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[simspark-svn] SF.net SVN: simspark:[104] branches/multiphys/spark/lib/oxygen
|
From: <a-...@us...> - 2009-11-19 06:49:34
|
Revision: 104
http://simspark.svn.sourceforge.net/simspark/?rev=104&view=rev
Author: a-held
Date: 2009-11-19 06:49:26 +0000 (Thu, 19 Nov 2009)
Log Message:
-----------
removed unnecessary Imp suffixes and redundant documentation
changed name of Imp folder to Int (since they are INTerfaces)
prepared bridge pattern for spaces
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/ode/odeworld.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/world.h
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/imp/
branches/multiphys/spark/lib/oxygen/physicsserver/imp/spaceint.h
branches/multiphys/spark/lib/oxygen/physicsserver/imp/spaceint_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldint.h
branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldint_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace_c.cpp
Removed Paths:
-------------
branches/multiphys/spark/lib/oxygen/physicsserver/imp/
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-18 07:42:23 UTC (rev 103)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-19 06:49:26 UTC (rev 104)
@@ -41,7 +41,7 @@
physicsserver/angularmotor.h
#interfaces
- physicsserver/imp/worldimp.h
+ physicsserver/int/worldint.h
#ode-specific files
physicsserver/ode/odeobject.h
@@ -159,9 +159,12 @@
physicsserver/angularmotor_c.cpp
#interfaces
- physicsserver/imp/worldimp_c.cpp
+ physicsserver/int/worldint_c.cpp
+ physicsserver/int/spaceint_c.cpp
#ODE-specific files
+ physicsserver/ode/odespace.cpp
+ physicsserver/ode/odespace_c.cpp
physicsserver/ode/odeworld.cpp
physicsserver/ode/odeworld_c.cpp
physicsserver/ode/odeobject.cpp
Modified: branches/multiphys/spark/lib/oxygen/oxygen.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-18 07:42:23 UTC (rev 103)
+++ branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-19 06:49:26 UTC (rev 104)
@@ -59,7 +59,6 @@
zg.GetCore()->RegisterClassObject(new CLASS(VelocityController), "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/");
@@ -89,7 +88,6 @@
//ODE-specific classes
zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(ODEWorld), "oxygen/");
#ifdef HAVE_SPADES_HEADERS
Modified: branches/multiphys/spark/lib/oxygen/oxygen.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-18 07:42:23 UTC (rev 103)
+++ branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-19 06:49:26 UTC (rev 104)
@@ -60,12 +60,8 @@
#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"
Added: branches/multiphys/spark/lib/oxygen/physicsserver/imp/spaceint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/imp/spaceint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/spaceint.h 2009-11-19 06:49:26 UTC (rev 104)
@@ -0,0 +1,68 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_SPACEINT_H
+#define OXYGEN_SPACEINT_H
+
+#include <oxygen/physicsserver/ode/odeobject.h>
+#include <set>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+class Transform;
+class Body;
+class Collider;
+
+class OXYGEN_API SpaceInt : public ODEObject
+{
+
+public:
+ typedef std::set<dSpaceID> TSpaceIdSet;
+
+ SpaceInt() : ODEObject(){};
+ virtual ~SpaceInt(){};
+
+ //virtual void collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2) = 0;
+ virtual dSpaceID GetODESpace() const = 0;
+ virtual dJointGroupID GetODEJointGroup() const = 0;
+ virtual void Collide() = 0;
+ virtual void DestroyODEObject() = 0;
+ virtual dSpaceID GetParentSpaceID() = 0;
+ virtual bool IsGlobalSpace() = 0;
+ virtual void DisableInnerCollision(bool disable) = 0;
+ virtual bool GetDisableInnerCollision() const = 0;
+ virtual void OnUnlink() = 0;
+ virtual void OnLink() = 0;
+ virtual void Collide(dSpaceID space) = 0;
+ virtual void HandleCollide(dGeomID obj1, dGeomID obj2) = 0;
+ virtual void HandleSpaceCollide(dGeomID obj1, dGeomID obj2) = 0;
+ virtual bool ConstructInternal() = 0;
+ virtual void PostPhysicsUpdateInternal() = 0;
+ virtual void DestroySpaceObjects() = 0;
+};
+
+DECLARE_ABSTRACTCLASS(SpaceInt);
+
+} //namespace oxygen
+
+#endif //OXYGEN_SPACEINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/imp/spaceint_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/imp/spaceint_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/spaceint_c.cpp 2009-11-19 06:49:26 UTC (rev 104)
@@ -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/int/spaceint.h>
+
+using namespace oxygen;
+
+void CLASS(SpaceInt)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/ODEObject);
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldint.h 2009-11-19 06:49:26 UTC (rev 104)
@@ -0,0 +1,58 @@
+/* -*- 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_WORLDINT_H
+#define OXYGEN_WORLDINT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odeobject.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API WorldInt : public ODEObject
+{
+
+public:
+ WorldInt() : ODEObject(){};
+ virtual ~WorldInt(){};
+
+ virtual dWorldID GetODEWorld() const = 0;
+ virtual void SetGravity(const salt::Vector3f& gravity) = 0;
+ virtual salt::Vector3f GetGravity() const = 0;
+ virtual void SetERP(float erp) = 0;
+ virtual float GetERP() const = 0;
+ virtual void SetCFM(float cfm) = 0;
+ virtual float GetCFM() const = 0;
+ virtual void Step(float deltaTime) = 0;
+ virtual bool GetAutoDisableFlag() const = 0;
+ virtual void SetAutoDisableFlag(bool flag) = 0;
+ virtual void SetContactSurfaceLayer(float depth) = 0;
+ virtual float GetContactSurfaceLayer() const = 0;
+ virtual void DestroyODEObject() = 0;
+ virtual bool ConstructInternal() = 0;
+};
+
+DECLARE_ABSTRACTCLASS(WorldInt);
+
+}
+
+#endif //OXYGEN_WORLDINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldint_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldint_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldint_c.cpp 2009-11-19 06:49:26 UTC (rev 104)
@@ -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/int/worldint.h>
+
+using namespace oxygen;
+
+void CLASS(WorldInt)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/ODEObject);
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-11-19 06:49:26 UTC (rev 104)
@@ -0,0 +1,332 @@
+/* -*- 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: space.cpp 80 2009-07-30 17:25:42Z 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/odespace.h>
+#include <oxygen/physicsserver/world.h>
+#include <oxygen/physicsserver/collider.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/sceneserver/scene.h>
+#include <zeitgeist/logserver/logserver.h>
+
+using namespace boost;
+using namespace oxygen;
+
+/** set of spaces with disabled inner collision */
+ODESpace::TSpaceIdSet ODESpace::gDisabledInnerCollisionSet;
+
+//void ODESpace::collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2)
+//{
+ // Space *space = (Space*)data;
+ // space->HandleCollide(obj1, obj2);
+//}
+
+ODESpace::ODESpace() : SpaceInt(), mODESpace(0), mODEContactGroup(0)
+{
+}
+
+ODESpace::~ODESpace()
+{
+}
+
+dSpaceID ODESpace::GetODESpace() const
+{
+ return mODESpace;
+}
+
+dJointGroupID ODESpace::GetODEJointGroup() const
+{
+ return mODEContactGroup;
+}
+
+void ODESpace::Collide()
+{
+ // bind collision callback function to this object
+ Collide(mODESpace);
+}
+
+void ODESpace::Collide(dSpaceID space)
+{
+ if (gDisabledInnerCollisionSet.find(space) == gDisabledInnerCollisionSet.end())
+ {
+ //dSpaceCollide(space, this, Space::collisionNearCallback);
+ }
+}
+
+void ODESpace::HandleSpaceCollide(dGeomID obj1, dGeomID obj2)
+{
+ // collide all geoms internal to the space(s)
+ //dSpaceCollide2 (obj1,obj2,this,&Space::collisionNearCallback);
+
+ if (dGeomIsSpace (obj1))
+ {
+ Collide((dSpaceID)obj1);
+ }
+
+ if (dGeomIsSpace (obj2))
+ {
+ Collide((dSpaceID)obj2);
+ }
+}
+
+void ODESpace::HandleCollide(dGeomID obj1, dGeomID obj2)
+{
+ if (
+ (dGeomIsSpace (obj1)) ||
+ (dGeomIsSpace (obj2))
+ )
+ {
+ // colliding a space with something
+ HandleSpaceCollide(obj1, obj2);
+ return;
+ }
+
+ // colliding two non-space geoms; reject collisions
+ // between bodies that are connected with joints
+ const dBodyID b1 = dGeomGetBody(obj1);
+ const dBodyID b2 = dGeomGetBody(obj2);
+
+ if (
+ (b1) && (b2) &&
+ (dAreConnectedExcluding(b1,b2,dJointTypeContact))
+ )
+ {
+ return;
+ }
+
+ // if obj1 and obj2 are in a space that disabled inner collision,
+ // reject the collision
+ const dSpaceID s1 = dGeomGetSpace(obj1);
+ const dSpaceID s2 = dGeomGetSpace(obj2);
+
+ // NOTICE: this should not happen since it is checked in Collide(dSpaceID)
+// if (
+// (s1 == s2) &&
+// (gDisabledInnerCollisionSet.find(s1) != gDisabledInnerCollisionSet.end())
+// )
+// {
+// return;
+// }
+
+
+ // if obj1 and obj2 are in the same space, and
+ // obj1 is in obj2's "mNotCollideWithSet" or ojb2 is in obj1's
+ // reject the collision
+
+ // get shared pointers to the two corresponding Collider nodes first
+ shared_ptr<Collider> collider = Collider::GetCollider(obj1);
+ shared_ptr<Collider> collidee = Collider::GetCollider(obj2);
+
+ if (
+ (collider.get() == 0) ||
+ (collidee.get() == 0)
+ )
+ {
+ return;
+ }
+
+ if (s1 == s2)
+ {
+ const oxygen::Collider::TColliderNameSet & collider_set = collider->GetNotCollideWithSet();
+ const oxygen::Collider::TColliderNameSet & collidee_set = collidee->GetNotCollideWithSet();
+ if (
+ (collider_set.find(collidee->GetName()) != collider_set.end()) ||
+ (collidee_set.find(collider->GetName()) != collidee_set.end())
+ )
+ {
+ return;
+ }
+ }
+
+ // dSpaceCollide(), is guaranteed to pass all potentially
+ // intersecting geom pairs to the callback function, but depending
+ // on the internal algorithms used by the space it may also make
+ // mistakes and pass non-intersecting pairs. Thus we can not
+ // expect that dCollide() will return contacts for every pair
+ // passed to the callback.
+ static const int nContacts = 4;
+ static dContact contacts[nContacts];
+
+ int n = dCollide (obj1, obj2, nContacts,
+ &contacts[0].geom, sizeof(dContact));
+
+ if (n == 0)
+ {
+ return;
+ }
+
+
+ for (int i=0;i<n;++i)
+ {
+ // notify the collider nodes
+ collider->OnCollision(collidee,contacts[i],Collider::CT_DIRECT);
+ collidee->OnCollision(collider,contacts[i],Collider::CT_SYMMETRIC);
+ }
+}
+
+void ODESpace::OnUnlink()
+{
+ DisableInnerCollision(false);
+ ODEObject::OnUnlink();
+}
+
+void ODESpace::OnLink()
+{
+ ODEObject::OnLink();
+
+ shared_ptr<Space> space = GetSpace();
+ dSpaceID spaceId = 0;
+
+ if (space.get() != 0)
+ {
+ spaceId = space->GetODESpace();
+ }
+
+ mODESpace = dHashSpaceCreate(spaceId);
+}
+
+dSpaceID ODESpace::GetParentSpaceID()
+{
+ if (mODESpace == 0)
+ {
+ return 0;
+ }
+
+ return dGeomGetSpace((dGeomID)mODESpace);
+}
+
+bool ODESpace::IsGlobalSpace()
+{
+ return
+ (
+ (mODESpace != 0) &&
+ (GetParentSpaceID() == 0)
+ );
+}
+
+bool ODESpace::ConstructInternal()
+{
+ // create a joint group for the contacts
+ mODEContactGroup = dJointGroupCreate(0);
+
+ return (mODEContactGroup != 0);
+}
+
+void ODESpace::PostPhysicsUpdateInternal()
+{
+ // remove all contact joints
+ dJointGroupEmpty (mODEContactGroup);
+}
+
+void ODESpace::DestroySpaceObjects()
+{
+ shared_ptr<Scene> scene = GetScene();
+ if (scene.get() == 0)
+ {
+ return;
+ }
+
+ TLeafList objects;
+ const bool recursive = true;
+ scene->ListChildrenSupportingClass<ODEObject>(objects, recursive);
+
+ bool globalSpace = IsGlobalSpace();
+ shared_ptr<Space> self = shared_static_cast<Space>(GetSelf().lock());
+
+ for (
+ TLeafList::iterator iter = objects.begin();
+ iter != objects.end();
+ ++iter
+ )
+ {
+ shared_ptr<ODEObject> object = shared_static_cast<ODEObject>(*iter);
+ if (object == self)
+ {
+ continue;
+ }
+
+ // destroy objects registered to this space; the top level
+ // space object also destroy any other ODE object
+ const dSpaceID parentSpace = object->GetParentSpaceID();
+ if (
+ (
+ (globalSpace) &&
+ (parentSpace == 0)
+ ) ||
+ (parentSpace == mODESpace)
+ )
+ {
+ object->DestroyODEObject();
+ }
+ }
+}
+
+void ODESpace::DestroyODEObject()
+{
+ if (! mODESpace)
+ {
+ return;
+ }
+
+ // make sure that all objects registered to this space are destroyed
+ // before this space. Any other order provokes a segfault in ODE.
+ DestroySpaceObjects();
+
+ if (mODEContactGroup)
+ {
+ dJointGroupDestroy(mODEContactGroup);
+ mODEContactGroup = 0;
+ }
+
+ // release the ODE space
+ dSpaceDestroy(mODESpace);
+ mODESpace = 0;
+}
+
+void ODESpace::DisableInnerCollision(bool disable)
+{
+ if (mODESpace == 0)
+ {
+ //assert(false);
+ return;
+ }
+
+ if (disable)
+ {
+ gDisabledInnerCollisionSet.insert(mODESpace);
+ return;
+ }
+
+ TSpaceIdSet::iterator iter = gDisabledInnerCollisionSet.find(mODESpace);
+ if (iter == gDisabledInnerCollisionSet.end())
+ {
+ return;
+ }
+
+ gDisabledInnerCollisionSet.erase(iter);
+}
+
+bool ODESpace::GetDisableInnerCollision() const
+{
+ TSpaceIdSet::const_iterator iter
+ = gDisabledInnerCollisionSet.find(mODESpace);
+
+ return (iter != gDisabledInnerCollisionSet.end());
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h 2009-11-19 06:49:26 UTC (rev 104)
@@ -0,0 +1,74 @@
+/* -*- 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_ODESPACE_H
+#define OXYGEN_ODESPACE_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/int/spaceint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODESpace : public SpaceInt
+{
+
+public:
+ typedef std::set<dSpaceID> TSpaceIdSet;
+
+public:
+ ODESpace();
+ virtual ~ODESpace();
+
+ dSpaceID GetODESpace() const;
+ dJointGroupID GetODEJointGroup() const;
+ void Collide();
+ virtual void DestroyODEObject();
+ virtual dSpaceID GetParentSpaceID();
+ bool IsGlobalSpace();
+ void DisableInnerCollision(bool disable);
+ bool GetDisableInnerCollision() const;
+
+ dSpaceID mODESpace;
+
+protected:
+ //void collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2);
+ virtual void OnUnlink();
+ virtual void OnLink();
+ void Collide(dSpaceID space);
+ void HandleCollide(dGeomID obj1, dGeomID obj2);
+ void HandleSpaceCollide(dGeomID obj1, dGeomID obj2);
+ virtual bool ConstructInternal();
+ virtual void PostPhysicsUpdateInternal();
+ void DestroySpaceObjects();
+
+private:
+ dJointGroupID mODEContactGroup;
+
+private:
+ static TSpaceIdSet gDisabledInnerCollisionSet;
+};
+
+DECLARE_CLASS(ODESpace);
+
+}
+
+#endif //OXYGEN_ODESPACE_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace_c.cpp 2009-11-19 06:49:26 UTC (rev 104)
@@ -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/ode/odespace.h>
+
+using namespace oxygen;
+
+void CLASS(ODESpace)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/SpaceInt);
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-11-18 07:42:23 UTC (rev 103)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-11-19 06:49:26 UTC (rev 104)
@@ -27,7 +27,7 @@
using namespace oxygen;
using namespace salt;
-ODEWorld::ODEWorld() : WorldImp(), mODEWorld(0)
+ODEWorld::ODEWorld() : WorldInt(), mODEWorld(0)
{
}
@@ -35,12 +35,12 @@
{
}
-dWorldID ODEWorld::GetODEWorldImp() const
+dWorldID ODEWorld::GetODEWorld() const
{
return mODEWorld;
}
-void ODEWorld::SetGravityImp(const Vector3f& gravity)
+void ODEWorld::SetGravity(const Vector3f& gravity)
{
dWorldSetGravity(mODEWorld,
gravity.x(),
@@ -49,59 +49,59 @@
);
}
-salt::Vector3f ODEWorld::GetGravityImp() const
+salt::Vector3f ODEWorld::GetGravity() const
{
dVector3 dGravity;
dWorldGetGravity(mODEWorld,dGravity);
return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
}
-void ODEWorld::SetERPImp(float erp)
+void ODEWorld::SetERP(float erp)
{
dWorldSetERP(mODEWorld, erp);
}
-float ODEWorld::GetERPImp() const
+float ODEWorld::GetERP() const
{
return dWorldGetERP(mODEWorld);
}
-void ODEWorld::SetCFMImp(float cfm)
+void ODEWorld::SetCFM(float cfm)
{
dWorldSetCFM(mODEWorld, cfm);
}
-float ODEWorld::GetCFMImp() const
+float ODEWorld::GetCFM() const
{
return dWorldGetCFM(mODEWorld);
}
-void ODEWorld::StepImp(float deltaTime)
+void ODEWorld::Step(float deltaTime)
{
dWorldStep(mODEWorld, deltaTime);
}
-bool ODEWorld::GetAutoDisableFlagImp() const
+bool ODEWorld::GetAutoDisableFlag() const
{
return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
}
-void ODEWorld::SetAutoDisableFlagImp(bool flag)
+void ODEWorld::SetAutoDisableFlag(bool flag)
{
dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
}
-void ODEWorld::SetContactSurfaceLayerImp(float depth)
+void ODEWorld::SetContactSurfaceLayer(float depth)
{
dWorldSetContactSurfaceLayer(mODEWorld, depth);
}
-float ODEWorld::GetContactSurfaceLayerImp() const
+float ODEWorld::GetContactSurfaceLayer() const
{
return dWorldGetContactSurfaceLayer(mODEWorld);
}
-bool ODEWorld::ConstructInternalImp()
+bool ODEWorld::ConstructInternal()
{
// create an ode world
mODEWorld = dWorldCreate();
@@ -109,7 +109,7 @@
return (mODEWorld != 0);
}
-void ODEWorld::DestroyODEObjectImp()
+void ODEWorld::DestroyODEObject()
{
static bool recurseLock = false;
if (recurseLock)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-11-18 07:42:23 UTC (rev 103)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-11-19 06:49:26 UTC (rev 104)
@@ -23,102 +23,41 @@
#define OXYGEN_ODEWORLD_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/imp/worldimp.h>
+#include <oxygen/physicsserver/int/worldint.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
+class OXYGEN_API ODEWorld : public WorldInt
{
- //
- // Functions
- //
+
public:
ODEWorld();
virtual ~ODEWorld();
- /** returns the ID of the managed ODE world */
- dWorldID GetODEWorldImp() const;
+ dWorldID GetODEWorld() const;
+ void SetGravity(const salt::Vector3f& gravity);
+ salt::Vector3f GetGravity() const;
+ void SetERP(float erp);
+ float GetERP() const;
+ void SetCFM(float cfm);
+ float GetCFM() const;
+ void Step(float deltaTime);
+ bool GetAutoDisableFlag() const;
+ void SetAutoDisableFlag(bool flag);
+ void SetContactSurfaceLayer(float depth);
+ float GetContactSurfaceLayer() const;
+ virtual void DestroyODEObject();
- /** 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();
+ virtual bool ConstructInternal();
- //
- // Members
- //
private:
- /** the dynamics world represented by this object */
dWorldID mODEWorld;
};
DECLARE_CLASS(ODEWorld);
-};
+}
-#endif //OXYGEN_WORLD_H
+#endif //OXYGEN_ODEWORLD_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-11-18 07:42:23 UTC (rev 103)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-11-19 06:49:26 UTC (rev 104)
@@ -30,8 +30,7 @@
World::World() : ODEObject()
{
- shared_ptr<ODEWorld> odeworld(new ODEWorld());
- mWorldImp = (shared_dynamic_cast<WorldImp>(odeworld));
+ mWorldImp = shared_ptr<ODEWorld>(new ODEWorld());
}
World::~World()
@@ -40,70 +39,70 @@
dWorldID World::GetODEWorld() const
{
- return mWorldImp->GetODEWorldImp();
+ return mWorldImp->GetODEWorld();
}
void World::SetGravity(const Vector3f& gravity)
{
- mWorldImp->SetGravityImp(gravity);
+ mWorldImp->SetGravity(gravity);
}
salt::Vector3f World::GetGravity() const
{
- return mWorldImp->GetGravityImp();
+ return mWorldImp->GetGravity();
}
void World::SetERP(float erp)
{
- mWorldImp->SetERPImp(erp);
+ mWorldImp->SetERP(erp);
}
float World::GetERP() const
{
- return mWorldImp->GetERPImp();
+ return mWorldImp->GetERP();
}
void World::SetCFM(float cfm)
{
- mWorldImp->SetCFMImp(cfm);
+ mWorldImp->SetCFM(cfm);
}
float World::GetCFM() const
{
- return mWorldImp->GetCFMImp();
+ return mWorldImp->GetCFM();
}
void World::Step(float deltaTime)
{
- mWorldImp->StepImp(deltaTime);
+ mWorldImp->Step(deltaTime);
}
bool World::GetAutoDisableFlag() const
{
- return mWorldImp->GetAutoDisableFlagImp();
+ return mWorldImp->GetAutoDisableFlag();
}
void World::SetAutoDisableFlag(bool flag)
{
- mWorldImp->SetAutoDisableFlagImp(flag);
+ mWorldImp->SetAutoDisableFlag(flag);
}
void World::SetContactSurfaceLayer(float depth)
{
- mWorldImp->SetContactSurfaceLayerImp(depth);
+ mWorldImp->SetContactSurfaceLayer(depth);
}
float World::GetContactSurfaceLayer() const
{
- return mWorldImp->GetContactSurfaceLayerImp();
+ return mWorldImp->GetContactSurfaceLayer();
}
bool World::ConstructInternal()
{
- return mWorldImp->ConstructInternalImp();
+ return mWorldImp->ConstructInternal();
}
void World::DestroyODEObject()
{
- mWorldImp->DestroyODEObjectImp();
+ mWorldImp->DestroyODEObject();
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-11-18 07:42:23 UTC (rev 103)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-11-19 06:49:26 UTC (rev 104)
@@ -28,7 +28,7 @@
namespace oxygen
{
-class WorldImp;
+class WorldInt;
class ODEWorld;
/** World encapsulates an ODE world object. It is a container for
@@ -116,7 +116,7 @@
// Members
//
private:
- boost::shared_ptr<WorldImp> mWorldImp;
+ boost::shared_ptr<WorldInt> mWorldImp;
};
DECLARE_CLASS(World);
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