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[simspark-svn] SF.net SVN: simspark:[103] trunk/spark
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From: <a-...@us...> - 2009-11-18 07:42:32
|
Revision: 103
http://simspark.svn.sourceforge.net/simspark/?rev=103&view=rev
Author: a-held
Date: 2009-11-18 07:42:23 +0000 (Wed, 18 Nov 2009)
Log Message:
-----------
undid changes to trunk that were accidentally commited yesterday
Modified Paths:
--------------
trunk/spark/lib/oxygen/CMakeLists.txt
trunk/spark/lib/oxygen/oxygen.cpp
trunk/spark/lib/oxygen/oxygen.h
trunk/spark/lib/oxygen/physicsserver/body.cpp
trunk/spark/lib/oxygen/physicsserver/body.h
trunk/spark/lib/oxygen/physicsserver/boxcollider.h
trunk/spark/lib/oxygen/physicsserver/collider.h
trunk/spark/lib/oxygen/physicsserver/collisionhandler.h
trunk/spark/lib/oxygen/physicsserver/joint.h
trunk/spark/lib/oxygen/physicsserver/physicsserver.h
trunk/spark/lib/oxygen/physicsserver/space.h
trunk/spark/lib/oxygen/physicsserver/world.cpp
trunk/spark/lib/oxygen/physicsserver/world.h
trunk/spark/lib/oxygen/physicsserver/world_c.cpp
trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp
trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.h
Added Paths:
-----------
trunk/spark/lib/oxygen/physicsserver/odeobject.cpp
trunk/spark/lib/oxygen/physicsserver/odeobject.h
trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp
trunk/spark/lib/oxygen/physicsserver/odewrapper.h
Removed Paths:
-------------
trunk/spark/lib/oxygen/physicsserver/imp/
trunk/spark/lib/oxygen/physicsserver/ode/
Modified: trunk/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- trunk/spark/lib/oxygen/CMakeLists.txt 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/CMakeLists.txt 2009-11-18 07:42:23 UTC (rev 103)
@@ -21,6 +21,8 @@
physicsserver/collider.h
physicsserver/collisionhandler.h
physicsserver/contactjointhandler.h
+ physicsserver/odeobject.h
+ physicsserver/odewrapper.h
physicsserver/physicsserver.h
physicsserver/planecollider.h
physicsserver/raycollider.h
@@ -39,15 +41,6 @@
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
@@ -123,6 +116,8 @@
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
@@ -157,16 +152,6 @@
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: trunk/spark/lib/oxygen/oxygen.cpp
===================================================================
--- trunk/spark/lib/oxygen/oxygen.cpp 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/oxygen.cpp 2009-11-18 07:42:23 UTC (rev 103)
@@ -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/");
@@ -86,11 +86,6 @@
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: trunk/spark/lib/oxygen/oxygen.h
===================================================================
--- trunk/spark/lib/oxygen/oxygen.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/oxygen.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -34,7 +34,6 @@
#include "gamecontrolserver/actionobject.h"
#include "gamecontrolserver/behavior.h"
-//abstract physics classes
#include "physicsserver/body.h"
#include "physicsserver/bodycontroller.h"
#include "physicsserver/dragcontroller.h"
@@ -43,6 +42,7 @@
#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"
@@ -60,13 +60,6 @@
#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: trunk/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/body.cpp 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/body.cpp 2009-11-18 07:42:23 UTC (rev 103)
@@ -339,7 +339,7 @@
// direction: (1=x, 2=y, 3=z)
int direction = 3;
- dMassSetCapsule (&mass, density, direction, radius, length);
+ dMassSetCappedCylinder (&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;
- dMassSetCapsuleTotal(&mass, total_mass, direction, radius, length);
+ dMassSetCappedCylinderTotal(&mass, total_mass, direction, radius, length);
}
void Body::SetCappedCylinderTotal(float total_mass, float radius, float length)
Modified: trunk/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/body.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/body.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -23,7 +23,7 @@
#define OXYGEN_BODY_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
namespace oxygen
{
Modified: trunk/spark/lib/oxygen/physicsserver/boxcollider.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/boxcollider.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/boxcollider.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -23,7 +23,7 @@
#define OXYGEN_BOXCOLLIDER_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/collider.h>
+#include "collider.h"
namespace oxygen
{
Modified: trunk/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/collider.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/collider.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_COLLIDER_H
#define OXYGEN_COLLIDER_H
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
#include <string>
#include <set>
#include <oxygen/oxygen_defines.h>
Modified: trunk/spark/lib/oxygen/physicsserver/collisionhandler.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -24,7 +24,7 @@
#include <oxygen/sceneserver/basenode.h>
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
+#include "odewrapper.h"
namespace oxygen
{
Modified: trunk/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/joint.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/joint.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -23,7 +23,7 @@
#define OXYGEN_JOINT_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
namespace oxygen
{
Copied: trunk/spark/lib/oxygen/physicsserver/odeobject.cpp (from rev 97, trunk/spark/lib/oxygen/physicsserver/odeobject.cpp)
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject.cpp (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject.cpp 2009-11-18 07:42:23 UTC (rev 103)
@@ -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
+ $Id$
+
+ 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 "odeobject.h"
+#include "space.h"
+#include "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: trunk/spark/lib/oxygen/physicsserver/odeobject.h (from rev 97, trunk/spark/lib/oxygen/physicsserver/odeobject.h)
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject.h (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -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
+ $Id$
+ $Id$
+
+ 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 "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() = 0;
+
+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: trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp (from rev 97, trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp)
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp 2009-11-18 07:42:23 UTC (rev 103)
@@ -0,0 +1,29 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id$
+
+ 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 "odeobject.h"
+
+using namespace oxygen;
+
+void CLASS(ODEObject)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/BaseNode);
+}
Copied: trunk/spark/lib/oxygen/physicsserver/odewrapper.h (from rev 97, trunk/spark/lib/oxygen/physicsserver/odewrapper.h)
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odewrapper.h (rev 0)
+++ trunk/spark/lib/oxygen/physicsserver/odewrapper.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -0,0 +1,80 @@
+/* -*- 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
+ $Id$
+
+ 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_ODEWRAPPER_H
+#define OXYGEN_ODEWRAPPER_H
+
+#undef EXTERN
+#undef HAVE_VPRINTF
+#undef PACKAGE
+#undef PACKAGE_BUGREPORT
+#undef PACKAGE_NAME
+#undef PACKAGE_STRING
+#undef PACKAGE_TARNAME
+#undef PACKAGE_VERSION
+#undef PREFIX
+#undef VERSION
+
+#ifdef WIN32
+
+#ifdef copysignf
+#undef copysignf
+#endif
+
+#ifdef copysign
+#undef copysign
+#endif
+
+#endif // WIN32
+
+#ifdef __APPLE__
+
+// there is a conflicting type in a system header (Leopard)
+// so we define a dummy here
+#define uint32 dummy
+
+#endif
+
+#include <ode/ode.h>
+
+#ifdef __APPLE__
+
+// undefine the dummy
+#undef uint32
+
+#endif
+
+#undef EXTERN
+#undef HAVE_VPRINTF
+#undef PACKAGE
+#undef PACKAGE_BUGREPORT
+#undef PACKAGE_NAME
+#undef PACKAGE_STRING
+#undef PACKAGE_TARNAME
+#undef PACKAGE_VERSION
+#undef PREFIX
+#undef VERSION
+
+#ifdef HAVE_CONFIG_H
+#include <sparkconfig.h>
+#endif
+
+#endif // OXYGEN_ODEWRAPPER
Modified: trunk/spark/lib/oxygen/physicsserver/physicsserver.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/physicsserver.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/physicsserver.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -25,7 +25,7 @@
#include <zeitgeist/class.h>
#include <zeitgeist/leaf.h>
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
+#include "odewrapper.h"
namespace oxygen
{
Modified: trunk/spark/lib/oxygen/physicsserver/space.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/space.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/space.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_SPACE_H
#define OXYGEN_SPACE_H
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
#include <set>
#include <oxygen/oxygen_defines.h>
Modified: trunk/spark/lib/oxygen/physicsserver/world.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/world.cpp 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/world.cpp 2009-11-18 07:42:23 UTC (rev 103)
@@ -19,19 +19,16 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include <oxygen/physicsserver/ode/odeworld.h>
-#include <oxygen/physicsserver/world.h>
-#include <oxygen/physicsserver/space.h>
+#include "world.h"
+#include "space.h"
#include <oxygen/sceneserver/scene.h>
using namespace boost;
using namespace oxygen;
using namespace salt;
-World::World() : ODEObject()
+World::World() : ODEObject(), mODEWorld(0)
{
- shared_ptr<ODEWorld> odeworld(new ODEWorld());
- mWorldImp = (shared_dynamic_cast<WorldImp>(odeworld));
}
World::~World()
@@ -40,70 +37,102 @@
dWorldID World::GetODEWorld() const
{
- return mWorldImp->GetODEWorldImp();
+ return mODEWorld;
}
void World::SetGravity(const Vector3f& gravity)
{
- mWorldImp->SetGravityImp(gravity);
+ dWorldSetGravity(mODEWorld,
+ gravity.x(),
+ gravity.y(),
+ gravity.z()
+ );
}
salt::Vector3f World::GetGravity() const
{
- return mWorldImp->GetGravityImp();
+ dVector3 dGravity;
+ dWorldGetGravity(mODEWorld,dGravity);
+ return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
}
void World::SetERP(float erp)
{
- mWorldImp->SetERPImp(erp);
+ dWorldSetERP(mODEWorld, erp);
}
float World::GetERP() const
{
- return mWorldImp->GetERPImp();
+ return dWorldGetERP(mODEWorld);
}
void World::SetCFM(float cfm)
{
- mWorldImp->SetCFMImp(cfm);
+ dWorldSetCFM(mODEWorld, cfm);
}
float World::GetCFM() const
{
- return mWorldImp->GetCFMImp();
+ return dWorldGetCFM(mODEWorld);
}
void World::Step(float deltaTime)
{
- mWorldImp->StepImp(deltaTime);
+ dWorldStep(mODEWorld, deltaTime);
}
bool World::GetAutoDisableFlag() const
{
- return mWorldImp->GetAutoDisableFlagImp();
+ return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
}
void World::SetAutoDisableFlag(bool flag)
{
- mWorldImp->SetAutoDisableFlagImp(flag);
+ dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
}
void World::SetContactSurfaceLayer(float depth)
{
- mWorldImp->SetContactSurfaceLayerImp(depth);
+ dWorldSetContactSurfaceLayer(mODEWorld, depth);
}
float World::GetContactSurfaceLayer() const
{
- return mWorldImp->GetContactSurfaceLayerImp();
+ return dWorldGetContactSurfaceLayer(mODEWorld);
}
bool World::ConstructInternal()
{
- return mWorldImp->ConstructInternalImp();
+ // create an ode world
+ mODEWorld = dWorldCreate();
+
+ return (mODEWorld != 0);
}
void World::DestroyODEObject()
{
- mWorldImp->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;
}
Modified: trunk/spark/lib/oxygen/physicsserver/world.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/world.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/world.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -23,14 +23,11 @@
#define OXYGEN_WORLD_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include "odeobject.h"
namespace oxygen
{
-class WorldImp;
-class ODEWorld;
-
/** 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
@@ -116,11 +113,12 @@
// Members
//
private:
- boost::shared_ptr<WorldImp> mWorldImp;
+ /** the dynamics world represented by this object */
+ dWorldID mODEWorld;
};
DECLARE_CLASS(World);
-}
+};
#endif //OXYGEN_WORLD_H
Modified: trunk/spark/lib/oxygen/physicsserver/world_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/world_c.cpp 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/lib/oxygen/physicsserver/world_c.cpp 2009-11-18 07:42:23 UTC (rev 103)
@@ -19,7 +19,7 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include <oxygen/physicsserver/world.h>
+#include "world.h"
using namespace boost;
using namespace oxygen;
Modified: trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp
===================================================================
--- trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp 2009-11-18 07:42:23 UTC (rev 103)
@@ -21,7 +21,7 @@
*/
#include "forceresistanceperceptor.h"
-#include <oxygen/physicsserver/ode/odewrapper.h>
+#include <oxygen/physicsserver/odewrapper.h>
#include <oxygen/sceneserver/transform.h>
using namespace std;
Modified: trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.h
===================================================================
--- trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.h 2009-11-18 07:24:29 UTC (rev 102)
+++ trunk/spark/plugin/collisionperceptor/forceresistanceperceptor.h 2009-11-18 07:42:23 UTC (rev 103)
@@ -24,7 +24,7 @@
#define FORCERESISTANCEPERCEPTOR_H_
#include <oxygen/agentaspect/perceptor.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
+#include <oxygen/physicsserver/odewrapper.h>
#include <oxygen/sceneserver/transform.h>
#include <salt/vector.h>
#include <list>
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