Update of /cvsroot/opal/opal/src/ODE
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22833/src/ODE
Modified Files:
ODESimulator.cpp ODESimulator.h
Log Message:
a bunch of minor updates
Index: ODESimulator.h
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.h,v
retrieving revision 1.66
retrieving revision 1.67
diff -C2 -d -r1.66 -r1.67
*** ODESimulator.h 23 Mar 2005 07:54:34 -0000 1.66
--- ODESimulator.h 23 Mar 2005 20:24:54 -0000 1.67
***************
*** 98,102 ****
virtual const RaycastResult& OPAL_CALL internal_fireRay(
! const Rayr& r, real length, const Solid* attachedSolid);
/// Helper function used for ray casting.
--- 98,103 ----
virtual const RaycastResult& OPAL_CALL internal_fireRay(
! const Rayr& r, real length, const Solid* attachedSolid,
! unsigned long int rayContactGroup);
/// Helper function used for ray casting.
Index: ODESimulator.cpp
===================================================================
RCS file: /cvsroot/opal/opal/src/ODE/ODESimulator.cpp,v
retrieving revision 1.92
retrieving revision 1.93
diff -C2 -d -r1.92 -r1.93
*** ODESimulator.cpp 21 Mar 2005 04:29:05 -0000 1.92
--- ODESimulator.cpp 23 Mar 2005 20:24:48 -0000 1.93
***************
*** 874,878 ****
const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r,
! real length, const Solid* attachedSolid)
{
Point3r origin = r.getOrigin();
--- 874,879 ----
const RaycastResult& ODESimulator::internal_fireRay(const Rayr& r,
! real length, const Solid* attachedSolid,
! unsigned long int rayContactGroup)
{
Point3r origin = r.getOrigin();
***************
*** 885,888 ****
--- 886,891 ----
mSensorSolid = attachedSolid;
+ // TODO: use rayContactGroup to limit collision check
+
dGeomID rayGeomID = dCreateRay(mRootSpaceID, length);
dGeomRaySet(rayGeomID, origin[0], origin[1], origin[2], dir[0],
***************
*** 908,911 ****
--- 911,916 ----
((ODESolid*)volume)->internal_getGeomDataList();
+ // TODO: use the volume's contact group to limit collision check
+
// Check for collisions with each of the volume Solid's geoms.
// This will fill up mVolumeQueryResult with those Solids that
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