAABB()
! 	{
! 		for (unsigned int i = 0; i < 6; ++i)
! 		{
! 			mLocalAABB[i] = 0;
! 		}
! 	}
  
! 	//void Solid::internal_updateSleeping()
! 	//{
! 	//	mData.sleeping = isSleeping();
! 	//}
  
! 	//// TODO: Quickly spinning solids should be set as fast rotating solids to 
! 	//// improve simulation accuracy.
! 	//void Solid::setFastRotation(bool fast)
! 	//{
! 	//}
  
! 	//bool Solid::getFastRotation()const
! 	//{
! 	//	return false;
! 	//}
  
! 	//void Solid::setFastRotationAxis(Vec3r axis)
! 	//{
! 	//}
  }
--- 30,330 ----
  namespace opal
  {
!     Solid::Solid()
!     {
!         // "mData" is initialized in its own constructor.
!         setCollisionEventHandler( NULL );
!         setUserData( NULL );
!         resetAABB();
!     }
  
!     Solid::~Solid()
!     {
!         mForceList.clear();
!     }
  
!     void Solid::internal_destroy()
!     {
!         delete this;
!     }
  
!     const SolidData& Solid::getData()
!     {
!         // Update parameters that don't get updated automatically.
!         mData.sleeping = isSleeping();
  
!         return mData;
!     }
  
!     void Solid::setName( const std::string& name )
!     {
!         mData.name = name;
!     }
  
!     const std::string& Solid::getName() const
!     {
!         return mData.name;
!     }
  
!     bool Solid::isEnabled() const
!     {
!         return mData.enabled;
!     }
  
!     void Solid::setEnabled( bool e )
!     {
!         mData.enabled = e;
!     }
  
!     bool Solid::isStatic() const
!     {
!         return mData.isStatic;
!     }
  
!     void Solid::setSleepiness( real s )
!     {
!         assert( s >= 0.0 && s <= 1.0 );
!         mData.sleepiness = s;
!     }
  
!     real Solid::getSleepiness() const
!     {
!         return mData.sleepiness;
!     }
  
!     void Solid::setLinearDamping( real ld )
!     {
!         assert( ld >= 0.0 );
!         mData.linearDamping = ld;
!     }
  
!     real Solid::getLinearDamping() const
!     {
!         return mData.linearDamping;
!     }
  
!     void Solid::setAngularDamping( real ad )
!     {
!         assert( ad >= 0.0 );
!         mData.angularDamping = ad;
!     }
  
!     real Solid::getAngularDamping() const
!     {
!         return mData.angularDamping;
!     }
  
!     void Solid::setUserData( void* data )
!     {
!         mUserData = data;
!     }
  
!     void* Solid::getUserData() const
!     {
!         return mUserData;
!     }
  
!     void Solid::setTransform( const Matrix44r& t )
!     {
!         mData.transform = t;
!         internal_updateEngineTransform();
!     }
  
!     const Matrix44r& Solid::getTransform() const
!     {
!         return mData.transform;
!     }
  
!     void Solid::setPosition( real x, real y, real z )
!     {
!         mData.transform.setPosition( x, y, z );
!         internal_updateEngineTransform();
!     }
  
!     void Solid::setPosition( const Point3r & p )
!     {
!         setPosition( p[ 0 ], p[ 1 ], p[ 2 ] );
!     }
  
!     Point3r Solid::getPosition() const
!     {
!         return mData.transform.getPosition();
!     }
  
!     Vec3r Solid::getEulerXYZ() const
!     {
!         return mData.transform.getEulerXYZ();
!     }
  
!     Quaternion Solid::getQuaternion() const
!     {
!         return mData.transform.getQuaternion();
!     }
  
!     void Solid::setQuaternion( const Quaternion & q )
!     {
!         mData.transform.setQuaternion( q[ 0 ], q[ 1 ], q[ 2 ], q[ 3 ] );
!         internal_updateEngineTransform();
!     }
! 
! 	void Solid::setQuaternion( real w, real x, real y, real z )
  	{
! 		mData.transform.setQuaternion( w, x, y, z );
! 		internal_updateEngineTransform();
  	}
  
!     void Solid::getLocalAABB( real aabb[ 6 ] ) const
!     {
!         for ( unsigned int i = 0; i < 6; ++i )
!         {
!             aabb[ i ] = mLocalAABB[ i ];
!         }
!     }
  
!     void Solid::getGlobalAABB( real aabb[ 6 ] ) const
!     {
!         Point3r minExtents( mLocalAABB[ 0 ], mLocalAABB[ 2 ], mLocalAABB[ 4 ] );
!         Point3r maxExtents( mLocalAABB[ 1 ], mLocalAABB[ 3 ], mLocalAABB[ 5 ] );
  
!         // Transform the AABB extents to global coordinates.
!         minExtents = mData.transform * minExtents;
!         maxExtents = mData.transform * maxExtents;
  
!         aabb[ 0 ] = minExtents[ 0 ];
!         aabb[ 1 ] = maxExtents[ 0 ];
!         aabb[ 2 ] = minExtents[ 1 ];
!         aabb[ 3 ] = maxExtents[ 1 ];
!         aabb[ 4 ] = minExtents[ 2 ];
!         aabb[ 5 ] = maxExtents[ 2 ];
!     }
  
!     //void Solid::addPlane(const Point3r& point, const Vec3r& normal, const Material& m)
!     //{
!     //	Point3r origin(0, 0, 0);
!     //	Vec3r n = normal;
!     //	n.normalize();
!     //	Vec3r v = point - origin;
!     //
!     //	real angle = 0;
!     //	if (0 != v.length())
!     //	{
!     //		v.normalize();
!     //		angle = acos(dot(n,v)); // note: this only works when the two vectors are normalized
!     //	}
!     //
!     //	real length = distance(point, origin);
!     //	real D = length * cos(angle);
!     //	real abcd[4] = {n[0], n[1], n[2], D};
!     //	addPlane(abcd, m);
!     //}
  
!     void Solid::addForce( const Force& f )
!     {
!         if ( mData.enabled && !mData.isStatic &&
!                 !areEqual( f.vec.lengthSquared(), 0 ) )
!         {
!             mForceList.push_back( f );
!         }
!     }
  
!     void Solid::internal_applyForces( real stepSize )
!     {
!         if ( mData.isStatic )
!         {
!             return ;
!         }
  
!         // If there are Forces to apply and the Solid is asleep, wake it up.
!         if ( !mForceList.empty() && isSleeping() )
!         {
!             setSleeping( false );
!         }
  
!         real invStepSize = 1 / stepSize;
  
!         for ( unsigned int i = 0; i < mForceList.size(); )
!         {
!             if ( true == mForceList[ i ].singleStep )
!             {
!                 mForceList[ i ].duration = stepSize;
!             }
!             else if ( mForceList[ i ].duration < stepSize )
!             {
!                 // Scale the size of the force/torque.
!                 mForceList[ i ].vec *= ( mForceList[ i ].duration * invStepSize );
!             }
  
!             // Apply the actual force/torque.
!             applyForce( mForceList[ i ] );
  
!             // The following is ok for all cases (even when duration is
!             // < mStepSize).
!             mForceList[ i ].duration -= stepSize;
  
!             if ( mForceList[ i ].duration <= 0 )
!             {
!                 // Delete this force.
!                 mForceList[ i ] = mForceList.back();
!                 mForceList.pop_back();
!             }
!             else
!             {
!                 ++i;
!             }
!         }
!     }
  
!     void Solid::setCollisionEventHandler( CollisionEventHandler* eventHandler )
!     {
!         mCollisionEventHandler = eventHandler;
!     }
  
!     CollisionEventHandler* Solid::getCollisionEventHandler() const
!     {
!         return mCollisionEventHandler;
!     }
  
!     void Solid::addToLocalAABB( const real aabb[ 6 ] )
!     {
!         // Loop over the 3 dimensions of the AABB's extents.
!         for ( unsigned int i = 0; i < 3; ++i )
!         {
!             if ( aabb[ i * 2 ] < mLocalAABB[ i * 2 ] )
!             {
!                 mLocalAABB[ i * 2 ] = aabb[ i * 2 ];
!             }
  
!             if ( aabb[ i * 2 + 1 ] > mLocalAABB[ i * 2 + 1 ] )
!             {
!                 mLocalAABB[ i * 2 + 1 ] = aabb[ i * 2 + 1 ];
!             }
!         }
!     }
  
!     void Solid::resetAABB()
!     {
!         for ( unsigned int i = 0; i < 6; ++i )
!         {
!             mLocalAABB[ i ] = 0;
!         }
!     }
  
!     //void Solid::internal_updateSleeping()
!     //{
!     //	mData.sleeping = isSleeping();
!     //}
  
!     //// TODO: Quickly spinning solids should be set as fast rotating solids to
!     //// improve simulation accuracy.
!     //void Solid::setFastRotation(bool fast)
!     //{
!     //}
  
!     //bool Solid::getFastRotation()const
!     //{
!     //	return false;
!     //}
! 
!     //void Solid::setFastRotationAxis(Vec3r axis)
!     //{
!     //}
  }

Index: Makefile.in
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.in,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Makefile.in	1 Dec 2005 02:04:54 -0000	1.5
--- Makefile.in	1 Dec 2005 04:54:44 -0000	1.6
***************
*** 70,74 ****
  	testAccelerationSensor.$(OBJEXT) testRaycastSensor.$(OBJEXT) \
  	testSimulator.$(OBJEXT) testVec3r.$(OBJEXT) \
! 	testPoint3r.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
--- 70,74 ----
  	testAccelerationSensor.$(OBJEXT) testRaycastSensor.$(OBJEXT) \
  	testSimulator.$(OBJEXT) testVec3r.$(OBJEXT) \
! 	testPoint3r.$(OBJEXT) testQuaternion.$(OBJEXT)
  test_opal_OBJECTS = $(am_test_opal_OBJECTS)
  test_opal_DEPENDENCIES =  \
***************
*** 212,216 ****
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 			testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
--- 212,216 ----
  
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 				testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp
  
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
***************
*** 320,323 ****
--- 320,324 ----
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testAccelerationSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testPoint3r.Po@am__quote@
+ @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testQuaternion.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testRaycastSensor.Po@am__quote@
  @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/testSimulator.Po@am__quote@

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

// system headers
#include <quicktest.h>

// project headers
#include "opal.h"

using namespace opal;

namespace testQuaternion
{
    QT_TEST( default_constructor )
    {
        Quaternion q;
        QT_CHECK_EQUAL( q[ 0 ], 0 );
        QT_CHECK_EQUAL( q[ 1 ], 0 );
        QT_CHECK_EQUAL( q[ 2 ], 0 );
        QT_CHECK_EQUAL( q[ 3 ], 0 );
    }

    QT_TEST( constructor )
    {
        Quaternion q( 1, 2, 3, 4 );
        QT_CHECK_EQUAL( q[ 0 ], 1 );
        QT_CHECK_EQUAL( q[ 1 ], 2 );
        QT_CHECK_EQUAL( q[ 2 ], 3 );
        QT_CHECK_EQUAL( q[ 3 ], 4 );
    }

    QT_TEST( operator_equal )
    {
        QT_CHECK_EQUAL( Quaternion( 0, 0, 0, 0 ), Quaternion( 0, 0, 0, 0 ) );
		QT_CHECK_EQUAL( Quaternion( 0, 0, 0, 1 ), Quaternion( 0, 0, 0, 1 ) );
		QT_CHECK_EQUAL( Quaternion( 0, 0, 1, 2 ), Quaternion( 0, 0, 1, 2 ) );
		QT_CHECK_EQUAL( Quaternion( 1, 2, 0, 3 ), Quaternion( 1, 2, 0, 3 ) );
    }

	QT_TEST( operator_not_equal )
	{
		QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 0, 0 ), Quaternion( 1, 0, 0, 0 ) );
		QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 0, 1 ), Quaternion( 0, 1, 0, 0 ) );
		QT_CHECK_NOT_EQUAL( Quaternion( 0, 0, 1, 2 ), Quaternion( 4, 5, 0, 2 ) );
		QT_CHECK_NOT_EQUAL( Quaternion( 1, 2, 0, 3 ), Quaternion( 1, 0, 2, 3 ) );
	}
}

Index: testsolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testsolid.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** testsolid.cpp	1 Dec 2005 02:04:54 -0000	1.4
--- testsolid.cpp	1 Dec 2005 04:54:44 -0000	1.5
***************
*** 216,220 ****
          Matrix44r m_set = f.s->getInertiaTensor();
          QT_CHECK_EQUAL( m, m_set );
! 		QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
  
          mass.mass = 2;
--- 216,220 ----
          Matrix44r m_set = f.s->getInertiaTensor();
          QT_CHECK_EQUAL( m, m_set );
!         QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
  
          mass.mass = 2;
***************
*** 223,225 ****
--- 223,237 ----
          QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
      }
+ 
+     QT_TEST( setQuaternion_Q )
+     {
+         SolidBoxFixture f;
+         Quaternion q = f.s->getQuaternion();
+         f.s->setQuaternion( q );
+         QT_CHECK_EQUAL( q, f.s->getQuaternion() );
+ 
+ 		q.set( 1, 0, 0, 0 );
+ 		f.s->setQuaternion( q );
+ 		QT_CHECK_EQUAL( q, f.s->getQuaternion() );
+     }
  }

Index: Makefile.am
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.am,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Makefile.am	1 Dec 2005 02:04:54 -0000	1.5
--- Makefile.am	1 Dec 2005 04:54:44 -0000	1.6
***************
*** 15,19 ****
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 			testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
--- 15,19 ----
  bin_PROGRAMS = test_opal
  test_opal_SOURCES = testopal.cpp testsolid.cpp testAccelerationSensor.cpp \
! 				testRaycastSensor.cpp testSimulator.cpp testVec3r.cpp testPoint3r.cpp testQuaternion.cpp
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.93
retrieving revision 1.94
diff -C2 -d -r1.93 -r1.94
*** Solid.h	1 Dec 2005 02:04:54 -0000	1.93
--- Solid.h	1 Dec 2005 04:54:44 -0000	1.94
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
!  * This library is free software; you can redistribute it and/or         *
!  * modify it under the terms of EITHER:                                  *
!  *   (1) The GNU Lesser General Public License as published by the Free  *
!  *       Software Foundation; either version 2.1 of the License, or (at  *
!  *       your option) any later version. The text of the GNU Lesser      *
!  *       General Public License is included with this library in the     *
!  *       file license-LGPL.txt.                                          *
!  *   (2) The BSD-style license that is included with this library in     *
!  *       the file license-BSD.txt.                                       *
!  *                                                                       *
!  * This library is distributed in the hope that it will be useful,       *
!  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
!  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
!  * license-LGPL.txt and license-BSD.txt for more details.                *
!  *                                                                       *
!  *************************************************************************/
  
  #ifndef OPAL_SOLID_H
--- 1,28 ----
  /*************************************************************************
! *                                                                       *
! * Open Physics Abstraction Layer                                        *
! * Copyright (C) 2004-2005                                               *
! * Alan Fischer  ala...@gm...                                  *
! * Andres Reinot  an...@re...                                      *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: opal.sourceforge.net                                             *
! *                                                                       *
! * This library is free software; you can redistribute it and/or         *
! * modify it under the terms of EITHER:                                  *
! *   (1) The GNU Lesser General Public License as published by the Free  *
! *       Software Foundation; either version 2.1 of the License, or (at  *
! *       your option) any later version. The text of the GNU Lesser      *
! *       General Public License is included with this library in the     *
! *       file license-LGPL.txt.                                          *
! *   (2) The BSD-style license that is included with this library in     *
! *       the file license-BSD.txt.                                       *
! *                                                                       *
! * This library is distributed in the hope that it will be useful,       *
! * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
! * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
! * license-LGPL.txt and license-BSD.txt for more details.                *
! *                                                                       *
! *************************************************************************/
  
  #ifndef OPAL_SOLID_H
***************
*** 35,281 ****
  namespace opal
  {
! 	class Mass;
! 	class Simulator;
! 	class Space;
! 	class ShapeData;
  
! 	/// Solids are the physical objects in a simulation.  Solids can be 
! 	/// static or dynamic: basically, dynamic Solids move, and static Solids 
! 	/// don't move.  (Static Solids can still be positioned manually.)  All 
! 	/// Solids start out enabled, but they don't do much until Shapes are 
! 	/// added.
! 	class Solid
! 	{
! 	public:
! 		Solid();
  
! 		/// Initializes the Solid with the given data structure.  Calling 
! 		/// this more than once will automatically destroy all the old 
! 		/// Shapes before adding new ones.
! 		virtual void OPAL_CALL init(const SolidData& data) = 0;
  
! 		/// Returns all data describing the Solid.
! 		virtual const SolidData& OPAL_CALL getData();
  
! 		/// Sets the Solid's name.
! 		virtual void OPAL_CALL setName(const std::string& name);
  
! 		/// Returns the Solid's name.
! 		virtual const std::string& OPAL_CALL getName()const;
  
! 		/// Returns true if the Solid is enabled.  
! 		virtual bool OPAL_CALL isEnabled()const;
  
! 		/// Sets whether the Solid can collide with other Solids and be 
! 		/// physically simulated.  Forces applied to this Solid while 
! 		/// disabled will be ignored.
! 		virtual void OPAL_CALL setEnabled(bool e);
  
! 		/// Returns true if this is a static Solid.  
! 		virtual bool OPAL_CALL isStatic()const;
  
! 		/// Sets whether the Solid should be static or dynamic.  
! 		virtual void OPAL_CALL setStatic(bool s) = 0;
  
! 		/// Removes the Solid from its current Space and adds it to the new 
! 		/// Space.
! 		virtual void OPAL_CALL setSpace(Space* newSpace) = 0;
  
! 		/// Sets whether the Solid is sleeping (i.e. set this to false to 
! 		/// wake up a sleeping Solid).  
! 		virtual void OPAL_CALL setSleeping(bool sleeping) = 0;
  
! 		/// Returns true if the Solid is sleeping.  If the Solid is static, 
! 		/// this will always return true.
! 		virtual bool OPAL_CALL isSleeping()const = 0;
  
! 		/// Sets the Solid's sleepiness level.
! 		virtual void OPAL_CALL setSleepiness(real s);
  
! 		/// Returns the Solid's sleepiness level.
! 		virtual real OPAL_CALL getSleepiness()const;
  
! 		/// Sets the amount of linear damping on this Solid.  
! 		virtual void OPAL_CALL setLinearDamping(real ld);
  
! 		/// Returns the amount of linear damping on this Solid.  
! 		virtual real OPAL_CALL getLinearDamping()const;
  
! 		/// Sets the amount of angular damping on this Solid.  
! 		virtual void OPAL_CALL setAngularDamping(real ad);
  
! 		/// Returns the amount of angular damping on this Solid.  
! 		virtual real OPAL_CALL getAngularDamping()const;
  
! 		/// Set this Solid's user data pointer to some external data.  This 
! 		/// can be used to let the Solid point to some user object (e.g. an 
! 		/// object with a visual mesh).  The user data is totally user-managed
! 		/// (i.e. it is not destroyed when the Solid is destroyed).
! 		virtual void OPAL_CALL setUserData(void* data);
  
! 		/// Returns the user data pointer (NULL if it has not been set).  
! 		virtual void* OPAL_CALL getUserData()const;
  
! 		/// Sets this Solid's transform matrix.  
! 		virtual void OPAL_CALL setTransform(const Matrix44r& t);
  
! 		/// Returns a constant reference to this Solid's transform.  
! 		virtual const Matrix44r& OPAL_CALL getTransform()const;
  
! 		/// Sets the position of this Solid in global coordinates.  
! 		virtual void OPAL_CALL setPosition(real x, real y, real z);
  
! 		/// Sets the position of this Solid in global coordinates.  
! 		virtual void OPAL_CALL setPosition(const Point3r & p);
  
! 		/// Returns the position of this Solid in global coordinates.  
! 		virtual Point3r OPAL_CALL getPosition()const;
  
! 		/// Returns the euler angles of the Solid's orientation.  
! 		virtual Vec3r OPAL_CALL getEulerXYZ()const;
  
! 		/// Returns a quaternion representing the Solid's orientation.  
! 		virtual Quaternion OPAL_CALL getQuaternion()const;
  
! 		/// Returns the axis-aligned bounding box for all of the Solid's 
! 		/// shapes relative to the Solid.
! 		virtual void OPAL_CALL getLocalAABB(real aabb[6])const;
  
! 		/// Returns the axis-aligned bounding box for all of the Solid's 
! 		/// shapes in global coordinates.
! 		virtual void OPAL_CALL getGlobalAABB(real aabb[6])const;
  
! 		/// Removes all shapes from this Solid.  Resets the Solid's 
! 		/// axis-aligned bounding box.
! 		virtual void OPAL_CALL clearShapes() = 0;
  
! 		/// Adds a Shape to this Solid.  Updates the Solid's axis-aligned 
! 		/// bounding box.
! 		virtual void OPAL_CALL addShape(ShapeData& data) = 0;
  
! 		/// Applies a force/torque to this Solid.  If the Solid is disabled, 
! 		/// the Solid is static, or the magnitude of the force/torque is 
! 		/// zero, this will do nothing.
! 		virtual void OPAL_CALL addForce(const Force& f);
  
! 		/// Removes all forces and torques currently affecting this Solid.
! 		virtual void OPAL_CALL zeroForces() = 0;
  
! 		/// Sets the Solid's linear velocity in local coordinates.  
! 		virtual void OPAL_CALL setLocalLinearVel(const Vec3r& vel) = 0;
  
! 		/// Returns the Solid's linear velocity in local coordinates.  
! 		virtual Vec3r OPAL_CALL getLocalLinearVel()const = 0;
  
! 		/// Given an offset point relative to the Solid's local origin, 
! 		/// returns the linear velocity of the point in local coordinates. 
! 		virtual Vec3r OPAL_CALL getLocalLinearVelAtLocalPos(
! 			const Point3r& p)const = 0;
  
! 		/// Sets the Solid's angular velocity in local coordinates.  
! 		virtual void OPAL_CALL setLocalAngularVel(const Vec3r& vel) = 0;
  
! 		/// Returns the Solid's angular velocity in local coordinates.  
! 		virtual Vec3r OPAL_CALL getLocalAngularVel()const = 0;
  
! 		/// Sets the Solid's linear velocity in global coordinates.  
! 		virtual void OPAL_CALL setGlobalLinearVel(const Vec3r& vel) = 0;
  
! 		/// Returns the Solid's linear velocity in global coordinates.  
! 		virtual Vec3r OPAL_CALL getGlobalLinearVel()const = 0;
  
! 		/// Given an offset point relative to the Solid's local origin, 
! 		/// returns the linear velocity of the point in global coordinates. 
! 		virtual Vec3r OPAL_CALL getGlobalLinearVelAtLocalPos(
! 			const Point3r& p)const = 0;
  
! 		/// Sets the Solid's angular velocity in global coordinates.  
! 		virtual void OPAL_CALL setGlobalAngularVel(const Vec3r& vel) = 0;
  
! 		/// Returns the Solid's angular velocity in global coordinates.  
! 		virtual Vec3r OPAL_CALL getGlobalAngularVel()const = 0;
  
! 		/// Set a new mass, center, and intertia for the solid.
! 		virtual void OPAL_CALL setMass( const Mass & newmass, const Matrix44r & offset ) = 0;
  
! 		/// Translate the Solid's mass using the given offset vector 
! 		/// specified in global coordinates.
! 		virtual void OPAL_CALL translateMass(const Vec3r& offset) = 0;
  
! 		/// Sets the Solid's collision event handler.  
! 		virtual void OPAL_CALL setCollisionEventHandler(
! 			CollisionEventHandler* eventHandler);
  
! 		/// Returns the Solid's collision event handler.  If this returns 
! 		/// NULL, the Solid is not using one.
! 		virtual CollisionEventHandler* OPAL_CALL 
! 			getCollisionEventHandler()const;
  
! 		//// Quickly spinning solids should be set as fast rotating solids to 
! 		//// improve simulation accuracy.
! 		//virtual void OPAL_CALL setFastRotation(bool fast);
  
! 		//virtual bool OPAL_CALL getFastRotation()const;
  
! 		//virtual void OPAL_CALL setFastRotationAxis(Vec3r axis);
  
! 		/// Returns the Solid's mass.  This will return 0 if the Solid 
! 		/// is static.
! 		virtual real OPAL_CALL getMass()const = 0;
  
! 		/// Returns the Solid's inertia tensor as a 4x4 matrix.  This will 
! 		/// be the identity matrix if the Solid is static.
! 		virtual Matrix44r OPAL_CALL getInertiaTensor()const = 0;
  
! 		/// Update the OPAL transform using the physics engine transform.  
! 		virtual void OPAL_CALL internal_updateOPALTransform() = 0;
  
! 		/// Update the physics engine transform using the OPAL transform.  
! 		virtual void OPAL_CALL internal_updateEngineTransform() = 0;
  
! 		/// Loops over the Solid's list of Forces and applies them.  
! 		virtual void OPAL_CALL internal_applyForces(real stepSize);
  
! 		/// Updates the SolidData sleeping value from the physics engine.
! 		void internal_updateSleeping();
  
! 		/// Internal function used to destroy this object.
! 		virtual void OPAL_CALL internal_destroy();
  
! 	protected:
! 		virtual ~Solid();
  
! 		/// Physics engine-specific function for applying Forces to 
! 		/// Solids.
! 		virtual void applyForce(const Force& f) = 0;
  
! 		/// Adds the given axis-aligned bounding box to the Solid's AABB.
! 		void addToLocalAABB(const real aabb[6]);
  
! 		/// Resets the Solid's axis-aligned bounding box.
! 		void resetAABB();
  
! 		/// An internal list of this Solid's pending Forces.  
! 		std::vector<Force> mForceList;
  
! 		/// Stores data describing the Solid.  
! 		SolidData mData;
  
! 		/// The axis-aligned bounding box of all shapes in local 
! 		/// coordinates.  This array stores data in the following order: 
! 		/// min x, max x, min y, max y, min z, max z.  This gets updated 
! 		/// whenever a shape is added or removed.
! 		real mLocalAABB[6];
  
! 		/// Pointer to this Solid's collision event handler.  
! 		CollisionEventHandler* mCollisionEventHandler;
  
! 		/// Pointer to user data.  This is totally user-managed (i.e. OPAL 
! 		/// will never delete it).  
! 		void* mUserData;
  
! 		/// Data used for 
! 	private:
! 	};
  }
  
--- 35,287 ----
  namespace opal
  {
!     class Mass;
!     class Simulator;
!     class Space;
!     class ShapeData;
  
!     /// Solids are the physical objects in a simulation.  Solids can be
!     /// static or dynamic: basically, dynamic Solids move, and static Solids
!     /// don't move.  (Static Solids can still be positioned manually.)  All
!     /// Solids start out enabled, but they don't do much until Shapes are
!     /// added.
!     class Solid
!     {
!         public:
!             Solid();
  
!             /// Initializes the Solid with the given data structure.  Calling
!             /// this more than once will automatically destroy all the old
!             /// Shapes before adding new ones.
!             virtual void OPAL_CALL init( const SolidData& data ) = 0;
  
!             /// Returns all data describing the Solid.
!             virtual const SolidData& OPAL_CALL getData();
  
!             /// Sets the Solid's name.
!             virtual void OPAL_CALL setName( const std::string& name );
  
!             /// Returns the Solid's name.
!             virtual const std::string& OPAL_CALL getName() const;
  
!             /// Returns true if the Solid is enabled.
!             virtual bool OPAL_CALL isEnabled() const;
  
!             /// Sets whether the Solid can collide with other Solids and be
!             /// physically simulated.  Forces applied to this Solid while
!             /// disabled will be ignored.
!             virtual void OPAL_CALL setEnabled( bool e );
  
!             /// Returns true if this is a static Solid.
!             virtual bool OPAL_CALL isStatic() const;
  
!             /// Sets whether the Solid should be static or dynamic.
!             virtual void OPAL_CALL setStatic( bool s ) = 0;
  
!             /// Removes the Solid from its current Space and adds it to the new
!             /// Space.
!             virtual void OPAL_CALL setSpace( Space* newSpace ) = 0;
  
!             /// Sets whether the Solid is sleeping (i.e. set this to false to
!             /// wake up a sleeping Solid).
!             virtual void OPAL_CALL setSleeping( bool sleeping ) = 0;
  
!             /// Returns true if the Solid is sleeping.  If the Solid is static,
!             /// this will always return true.
!             virtual bool OPAL_CALL isSleeping() const = 0;
  
!             /// Sets the Solid's sleepiness level.
!             virtual void OPAL_CALL setSleepiness( real s );
  
!             /// Returns the Solid's sleepiness level.
!             virtual real OPAL_CALL getSleepiness() const;
  
!             /// Sets the amount of linear damping on this Solid.
!             virtual void OPAL_CALL setLinearDamping( real ld );
  
!             /// Returns the amount of linear damping on this Solid.
!             virtual real OPAL_CALL getLinearDamping() const;
  
!             /// Sets the amount of angular damping on this Solid.
!             virtual void OPAL_CALL setAngularDamping( real ad );
  
!             /// Returns the amount of angular damping on this Solid.
!             virtual real OPAL_CALL getAngularDamping() const;
  
!             /// Set this Solid's user data pointer to some external data.  This
!             /// can be used to let the Solid point to some user object (e.g. an
!             /// object with a visual mesh).  The user data is totally user-managed
!             /// (i.e. it is not destroyed when the Solid is destroyed).
!             virtual void OPAL_CALL setUserData( void* data );
  
!             /// Returns the user data pointer (NULL if it has not been set).
!             virtual void* OPAL_CALL getUserData() const;
  
!             /// Sets this Solid's transform matrix.
!             virtual void OPAL_CALL setTransform( const Matrix44r& t );
  
!             /// Returns a constant reference to this Solid's transform.
!             virtual const Matrix44r& OPAL_CALL getTransform() const;
  
!             /// Sets the position of this Solid in global coordinates.
!             virtual void OPAL_CALL setPosition( real x, real y, real z );
  
!             /// Sets the position of this Solid in global coordinates.
!             virtual void OPAL_CALL setPosition( const Point3r & p );
  
!             /// Returns the position of this Solid in global coordinates.
!             virtual Point3r OPAL_CALL getPosition() const;
  
!             /// Returns the euler angles of the Solid's orientation.
!             virtual Vec3r OPAL_CALL getEulerXYZ() const;
  
!             /// Returns a quaternion representing the Solid's orientation.
!             virtual Quaternion OPAL_CALL getQuaternion() const;
  
! 			/// Sets a quaternion representing the Solid's orientation.
! 			virtual void OPAL_CALL setQuaternion( const Quaternion & q );
  
! 			/// Sets a quaternion representing the Solid's orientation.
! 			virtual void OPAL_CALL setQuaternion( real w, real x, real y, real z );
  
!             /// Returns the axis-aligned bounding box for all of the Solid's
!             /// shapes relative to the Solid.
!             virtual void OPAL_CALL getLocalAABB( real aabb[ 6 ] ) const;
  
!             /// Returns the axis-aligned bounding box for all of the Solid's
!             /// shapes in global coordinates.
!             virtual void OPAL_CALL getGlobalAABB( real aabb[ 6 ] ) const;
  
!             /// Removes all shapes from this Solid.  Resets the Solid's
!             /// axis-aligned bounding box.
!             virtual void OPAL_CALL clearShapes() = 0;
  
!             /// Adds a Shape to this Solid.  Updates the Solid's axis-aligned
!             /// bounding box.
!             virtual void OPAL_CALL addShape( ShapeData& data ) = 0;
  
!             /// Applies a force/torque to this Solid.  If the Solid is disabled,
!             /// the Solid is static, or the magnitude of the force/torque is
!             /// zero, this will do nothing.
!             virtual void OPAL_CALL addForce( const Force& f );
  
!             /// Removes all forces and torques currently affecting this Solid.
!             virtual void OPAL_CALL zeroForces() = 0;
  
!             /// Sets the Solid's linear velocity in local coordinates.
!             virtual void OPAL_CALL setLocalLinearVel( const Vec3r& vel ) = 0;
  
!             /// Returns the Solid's linear velocity in local coordinates.
!             virtual Vec3r OPAL_CALL getLocalLinearVel() const = 0;
  
!             /// Given an offset point relative to the Solid's local origin,
!             /// returns the linear velocity of the point in local coordinates.
!             virtual Vec3r OPAL_CALL getLocalLinearVelAtLocalPos(
!                 const Point3r& p ) const = 0;
  
!             /// Sets the Solid's angular velocity in local coordinates.
!             virtual void OPAL_CALL setLocalAngularVel( const Vec3r& vel ) = 0;
  
!             /// Returns the Solid's angular velocity in local coordinates.
!             virtual Vec3r OPAL_CALL getLocalAngularVel() const = 0;
  
!             /// Sets the Solid's linear velocity in global coordinates.
!             virtual void OPAL_CALL setGlobalLinearVel( const Vec3r& vel ) = 0;
  
!             /// Returns the Solid's linear velocity in global coordinates.
!             virtual Vec3r OPAL_CALL getGlobalLinearVel() const = 0;
  
!             /// Given an offset point relative to the Solid's local origin,
!             /// returns the linear velocity of the point in global coordinates.
!             virtual Vec3r OPAL_CALL getGlobalLinearVelAtLocalPos(
!                 const Point3r& p ) const = 0;
  
!             /// Sets the Solid's angular velocity in global coordinates.
!             virtual void OPAL_CALL setGlobalAngularVel( const Vec3r& vel ) = 0;
  
!             /// Returns the Solid's angular velocity in global coordinates.
!             virtual Vec3r OPAL_CALL getGlobalAngularVel() const = 0;
  
!             /// Set a new mass, center, and intertia for the solid.
!             virtual void OPAL_CALL setMass( const Mass & newmass, const Matrix44r & offset ) = 0;
  
!             /// Translate the Solid's mass using the given offset vector
!             /// specified in global coordinates.
!             virtual void OPAL_CALL translateMass( const Vec3r& offset ) = 0;
  
!             /// Sets the Solid's collision event handler.
!             virtual void OPAL_CALL setCollisionEventHandler(
!                 CollisionEventHandler* eventHandler );
  
!             /// Returns the Solid's collision event handler.  If this returns
!             /// NULL, the Solid is not using one.
!             virtual CollisionEventHandler* OPAL_CALL
!             getCollisionEventHandler() const;
  
!             //// Quickly spinning solids should be set as fast rotating solids to
!             //// improve simulation accuracy.
!             //virtual void OPAL_CALL setFastRotation(bool fast);
  
!             //virtual bool OPAL_CALL getFastRotation()const;
  
!             //virtual void OPAL_CALL setFastRotationAxis(Vec3r axis);
  
!             /// Returns the Solid's mass.  This will return 0 if the Solid
!             /// is static.
!             virtual real OPAL_CALL getMass() const = 0;
  
!             /// Returns the Solid's inertia tensor as a 4x4 matrix.  This will
!             /// be the identity matrix if the Solid is static.
!             virtual Matrix44r OPAL_CALL getInertiaTensor() const = 0;
  
!             /// Update the OPAL transform using the physics engine transform.
!             virtual void OPAL_CALL internal_updateOPALTransform() = 0;
  
!             /// Update the physics engine transform using the OPAL transform.
!             virtual void OPAL_CALL internal_updateEngineTransform() = 0;
  
!             /// Loops over the Solid's list of Forces and applies them.
!             virtual void OPAL_CALL internal_applyForces( real stepSize );
  
!             /// Updates the SolidData sleeping value from the physics engine.
!             void internal_updateSleeping();
  
!             /// Internal function used to destroy this object.
!             virtual void OPAL_CALL internal_destroy();
  
!         protected:
!             virtual ~Solid();
  
!             /// Physics engine-specific function for applying Forces to
!             /// Solids.
!             virtual void applyForce( const Force& f ) = 0;
  
!             /// Adds the given axis-aligned bounding box to the Solid's AABB.
!             void addToLocalAABB( const real aabb[ 6 ] );
  
!             /// Resets the Solid's axis-aligned bounding box.
!             void resetAABB();
  
!             /// An internal list of this Solid's pending Forces.
!             std::vector<Force> mForceList;
  
!             /// Stores data describing the Solid.
!             SolidData mData;
  
!             /// The axis-aligned bounding box of all shapes in local
!             /// coordinates.  This array stores data in the following order:
!             /// min x, max x, min y, max y, min z, max z.  This gets updated
!             /// whenever a shape is added or removed.
!             real mLocalAABB[ 6 ];
  
!             /// Pointer to this Solid's collision event handler.
!             CollisionEventHandler* mCollisionEventHandler;
! 
!             /// Pointer to user data.  This is totally user-managed (i.e. OPAL
!             /// will never delete it).
!             void* mUserData;
! 
!             /// Data used for
!         private:
!     };
  }
  

Index: Quaternion.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Quaternion.h,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** Quaternion.h	18 Apr 2005 22:21:03 -0000	1.9
--- Quaternion.h	1 Dec 2005 04:54:44 -0000	1.10
***************
*** 1,185 ****
  /*************************************************************************
!  *                                                                       *
!  * 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_QUATERNION_H
  #define OPAL_QUATERNION_H
  
  #include "OpalMath.h"
  
  namespace opal
  {
! 	class Quaternion;
! 	inline Quaternion operator+(const Quaternion &q1, const Quaternion &q2);
! 	inline Quaternion operator-(const Quaternion &q1, const Quaternion &q2);
! 	inline Quaternion operator*(const Quaternion& q, real scalar);
! 	inline Quaternion operator*(real scalar, const Quaternion& q);
  
! 	/// Prints the Quaternion to the given output stream.
! 	inline std::ostream& operator<<(std::ostream& o, const Quaternion& q);
  
! 	class Quaternion
! 	{
! 	private:
! 		real mData[4];
  
! 	public:
! 		Quaternion()
! 		{
! 			mData[0] = 0;
! 			mData[1] = 0;
! 			mData[2] = 0;
! 			mData[3] = 0;
! 		}
  
! 		Quaternion(real w, real x, real y, real z)
! 		{
! 			mData[0] = w;
! 			mData[1] = x;
! 			mData[2] = y;
! 			mData[3] = z;
! 		}
  
! 		Quaternion(const Quaternion& src)
! 		{
! 			memcpy(mData, src.mData, 4 * sizeof(real));
! 		}
  
! 		inline void set(real w, real x, real y, real z	)
! 		{
! 			mData[0] = w;
! 			mData[1] = x;
! 			mData[2] = y;
! 			mData[3] = z;
! 		}
  
! 		inline real lengthSquared()const
! 		{
! 			return mData[0]*mData[0] + mData[1]*mData[1] + mData[2]*mData[2] + 
! 				mData[3]*mData[3];
! 		}
  
! 		inline real length()const
! 		{
! 			return sqrt(lengthSquared());
! 		}
  
! 		inline void normalize()
! 		{
! 			real len = length();
! 			assert(0 != len);
! 			real factor = 1 / len;
! 			(*this) = (*this) * factor;
! 		}
  
! 		void getAngleAxis(real& angle, Vec3r& axis)
! 		{
! 			real sqrLen = mData[1]*mData[1] + mData[2]*mData[2] + 
! 				mData[3]*mData[3];
  
! 			if(sqrLen > 0)
! 			{
! 				angle = 2 * acos(mData[0]);
! 				real invLen = 1 / sqrt(sqrLen);
! 				axis[0] = mData[1] * invLen;
! 				axis[1] = mData[2] * invLen;
! 				axis[2] = mData[3] * invLen;
! 			}
! 			else
! 			{
! 				angle = 0;
! 				axis[0] = 1;
! 				axis[1] = 0;
! 				axis[2] = 0;
! 			}
  
! 			// convert to degrees
! 			angle = radToDeg(angle);
! 		}
  
! 		real getRoll()const
! 		{
! 			return radToDeg(atan2(2*(mData[2]*mData[3] + mData[0]*mData[1]), 
! 				mData[0]*mData[0] - mData[1]*mData[1] - mData[2]*mData[2] + 
! 				mData[3]*mData[3]));
! 		}
  
! 		real getPitch()const
! 		{
! 			return radToDeg(asin(-2*(mData[1]*mData[3] - mData[0]*mData[2])));
! 		}
  
! 		real getYaw()const
! 		{
! 			return radToDeg(atan2(2*(mData[1]*mData[2] + mData[0]*mData[3]), 
! 				mData[0]*mData[0] + mData[1]*mData[1] - mData[2]*mData[2] - 
! 				mData[3]*mData[3]));
! 		}
  
! 		inline real & operator[](unsigned int i)
! 		{
! 			assert(i < 4);
! 			return mData[i];
! 		}
  
! 		inline const real & operator[](unsigned int i)const
! 		{
! 			assert(i < 4);
! 			return mData[i];
! 		}
! 	};
  
! 	inline Quaternion operator+(const Quaternion &q1, const Quaternion &q2)
! 	{
! 		return Quaternion(q1[0] + q2[0], q1[1] + q2[1], q1[2] + q2[2], q1[3] + 
! 			q2[3]);
! 	}
  
! 	inline Quaternion operator-(const Quaternion &q1, const Quaternion &q2)
! 	{
! 		return Quaternion(q1[0] - q2[0], q1[1] - q2[1], q1[2] - q2[2], q1[3] - 
! 			q2[3]);
! 	}
  
! 	inline Quaternion operator*(const Quaternion& q, real scalar)
! 	{
! 		return Quaternion(scalar * q[0], scalar * q[1], scalar * q[2], 
! 			scalar * q[3]);
! 	}
  
! 	inline Quaternion operator*(real scalar, const Quaternion& q)
! 	{
! 		return Quaternion(scalar * q[0], scalar * q[1], scalar * q[2], 
! 			scalar * q[3]);
! 	}
  
! 	inline std::ostream& operator<<(std::ostream& o, const Quaternion& q)
! 	{
! 		return o << "[" << q[0] << " " << q[1] << " " << q[2] << " " 
! 			<< q[3] << "]";
! 	}
  }
  
--- 1,206 ----
  /*************************************************************************
! *                                                                       *
! * 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_QUATERNION_H
  #define OPAL_QUATERNION_H
  
+ // project headers
  #include "OpalMath.h"
  
  namespace opal
  {
!     class Quaternion;
!     inline Quaternion operator+( const Quaternion &q1, const Quaternion &q2 );
!     inline Quaternion operator-( const Quaternion &q1, const Quaternion &q2 );
!     inline Quaternion operator*( const Quaternion& q, real scalar );
!     inline Quaternion operator*( real scalar, const Quaternion& q );
!     inline bool operator==( const Quaternion &q1, const Quaternion &q2 );
! 	inline bool operator!=( const Quaternion &q1, const Quaternion &q2 );
  
!     /// Prints the Quaternion to the given output stream.
!     inline std::ostream& operator<<( std::ostream& o, const Quaternion& q );
  
!     class Quaternion
!     {
!         private:
!             real mData[ 4 ];
  
!         public:
!             Quaternion()
!             {
!                 mData[ 0 ] = 0;
!                 mData[ 1 ] = 0;
!                 mData[ 2 ] = 0;
!                 mData[ 3 ] = 0;
!             }
  
!             Quaternion( real w, real x, real y, real z )
!             {
!                 mData[ 0 ] = w;
!                 mData[ 1 ] = x;
!                 mData[ 2 ] = y;
!                 mData[ 3 ] = z;
!             }
  
!             Quaternion( const Quaternion& src )
!             {
!                 memcpy( mData, src.mData, 4 * sizeof( real ) );
!             }
  
!             inline void set( real w, real x, real y, real z	)
!             {
!                 mData[ 0 ] = w;
!                 mData[ 1 ] = x;
!                 mData[ 2 ] = y;
!                 mData[ 3 ] = z;
!             }
  
!             inline real lengthSquared()...
 
[truncated message content]

[Opal-commits] opal/src Mass.h,NONE,1.1 Point3r.cpp,NONE,1.1 BlueprintManager.cpp,1.43,1.44 Defines.h,1.78,1.79 Makefile.am,1.4,1.5 Makefile.in,1.4,1.5 Point3r.h,1.14,1.15 Simulator.cpp,1.67,1.68 Solid.h,1.92,1.93 Vec3r.cpp,1.1,1.2 opal.h,1.29,1.30 testRaycastSensor.cpp,1.2,1.3 testsolid.cpp,1.3,1.4

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9152/src

Modified Files:
	BlueprintManager.cpp Defines.h Makefile.am Makefile.in 
	Point3r.h Simulator.cpp Solid.h Vec3r.cpp opal.h 
	testRaycastSensor.cpp testsolid.cpp 
Added Files:
	Mass.h Point3r.cpp 
Log Message:
Implemented Solid::setMass, added unit tests to test it.
Added missing Point3r implementation file.


Index: opal.h
===================================================================
RCS file: /cvsroot/opal/opal/src/opal.h,v
retrieving revision 1.29
retrieving revision 1.30
diff -C2 -d -r1.29 -r1.30
*** opal.h	26 Nov 2005 22:40:18 -0000	1.29
--- opal.h	1 Dec 2005 02:04:54 -0000	1.30
***************
*** 37,40 ****
--- 37,41 ----
  #include "CapsuleShapeData.h"
  #include "PlaneShapeData.h"
+ #include "Mass.h"
  #include "MeshShapeData.h"
  #include "Motor.h"

Index: Makefile.in
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.in,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** Makefile.in	30 Nov 2005 06:28:12 -0000	1.4
--- Makefile.in	1 Dec 2005 02:04:54 -0000	1.5
***************
*** 217,221 ****
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
  
! noinst_HEADERS = Mass.h Matrix33r.h
  all: all-recursive
  
--- 217,221 ----
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
  
! noinst_HEADERS = Mass.h
  all: all-recursive
  

Index: Defines.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Defines.h,v
retrieving revision 1.78
retrieving revision 1.79
diff -C2 -d -r1.78 -r1.79
*** Defines.h	30 Nov 2005 06:28:12 -0000	1.78
--- Defines.h	1 Dec 2005 02:04:54 -0000	1.79
***************
*** 243,247 ****
  		/// The highest value that can be used for the Simulator's
  		/// max contacts parameter.
! 		const int maxMaxContacts=(int)128;
  
  		// Pre-defined material settings
--- 243,247 ----
  		/// The highest value that can be used for the Simulator's
  		/// max contacts parameter.
! 		const unsigned int maxMaxContacts=(int)128;
  
  		// Pre-defined material settings

Index: Simulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Simulator.cpp,v
retrieving revision 1.67
retrieving revision 1.68
diff -C2 -d -r1.67 -r1.68
*** Simulator.cpp	26 Nov 2005 22:40:18 -0000	1.67
--- Simulator.cpp	1 Dec 2005 02:04:54 -0000	1.68
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
[...2090 lines suppressed...]
--- 1057,1075 ----
      }
  
!     void Simulator::destroyGarbage()
!     {
!         // Destroy garbage Solids.
!         while ( !mSolidGarbageList.empty() )
!         {
!             destroySolid( mSolidGarbageList.back() );
!             mSolidGarbageList.pop_back();
!         }
  
!         // Destroy garbage Joints.
!         while ( !mJointGarbageList.empty() )
!         {
!             destroyJoint( mJointGarbageList.back() );
!             mJointGarbageList.pop_back();
!         }
!     }
  }

Index: testRaycastSensor.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testRaycastSensor.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** testRaycastSensor.cpp	26 Nov 2005 22:40:18 -0000	1.2
--- testRaycastSensor.cpp	1 Dec 2005 02:04:54 -0000	1.3
***************
*** 118,122 ****
          RaycastResult r = f.sensor->fireRay( 500 );
          Point3r hitPoint = r.intersection;
!         Solid * hit = r.solid;
  
          real diff = r.distance;
--- 118,122 ----
          RaycastResult r = f.sensor->fireRay( 500 );
          Point3r hitPoint = r.intersection;
!         //Solid * hit = r.solid;
  
          real diff = r.distance;

Index: Vec3r.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/Vec3r.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** Vec3r.cpp	30 Nov 2005 06:28:12 -0000	1.1
--- Vec3r.cpp	1 Dec 2005 02:04:54 -0000	1.2
***************
*** 89,93 ****
                  return z;
              default:
!                 assert( i < 3 && i > -1 );
          }
      }
--- 89,94 ----
                  return z;
              default:
!                 assert( i < 3 );
!                 return z;
          }
      }
***************
*** 104,108 ****
                  return z;
              default:
!                 assert( i < 3 && i > -1 );
          }
      }
--- 105,110 ----
                  return z;
              default:
!                 assert( i < 3 );
!                 return z;
          }
      }

Index: testsolid.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/testsolid.cpp,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** testsolid.cpp	15 Nov 2005 03:32:43 -0000	1.3
--- testsolid.cpp	1 Dec 2005 02:04:54 -0000	1.4
***************
*** 205,207 ****
--- 205,225 ----
          QT_CHECK_EQUAL( current, m );
      }
+ 
+     QT_TEST( setMass_default )
+     {
+         SolidBoxFixture f;
+         Matrix44r m = f.s->getInertiaTensor();
+ 
+         Mass mass;
+         f.s->setMass( mass, Matrix44r() );
+ 
+         Matrix44r m_set = f.s->getInertiaTensor();
+         QT_CHECK_EQUAL( m, m_set );
+ 		QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
+ 
+         mass.mass = 2;
+         f.s->setMass( mass, Matrix44r() );
+ 
+         QT_CHECK_CLOSE( f.s->getMass(), mass.mass, 0.001 );
+     }
  }

--- NEW FILE: Point3r.cpp ---
/*************************************************************************
 *                                                                       *
 * Open Physics Abstraction Layer                                        *
 * Copyright (C) 2004-2005                                               *
 * Alan Fischer  ala...@gm...                                  *
 * Andres Reinot  an...@re...                                      *
 * Tyler Streeter  tyl...@gm...                               *
 * Oleksandr Lozitskiy mr....@gm...                            *
 * All rights reserved.                                                  *
 * Web: opal.sourceforge.net                                             *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file license-LGPL.txt.                                          *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file license-BSD.txt.                                       *
 *                                                                       *
 * This library is distributed in the hope that it will be useful,       *
 * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
 * license-LGPL.txt and license-BSD.txt for more details.                *
 *                                                                       *
 *************************************************************************/

// project headers
#include "Point3r.h"

namespace opal
{

}

Index: Solid.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Solid.h,v
retrieving revision 1.92
retrieving revision 1.93
diff -C2 -d -r1.92 -r1.93
*** Solid.h	6 Nov 2005 05:12:21 -0000	1.92
--- Solid.h	1 Dec 2005 02:04:54 -0000	1.93
***************
*** 35,38 ****
--- 35,39 ----
  namespace opal
  {
+ 	class Mass;
  	class Simulator;
  	class Space;
***************
*** 195,198 ****
--- 196,202 ----
  		virtual Vec3r OPAL_CALL getGlobalAngularVel()const = 0;
  
+ 		/// Set a new mass, center, and intertia for the solid.
+ 		virtual void OPAL_CALL setMass( const Mass & newmass, const Matrix44r & offset ) = 0;
+ 
  		/// Translate the Solid's mass using the given offset vector 
  		/// specified in global coordinates.

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

#ifndef OPAL_MASS_H
#define OPAL_MASS_H

// project headers
#include "Matrix44r.h"
#include "OpalMath.h"
#include "Vec3r.h"

namespace opal
{
    class Mass
    {
        public:
            /// Default values are set
            Mass()
            {
                mass = 1;
                center = Vec3r( 0, 0, 0 );
                inertia.makeIdentity();
                inertia[ 0 ] = 1 / 6.0;
				inertia[ 5 ] = 1 / 6.0;
				inertia[ 10 ] = 1 / 6.0;
            }

            /// Total mass of the rigid body
            /// Default is 1
            real mass;

            /// Center of gravity position in body frame (x,y,z).
            /// Default is (0,0,0)
            Vec3r center;

            /// 3x3 inertia tensor in body frame, about POR
            /// Default is inertia of a box
            Matrix44r inertia;
    };
}

#endif

Index: Point3r.h
===================================================================
RCS file: /cvsroot/opal/opal/src/Point3r.h,v
retrieving revision 1.14
retrieving revision 1.15
diff -C2 -d -r1.14 -r1.15
*** Point3r.h	30 Nov 2005 06:28:12 -0000	1.14
--- Point3r.h	1 Dec 2005 02:04:54 -0000	1.15
***************
*** 114,118 ****
                          return z;
                      default:
!                         assert( i < 3 && i > -1 );
                  }
              }
--- 114,119 ----
                          return z;
                      default:
!                         assert( i < 3 );
!                         return z;
                  }
              }
***************
*** 129,133 ****
                          return z;
                      default:
!                         assert( i < 3 && i > -1 );
                  }
              }
--- 130,135 ----
                          return z;
                      default:
!                         assert( i < 3 );
!                         return z;
                  }
              }

Index: BlueprintManager.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/BlueprintManager.cpp,v
retrieving revision 1.43
retrieving revision 1.44
diff -C2 -d -r1.43 -r1.44
*** BlueprintManager.cpp	24 Jun 2005 17:50:48 -0000	1.43
--- BlueprintManager.cpp	1 Dec 2005 02:04:54 -0000	1.44
***************
*** 1,28 ****
  /*************************************************************************
!  *                                                                       *
!  * Open Physics Abstraction Layer                                        *
!  * Copyright (C) 2004-2005                                               *
!  * Alan Fischer  ala...@gm...                                  *
!  * Andres Reinot  an...@re...                                      *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: opal.sourceforge.net                                             *
!  *                                                                       *
[...3123 lines suppressed...]
!             TiXmlElement * elementPtr =
!                 const_cast<TiXmlNode*>( nodePtr ) ->ToElement();
!             const char* temp = elementPtr->Attribute( name.c_str() );
  
!             if ( NULL == temp )
!             {
!                 OPAL_LOGGER( "warning" ) <<
!                 "opal::BlueprintManager::getAttributeString: Element "
!                 << nodePtr->Value() << " is missing attribute '"
!                 << name << "'.  Parameter will be set to \"\"."
!                 << std::endl;
!                 return "";
!             }
!             else
!             {
!                 return temp;
!             }
!         }
!     }
  }

Index: Makefile.am
===================================================================
RCS file: /cvsroot/opal/opal/src/Makefile.am,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** Makefile.am	30 Nov 2005 06:28:12 -0000	1.4
--- Makefile.am	1 Dec 2005 02:04:54 -0000	1.5
***************
*** 18,20 ****
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
! noinst_HEADERS = Mass.h Matrix33r.h
--- 18,20 ----
  test_opal_LDADD = $(top_builddir)/src/external/tinyxml/libtinyxml.a \
  	$(top_builddir)/src/ODE/libodeimpl.a $(top_builddir)/src/libopalode.a -lode
! noinst_HEADERS = Mass.h

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

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/src/external/quicktest
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9152/src/external/quicktest

Modified Files:
	quicktest.h 
Log Message:
Implemented Solid::setMass, added unit tests to test it.
Added missing Point3r implementation file.


Index: quicktest.h
===================================================================
RCS file: /cvsroot/opal/opal/src/external/quicktest/quicktest.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** quicktest.h	21 Nov 2005 13:59:16 -0000	1.3
--- quicktest.h	1 Dec 2005 02:04:54 -0000	1.4
***************
*** 1,26 ****
  /*************************************************************************
!  *                                                                       *
!  * QuickTest                                                             *
!  * Copyright (C) 2005                                                    *
!  * Tyler Streeter  tyl...@gm...                               *
!  * All rights reserved.                                                  *
!  * Web: quicktest.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.                *
!  *                                                                       *
!  *************************************************************************/
  
  // Credits:
--- 1,26 ----
  /*************************************************************************
! *                                                                       *
! * QuickTest                                                             *
! * Copyright (C) 2005                                                    *
! * Tyler Streeter  tyl...@gm...                               *
! * All rights reserved.                                                  *
! * Web: quicktest.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.                *
! *                                                                       *
! *************************************************************************/
  
  // Credits:
***************
*** 53,233 ****
  namespace quicktest
  {
! 	typedef std::vector<std::string> TestResult;
  
! 	class Test
! 	{
! 	public:
! 		Test(const std::string& testGroup, const std::string& testName)
! 		{
! 			mTestName = testName;
! 			mTestGroup = testGroup;
! 		}
  
! 		const std::string & getGroup() { return mTestGroup; }
  
! 		virtual void run(TestResult& result) = 0;
  
! 	protected:
! 		void recordFailure(TestResult& result, const std::string& file,
! 			unsigned long int line, const std::string& message)
! 		{
! 			// If the full filename is too long, only use the last part.
! 			std::string fileStr = file;
! 			size_t maxLength = 40;
! 			size_t fileLength = file.size();
! 			if (fileLength > maxLength)
! 			{
! 				// Get the last maxLength characters - 3 (leave room for
! 				// three ellipses at the beginning).
! 				fileStr = "...";
! 				fileStr += file.substr(fileLength - maxLength + 3,
! 					fileLength - 1);
! 			}
  
! 			std::ostringstream oss;
! 			oss << fileStr << "(" << line << "): '" << mTestName
! 				<< "' FAILED: " << message;
! 			result.push_back(oss.str());
! 		}
  
! 		/// The unique name of this test.
! 		std::string mTestName;
  
! 		/// The group name of this test
! 		std::string mTestGroup;
! 	};
  
! 	class TestManager
! 	{
! 	public:
! 		static TestManager& instance()
! 		{
! 			static TestManager self;
! 			return self;
! 		}
  
! 		void addTest(Test* test)
! 		{
! 			mTests.push_back(test);
! 		}
  
! 		void setOutputStream(std::ostream* stream)
! 		{
! 			mOutputStream = stream;
! 		}
  
! 		std::ostream* getOutputStream()
! 		{
! 			return mOutputStream;
! 		}
  
! 		void runTests()
! 		{
! 			unsigned int numFailures = 0;
  
! 			*getOutputStream()
! 				<< "[---------------- RUNNING TESTS ----------------]"
! 				<< std::endl;
  
! 			unsigned int numLocalFailures = 0;
! 			unsigned int numLocalSuccesses = 0;
  
! 			std::string currentGroup;
! 			std::vector<Test*>::iterator iter;
! 			for (iter = mTests.begin(); iter != mTests.end(); ++iter)
! 			{
! 				if ( currentGroup != (*iter)->getGroup() )
! 				{
! 					if ( !currentGroup.empty() )
! 					{
! 					*getOutputStream() << "Group results: "
! 						<< numLocalSuccesses << " succeeded, "
! 						<< numLocalFailures << " failed"
! 						<< std::endl;
! 					}
  
! 					currentGroup = (*iter)->getGroup();
  
! 					*getOutputStream() <<
! 						"Group: " << (*iter)->getGroup()
! 						<< std::endl;
  
! 					numLocalFailures = 0;
! 					numLocalSuccesses = 0;
! 				}
  
! 				(*iter)->run(mResult);
  
! 				bool testFailed = false;
  
! 				size_t size = mResult.size();
! 				for (size_t i = 0; i < size; ++i)
! 				{
! 					*getOutputStream() << mResult.at(i) << std::endl;
! 					testFailed = true;
! 				}
! 				mResult.clear();
  
! 				if (testFailed)
! 				{
! 					++numFailures;
! 					++numLocalFailures;
! 				}
! 				else
! 				{
! 					++numLocalSuccesses;
! 				}
! 			}
  
! 			if ( !currentGroup.empty() )
! 			{
! 				*getOutputStream() << "Group results: "
! 					<< numLocalSuccesses << " succeeded, "
! 					<< numLocalFailures << " failed"
! 					<< std::endl;
! 			}
  
! 			*getOutputStream() << "Overall results: " << (unsigned int)mTests.size()
! 				- numFailures << " succeeded, " << numFailures << " failed"
! 				<< std::endl;
  
! 			*getOutputStream()
! 				<< "[---------------- TESTS FINISHED ---------------]"
! 				<< std::endl;
! 		}
  
! 	private:
! 		TestManager()
! 		{
! 			mOutputStream = &std::cout;
! 		}
  
! 		~TestManager()
! 		{
! 		}
  
! 		/// List of pointers to Tests.  All tests are staticly allocated,
! 		/// so we don't need to destroy them manually.
! 		std::vector<Test*> mTests;
  
! 		std::ostream* mOutputStream;
  
! 		TestResult mResult;
! 	};
  }
  
  /// Macro to define a single test without using a fixture.
  #define QT_TEST(testName)\
! 	class testName##Test : public quicktest::Test\
! 	{\
! 	public:\
! 		testName##Test()\
! 		: Test(__FILE__, #testName)\
! 		{\
! 			quicktest::TestManager::instance().addTest(this);\
! 		}\
! 		void run(quicktest::TestResult& _result);\
! 	}testName##Instance;\
! 	void testName##Test::run(quicktest::TestResult& _result)
  
  /// Macro that runs all tests.
--- 53,234 ----
  namespace quicktest
  {
!     typedef std::vector<std::string> TestResult;
  
!     class Test
!     {
!         public:
!             Test( const std::string& testGroup, const std::string& testName )
!             {
!                 mTestName = testName;
!                 mTestGroup = testGroup;
!             }
  
!             virtual ~Test() {}
  
!             const std::string & getGroup() { return mTestGroup; }
  
!             virtual void run( TestResult& result ) = 0;
  
!         protected:
!             void recordFailure( TestResult& result, const std::string& file,
!                                 unsigned long int line, const std::string& message )
!             {
!                 // If the full filename is too long, only use the last part.
!                 std::string fileStr = file;
!                 size_t maxLength = 40;
!                 size_t fileLength = file.size();
!                 if ( fileLength > maxLength )
!                 {
!                     // Get the last maxLength characters - 3 (leave room for
!                     // three ellipses at the beginning).
!                     fileStr = "...";
!                     fileStr += file.substr( fileLength - maxLength + 3,
!                                             fileLength - 1 );
!                 }
  
!                 std::ostringstream oss;
!                 oss << fileStr << "(" << line << "): '" << mTestName
!                 << "' FAILED: " << message;
!                 result.push_back( oss.str() );
!             }
  
!             /// The unique name of this test.
!             std::string mTestName;
  
!             /// The group name of this test
!             std::string mTestGroup;
!     };
  
!     class TestManager
!     {
!         public:
!             static TestManager& instance()
!             {
!                 static TestManager self;
!                 return self;
!             }
  
!             void addTest( Test* test )
!             {
!                 mTests.push_back( test );
!             }
  
!             void setOutputStream( std::ostream* stream )
!             {
!                 mOutputStream = stream;
!             }
  
!             std::ostream* getOutputStream()
!             {
!                 return mOutputStream;
!             }
  
!             void runTests()
!             {
!                 unsigned int numFailures = 0;
  
!                 *getOutputStream()
!                 << "[---------------- RUNNING TESTS ----------------]"
!                 << std::endl;
  
!                 unsigned int numLocalFailures = 0;
!                 unsigned int numLocalSuccesses = 0;
  
!                 std::string currentGroup;
!                 std::vector<Test*>::iterator iter;
!                 for ( iter = mTests.begin(); iter != mTests.end(); ++iter )
!                 {
!                     if ( currentGroup != ( *iter ) ->getGroup() )
!                     {
!                         if ( !currentGroup.empty() )
!                         {
!                             *getOutputStream() << "Group results: "
!                             << numLocalSuccesses << " succeeded, "
!                             << numLocalFailures << " failed"
!                             << std::endl;
!                         }
  
!                         currentGroup = ( *iter ) ->getGroup();
  
!                         *getOutputStream() <<
!                         "Group: " << ( *iter ) ->getGroup()
!                         << std::endl;
  
!                         numLocalFailures = 0;
!                         numLocalSuccesses = 0;
!                     }
  
!                     ( *iter ) ->run( mResult );
  
!                     bool testFailed = false;
  
!                     size_t size = mResult.size();
!                     for ( size_t i = 0; i < size; ++i )
!                     {
!                         *getOutputStream() << mResult.at( i ) << std::endl;
!                         testFailed = true;
!                     }
!                     mResult.clear();
  
!                     if ( testFailed )
!                     {
!                         ++numFailures;
!                         ++numLocalFailures;
!                     }
!                     else
!                     {
!                         ++numLocalSuccesses;
!                     }
!                 }
  
!                 if ( !currentGroup.empty() )
!                 {
!                     *getOutputStream() << "Group results: "
!                     << numLocalSuccesses << " succeeded, "
!                     << numLocalFailures << " failed"
!                     << std::endl;
!                 }
  
!                 *getOutputStream() << "Overall results: " << ( unsigned int ) mTests.size()
!                 - numFailures << " succeeded, " << numFailures << " failed"
!                 << std::endl;
  
!                 *getOutputStream()
!                 << "[---------------- TESTS FINISHED ---------------]"
!                 << std::endl;
!             }
  
!         private:
!             TestManager()
!             {
!                 mOutputStream = &std::cout;
!             }
  
!             ~TestManager()
!             {}
  
!             /// List of pointers to Tests.  All tests are staticly allocated,
!             /// so we don't need to destroy them manually.
!             std::vector<Test*> mTests;
  
!             std::ostream* mOutputStream;
! 
!             TestResult mResult;
!     };
  }
  
  /// Macro to define a single test without using a fixture.
  #define QT_TEST(testName)\
!     class testName##Test : public quicktest::Test\
!     {\
!     public:\
!         testName##Test()\
!         : Test(__FILE__, #testName)\
!         {\
!             quicktest::TestManager::instance().addTest(this);\
!         }\
!         void run(quicktest::TestResult& _result);\
!     }testName##Instance;\
!     void testName##Test::run(quicktest::TestResult& _result)
  
  /// Macro that runs all tests.
***************
*** 236,274 ****
  /// Macro that sets the output stream to use.
  #define QT_SET_OUTPUT(stream)\
! 	quicktest::TestManager::instance().setOutputStream(stream)
  
  /// Checks whether the given condition is true.
  #define QT_CHECK(condition)\
! 	{\
! 		if (!(condition))\
! 		{\
! 			recordFailure(_result, __FILE__, __LINE__, #condition);\
! 		}\
! 	}
  
  /// Checks whether the first parameter is equal to the second.
  #define QT_CHECK_EQUAL(value1, value2)\
! 	{\
! 		if ((value1) != (value2))\
! 		{\
! 			std::ostringstream oss;\
! 			oss << "value1:" << std::endl << "(" << (value1) << ")" \
! 				<< std::endl << "should equal value2:" \
! 				<< std::endl << "(" << (value2) << ")";\
! 			recordFailure(_result, __FILE__, __LINE__, oss.str());\
! 		}\
! 	}
  
  /// Checks whether the first parameter is not equal to the second.
  #define QT_CHECK_NOT_EQUAL(value1, value2)\
! 	{\
! 		if ((value1) == (value2))\
! 		{\
! 			std::ostringstream oss;\
! 			oss << "value1 (" << (value1) << ") should not equal "\
! 				<< "value2 (" << (value2) << ")";\
! 			recordFailure(_result, __FILE__, __LINE__, oss.str());\
! 		}\
! 	}
  
  /// Checks whether the first parameter is within the given tolerance from
--- 237,275 ----
  /// Macro that sets the output stream to use.
  #define QT_SET_OUTPUT(stream)\
!     quicktest::TestManager::instance().setOutputStream(stream)
  
  /// Checks whether the given condition is true.
  #define QT_CHECK(condition)\
!     {\
!         if (!(condition))\
!         {\
!             recordFailure(_result, __FILE__, __LINE__, #condition);\
!         }\
!     }
  
  /// Checks whether the first parameter is equal to the second.
  #define QT_CHECK_EQUAL(value1, value2)\
!     {\
!         if ((value1) != (value2))\
!         {\
!             std::ostringstream oss;\
!             oss << "value1:" << std::endl << "(" << (value1) << ")" \
!                 << std::endl << "should equal value2:" \
!                 << std::endl << "(" << (value2) << ")";\
!             recordFailure(_result, __FILE__, __LINE__, oss.str());\
!         }\
!     }
  
  /// Checks whether the first parameter is not equal to the second.
  #define QT_CHECK_NOT_EQUAL(value1, value2)\
!     {\
!         if ((value1) == (value2))\
!         {\
!             std::ostringstream oss;\
!             oss << "value1 (" << (value1) << ") should not equal "\
!                 << "value2 (" << (value2) << ")";\
!             recordFailure(_result, __FILE__, __LINE__, oss.str());\
!         }\
!     }
  
  /// Checks whether the first parameter is within the given tolerance from
***************
*** 276,350 ****
  /// values.
  #define QT_CHECK_CLOSE(value1, value2, tolerance)\
! 	{\
! 		if (abs((value1)-(value2)) > tolerance)\
! 		{\
! 			std::ostringstream oss;\
! 			oss << "value1 (" << (value1) << ") should be close to "\
! 				<< "value2 (" << (value2) << ")";\
! 			recordFailure(_result, __FILE__, __LINE__, oss.str());\
! 		}\
! 	}
  
  /// Checks whether the first parameter is less than the second.
  #define QT_CHECK_LESS(value1, value2)\
! 	{\
! 		if ((value1) >= (value2))\
! 		{\
! 			std::ostringstream oss;\
! 			oss << "value1 (" << (value1) << ") should be less than "\
! 				<< "value2 (" << (value2) << ")";\
! 			recordFailure(_result, __FILE__, __LINE__, oss.str());\
! 		}\
! 	}
  
  /// Checks whether the first parameter is less than or equal to the second.
  #define QT_CHECK_LESS_OR_EQUAL(value1, value2)\
! 	{\
! 		if ((value1) > (value2))\
! 		{\
! 			std::ostringstream oss;\
! 			oss << "value1 (" << (value1) << ") should be less than or "\
! 				<< "equal to " << "value2 (" << (value2) << ")";\
! 			recordFailure(_result, __FILE__, __LINE__, oss.str());\
! 		}\
! 	}
  
  /// Checks whether the first parameter is greater than the second.
  #define QT_CHECK_GREATER(value1, value2)\
! 	{\
! 		if ((value1) <= (value2))\
! 		{\
! 			std::ostringstream oss;\
! 			oss << "value1 (" << (value1) << ") should be greater than "\
! 				<< "value2 (" << (value2) << ")";\
! 			recordFailure(_result, __FILE__, __LINE__, oss.str());\
! 		}\
! 	}
  
  /// Checks whether the first parameter is greater than or equal to the
  /// second.
  #define QT_CHECK_GREATER_OR_EQUAL(value1, value2)\
! 	{\
! 		if ((value1) < (value2))\
! 		{\
! 			std::ostringstream oss;\
! 			oss << "value1 (" << (value1) << ") should be greater than or "\
! 				<< "equal to " << "value2 (" << (value2) << ")";\
! 			recordFailure(_result, __FILE__, __LINE__, oss.str());\
! 		}\
! 	}
  
  /// Fails unconditionally and prints the given message.
  #define QT_FAIL(message)\
! 	{\
! 		recordFailure(_result, __FILE__, __LINE__, (message));\
! 	}\
  
  /// Prints the given message, followed by a carriage return.
  #define QT_PRINT(message)\
! 	{\
! 		*(quicktest::TestManager::instance().getOutputStream()) << (message)\
! 			<< std::endl;\
! 	}\
  
  #endif
--- 277,351 ----
  /// values.
  #define QT_CHECK_CLOSE(value1, value2, tolerance)\
!     {\
!         if (abs((value1)-(value2)) > tolerance)\
!         {\
!             std::ostringstream oss;\
!             oss << "value1 (" << (value1) << ") should be close to "\
!                 << "value2 (" << (value2) << ")";\
!             recordFailure(_result, __FILE__, __LINE__, oss.str());\
!         }\
!     }
  
  /// Checks whether the first parameter is less than the second.
  #define QT_CHECK_LESS(value1, value2)\
!     {\
!         if ((value1) >= (value2))\
!         {\
!             std::ostringstream oss;\
!             oss << "value1 (" << (value1) << ") should be less than "\
!                 << "value2 (" << (value2) << ")";\
!             recordFailure(_result, __FILE__, __LINE__, oss.str());\
!         }\
!     }
  
  /// Checks whether the first parameter is less than or equal to the second.
  #define QT_CHECK_LESS_OR_EQUAL(value1, value2)\
!     {\
!         if ((value1) > (value2))\
!         {\
!             std::ostringstream oss;\
!             oss << "value1 (" << (value1) << ") should be less than or "\
!                 << "equal to " << "value2 (" << (value2) << ")";\
!             recordFailure(_result, __FILE__, __LINE__, oss.str());\
!         }\
!     }
  
  /// Checks whether the first parameter is greater than the second.
  #define QT_CHECK_GREATER(value1, value2)\
!     {\
!         if ((value1) <= (value2))\
!         {\
!             std::ostringstream oss;\
!             oss << "value1 (" << (value1) << ") should be greater than "\
!                 << "value2 (" << (value2) << ")";\
!             recordFailure(_result, __FILE__, __LINE__, oss.str());\
!         }\
!     }
  
  /// Checks whether the first parameter is greater than or equal to the
  /// second.
  #define QT_CHECK_GREATER_OR_EQUAL(value1, value2)\
!     {\
!         if ((value1) < (value2))\
!         {\
!             std::ostringstream oss;\
!             oss << "value1 (" << (value1) << ") should be greater than or "\
!                 << "equal to " << "value2 (" << (value2) << ")";\
!             recordFailure(_result, __FILE__, __LINE__, oss.str());\
!         }\
!     }
  
  /// Fails unconditionally and prints the given message.
  #define QT_FAIL(message)\
!     {\
!         recordFailure(_result, __FILE__, __LINE__, (message));\
!     }\
  
  /// Prints the given message, followed by a carriage return.
  #define QT_PRINT(message)\
!     {\
!         *(quicktest::TestManager::instance().getOutputStream()) << (message)\
!             << std::endl;\
!     }\
  
  #endif

[Opal-commits] opal/kdevelop opal.kdevelop,1.2,1.3

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal/kdevelop
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9152/kdevelop

Modified Files:
	opal.kdevelop 
Log Message:
Implemented Solid::setMass, added unit tests to test it.
Added missing Point3r implementation file.


Index: opal.kdevelop
===================================================================
RCS file: /cvsroot/opal/opal/kdevelop/opal.kdevelop,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** opal.kdevelop	13 Nov 2005 18:51:20 -0000	1.2
--- opal.kdevelop	1 Dec 2005 02:04:54 -0000	1.3
***************
*** 14,18 ****
      <projectdirectory>.</projectdirectory>
      <absoluteprojectpath>false</absoluteprojectpath>
!     <description/>
      <versioncontrol/>
    </general>
--- 14,18 ----
      <projectdirectory>.</projectdirectory>
      <absoluteprojectpath>false</absoluteprojectpath>
!     <description></description>
      <versioncontrol/>
    </general>
***************
*** 48,52 ****
          <cxxcompiler>kdevgppoptions</cxxcompiler>
          <f77compiler>kdevg77options</f77compiler>
!         <cxxflags>-O0 -g3</cxxflags>
          <envvars>
            <envvar value="ccache g++" name="CXX" />
--- 48,52 ----
          <cxxcompiler>kdevgppoptions</cxxcompiler>
          <f77compiler>kdevg77options</f77compiler>
!         <cxxflags>-O0 -g3 -Wall</cxxflags>
          <envvars>
            <envvar value="ccache g++" name="CXX" />
***************
*** 159,170 ****
    </substmap>
    <kdevcppsupport>
!     <references>
!       <pcs>STL</pcs>
!       <pcs>ODE physics engine</pcs>
!       <pcs>RakNet</pcs>
!       <pcs>TrueAxis</pcs>
!       <pcs>TinyXML</pcs>
!       <pcs>OGRE 3D engine</pcs>
!     </references>
      <codecompletion>
        <includeGlobalFunctions>true</includeGlobalFunctions>
--- 159,163 ----
    </substmap>
    <kdevcppsupport>
!     <references/>
      <codecompletion>
        <includeGlobalFunctions>true</includeGlobalFunctions>
***************
*** 180,184 ****
      </codecompletion>
      <creategettersetter>
!       <prefixGet/>
        <prefixSet>set</prefixSet>
        <prefixVariable>m_,_</prefixVariable>
--- 173,177 ----
      </codecompletion>
      <creategettersetter>
!       <prefixGet></prefixGet>
        <prefixSet>set</prefixSet>
        <prefixVariable>m_,_</prefixVariable>
***************
*** 187,190 ****
--- 180,188 ----
        <inlineSet>true</inlineSet>
      </creategettersetter>
+     <qt>
+       <used>false</used>
+       <version>3</version>
+       <root>/usr/qt/3</root>
+     </qt>
    </kdevcppsupport>
    <cppsupportpart>
***************
*** 196,205 ****
    <kdevdebugger>
      <general>
!       <programargs/>
!       <gdbpath/>
!       <dbgshell/>
!       <configGdbScript/>
!       <runShellScript/>
!       <runGdbScript/>
        <breakonloadinglibs>true</breakonloadinglibs>
        <separatetty>false</separatetty>
--- 194,203 ----
    <kdevdebugger>
      <general>
!       <programargs></programargs>
!       <gdbpath></gdbpath>
!       <dbgshell></dbgshell>
!       <configGdbScript></configGdbScript>
!       <runShellScript></runShellScript>
!       <runGdbScript></runGdbScript>
        <breakonloadinglibs>true</breakonloadinglibs>
        <separatetty>false</separatetty>
***************
*** 213,218 ****
    </kdevdebugger>
    <ctagspart>
!     <customArguments/>
!     <customTagfilePath/>
    </ctagspart>
  </kdevelop>
--- 211,216 ----
    </kdevdebugger>
    <ctagspart>
!     <customArguments></customArguments>
!     <customTagfilePath></customTagfilePath>
    </ctagspart>
  </kdevelop>

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

[Olex <ole...@us...>]

Update of /cvsroot/opal/opal
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9152

Modified Files:
	changelog.txt 
Log Message:
Implemented Solid::setMass, added unit tests to test it.
Added missing Point3r implementation file.


Index: changelog.txt
===================================================================
RCS file: /cvsroot/opal/opal/changelog.txt,v
retrieving revision 1.51
retrieving revision 1.52
diff -C2 -d -r1.51 -r1.52
*** changelog.txt	30 Nov 2005 06:28:12 -0000	1.51
--- changelog.txt	1 Dec 2005 02:04:54 -0000	1.52
***************
*** 15,18 ****
--- 15,20 ----
  ------------------------------------------
  
+ 	* 11-30-05: Implemented Solid::setMass, added unit tests to test it. (Oleksandr Lozitskiy)
+ 
  	* 11-30-05: Vec3r and Point3r refactored and fixed with unit tests. (Oleksandr Lozitskiy)