Update of /cvsroot/opal/opal/samples/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27467/samples/src
Modified Files:
CarObject.cpp
Log Message:
added Solid init function; fixed sample apps
Index: CarObject.cpp
===================================================================
RCS file: /cvsroot/opal/opal/samples/src/CarObject.cpp,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** CarObject.cpp 22 Feb 2005 19:46:26 -0000 1.20
--- CarObject.cpp 23 Feb 2005 04:56:48 -0000 1.21
***************
*** 53,60 ****
// Setup a JointData object to reuse for several Joints.
! opal::JointData jd;
! jd.solid0 = mBody;
! jd.axis[0] = suspensionAxis;
! jd.axis[1] = wheelAxis;
// Setup a SphereData object to reuse for the wheels.
--- 53,60 ----
// Setup a JointData object to reuse for several Joints.
! opal::JointData jointData;
! jointData.solid0 = mBody;
! jointData.axis[0] = suspensionAxis;
! jointData.axis[1] = wheelAxis;
// Setup a SphereData object to reuse for the wheels.
***************
*** 72,79 ****
// Add front left Joint.
mFLJoint = sim->createJoint();
! jd.type = opal::HINGE_2_JOINT;
! jd.solid1 = mFLWheel;
! jd.anchor = M.getPosition();
! mFLJoint->init(jd);
// Add front right wheel Solid.
--- 72,79 ----
// Add front left Joint.
mFLJoint = sim->createJoint();
! jointData.setType(opal::HINGE_2_JOINT);
! jointData.solid1 = mFLWheel;
! jointData.anchor = M.getPosition();
! mFLJoint->init(jointData);
// Add front right wheel Solid.
***************
*** 86,93 ****
// Add front right Joint.
mFRJoint = sim->createJoint();
! jd.type = opal::HINGE_2_JOINT;
! jd.solid1 = mFRWheel;
! jd.anchor = M.getPosition();
! mFRJoint->init(jd);
// Add rear left wheel.
--- 86,93 ----
// Add front right Joint.
mFRJoint = sim->createJoint();
! jointData.setType(opal::HINGE_2_JOINT);
! jointData.solid1 = mFRWheel;
! jointData.anchor = M.getPosition();
! mFRJoint->init(jointData);
// Add rear left wheel.
***************
*** 100,108 ****
// Add rear left Joint.
mRLJoint = sim->createJoint();
! jd.type = opal::HINGE_JOINT;
! jd.solid1 = mRLWheel;
! jd.anchor = M.getPosition();
! jd.axis[0] = wheelAxis;
! mRLJoint->init(jd);
// Add rear right wheel.
--- 100,108 ----
// Add rear left Joint.
mRLJoint = sim->createJoint();
! jointData.setType(opal::HINGE_JOINT);
! jointData.solid1 = mRLWheel;
! jointData.anchor = M.getPosition();
! jointData.axis[0] = wheelAxis;
! mRLJoint->init(jointData);
// Add rear right wheel.
***************
*** 115,123 ****
// Add rear right Joint.
mRRJoint = sim->createJoint();
! jd.type = opal::HINGE_JOINT;
! jd.solid1 = mRRWheel;
! jd.anchor = M.getPosition();
! jd.axis[0] = wheelAxis;
! mRRJoint->init(jd);
//translate mass downward to keep car from rolling
--- 115,123 ----
// Add rear right Joint.
mRRJoint = sim->createJoint();
! jointData.setType(opal::HINGE_JOINT);
! jointData.solid1 = mRRWheel;
! jointData.anchor = M.getPosition();
! jointData.axis[0] = wheelAxis;
! mRRJoint->init(jointData);
//translate mass downward to keep car from rolling
***************
*** 133,146 ****
//mRRHinge->setBreakParams(opal::THRESHOLD, 2000.0, 0.0);
mFLMotor = sim->createGearedMotor();
! mFLMotor->init(mFLJoint, 1);
! mFLMotor->setMaxTorque(15);
! mFLMotor->setMaxVelocity(5000);
! mFRMotor = sim->createGearedMotor();
! mFRMotor->init(mFRJoint, 1);
! mFRMotor->setMaxTorque(15);
! mFRMotor->setMaxVelocity(5000);
! //mBody->setTransform(transform);
}
--- 133,151 ----
//mRRHinge->setBreakParams(opal::THRESHOLD, 2000.0, 0.0);
+ // Setup a GearedMotorData object to reuse for both front wheels.
+ opal::GearedMotorData motorData;
+ motorData.joint = mFLJoint;
+ motorData.jointAxisNum = 1;
+ motorData.maxTorque = 15;
+ motorData.maxVelocity = 5000;
+
+ // Create and setup the front left Motor.
mFLMotor = sim->createGearedMotor();
! mFLMotor->init(motorData);
! // Create and setup the front right Motor.
! mFRMotor = sim->createGearedMotor();
! motorData.joint = mFRJoint;
! mFRMotor->init(motorData);
}
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