Menu
▾
▴
[simspark-svn] SF.net SVN: simspark:[102] branches/multiphys
|
From: <a-...@us...> - 2009-11-18 07:24:37
|
Revision: 102
http://simspark.svn.sourceforge.net/simspark/?rev=102&view=rev
Author: a-held
Date: 2009-11-18 07:24:29 +0000 (Wed, 18 Nov 2009)
Log Message:
-----------
bringing branch up to date
Modified Paths:
--------------
branches/multiphys/rcssserver3d/ChangeLog
branches/multiphys/rcssserver3d/RELEASE
branches/multiphys/spark/ChangeLog
branches/multiphys/spark/RELEASE
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/boxcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h
branches/multiphys/spark/lib/oxygen/physicsserver/space.h
branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/world.h
branches/multiphys/spark/lib/oxygen/physicsserver/world_c.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.h
branches/multiphys/spark/lib/oxygen/simulationserver/netcontrol.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.h
branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp
branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.h
branches/multiphys/spark/utility/rcssnet/socket.cpp
branches/multiphys/spark/utility/rcssnet/socket.hpp
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/imp/
branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h
branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odewrapper.h
Removed Paths:
-------------
branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h
branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odewrapper.h
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/lib/oxygen/physicsserver/odewrapper.h
Property Changed:
----------------
branches/multiphys/
Property changes on: branches/multiphys
___________________________________________________________________
Added: svn:mergeinfo
+ /trunk:95-101
Modified: branches/multiphys/rcssserver3d/ChangeLog
===================================================================
--- branches/multiphys/rcssserver3d/ChangeLog 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/rcssserver3d/ChangeLog 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,3 +1,8 @@
+2009-10-31 Hedayat Vatankhah <he...@gr...>
+
+ * RELEASE:
+ - write about changes sine 0.6.2, initial draft.
+
2009-08-24 Marian Buchta <mar...@gm...>
* CMakeLists.txt:
Modified: branches/multiphys/rcssserver3d/RELEASE
===================================================================
--- branches/multiphys/rcssserver3d/RELEASE 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/rcssserver3d/RELEASE 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,15 +1,10 @@
-RELEASE News of rcssserver3d-0.6.2
+RELEASE News of rcssserver3d-0.6.3 (In progress)
-This release is mainly a bug-fix release, and is the last release before
-RoboCup 2009 competitions.
-
-* Some improvements:
- - improved Windows and MacOSX support
- - improved external monitor
- - fixed a bug in rcssserver3d's goal counting
- - added right kick-off key to the monitor (Simon Raffeiner)
- - simspark can take command line argument specifying the rb script to run
- (using --script-path command line option)
-
+* Most notable changes:
+ - No internal monitor by default. Run rcssmonitor3d separately to see the game.
+ - Added HMDP effector/perceptor
+ - Some compilation fixes
+ - Improved Windows support
+
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
Modified: branches/multiphys/spark/ChangeLog
===================================================================
--- branches/multiphys/spark/ChangeLog 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/ChangeLog 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,3 +1,24 @@
+2009-10-31 Hedayat Vatankhah <he...@gr...>
+
+ * lib/oxygen/simulationserver/simulationserver.h:
+ * lib/oxygen/simulationserver/simulationserver.cpp:
+ - prevent a deadlock case (on exit) in multi-threaded mode
+
+ * lib/oxygen/simulationserver/agentcontrol.h:
+ * lib/oxygen/simulationserver/agentcontrol.cpp:
+ - send senses in SenseAgent method, so that they'll be sent after receiving
+ commands from the agents. this will ensure that any commands sent after
+ sending senses will be executed in the next cycle, which results in a
+ more deterministic behaviour
+
+2009-10-30 Hedayat Vatankhah <he...@gr...>
+
+ * lib/oxygen/simulationserver/netcontrol.cpp (NetControl::InitSimulation):
+ - try to set REUSEADDR flag to reuse local addresses.
+
+ * utility/rcssnet/socket.cpp (Socket::setReuseAddr):
+ - added the new function
+
2009-08-25 Marian Buchta <mar...@gm...>
* plugin/openglsyswx/CMakeLists.txt:
Modified: branches/multiphys/spark/RELEASE
===================================================================
--- branches/multiphys/spark/RELEASE 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/RELEASE 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,15 +1,17 @@
-RELEASE News of simspark-0.1.2
+RELEASE News of simspark-0.1.3 (in progress)
-This release brings some bugfixes, better performance and also better Windows
-support. A Windows installer will be available too. This is the first version
-which runs in multi-threaded mode by default. The multi-threaded mode is still
-in early stages, and it can be improved cosiderably in future.
+SOME INTERESTING COMMENTS!
Main changes of this release are:
- - improved Windows support, including Windows Installer.
- - Multi-threaded mode now works, and is the default mode when running simspark
- - Performance improvements
- - Fixed a bug in networking code, which were introduced in 0.1.1
+ - Compilation fixes
+ - Improved Windows support
+ - Simspark should always accept connections. No more "Connection refused"
+ messages and the need to wait for simspark's network port to be freed!
+ - Simspark will now collect received commands right before sending
+ sense data of the last cycle. So, any commands which is sent by agents
+ after receiving new sense data will be executed in the next cycle, not the
+ current one. This results in a more deterministic behavior, and agents'
+ efficiency should not change between remote and local runs considerably.
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-18 07:24:29 UTC (rev 102)
@@ -21,8 +21,6 @@
physicsserver/collider.h
physicsserver/collisionhandler.h
physicsserver/contactjointhandler.h
- physicsserver/odeobject.h
- physicsserver/odewrapper.h
physicsserver/physicsserver.h
physicsserver/planecollider.h
physicsserver/raycollider.h
@@ -41,6 +39,15 @@
physicsserver/universaljoint.h
physicsserver/hinge2joint.h
physicsserver/angularmotor.h
+
+ #interfaces
+ physicsserver/imp/worldimp.h
+
+ #ode-specific files
+ physicsserver/ode/odeobject.h
+ physicsserver/ode/odeworld.h
+ physicsserver/ode/odewrapper.h
+
sceneserver/sceneimporter.h
sceneserver/basenode.h
sceneserver/fpscontroller.h
@@ -116,8 +123,6 @@
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
@@ -152,6 +157,16 @@
physicsserver/hinge2joint_c.cpp
physicsserver/angularmotor.cpp
physicsserver/angularmotor_c.cpp
+
+ #interfaces
+ physicsserver/imp/worldimp_c.cpp
+
+ #ODE-specific files
+ physicsserver/ode/odeworld.cpp
+ physicsserver/ode/odeworld_c.cpp
+ physicsserver/ode/odeobject.cpp
+ physicsserver/ode/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 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -57,9 +57,9 @@
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(WorldImp), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Joint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(BallJoint), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(HingeJoint), "oxygen/");
@@ -86,6 +86,11 @@
zg.GetCore()->RegisterClassObject(new CLASS(AgentAspect), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Effector), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Perceptor), "oxygen/");
+
+ //ODE-specific classes
+ zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(ODEWorld), "oxygen/");
+
#ifdef HAVE_SPADES_HEADERS
// spades
Modified: branches/multiphys/spark/lib/oxygen/oxygen.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -34,6 +34,7 @@
#include "gamecontrolserver/actionobject.h"
#include "gamecontrolserver/behavior.h"
+//abstract physics classes
#include "physicsserver/body.h"
#include "physicsserver/bodycontroller.h"
#include "physicsserver/dragcontroller.h"
@@ -42,7 +43,6 @@
#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"
@@ -60,6 +60,13 @@
#include "physicsserver/universaljoint.h"
#include "physicsserver/hinge2joint.h"
+//physics interfaces
+#include "physicsserver/imp/worldimp.h"
+
+//ode-specific includes
+#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/ode/odeworld.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 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -339,7 +339,7 @@
// 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)
@@ -361,7 +361,7 @@
// 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)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -23,7 +23,7 @@
#define OXYGEN_BODY_H
#include <oxygen/oxygen_defines.h>
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -23,7 +23,7 @@
#define OXYGEN_BOXCOLLIDER_H
#include <oxygen/oxygen_defines.h>
-#include "collider.h"
+#include <oxygen/physicsserver/collider.h>
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_COLLIDER_H
#define OXYGEN_COLLIDER_H
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
#include <string>
#include <set>
#include <oxygen/oxygen_defines.h>
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -24,7 +24,7 @@
#include <oxygen/sceneserver/basenode.h>
#include <oxygen/oxygen_defines.h>
-#include "odewrapper.h"
+#include <oxygen/physicsserver/ode/odewrapper.h>
namespace oxygen
{
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/imp/worldimp.h 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,116 +0,0 @@
-/* -*- 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: world.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_WORLDIMP_H
-#define OXYGEN_WORLDIMP_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
-
-namespace oxygen
-{
-
-/** World encapsulates an ODE world object. It is a container for
- rigid bodies and joints. Objects in different worlds can not
- interact, for example rigid bodies from two different worlds can
- not collide. All the objects in a world exist at the same point in
- time, thus one reason to use separate worlds is to simulate
- systems at different rates.
-*/
-class OXYGEN_API WorldImp : public ODEObject
-{
- //
- // Functions
- //
-public:
- WorldImp() : ODEObject(){};
- virtual ~WorldImp(){};
-
- /** returns the ID of the managed ODE world */
- virtual dWorldID GetODEWorldImp() const = 0;
-
- /** sets the gravity vector of this vorld */
- virtual void SetGravityImp(const salt::Vector3f& gravity) = 0;
-
- /** gets the gravity vector of this world */
- virtual salt::Vector3f GetGravityImp() const = 0;
-
- /** sets the Error Reduction Parameter of this world. The ERP
- specifies what proportion of a joint error will be fixed
- during the next simulation step. if ERP=0 then no correcting
- force is applied and the bodies will eventually drift apart as
- the simulation proceeds. If ERP=1 then the simulation will
- attempt to fix all joint error during the next time
- step. However, setting ERP=1 is not recommended, as the joint
- error will not be completely fixed due to various internal
- approximations. A value of ERP=0.1 to 0.8 is recommended (0.2
- is the default).
- */
- virtual void SetERPImp(float erp) = 0;
-
- /** returns the Error Reduction Parameter of this World.
- */
- virtual float GetERPImp() const = 0;
-
- /** sets the Constraint Force mixing (CFM) value. If CFM is set to
- zero, the constraint will be hard. If CFM is set to a positive
- value, it will be possible to violate the constraint by
- `pushing on it' (for example, for contact constraints by
- forcing the two contacting objects together). In other words
- the constraint will be soft, and the softness will increase as
- CFM increases. Note that setting CFM to a negative value can
- have undesirable bad effects, such as instability.
- */
- virtual void SetCFMImp(float cfm) = 0;
-
- /** returns the Constraint Force mixing (CFM) value. */
- virtual float GetCFMImp() const = 0;
-
- /** steps the world deltatime forward, i.e. performs physics
- simulation for a deltaTime seconds interval.
- */
- virtual void StepImp(float deltaTime) = 0;
-
- virtual bool GetAutoDisableFlagImp() const = 0;
- virtual void SetAutoDisableFlagImp(bool flag) = 0;
-
- /** Set and get the depth of the surface layer around all geometry
- objects. Contacts are allowed to sink into the surface layer up to
- the given depth before coming to rest. The default value is
- zero. Increasing this to some small value (e.g. 0.001) can help
- prevent jittering problems due to contacts being repeatedly made
- and broken.
- */
- virtual void SetContactSurfaceLayerImp(float depth) = 0;
- virtual float GetContactSurfaceLayerImp() const = 0;
-
- /** destroy the managed ODE object */
- virtual void DestroyODEObjectImp() = 0;
-
- /** creates them managed ODE world */
- virtual bool ConstructInternalImp() = 0;
-};
-
-DECLARE_ABSTRACTCLASS(WorldImp);
-
-}
-
-#endif //OXYGEN_WORLDIMP_H
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h (from rev 101, trunk/spark/lib/oxygen/physicsserver/imp/worldimp.h)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,116 @@
+/* -*- 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: world.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_WORLDIMP_H
+#define OXYGEN_WORLDIMP_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odeobject.h>
+
+namespace oxygen
+{
+
+/** World encapsulates an ODE world object. It is a container for
+ rigid bodies and joints. Objects in different worlds can not
+ interact, for example rigid bodies from two different worlds can
+ not collide. All the objects in a world exist at the same point in
+ time, thus one reason to use separate worlds is to simulate
+ systems at different rates.
+*/
+class OXYGEN_API WorldImp : public ODEObject
+{
+ //
+ // Functions
+ //
+public:
+ WorldImp() : ODEObject(){};
+ virtual ~WorldImp(){};
+
+ /** returns the ID of the managed ODE world */
+ virtual dWorldID GetODEWorldImp() const = 0;
+
+ /** sets the gravity vector of this vorld */
+ virtual void SetGravityImp(const salt::Vector3f& gravity) = 0;
+
+ /** gets the gravity vector of this world */
+ virtual salt::Vector3f GetGravityImp() const = 0;
+
+ /** sets the Error Reduction Parameter of this world. The ERP
+ specifies what proportion of a joint error will be fixed
+ during the next simulation step. if ERP=0 then no correcting
+ force is applied and the bodies will eventually drift apart as
+ the simulation proceeds. If ERP=1 then the simulation will
+ attempt to fix all joint error during the next time
+ step. However, setting ERP=1 is not recommended, as the joint
+ error will not be completely fixed due to various internal
+ approximations. A value of ERP=0.1 to 0.8 is recommended (0.2
+ is the default).
+ */
+ virtual void SetERPImp(float erp) = 0;
+
+ /** returns the Error Reduction Parameter of this World.
+ */
+ virtual float GetERPImp() const = 0;
+
+ /** sets the Constraint Force mixing (CFM) value. If CFM is set to
+ zero, the constraint will be hard. If CFM is set to a positive
+ value, it will be possible to violate the constraint by
+ `pushing on it' (for example, for contact constraints by
+ forcing the two contacting objects together). In other words
+ the constraint will be soft, and the softness will increase as
+ CFM increases. Note that setting CFM to a negative value can
+ have undesirable bad effects, such as instability.
+ */
+ virtual void SetCFMImp(float cfm) = 0;
+
+ /** returns the Constraint Force mixing (CFM) value. */
+ virtual float GetCFMImp() const = 0;
+
+ /** steps the world deltatime forward, i.e. performs physics
+ simulation for a deltaTime seconds interval.
+ */
+ virtual void StepImp(float deltaTime) = 0;
+
+ virtual bool GetAutoDisableFlagImp() const = 0;
+ virtual void SetAutoDisableFlagImp(bool flag) = 0;
+
+ /** Set and get the depth of the surface layer around all geometry
+ objects. Contacts are allowed to sink into the surface layer up to
+ the given depth before coming to rest. The default value is
+ zero. Increasing this to some small value (e.g. 0.001) can help
+ prevent jittering problems due to contacts being repeatedly made
+ and broken.
+ */
+ virtual void SetContactSurfaceLayerImp(float depth) = 0;
+ virtual float GetContactSurfaceLayerImp() const = 0;
+
+ /** destroy the managed ODE object */
+ virtual void DestroyODEObjectImp() = 0;
+
+ /** creates them managed ODE world */
+ virtual bool ConstructInternalImp() = 0;
+};
+
+DECLARE_ABSTRACTCLASS(WorldImp);
+
+}
+
+#endif //OXYGEN_WORLDIMP_H
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,29 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-this file is part of rcssserver3D
-Fri May 9 2003
-Copyright (C) 2003 Koblenz University
-$Id: world_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/imp/worldimp.h>
-
-using namespace oxygen;
-
-void CLASS(WorldImp)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/ODEObject);
-}
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp (from rev 101, trunk/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+this file is part of rcssserver3D
+Fri May 9 2003
+Copyright (C) 2003 Koblenz University
+$Id: world_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/imp/worldimp.h>
+
+using namespace oxygen;
+
+void CLASS(WorldImp)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/ODEObject);
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -23,7 +23,7 @@
#define OXYGEN_JOINT_H
#include <oxygen/oxygen_defines.h>
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
namespace oxygen
{
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeobject.cpp 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,167 +0,0 @@
-/* -*- 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.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/ode/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()
-{
-}
-
-void ODEObject::OnUnlink()
-{
- DestroyODEObject();
-}
-
-/** returns the world node */
-shared_ptr<World> ODEObject::GetWorld()
-{
- shared_ptr<Scene> scene = GetScene();
- if (scene.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
- return shared_ptr<World>();
- }
-
- shared_ptr<World> worldNode = shared_dynamic_cast<World>
- (scene->GetChildOfClass("World"));
- if (worldNode.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no World node\n";
- }
-
- return worldNode;
-}
-
-shared_ptr<Space> ODEObject::GetSpace()
-{
- // try to find the nearest parent space object
- weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
- if (! parentSpace.expired())
- {
- return parentSpace.lock();
- }
-
- // return the global space instance
- shared_ptr<Scene> scene = GetScene();
- if (scene.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
- return shared_ptr<Space>();
- }
-
- shared_ptr<Space> spaceNode = shared_dynamic_cast<Space>
- (scene->GetChildOfClass("Space"));
- if (spaceNode.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Space node\n";
- }
-
- return spaceNode;
-}
-
-dWorldID ODEObject::GetWorldID()
-{
- shared_ptr<World> world = GetWorld();
- if (world.get() == 0)
- {
- return 0;
- }
-
- dWorldID worldId = world->GetODEWorld();
- if (worldId == 0)
- {
- GetLog()->Error()
- << "(ODEObject) ERROR: World returned empty ODE handle\n";
- }
-
- return worldId;
-}
-
-dSpaceID ODEObject::FindSpaceID()
-{
- shared_ptr<Space> space = GetSpace();
- if (space.get() == 0)
- {
- return 0;
- }
-
- dSpaceID spaceId = space->GetODESpace();
-
- if (spaceId == 0)
- {
- GetLog()->Error()
- << "(ODEObject) ERROR: Space returned empty ODE handle\n";
- }
-
- return spaceId;
-}
-
-dSpaceID ODEObject::GetParentSpaceID()
-{
- return 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
-{
- matrix[0] = rot.m[0];
- matrix[1] = rot.m[4];
- matrix[2] = rot.m[8];
- matrix[3] = 0;
- matrix[4] = rot.m[1];
- matrix[5] = rot.m[5];
- matrix[6] = rot.m[9];
- matrix[7] = 0;
- matrix[8] = rot.m[2];
- matrix[9] = rot.m[6];
- matrix[10] = rot.m[10];
- matrix[11] = 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
-{
- rot.m[0] = matrix[0] ;
- rot.m[4] = matrix[1] ;
- rot.m[8] = matrix[2];
- rot.m[12] = matrix[3];
- rot.m[1] = matrix[4];
- rot.m[5] = matrix[5];
- rot.m[9] = matrix[6];
- rot.m[13] = matrix[7];
- rot.m[2] = matrix[8];
- rot.m[6] = matrix[9];
- rot.m[10] = matrix[10] ;
- rot.m[14] = matrix[11];
- rot.m[3] = 0.0;
- rot.m[7] = 0.0;
- rot.m[11] = 0.0;
- rot.m[15] = 1.0;
-}
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeobject.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,167 @@
+/* -*- 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.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/ode/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()
+{
+}
+
+void ODEObject::OnUnlink()
+{
+ DestroyODEObject();
+}
+
+/** returns the world node */
+shared_ptr<World> ODEObject::GetWorld()
+{
+ shared_ptr<Scene> scene = GetScene();
+ if (scene.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
+ return shared_ptr<World>();
+ }
+
+ shared_ptr<World> worldNode = shared_dynamic_cast<World>
+ (scene->GetChildOfClass("World"));
+ if (worldNode.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no World node\n";
+ }
+
+ return worldNode;
+}
+
+shared_ptr<Space> ODEObject::GetSpace()
+{
+ // try to find the nearest parent space object
+ weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
+ if (! parentSpace.expired())
+ {
+ return parentSpace.lock();
+ }
+
+ // return the global space instance
+ shared_ptr<Scene> scene = GetScene();
+ if (scene.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
+ return shared_ptr<Space>();
+ }
+
+ shared_ptr<Space> spaceNode = shared_dynamic_cast<Space>
+ (scene->GetChildOfClass("Space"));
+ if (spaceNode.get() == 0)
+ {
+ GetLog()->Error() << "(ODEObject) ERROR: found no Space node\n";
+ }
+
+ return spaceNode;
+}
+
+dWorldID ODEObject::GetWorldID()
+{
+ shared_ptr<World> world = GetWorld();
+ if (world.get() == 0)
+ {
+ return 0;
+ }
+
+ dWorldID worldId = world->GetODEWorld();
+ if (worldId == 0)
+ {
+ GetLog()->Error()
+ << "(ODEObject) ERROR: World returned empty ODE handle\n";
+ }
+
+ return worldId;
+}
+
+dSpaceID ODEObject::FindSpaceID()
+{
+ shared_ptr<Space> space = GetSpace();
+ if (space.get() == 0)
+ {
+ return 0;
+ }
+
+ dSpaceID spaceId = space->GetODESpace();
+
+ if (spaceId == 0)
+ {
+ GetLog()->Error()
+ << "(ODEObject) ERROR: Space returned empty ODE handle\n";
+ }
+
+ return spaceId;
+}
+
+dSpaceID ODEObject::GetParentSpaceID()
+{
+ return 0;
+}
+
+void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
+{
+ matrix[0] = rot.m[0];
+ matrix[1] = rot.m[4];
+ matrix[2] = rot.m[8];
+ matrix[3] = 0;
+ matrix[4] = rot.m[1];
+ matrix[5] = rot.m[5];
+ matrix[6] = rot.m[9];
+ matrix[7] = 0;
+ matrix[8] = rot.m[2];
+ matrix[9] = rot.m[6];
+ matrix[10] = rot.m[10];
+ matrix[11] = 0;
+}
+
+void ODEObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
+{
+ rot.m[0] = matrix[0] ;
+ rot.m[4] = matrix[1] ;
+ rot.m[8] = matrix[2];
+ rot.m[12] = matrix[3];
+ rot.m[1] = matrix[4];
+ rot.m[5] = matrix[5];
+ rot.m[9] = matrix[6];
+ rot.m[13] = matrix[7];
+ rot.m[2] = matrix[8];
+ rot.m[6] = matrix[9];
+ rot.m[10] = matrix[10] ;
+ rot.m[14] = matrix[11];
+ rot.m[3] = 0.0;
+ rot.m[7] = 0.0;
+ rot.m[11] = 0.0;
+ rot.m[15] = 1.0;
+}
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeobject.h 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,83 +0,0 @@
-/* -*- 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_ODEOBJECT_H
-#define OXYGEN_ODEOBJECT_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/sceneserver/basenode.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
-
-namespace oxygen
-{
-class Space;
-class World;
-
-/** ODEObject is the base of all classes encapsulating ODE concepts
- */
-class OXYGEN_API ODEObject : public BaseNode
-{
-public:
- //
- // Functions
- //
- ODEObject();
- virtual ~ODEObject();
-
- /** 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();
-
- /** returns the ODE world handle */
- dWorldID GetWorldID();
-
- /** returns the nearest parent space ODE handle */
- dSpaceID FindSpaceID();
-
- /** returns the ODE handle ID of the containing parent space */
- virtual dSpaceID GetParentSpaceID();
-
- /** destroy the managed ODE object */
- virtual void DestroyODEObject(){};
-
-protected:
- /** returns the world node */
- boost::shared_ptr<World> GetWorld();
-
- /** finds the nearest parent space node */
- boost::shared_ptr<Space> GetSpace();
-
- /** converts the rotation part of a salt::Matrix to an ODE
- dMatrix3 */
- void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
-
- /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
- void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
-};
-
-DECLARE_ABSTRACTCLASS(ODEObject);
-
-} //namespace oxygen
-
-#endif //OXYGEN_ODEOBJECT_H
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeobject.h)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,83 @@
+/* -*- 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_ODEOBJECT_H
+#define OXYGEN_ODEOBJECT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/sceneserver/basenode.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
+
+namespace oxygen
+{
+class Space;
+class World;
+
+/** ODEObject is the base of all classes encapsulating ODE concepts
+ */
+class OXYGEN_API ODEObject : public BaseNode
+{
+public:
+ //
+ // Functions
+ //
+ ODEObject();
+ virtual ~ODEObject();
+
+ /** 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();
+
+ /** returns the ODE world handle */
+ dWorldID GetWorldID();
+
+ /** returns the nearest parent space ODE handle */
+ dSpaceID FindSpaceID();
+
+ /** returns the ODE handle ID of the containing parent space */
+ virtual dSpaceID GetParentSpaceID();
+
+ /** destroy the managed ODE object */
+ virtual void DestroyODEObject(){};
+
+protected:
+ /** returns the world node */
+ boost::shared_ptr<World> GetWorld();
+
+ /** finds the nearest parent space node */
+ boost::shared_ptr<Space> GetSpace();
+
+ /** converts the rotation part of a salt::Matrix to an ODE
+ dMatrix3 */
+ void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
+
+ /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
+ void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
+};
+
+DECLARE_ABSTRACTCLASS(ODEObject);
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEOBJECT_H
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,29 +0,0 @@
-/* -*- 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/ode/odeobject.h>
-
-using namespace oxygen;
-
-void CLASS(ODEObject)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/BaseNode);
-}
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -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/ode/odeobject.h>
+
+using namespace oxygen;
+
+void CLASS(ODEObject)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/BaseNode);
+}
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,138 +0,0 @@
-/* -*- mode: c++ -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2003 Koblenz University
- $Id: world.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/ode/odeworld.h>
-#include <oxygen/physicsserver/space.h>
-#include <oxygen/sceneserver/scene.h>
-
-using namespace boost;
-using namespace oxygen;
-using namespace salt;
-
-ODEWorld::ODEWorld() : WorldImp(), mODEWorld(0)
-{
-}
-
-ODEWorld::~ODEWorld()
-{
-}
-
-dWorldID ODEWorld::GetODEWorldImp() const
-{
- return mODEWorld;
-}
-
-void ODEWorld::SetGravityImp(const Vector3f& gravity)
-{
- dWorldSetGravity(mODEWorld,
- gravity.x(),
- gravity.y(),
- gravity.z()
- );
-}
-
-salt::Vector3f ODEWorld::GetGravityImp() const
-{
- dVector3 dGravity;
- dWorldGetGravity(mODEWorld,dGravity);
- return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
-}
-
-void ODEWorld::SetERPImp(float erp)
-{
- dWorldSetERP(mODEWorld, erp);
-}
-
-float ODEWorld::GetERPImp() const
-{
- return dWorldGetERP(mODEWorld);
-}
-
-void ODEWorld::SetCFMImp(float cfm)
-{
- dWorldSetCFM(mODEWorld, cfm);
-}
-
-float ODEWorld::GetCFMImp() const
-{
- return dWorldGetCFM(mODEWorld);
-}
-
-void ODEWorld::StepImp(float deltaTime)
-{
- dWorldStep(mODEWorld, deltaTime);
-}
-
-bool ODEWorld::GetAutoDisableFlagImp() const
-{
- return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
-}
-
-void ODEWorld::SetAutoDisableFlagImp(bool flag)
-{
- dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
-}
-
-void ODEWorld::SetContactSurfaceLayerImp(float depth)
-{
- dWorldSetContactSurfaceLayer(mODEWorld, depth);
-}
-
-float ODEWorld::GetContactSurfaceLayerImp() const
-{
- return dWorldGetContactSurfaceLayer(mODEWorld);
-}
-
-bool ODEWorld::ConstructInternalImp()
-{
- // create an ode world
- mODEWorld = dWorldCreate();
-
- return (mODEWorld != 0);
-}
-
-void ODEWorld::DestroyODEObjectImp()
-{
- static bool recurseLock = false;
- if (recurseLock)
- {
- return;
- }
-
- recurseLock = true;
-
- shared_ptr<Space> space = GetSpace();
- if (space.get() != 0)
- {
- space->DestroyODEObject();
- }
-
- if (mODEWorld == 0)
- {
- return;
- }
-
- // release the ODE world
- dWorldDestroy(mODEWorld);
- mODEWorld = 0;
-
- recurseLock = false;
-}
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeworld.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,138 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: world.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/ode/odeworld.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/sceneserver/scene.h>
+
+using namespace boost;
+using namespace oxygen;
+using namespace salt;
+
+ODEWorld::ODEWorld() : WorldImp(), mODEWorld(0)
+{
+}
+
+ODEWorld::~ODEWorld()
+{
+}
+
+dWorldID ODEWorld::GetODEWorldImp() const
+{
+ return mODEWorld;
+}
+
+void ODEWorld::SetGravityImp(const Vector3f& gravity)
+{
+ dWorldSetGravity(mODEWorld,
+ gravity.x(),
+ gravity.y(),
+ gravity.z()
+ );
+}
+
+salt::Vector3f ODEWorld::GetGravityImp() const
+{
+ dVector3 dGravity;
+ dWorldGetGravity(mODEWorld,dGravity);
+ return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
+}
+
+void ODEWorld::SetERPImp(float erp)
+{
+ dWorldSetERP(mODEWorld, erp);
+}
+
+float ODEWorld::GetERPImp() const
+{
+ return dWorldGetERP(mODEWorld);
+}
+
+void ODEWorld::SetCFMImp(float cfm)
+{
+ dWorldSetCFM(mODEWorld, cfm);
+}
+
+float ODEWorld::GetCFMImp() const
+{
+ return dWorldGetCFM(mODEWorld);
+}
+
+void ODEWorld::StepImp(float deltaTime)
+{
+ dWorldStep(mODEWorld, deltaTime);
+}
+
+bool ODEWorld::GetAutoDisableFlagImp() const
+{
+ return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
+}
+
+void ODEWorld::SetAutoDisableFlagImp(bool flag)
+{
+ dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
+}
+
+void ODEWorld::SetContactSurfaceLayerImp(float depth)
+{
+ dWorldSetContactSurfaceLayer(mODEWorld, depth);
+}
+
+float ODEWorld::GetContactSurfaceLayerImp() const
+{
+ return dWorldGetContactSurfaceLayer(mODEWorld);
+}
+
+bool ODEWorld::ConstructInternalImp()
+{
+ // create an ode world
+ mODEWorld = dWorldCreate();
+
+ return (mODEWorld != 0);
+}
+
+void ODEWorld::DestroyODEObjectImp()
+{
+ static bool recurseLock = false;
+ if (recurseLock)
+ {
+ return;
+ }
+
+ recurseLock = true;
+
+ shared_ptr<Space> space = GetSpace();
+ if (space.get() != 0)
+ {
+ space->DestroyODEObject();
+ }
+
+ if (mODEWorld == 0)
+ {
+ return;
+ }
+
+ // release the ODE world
+ dWorldDestroy(mODEWorld);
+ mODEWorld = 0;
+
+ recurseLock = false;
+}
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -1,124 +0,0 @@
-/* -*- 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: world.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_ODEWORLD_H
-#define OXYGEN_ODEWORLD_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/imp/worldimp.h>
-
-namespace oxygen
-{
-
-/** World encapsulates an ODE world object. It is a container for
- rigid bodies and joints. Objects in different worlds can not
- interact, for example rigid bodies from two different worlds can
- not collide. All the objects in a world exist at the same point in
- time, thus one reason to use separate worlds is to simulate
- systems at different rates.
-*/
-class OXYGEN_API ODEWorld : public WorldImp
-{
- //
- // Functions
- //
-public:
- ODEWorld();
- virtual ~ODEWorld();
-
- /** returns the ID of the managed ODE world */
- dWorldID GetODEWorldImp() const;
-
- /** sets the gravity vector of this vorld */
- void SetGravityImp(const salt::Vector3f& gravity);
-
- /** gets the gravity vector of this world */
- salt::Vector3f GetGravityImp() const;
-
- /** sets the Error Reduction Parameter of this world. The ERP
- specifies what proportion of a joint error will be fixed
- during the next simulation step. if ERP=0 then no correcting
- force is applied and the bodies will eventually drift apart as
- the simulation proceeds. If ERP=1 then the simulation will
- attempt to fix all joint error during the next time
- step. However, setting ERP=1 is not recommended, as the joint
- error will not be completely fixed due to various internal
- approximations. A value of ERP=0.1 to 0.8 is recommended (0.2
- is the default).
- */
- void SetERPImp(float erp);
-
- /** returns the Error Reduction Parameter of this World.
- */
- float GetERPImp() const;
-
- /** sets the Constraint Force mixing (CFM) value. If CFM is set to
- zero, the constraint will be hard. If CFM is set to a positive
- value, it will be possible to violate the constraint by
- `pushing on it' (for example, for contact constraints by
- forcing the two contacting objects together). In other words
- the constraint will be soft, and the softness will increase as
- CFM increases. Note that setting CFM to a negative value can
- have undesirable bad effects, such as instability.
- */
- void SetCFMImp(float cfm);
-
- /** returns the Constraint Force mixing (CFM) value. */
- float GetCFMImp() const;
-
- /** steps the world deltatime forward, i.e. performs physics
- simulation for a deltaTime seconds interval.
- */
- void StepImp(float deltaTime);
-
- bool GetAutoDisableFlagImp() const;
- void SetAutoDisableFlagImp(bool flag);
-
- /** Set and get the depth of the surface layer around all geometry
- objects. Contacts are allowed to sink into the surface layer up to
- the given depth before coming to rest. The default value is
- zero. Increasing this to some small value (e.g. 0.001) can help
- prevent jittering problems due to contacts being repeatedly made
- and broken.
- */
- void SetContactSurfaceLayerImp(float depth);
- float GetContactSurfaceLayerImp() const;
-
- /** destroy the managed ODE object */
- virtual void DestroyODEObjectImp();
-
-protected:
- /** creates them managed ODE world */
- virtual bool ConstructInternalImp();
-
- //
- // Members
- //
-private:
- /** the dynamics world represented by this object */
- dWorldID mODEWorld;
-};
-
-DECLARE_CLASS(ODEWorld);
-
-};
-
-#endif //OXYGEN_WORLD_H
Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeworld.h)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,124 @@
+/* -*- 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: world.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 Li...
[truncated message content] |
