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[simspark-svn] SF.net SVN: simspark:[98] branches/multiphys/spark
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From: <a-...@us...> - 2009-11-16 10:24:19
|
Revision: 98
http://simspark.svn.sourceforge.net/simspark/?rev=98&view=rev
Author: a-held
Date: 2009-11-16 10:24:11 +0000 (Mon, 16 Nov 2009)
Log Message:
-----------
added abstract PhysicsObject class
refactored CappedCylinder to Capsule (method is deprecated and sometimes causes compiler errors with newer ODE versions)
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/oxygen.cpp
branches/multiphys/spark/lib/oxygen/oxygen.h
branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/body.h
branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp
branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-16 10:24:11 UTC (rev 98)
@@ -14,33 +14,38 @@
gamecontrolserver/behavior.h
oxygen.h
oxygen_defines.h
+
+ #abstract physics
+ physicsserver/physicsserver.h
+ physicsserver/physicsobject.h
physicsserver/body.h
- physicsserver/bodycontroller.h
+ physicsserver/collider.h
physicsserver/boxcollider.h
physicsserver/ccylindercollider.h
- physicsserver/collider.h
- physicsserver/collisionhandler.h
- physicsserver/contactjointhandler.h
- physicsserver/odeobject.h
- physicsserver/odewrapper.h
- physicsserver/physicsserver.h
physicsserver/planecollider.h
- physicsserver/raycollider.h
- physicsserver/recorderhandler.h
- physicsserver/space.h
physicsserver/spherecollider.h
- physicsserver/transformcollider.h
- physicsserver/world.h
- physicsserver/dragcontroller.h
- physicsserver/velocitycontroller.h
physicsserver/joint.h
physicsserver/balljoint.h
physicsserver/hingejoint.h
+ physicsserver/hinge2joint.h
physicsserver/fixedjoint.h
physicsserver/sliderjoint.h
physicsserver/universaljoint.h
- physicsserver/hinge2joint.h
- physicsserver/angularmotor.h
+ physicsserver/space.h
+ physicsserver/world.h
+ physicsserver/bodycontroller.h
+ physicsserver/collisionhandler.h
+ physicsserver/contactjointhandler.h
+ physicsserver/dragcontroller.h
+ physicsserver/raycollider.h
+ physicsserver/recorderhandler.h
+ physicsserver/transformcollider.h
+ physicsserver/velocitycontroller.h
+
+ #ODE-specific physics
+ physicsserver/odewrapper.h
+ physicsserver/odeobject.h
+
sceneserver/sceneimporter.h
sceneserver/basenode.h
sceneserver/fpscontroller.h
@@ -100,58 +105,62 @@
gamecontrolserver/behavior.cpp
gamecontrolserver/behavior_c.cpp
oxygen.cpp
+
+ #abstract physics NOTE: Should only be *_c.cpp files in the end
+ physicsserver/physicsserver.cpp
+ physicsserver/physicsserver_c.cpp
+ physicsserver/physicsobject_c.cpp
physicsserver/body.cpp
physicsserver/body_c.cpp
- physicsserver/bodycontroller.cpp
- physicsserver/bodycontroller_c.cpp
- physicsserver/transformcollider.cpp
- physicsserver/transformcollider_c.cpp
+ physicsserver/collider.cpp
+ physicsserver/collider_c.cpp
physicsserver/boxcollider.cpp
physicsserver/boxcollider_c.cpp
physicsserver/ccylindercollider.cpp
physicsserver/ccylindercollider_c.cpp
- physicsserver/collider.cpp
- physicsserver/collider_c.cpp
- physicsserver/collisionhandler.cpp
- physicsserver/collisionhandler_c.cpp
- physicsserver/contactjointhandler.cpp
- physicsserver/contactjointhandler_c.cpp
- physicsserver/odeobject.cpp
- physicsserver/odeobject_c.cpp
- physicsserver/physicsserver.cpp
- physicsserver/physicsserver_c.cpp
physicsserver/planecollider.cpp
physicsserver/planecollider_c.cpp
- physicsserver/raycollider.cpp
- physicsserver/raycollider_c.cpp
- physicsserver/recorderhandler.cpp
- physicsserver/recorderhandler_c.cpp
- physicsserver/space.cpp
- physicsserver/space_c.cpp
physicsserver/spherecollider.cpp
physicsserver/spherecollider_c.cpp
- physicsserver/world.cpp
- physicsserver/world_c.cpp
- physicsserver/dragcontroller.cpp
- physicsserver/dragcontroller_c.cpp
- physicsserver/velocitycontroller.cpp
- physicsserver/velocitycontroller_c.cpp
physicsserver/joint.cpp
physicsserver/joint_c.cpp
physicsserver/balljoint.cpp
physicsserver/balljoint_c.cpp
physicsserver/hingejoint.cpp
physicsserver/hingejoint_c.cpp
+ physicsserver/hinge2joint.cpp
+ physicsserver/hinge2joint_c.cpp
physicsserver/fixedjoint.cpp
physicsserver/fixedjoint_c.cpp
physicsserver/sliderjoint.cpp
physicsserver/sliderjoint_c.cpp
physicsserver/universaljoint.cpp
physicsserver/universaljoint_c.cpp
- physicsserver/hinge2joint.cpp
- physicsserver/hinge2joint_c.cpp
- physicsserver/angularmotor.cpp
- physicsserver/angularmotor_c.cpp
+ physicsserver/space.cpp
+ physicsserver/space_c.cpp
+ physicsserver/world.cpp
+ physicsserver/world_c.cpp
+ physicsserver/bodycontroller.cpp
+ physicsserver/bodycontroller_c.cpp
+ physicsserver/collisionhandler.cpp
+ physicsserver/collisionhandler_c.cpp
+ physicsserver/contactjointhandler.cpp
+ physicsserver/contactjointhandler_c.cpp
+ physicsserver/dragcontroller.cpp
+ physicsserver/dragcontroller_c.cpp
+ physicsserver/raycollider.cpp
+ physicsserver/raycollider_c.cpp
+ physicsserver/recorderhandler.cpp
+ physicsserver/recorderhandler_c.cpp
+ physicsserver/transformcollider.cpp
+ physicsserver/transformcollider_c.cpp
+ physicsserver/velocitycontroller.cpp
+ physicsserver/velocitycontroller_c.cpp
+
+ #ODE-specific physics
+ physicsserver/odeobject.cpp
+ physicsserver/odeobject_c.cpp
+
sceneserver/basenode.cpp
sceneserver/basenode_c.cpp
sceneserver/fpscontroller.cpp
Modified: branches/multiphys/spark/lib/oxygen/oxygen.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-16 10:24:11 UTC (rev 98)
@@ -53,35 +53,34 @@
// physics
zg.GetCore()->RegisterClassObject(new CLASS(PhysicsServer), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(PhysicsObject), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Body), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(BodyController), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(DragController), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(VelocityController), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(Space), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(World), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(Collider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(BoxCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(CCylinderCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(PlaneCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(SphereCollider), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Joint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(BallJoint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(HingeJoint), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(Hinge2Joint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(FixedJoint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(SliderJoint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(UniversalJoint), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(Hinge2Joint), "oxygen/");
-
- // collider
- zg.GetCore()->RegisterClassObject(new CLASS(Collider), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(TransformCollider), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(BoxCollider), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(CCylinderCollider), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(PlaneCollider), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(RayCollider), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(SphereCollider), "oxygen/");
-
- // collision handler
+ zg.GetCore()->RegisterClassObject(new CLASS(Space), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(World), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(BodyController), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(CollisionHandler), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(ContactJointHandler), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(DragController), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(RayCollider), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(RecorderHandler), "oxygen/");
-
+ zg.GetCore()->RegisterClassObject(new CLASS(TransformCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(VelocityController), "oxygen/");
+
+ //ODE-specific physics
+ zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
+
// agentaspect
zg.GetCore()->RegisterClassObject(new CLASS(AgentAspect), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Effector), "oxygen/");
Modified: branches/multiphys/spark/lib/oxygen/oxygen.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.h 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-16 10:24:11 UTC (rev 98)
@@ -34,32 +34,36 @@
#include "gamecontrolserver/actionobject.h"
#include "gamecontrolserver/behavior.h"
-#include "physicsserver/body.h"
-#include "physicsserver/bodycontroller.h"
-#include "physicsserver/dragcontroller.h"
-#include "physicsserver/velocitycontroller.h"
-#include "physicsserver/transformcollider.h"
-#include "physicsserver/boxcollider.h"
-#include "physicsserver/ccylindercollider.h"
-#include "physicsserver/collider.h"
-#include "physicsserver/odeobject.h"
-#include "physicsserver/physicsserver.h"
-#include "physicsserver/planecollider.h"
-#include "physicsserver/raycollider.h"
-#include "physicsserver/space.h"
-#include "physicsserver/spherecollider.h"
-#include "physicsserver/world.h"
-#include "physicsserver/collisionhandler.h"
-#include "physicsserver/contactjointhandler.h"
-#include "physicsserver/recorderhandler.h"
-#include "physicsserver/joint.h"
-#include "physicsserver/balljoint.h"
-#include "physicsserver/hingejoint.h"
-#include "physicsserver/fixedjoint.h"
-#include "physicsserver/sliderjoint.h"
-#include "physicsserver/universaljoint.h"
-#include "physicsserver/hinge2joint.h"
+//general includes
+#include <oxygen/physicsserver/physicsserver.h>
+#include <oxygen/physicsserver/physicsobject.h>
+#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/collider.h>
+#include <oxygen/physicsserver/boxcollider.h>
+#include <oxygen/physicsserver/ccylindercollider.h>
+#include <oxygen/physicsserver/planecollider.h>
+#include <oxygen/physicsserver/spherecollider.h>
+#include <oxygen/physicsserver/joint.h>
+#include <oxygen/physicsserver/balljoint.h>
+#include <oxygen/physicsserver/hingejoint.h>
+#include <oxygen/physicsserver/hinge2joint.h>
+#include <oxygen/physicsserver/fixedjoint.h>
+#include <oxygen/physicsserver/sliderjoint.h>
+#include <oxygen/physicsserver/universaljoint.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/physicsserver/world.h>
+#include <oxygen/physicsserver/bodycontroller.h>
+#include <oxygen/physicsserver/collisionhandler.h>
+#include <oxygen/physicsserver/contactjointhandler.h>
+#include <oxygen/physicsserver/dragcontroller.h>
+#include <oxygen/physicsserver/recorderhandler.h>
+#include <oxygen/physicsserver/transformcollider.h>
+#include <oxygen/physicsserver/raycollider.h>
+#include <oxygen/physicsserver/velocitycontroller.h>
+//ODE-specific includes
+#include <oxygen/physicsserver/odeobject.h>
+
#include "sceneserver/basenode.h"
#include "sceneserver/camera.h"
#include "sceneserver/fpscontroller.h"
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-11-16 10:24:11 UTC (rev 98)
@@ -334,47 +334,47 @@
AddMass(ODEMass, matrix);
}
-void Body::PrepareCappedCylinder (dMass& mass, float density, float radius, float length) const
+void Body::PrepareCapsule (dMass& mass, float density, float radius, float length) const
{
// direction: (1=x, 2=y, 3=z)
int direction = 3;
- dMassSetCappedCylinder (&mass, density, direction, radius, length);
+ dMassSetCapsule (&mass, density, direction, radius, length);
}
-void Body::SetCappedCylinder (float density, float radius, float length)
+void Body::SetCapsule (float density, float radius, float length)
{
dMass ODEMass;
- PrepareCappedCylinder(ODEMass, density, radius, length);
+ PrepareCapsule(ODEMass, density, radius, length);
dBodySetMass(mODEBody, &ODEMass);
}
-void Body::AddCappedCylinder (float density, float radius, float length, const Matrix& matrix)
+void Body::AddCapsule (float density, float radius, float length, const Matrix& matrix)
{
dMass ODEMass;
- PrepareCappedCylinder(ODEMass, density, radius, length);
+ PrepareCapsule(ODEMass, density, radius, length);
AddMass(ODEMass, matrix);
}
-void Body::PrepareCappedCylinderTotal(dMass& mass, float total_mass, float radius, float length) const
+void Body::PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const
{
// direction: (1=x, 2=y, 3=z)
int direction = 3;
- dMassSetCappedCylinderTotal(&mass, total_mass, direction, radius, length);
+ dMassSetCapsuleTotal(&mass, total_mass, direction, radius, length);
}
-void Body::SetCappedCylinderTotal(float total_mass, float radius, float length)
+void Body::SetCapsuleTotal(float total_mass, float radius, float length)
{
dMass ODEMass;
- PrepareCappedCylinderTotal(ODEMass, total_mass, radius, length);
+ PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
dBodySetMass(mODEBody, &ODEMass);
}
-void Body::AddCappedCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
+void Body::AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
{
dMass ODEMass;
- PrepareCappedCylinderTotal(ODEMass, total_mass, radius, length);
+ PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
AddMass(ODEMass, matrix);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-11-16 10:24:11 UTC (rev 98)
@@ -167,13 +167,13 @@
counting the spherical cap) is length. The cylinder's long axis
is oriented along the body's z axis.
*/
- void SetCappedCylinder (float density, float radius, float length);
+ void SetCapsule (float density, float radius, float length);
/* Add a mass representing a capped cylinder of the given
parameters and density, with the matrix determining its center
and orientation
*/
- void AddCappedCylinder (float density, float radius, float length, const salt::Matrix& matrix);
+ void AddCapsule (float density, float radius, float length, const salt::Matrix& matrix);
/* Set the mass parameters to represent a capped cylinder of the
given parameters and total mass, with the center of mass at
@@ -182,13 +182,13 @@
counting the spherical cap) is length. The cylinder's long axis
is oriented along the body's z axis.
*/
- void SetCappedCylinderTotal(float total_mass, float radius, float length);
+ void SetCapsuleTotal(float total_mass, float radius, float length);
/* Add a mass representing a capped cylinder of the given
parameters and total mass, with the matrix determining its
center and orientation
*/
- void AddCappedCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
+ void AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
/** displace the mass center relative to the body frame */
void TranslateMass(const salt::Vector3f& v);
@@ -293,7 +293,7 @@
counting the spherical cap) is length. The cylinder's long axis
is oriented along the body's z axis.
*/
- void PrepareCappedCylinder (dMass& mass, float density, float radius, float length) const;
+ void PrepareCapsule (dMass& mass, float density, float radius, float length) const;
/* sets up an ode mass struct representing a capped cylinder of
the given parameters and total mass, with the center of mass at
@@ -302,7 +302,7 @@
counting the spherical cap) is length. The cylinder's long axis
is oriented along the body's z axis.
*/
- void PrepareCappedCylinderTotal(dMass& mass, float total_mass, float radius, float length) const;
+ void PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const;
private:
/** updates internal state before physics calculation */
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp 2009-11-16 10:24:11 UTC (rev 98)
@@ -379,7 +379,7 @@
return true;
}
-FUNCTION(Body,setCappedCylinder)
+FUNCTION(Body,setCapsule)
{
float inDensity;
float inRadius;
@@ -395,11 +395,11 @@
return false;
}
- obj->SetCappedCylinder(inDensity,inRadius,inLength);
+ obj->SetCapsule(inDensity,inRadius,inLength);
return true;
}
-FUNCTION(Body,addCappedCylinder)
+FUNCTION(Body,addCapsule)
{
float inDensity;
float inRadius;
@@ -421,11 +421,11 @@
// Matrix is allowed to be missing, defaults to identity
in.GetValue(in[3],inMat);
- obj->AddCappedCylinder(inDensity,inRadius,inLength,inMat);
+ obj->AddCapsule(inDensity,inRadius,inLength,inMat);
return true;
}
-FUNCTION(Body,setCappedCylinderTotal)
+FUNCTION(Body,setCapsuleTotal)
{
float inMassTotal;
float inRadius;
@@ -441,11 +441,11 @@
return false;
}
- obj->SetCappedCylinderTotal(inMassTotal,inRadius,inLength);
+ obj->SetCapsuleTotal(inMassTotal,inRadius,inLength);
return true;
}
-FUNCTION(Body,addCappedCylinderTotal)
+FUNCTION(Body,addCapsuleTotal)
{
float inMassTotal;
float inRadius;
@@ -466,7 +466,7 @@
// Matrix is allowed to be missing, defaults to identity
in.GetValue(in[3],inMat);
- obj->AddCappedCylinderTotal(inMassTotal,inRadius,inLength,inMat);
+ obj->AddCapsuleTotal(inMassTotal,inRadius,inLength,inMat);
return true;
}
@@ -585,10 +585,10 @@
DEFINE_FUNCTION(addCylinder);
DEFINE_FUNCTION(setCylinderTotal);
DEFINE_FUNCTION(addCylinderTotal);
- DEFINE_FUNCTION(setCappedCylinder);
- DEFINE_FUNCTION(addCappedCylinder);
- DEFINE_FUNCTION(setCappedCylinderTotal);
- DEFINE_FUNCTION(addCappedCylinderTotal);
+ DEFINE_FUNCTION(setCapsule);
+ DEFINE_FUNCTION(addCapsule);
+ DEFINE_FUNCTION(setCapsuleTotal);
+ DEFINE_FUNCTION(addCapsuleTotal);
DEFINE_FUNCTION(setMass);
DEFINE_FUNCTION(getMass);
DEFINE_FUNCTION(setVelocity);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp 2009-11-16 10:24:11 UTC (rev 98)
@@ -19,16 +19,16 @@
along with this program; if not, write to the Free Software
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include "odeobject.h"
-#include "space.h"
-#include "world.h"
+#include <oxygen/physicsserver/odeobject.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/physicsserver/world.h>
#include <oxygen/sceneserver/scene.h>
#include <zeitgeist/logserver/logserver.h>
using namespace oxygen;
using namespace boost;
-ODEObject::ODEObject() : BaseNode()
+ODEObject::ODEObject() : PhysicsObject()
{
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h 2009-11-16 10:24:11 UTC (rev 98)
@@ -24,8 +24,9 @@
#define OXYGEN_ODEOBJECT_H
#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/odewrapper.h>
+#include <oxygen/physicsserver/physicsobject.h>
#include <oxygen/sceneserver/basenode.h>
-#include "odewrapper.h"
namespace oxygen
{
@@ -34,7 +35,7 @@
/** ODEObject is the base of all classes encapsulating ODE concepts
*/
-class OXYGEN_API ODEObject : public BaseNode
+class OXYGEN_API ODEObject : public PhysicsObject
{
public:
//
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp 2009-11-16 10:24:11 UTC (rev 98)
@@ -19,11 +19,11 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include "odeobject.h"
+#include <oxygen/physicsserver/odeobject.h>
using namespace oxygen;
void CLASS(ODEObject)::DefineClass()
{
- DEFINE_BASECLASS(oxygen/BaseNode);
+ DEFINE_BASECLASS(oxygen/PhysicsObject);
}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-11-16 10:24:11 UTC (rev 98)
@@ -0,0 +1,81 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
+ $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program 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
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_PHYSICSOBJECT_H
+#define OXYGEN_PHYSICSOBJECT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/odewrapper.h>
+#include <oxygen/sceneserver/basenode.h>
+
+namespace oxygen
+{
+class Space;
+class World;
+
+/*PhysicsObjects provides an interface for all classes
+encapsulating physics objects.*/
+
+class OXYGEN_API PhysicsObject : public BaseNode
+{
+public:
+ PhysicsObject() : BaseNode(){};
+ virtual ~PhysicsObject(){};
+
+ /** This rountine is called, before the hierarchy object is
+ removed from the parent. It can be overridden to support
+ custom 'unlink' behavior.
+ */
+ virtual void OnUnlink() = 0;
+
+ /** returns the ODE world handle */
+ virtual dWorldID GetWorldID() = 0;
+
+ /** returns the nearest parent space ODE handle */
+ virtual dSpaceID FindSpaceID() = 0;
+
+ /** returns the ODE handle ID of the containing parent space */
+ virtual dSpaceID GetParentSpaceID() = 0;
+
+ /** destroy the managed ODE object */
+ virtual void DestroyODEObject() = 0;
+
+protected:
+ /** returns the world node */
+ virtual boost::shared_ptr<World> GetWorld() = 0;
+
+ /** finds the nearest parent space node */
+ virtual boost::shared_ptr<Space> GetSpace() = 0;
+
+ /** converts the rotation part of a salt::Matrix to an ODE
+ dMatrix3 */
+ virtual void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix) = 0;
+
+ /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
+ virtual void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const = 0;
+};
+
+DECLARE_ABSTRACTCLASS(PhysicsObject);
+
+} //namespace oxygen
+
+#endif //OXYGEN_PHYSICSOBJECT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp 2009-11-16 10:24:11 UTC (rev 98)
@@ -0,0 +1,29 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: odeobject_c.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program 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
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include <oxygen/physicsserver/physicsobject.h>
+
+using namespace oxygen;
+
+void CLASS(PhysicsObject)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/BaseNode);
+}
Modified: branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp
===================================================================
--- branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp 2009-10-31 09:41:13 UTC (rev 97)
+++ branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp 2009-11-16 10:24:11 UTC (rev 98)
@@ -1036,7 +1036,7 @@
if (body.get() != 0)
{
body->SetName(S_BODY+name);
- body->SetCappedCylinderTotal(physical.mass, radius, height);
+ body->SetCapsuleTotal(physical.mass, radius, height);
GetContext().AddMass(physical.mass, Trans());
}
@@ -1055,7 +1055,7 @@
collider->AddChildReference(handler);
}
- GetLog()->Debug() << "(RosImporter) created capped cylinder " << name << "\n";
+ GetLog()->Debug() << "(RosImporter) created capsule " << name << "\n";
return ReadChildElements(transform, element);
}
@@ -2014,7 +2014,7 @@
shared_ptr<Body> body = GetContextBody(contextTransform);
if (body.get() != 0)
{
- body->AddCappedCylinderTotal(physical.mass, radius, height, trans.matrix);
+ body->AddCapsuleTotal(physical.mass, radius, height, trans.matrix);
GetContext().AddMass(physical.mass, trans);
}
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