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[simspark-svn] SF.net SVN: simspark:[106] branches/multiphys/spark/lib/oxygen
|
From: <a-...@us...> - 2009-11-19 10:10:58
|
Revision: 106
http://simspark.svn.sourceforge.net/simspark/?rev=106&view=rev
Author: a-held
Date: 2009-11-19 10:10:50 +0000 (Thu, 19 Nov 2009)
Log Message:
-----------
implemented bridge pattern for at least some methods in the Space class
replaced ODEObject with a neutrally named PhysicsObject class
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/angularmotor.h
branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/body.h
branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
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/odeworld.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/space.h
branches/multiphys/spark/lib/oxygen/physicsserver/space_c.cpp
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
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-19 10:10:50 UTC (rev 106)
@@ -14,6 +14,7 @@
gamecontrolserver/behavior.h
oxygen.h
oxygen_defines.h
+ physicsserver/physicsobject.h
physicsserver/body.h
physicsserver/bodycontroller.h
physicsserver/boxcollider.h
@@ -44,7 +45,6 @@
physicsserver/int/worldint.h
#ode-specific files
- physicsserver/ode/odeobject.h
physicsserver/ode/odeworld.h
physicsserver/ode/odewrapper.h
@@ -107,6 +107,8 @@
gamecontrolserver/behavior.cpp
gamecontrolserver/behavior_c.cpp
oxygen.cpp
+ physicsserver/physicsobject.cpp
+ physicsserver/physicsobject_c.cpp
physicsserver/body.cpp
physicsserver/body_c.cpp
physicsserver/bodycontroller.cpp
@@ -167,8 +169,6 @@
physicsserver/ode/odespace_c.cpp
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
Modified: branches/multiphys/spark/lib/oxygen/oxygen.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -53,6 +53,7 @@
// physics
zg.GetCore()->RegisterClassObject(new CLASS(PhysicsServer), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(PhysicsObject), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(Body), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(BodyController), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(DragController), "oxygen/");
@@ -85,10 +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/");
-
#ifdef HAVE_SPADES_HEADERS
// spades
Modified: branches/multiphys/spark/lib/oxygen/oxygen.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -35,6 +35,7 @@
#include "gamecontrolserver/behavior.h"
//abstract physics classes
+#include <oxygen/physicsserver/physicsobject.h>
#include "physicsserver/body.h"
#include "physicsserver/bodycontroller.h"
#include "physicsserver/dragcontroller.h"
@@ -60,9 +61,6 @@
#include "physicsserver/universaljoint.h"
#include "physicsserver/hinge2joint.h"
-//ode-specific includes
-#include <oxygen/physicsserver/ode/odeobject.h>
-
#include "sceneserver/basenode.h"
#include "sceneserver/camera.h"
#include "sceneserver/fpscontroller.h"
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -21,7 +21,7 @@
#define OXYGEN_ANGULARMOTOR_H
#include <oxygen/oxygen_defines.h>
-#include "joint.h"
+#include <oxygen/physicsserver/joint.h>
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -30,7 +30,7 @@
using namespace salt;
using namespace std;
-Body::Body() : ODEObject(), mODEBody(0), mMassTrans(0,0,0), mMassTransformed(false)
+Body::Body() : PhysicsObject(), mODEBody(0), mMassTrans(0,0,0), mMassTransformed(false)
{
}
@@ -115,7 +115,7 @@
void Body::OnLink()
{
- ODEObject::OnLink();
+ PhysicsObject::OnLink();
if (! CreateBody())
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -23,7 +23,7 @@
#define OXYGEN_BODY_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/physicsobject.h>
namespace oxygen
{
@@ -36,7 +36,7 @@
usually constant over time: Mass, Center of mass and Inertia
matrix (mass distribution matrix)
*/
-class OXYGEN_API Body : public ODEObject
+class OXYGEN_API Body : public PhysicsObject
{
//
// Functions
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -568,7 +568,7 @@
void CLASS(Body)::DefineClass()
{
- DEFINE_BASECLASS(oxygen/ODEObject);
+ DEFINE_BASECLASS(oxygen/PhysicsObject);
DEFINE_FUNCTION(enable);
DEFINE_FUNCTION(disable);
DEFINE_FUNCTION(isEnabled);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -32,7 +32,7 @@
using namespace boost;
using namespace std;
-Collider::Collider() : ODEObject(), mODEGeom(0)
+Collider::Collider() : PhysicsObject(), mODEGeom(0)
{
}
@@ -42,7 +42,7 @@
void Collider::OnLink()
{
- ODEObject::OnLink();
+ PhysicsObject::OnLink();
weak_ptr<Node> parent = GetParent();
@@ -95,7 +95,7 @@
void Collider::OnUnlink()
{
- ODEObject::OnUnlink();
+ PhysicsObject::OnUnlink();
// remove collision geometry from space
dSpaceID space = GetParentSpaceID();
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_COLLIDER_H
#define OXYGEN_COLLIDER_H
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/physicsobject.h>
#include <string>
#include <set>
#include <oxygen/oxygen_defines.h>
@@ -42,7 +42,7 @@
bodies. A body and a geom together represent all the properties of
the simulated object.
*/
-class OXYGEN_API Collider : public ODEObject
+class OXYGEN_API Collider : public PhysicsObject
{
//
// Functions
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider_c.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider_c.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -104,10 +104,10 @@
void CLASS(Collider)::DefineClass()
{
+ DEFINE_BASECLASS(oxygen/PhysicsObject);
DEFINE_FUNCTION(setPosition);
DEFINE_FUNCTION(setLocalPosition);
DEFINE_FUNCTION(setRotation);
DEFINE_FUNCTION(addCollisionHandler);
DEFINE_FUNCTION(addNotCollideWithColliderName);
- DEFINE_BASECLASS(oxygen/ODEObject);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -23,7 +23,7 @@
#ifndef OXYGEN_SPACEINT_H
#define OXYGEN_SPACEINT_H
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/physicsobject.h>
#include <set>
#include <oxygen/oxygen_defines.h>
@@ -33,20 +33,20 @@
class Body;
class Collider;
-class OXYGEN_API SpaceInt : public ODEObject
+class OXYGEN_API SpaceInt : public PhysicsObject
{
public:
typedef std::set<dSpaceID> TSpaceIdSet;
- SpaceInt() : ODEObject(){};
+ SpaceInt() : PhysicsObject(){};
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 void DestroyPhysicsObject() = 0;
virtual dSpaceID GetParentSpaceID() = 0;
virtual bool IsGlobalSpace() = 0;
virtual void DisableInnerCollision(bool disable) = 0;
@@ -59,6 +59,8 @@
virtual bool ConstructInternal() = 0;
virtual void PostPhysicsUpdateInternal() = 0;
virtual void DestroySpaceObjects() = 0;
+
+ boost::shared_ptr<Scene> scene;
};
DECLARE_ABSTRACTCLASS(SpaceInt);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -27,7 +27,7 @@
using namespace salt;
Joint::Joint() :
-ODEObject(), mODEJoint(0),
+PhysicsObject(), mODEJoint(0),
mJointMaxSpeed1(0), mJointMaxSpeed2(0),
mIsLimitJointMaxSpeed1(false), mIsLimitJointMaxSpeed2(false)
{
@@ -431,7 +431,7 @@
return GetParameter(dParamFMax + (idx * dParamGroup));
}
-void Joint::DestroyODEObject()
+void Joint::DestroyPhysicsObject()
{
if (! mODEJoint)
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -23,7 +23,7 @@
#define OXYGEN_JOINT_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/physicsobject.h>
namespace oxygen
{
@@ -47,7 +47,7 @@
rates) directly, instead you must set the corresponding body
positions and velocities.
*/
-class OXYGEN_API Joint : public ODEObject
+class OXYGEN_API Joint : public PhysicsObject
{
public:
enum EBodyIndex
@@ -67,7 +67,7 @@
virtual ~Joint();
/** destroy the managed ODE object */
- virtual void DestroyODEObject();
+ virtual void DestroyPhysicsObject();
/** attaches the joint to some new bodies. If the joint is already
attached, it will be detached from the old bodies first. To
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint_c.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint_c.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -547,7 +547,7 @@
void CLASS(Joint)::DefineClass()
{
- DEFINE_BASECLASS(oxygen/ODEObject);
+ DEFINE_BASECLASS(oxygen/PhysicsObject);
DEFINE_FUNCTION(attach);
DEFINE_FUNCTION(setHighStopDeg);
DEFINE_FUNCTION(getHighStopDeg);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -40,23 +40,23 @@
//
// Functions
//
- ODEObject();
- virtual ~ODEObject();
+ 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();
+ virtual void OnUnlink(){};
/** returns the ODE world handle */
- dWorldID GetWorldID();
+ dWorldID GetWorldID(){};
/** returns the nearest parent space ODE handle */
- dSpaceID FindSpaceID();
+ dSpaceID FindSpaceID(){};
/** returns the ODE handle ID of the containing parent space */
- virtual dSpaceID GetParentSpaceID();
+ virtual dSpaceID GetParentSpaceID(){};
/** destroy the managed ODE object */
virtual void DestroyODEObject(){};
@@ -66,7 +66,7 @@
boost::shared_ptr<World> GetWorld();
/** finds the nearest parent space node */
- boost::shared_ptr<Space> GetSpace();
+ boost::shared_ptr<Space> GetSpace(){};
/** converts the rotation part of a salt::Matrix to an ODE
dMatrix3 */
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -184,12 +184,12 @@
void ODESpace::OnUnlink()
{
DisableInnerCollision(false);
- ODEObject::OnUnlink();
+ PhysicsObject::OnUnlink();
}
void ODESpace::OnLink()
{
- ODEObject::OnLink();
+ PhysicsObject::OnLink();
shared_ptr<Space> space = GetSpace();
dSpaceID spaceId = 0;
@@ -237,7 +237,6 @@
void ODESpace::DestroySpaceObjects()
{
- shared_ptr<Scene> scene = GetScene();
if (scene.get() == 0)
{
return;
@@ -245,7 +244,7 @@
TLeafList objects;
const bool recursive = true;
- scene->ListChildrenSupportingClass<ODEObject>(objects, recursive);
+ scene->ListChildrenSupportingClass<PhysicsObject>(objects, recursive);
bool globalSpace = IsGlobalSpace();
shared_ptr<Space> self = shared_static_cast<Space>(GetSelf().lock());
@@ -256,7 +255,7 @@
++iter
)
{
- shared_ptr<ODEObject> object = shared_static_cast<ODEObject>(*iter);
+ shared_ptr<PhysicsObject> object = shared_static_cast<PhysicsObject>(*iter);
if (object == self)
{
continue;
@@ -273,12 +272,12 @@
(parentSpace == mODESpace)
)
{
- object->DestroyODEObject();
+ object->DestroyPhysicsObject();
}
}
}
-void ODESpace::DestroyODEObject()
+void ODESpace::DestroyPhysicsObject()
{
if (! mODESpace)
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -41,7 +41,7 @@
dSpaceID GetODESpace() const;
dJointGroupID GetODEJointGroup() const;
void Collide();
- virtual void DestroyODEObject();
+ virtual void DestroyPhysicsObject();
virtual dSpaceID GetParentSpaceID();
bool IsGlobalSpace();
void DisableInnerCollision(bool disable);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -122,7 +122,7 @@
shared_ptr<Space> space = GetSpace();
if (space.get() != 0)
{
- space->DestroyODEObject();
+ space->DestroyPhysicsObject();
}
if (mODEWorld == 0)
Added: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -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/physicsobject.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;
+
+PhysicsObject::PhysicsObject() : BaseNode()
+{
+}
+
+PhysicsObject::~PhysicsObject()
+{
+}
+
+void PhysicsObject::OnUnlink()
+{
+ DestroyPhysicsObject();
+}
+
+/** returns the world node */
+shared_ptr<World> PhysicsObject::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> PhysicsObject::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 PhysicsObject::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 PhysicsObject::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 PhysicsObject::GetParentSpaceID()
+{
+ return 0;
+}
+
+void PhysicsObject::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 PhysicsObject::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;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -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_PHYSICSOBJECT_H
+#define OXYGEN_PHYSICSOBJECT_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 PhysicsObject : public BaseNode
+{
+public:
+ //
+ // Functions
+ //
+ PhysicsObject();
+ virtual ~PhysicsObject();
+
+ /** This rountine is called, before the hierarchy object is
+ removed from the parent. It can be overridden to support
+ custom 'unlink' behavior.
+ */
+ virtual void OnUnlink();
+
+ /** 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 DestroyPhysicsObject(){};
+
+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(PhysicsObject);
+
+} //namespace oxygen
+
+#endif //OXYGEN_PHYSICSOBJECT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject_c.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -0,0 +1,29 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: odeobject_c.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include <oxygen/physicsserver/physicsobject.h>
+
+using namespace oxygen;
+
+void CLASS(PhysicsObject)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/BaseNode);
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -19,9 +19,10 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include "space.h"
-#include "world.h"
-#include "collider.h"
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/physicsserver/ode/odespace.h>
+#include <oxygen/physicsserver/collider.h>
+#include <oxygen/physicsserver/world.h>
#include <oxygen/sceneserver/scene.h>
#include <zeitgeist/logserver/logserver.h>
@@ -37,8 +38,9 @@
space->HandleCollide(obj1, obj2);
}
-Space::Space() : ODEObject(), mODESpace(0), mODEContactGroup(0)
+Space::Space() : PhysicsObject(), mODESpace(0)
{
+ mSpaceImp = shared_ptr<ODESpace>(new ODESpace());
}
Space::~Space()
@@ -47,12 +49,12 @@
dSpaceID Space::GetODESpace() const
{
- return mODESpace;
+ return mSpaceImp->GetODESpace();
}
dJointGroupID Space::GetODEJointGroup() const
{
- return mODEContactGroup;
+ return mSpaceImp->GetODEJointGroup();
}
void Space::Collide()
@@ -182,13 +184,13 @@
void Space::OnUnlink()
{
- DisableInnerCollision(false);
- ODEObject::OnUnlink();
+ mSpaceImp->DisableInnerCollision(false);
+ PhysicsObject::OnUnlink();
}
void Space::OnLink()
{
- ODEObject::OnLink();
+ PhysicsObject::OnLink();
shared_ptr<Space> space = GetSpace();
dSpaceID spaceId = 0;
@@ -199,136 +201,49 @@
}
mODESpace = dHashSpaceCreate(spaceId);
+
+ shared_ptr<ODESpace> odespace = shared_static_cast<ODESpace>(mSpaceImp);
+ odespace->mODESpace = mODESpace;
}
dSpaceID Space::GetParentSpaceID()
{
- if (mODESpace == 0)
- {
- return 0;
- }
-
- return dGeomGetSpace((dGeomID)mODESpace);
+ return mSpaceImp->GetParentSpaceID();
}
bool Space::IsGlobalSpace()
{
- return
- (
- (mODESpace != 0) &&
- (GetParentSpaceID() == 0)
- );
+ return mSpaceImp->IsGlobalSpace();
}
bool Space::ConstructInternal()
{
- // create a joint group for the contacts
- mODEContactGroup = dJointGroupCreate(0);
-
- return (mODEContactGroup != 0);
+ return mSpaceImp->ConstructInternal();
}
void Space::PostPhysicsUpdateInternal()
{
- // remove all contact joints
- dJointGroupEmpty (mODEContactGroup);
+ mSpaceImp->PostPhysicsUpdateInternal();
}
-void
-Space::DestroySpaceObjects()
+void Space::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();
- }
- }
+ mSpaceImp->scene = GetScene();
+
+ mSpaceImp->DestroySpaceObjects();
}
-void
-Space::DestroyODEObject()
+void Space::DestroyPhysicsObject()
{
- 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;
+ mSpaceImp->DestroyPhysicsObject();
}
void Space::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);
+ mSpaceImp->DisableInnerCollision(disable);
}
bool Space::GetDisableInnerCollision() const
{
- TSpaceIdSet::const_iterator iter
- = gDisabledInnerCollisionSet.find(mODESpace);
-
- return (iter != gDisabledInnerCollisionSet.end());
+ return mSpaceImp->GetDisableInnerCollision();
}
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_SPACE_H
#define OXYGEN_SPACE_H
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/physicsobject.h>
#include <set>
#include <oxygen/oxygen_defines.h>
@@ -31,13 +31,14 @@
class Transform;
class Body;
class Collider;
+class SpaceInt;
/** Space encapsulates an ODE space object. A space is a non-placeable
geometry object ('geom') that can contain other geoms. It is
similar to the rigid body concept of the `world', except that it
applies to collision instead of dynamics.
*/
-class OXYGEN_API Space : public ODEObject
+class OXYGEN_API Space : public PhysicsObject
{
public:
typedef std::set<dSpaceID> TSpaceIdSet;
@@ -61,7 +62,7 @@
void Collide();
/** destroy the managed ODE object */
- virtual void DestroyODEObject();
+ virtual void DestroyPhysicsObject();
/** returns the ODE handle ID of the containing parent space */
virtual dSpaceID GetParentSpaceID();
@@ -115,12 +116,11 @@
// Members
//
private:
+ boost::shared_ptr<SpaceInt> mSpaceImp;
+
/** the managed ODE space */
dSpaceID mODESpace;
- /** the ODE group for all created contact joints */
- dJointGroupID mODEContactGroup;
-
private:
/** set of spaces with disabled inner collision */
static TSpaceIdSet gDisabledInnerCollisionSet;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space_c.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space_c.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -38,6 +38,6 @@
void CLASS(Space)::DefineClass()
{
- DEFINE_BASECLASS(oxygen/ODEObject);
+ DEFINE_BASECLASS(oxygen/PhysicsObject);
DEFINE_FUNCTION(disableInnerCollision);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -28,7 +28,7 @@
using namespace oxygen;
using namespace salt;
-World::World() : ODEObject()
+World::World() : PhysicsObject()
{
mWorldImp = shared_ptr<ODEWorld>(new ODEWorld());
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-11-19 10:10:50 UTC (rev 106)
@@ -23,7 +23,7 @@
#define OXYGEN_WORLD_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/physicsobject.h>
namespace oxygen
{
@@ -38,7 +38,7 @@
time, thus one reason to use separate worlds is to simulate
systems at different rates.
*/
-class OXYGEN_API World : public ODEObject
+class OXYGEN_API World : public PhysicsObject
{
//
// Functions
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world_c.cpp 2009-11-19 06:56:32 UTC (rev 105)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world_c.cpp 2009-11-19 10:10:50 UTC (rev 106)
@@ -127,7 +127,7 @@
void CLASS(World)::DefineClass()
{
- DEFINE_BASECLASS(oxygen/ODEObject);
+ DEFINE_BASECLASS(oxygen/PhysicsObject);
DEFINE_FUNCTION(setGravity);
DEFINE_FUNCTION(setERP);
DEFINE_FUNCTION(getERP);
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