opal-commits

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

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

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

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

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

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

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

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

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

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

#ifndef OPAL_COLLISION_EVENT_HANDLER_H
#define OPAL_COLLISION_EVENT_HANDLER_H

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

namespace opal
{
	class Solid;

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

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

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

		/// The point of collision.
		Point3r pos;

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

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

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

		virtual ~CollisionEventHandler();

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

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

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

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

	private:

	};
}

#endif


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

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

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

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

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

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

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

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

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