Menu
▾
▴
[simspark-svn] SF.net SVN: simspark:[107] branches/multiphys
|
From: <a-...@us...> - 2009-11-25 06:09:24
|
Revision: 107
http://simspark.svn.sourceforge.net/simspark/?rev=107&view=rev
Author: a-held
Date: 2009-11-25 06:09:10 +0000 (Wed, 25 Nov 2009)
Log Message:
-----------
Created abstract body class and moved functionality to new RigidBody class
changed everything in simspark to use the new class instead of the abstract one
Modified Paths:
--------------
branches/multiphys/rcssserver3d/data/rsg/agent/ball.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics_nocollider.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics_with_handler.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/sphere_physics.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/sphere_physics_nocollider.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_handler.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/head.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm_body.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbottorso.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotleftlowerarmcomp.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotrightlowerarmcomp.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbottorso.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbottorsocomp.rsg
branches/multiphys/rcssserver3d/plugin/soccer/agentstate/agentstate.h
branches/multiphys/rcssserver3d/plugin/soccer/ball/ball.cpp
branches/multiphys/rcssserver3d/plugin/soccer/ball/ball.h
branches/multiphys/rcssserver3d/plugin/soccer/beameffector/beameffector.h
branches/multiphys/rcssserver3d/plugin/soccer/catcheffector/catcheffector.h
branches/multiphys/rcssserver3d/plugin/soccer/driveeffector/driveeffector.h
branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp
branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h
branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp
branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h
branches/multiphys/rcssserver3d/plugin/soccer/initeffector/initeffector.cpp
branches/multiphys/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.cpp
branches/multiphys/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.h
branches/multiphys/rcssserver3d/plugin/soccer/kickeffector/kickeffector.h
branches/multiphys/rcssserver3d/plugin/soccer/pantilteffector/pantilteffector.h
branches/multiphys/rcssserver3d/plugin/soccer/soccerbase/soccerbase.cpp
branches/multiphys/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h
branches/multiphys/rcssserver3d/plugin/soccer/soccercontrolaspect/soccercontrolaspect.h
branches/multiphys/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
branches/multiphys/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
branches/multiphys/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinput.h
branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinputlogplayer.cpp
branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinputlogplayer.h
branches/multiphys/rsgedit/src/property.cpp
branches/multiphys/rsgedit/src/sparkglrender.cpp
branches/multiphys/simspark-utilities/data/rsg/agent/ball.rsg
branches/multiphys/spark/data/rsg/boxspheres/box.rsg
branches/multiphys/spark/data/rsg/boxspheres/box_with_handler.rsg
branches/multiphys/spark/data/rsg/boxspheres/box_with_handler055.rsg
branches/multiphys/spark/data/rsg/boxspheres/box_with_handler056.rsg
branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg
branches/multiphys/spark/data/rsg/boxspheres/sphere.rsg
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/balljoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/body.h
branches/multiphys/spark/lib/oxygen/physicsserver/body_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/bodycontroller.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/bodycontroller.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/dragcontroller.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.h
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/physicsserver.h
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/space.h
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/velocitycontroller.cpp
branches/multiphys/spark/lib/oxygen/sceneserver/fpscontroller.cpp
branches/multiphys/spark/plugin/forceeffector/forceeffector.cpp
branches/multiphys/spark/plugin/forceeffector/forceeffector.h
branches/multiphys/spark/plugin/gyrorateperceptor/gyrorateperceptor.cpp
branches/multiphys/spark/plugin/gyrorateperceptor/gyrorateperceptor.h
branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp
branches/multiphys/spark/plugin/rosimporter/rosimporter.h
branches/multiphys/spark/plugin/sparkagent/hinge2effector.cpp
branches/multiphys/spark/plugin/sparkagent/hingeeffector.cpp
branches/multiphys/spark/plugin/sparkagent/universaljointeffector.cpp
branches/multiphys/spark/plugin/sparkmonitor/sparkmonitorclient.cpp
branches/multiphys/spark/plugin/sparkmonitor/sparkmonitorlogfileserver.cpp
branches/multiphys/spark/spark/spark.rb
branches/multiphys/spark/test/scenetest/script/scenetest.rb
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody_c.cpp
Removed Paths:
-------------
branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/ball.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/ball.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/ball.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -15,7 +15,7 @@
(setScale $Radius $Radius $Radius)
)
- (nd Body
+ (nd RigidBody
(setName physics)
(setSphereTotal $Mass $Radius)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -4,7 +4,7 @@
(
(templ $lenX $lenY $lenZ $totalMass)
- (nd Body
+ (nd RigidBody
(setName boxBody)
(setBoxTotal $totalMass $lenX $lenY $lenZ)
@@ -16,4 +16,4 @@
(importScene rsg/agent/nao/contactjointhandler.rsg)
)
-)
\ No newline at end of file
+)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics_nocollider.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics_nocollider.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics_nocollider.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -4,7 +4,7 @@
(
(templ $lenX $lenY $lenZ $totalMass)
- (nd Body
+ (nd RigidBody
(setName boxBody)
(setBoxTotal $totalMass $lenX $lenY $lenZ)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics_with_handler.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics_with_handler.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/box_physics_with_handler.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -4,7 +4,7 @@
(
(templ $lenX $lenY $lenZ $totalMass)
- (nd Body
+ (nd RigidBody
(setName boxBody)
(setBoxTotal $totalMass $lenX $lenY $lenZ)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -4,7 +4,7 @@
(
(templ $radius $length $totalMass)
- (nd Body
+ (nd RigidBody
(setName ccylinderBody)
(setCappedCylinderTotal $totalMass $radius $length)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -4,7 +4,7 @@
(
(templ $radius $length $totalMass)
- (nd Body
+ (nd RigidBody
(setName ccylinderBody)
(setCappedCylinderTotal $totalMass $radius)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/sphere_physics.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/sphere_physics.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/sphere_physics.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -4,7 +4,7 @@
(
(templ $radius $totalMass)
- (nd Body
+ (nd RigidBody
(setName sphereBody)
(setSphereTotal $totalMass $radius)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/sphere_physics_nocollider.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/sphere_physics_nocollider.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/sphere_physics_nocollider.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -4,7 +4,7 @@
(
(templ $radius $totalMass)
- (nd Body
+ (nd RigidBody
(setName sphereBody)
(setSphereTotal $totalMass $radius)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -8,17 +8,17 @@
(setMaterial $material)
)
- (nd Body
+ (nd RigidBody
(setName boxBody)
(setBoxTotal $totalMass $lenX $lenY $lenZ)
- (nd DragController
- (setAngularDrag 0.01)
- (setLinearDrag 0.01)
- )
+ (nd DragController
+ (setAngularDrag 0.01)
+ (setLinearDrag 0.01)
+ )
)
(nd BoxCollider
(setBoxLengths $lenX $lenY $lenZ)
(importScene rsg/agent/nao/contactjointhandler.rsg)
)
- )
\ No newline at end of file
+ )
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_handler.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_handler.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_handler.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -8,7 +8,7 @@
(setMaterial $material)
)
- (nd Body
+ (nd RigidBody
(setName boxBody)
(setBoxTotal $totalMass $lenX $lenY $lenZ)
(nd DragController
@@ -21,4 +21,4 @@
(setBoxLengths $lenX $lenY $lenZ)
(importScene rsg/agent/nao/touchperceptorhandler.rsg)
)
- )
\ No newline at end of file
+ )
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/head.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/head.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/head.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -9,7 +9,7 @@
(setName head)
(setLocalPos $HeadPosX $HeadPosY $HeadPosZ)
- (nd Body
+ (nd RigidBody
(setName sphereBody)
(setSphereTotal $headMass $headRadius
$HeadPosX $HeadPosY $HeadPosZ
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm_body.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm_body.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm_body.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -32,7 +32,7 @@
- (eval 0.04 * $scale)))
- (nd Body
+ (nd RigidBody
(setName boxBody)
;; Lower arm
(setBox $LowerarmMass $LowerarmLength $LowerarmWidth $LowerarmHeight)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbottorso.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbottorso.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbottorso.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -16,7 +16,7 @@
; + (eval 0.1 * $scale))
; + (eval $headRadius / 2.0)))
- (nd Body
+ (nd RigidBody
(setName boxBody)
; Upper torso mass
(setBoxTotal $upperMass $upperLenX $upperLenY $upperLenZ)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotleftlowerarmcomp.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotleftlowerarmcomp.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotleftlowerarmcomp.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -44,7 +44,7 @@
- (eval $HandBox3Height / 2.0) ) - 0.04 ) )
- (nd Body
+ (nd RigidBody
(setName boxBody)
; Lower arm mass
(setBox $LowerarmMass $LowerarmLength $LowerarmWidth $LowerarmHeight)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotrightlowerarmcomp.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotrightlowerarmcomp.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotrightlowerarmcomp.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -44,7 +44,7 @@
- (eval $HandBox3Height / 2.0) ) - 0.04 ) )
- (nd Body
+ (nd RigidBody
(setName boxBody)
; Lower arm mass
(setBox $LowerarmMass $LowerarmLength $LowerarmWidth $LowerarmHeight)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbottorso.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbottorso.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbottorso.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -10,7 +10,7 @@
;(setScale 1.0 1.0 1.0)
)
- (nd Body
+ (nd RigidBody
(setName boxBody)
;(setBoxTotal $totalMass $lenX $lenY $lenZ)
(setBox $totalMass $lenX $lenY $lenZ)
@@ -36,4 +36,4 @@
)
)
-)
\ No newline at end of file
+)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbottorsocomp.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbottorsocomp.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbottorsocomp.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -14,7 +14,7 @@
(def $HeadPosY 0.05)
(def $HeadPosZ (eval (eval (eval 0.5 * $upperLenZ) + 0.1) + (eval $headRadius / 2.0)))
- (nd Body
+ (nd RigidBody
(setName boxBody)
; Upper torso mass
(setBox $upperMass $upperLenX $upperLenY $upperLenZ)
Modified: branches/multiphys/rcssserver3d/plugin/soccer/agentstate/agentstate.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/agentstate/agentstate.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -27,7 +27,7 @@
namespace oxygen
{
- class Body;
+ class RigidBody;
}
class AgentState : public ObjectState
Modified: branches/multiphys/rcssserver3d/plugin/soccer/ball/ball.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/ball/ball.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/ball/ball.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -46,7 +46,7 @@
if (mBody.get() == 0)
{
- mBody = shared_dynamic_cast<Body>(GetChildOfClass("Body"));
+ mBody = shared_dynamic_cast<RigidBody>(GetChildOfClass("RigidBody"));
}
}
Modified: branches/multiphys/rcssserver3d/plugin/soccer/ball/ball.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/ball/ball.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/ball/ball.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -23,7 +23,7 @@
#define BALL_H
#include <oxygen/sceneserver/transform.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <salt/vector.h>
class BallStateAspect;
@@ -65,7 +65,7 @@
salt::Vector3f mForce;
salt::Vector3f mTorque;
- boost::shared_ptr<oxygen::Body> mBody;
+ boost::shared_ptr<oxygen::RigidBody> mBody;
boost::shared_ptr<oxygen::AgentAspect> mKickedLast;
boost::shared_ptr<BallStateAspect> mBallStateAspect;
};
Modified: branches/multiphys/rcssserver3d/plugin/soccer/beameffector/beameffector.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/beameffector/beameffector.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/beameffector/beameffector.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -23,7 +23,7 @@
#define BEAMEFFECTOR_H
#include <oxygen/agentaspect/effector.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <gamestateaspect/gamestateaspect.h>
class BeamEffector : public oxygen::Effector
@@ -51,7 +51,7 @@
protected:
/** the reference to the parents body node */
- boost::shared_ptr<oxygen::Body> mBody;
+ boost::shared_ptr<oxygen::RigidBody> mBody;
/** the reference to the GameState */
boost::shared_ptr<GameStateAspect> mGameState;
Modified: branches/multiphys/rcssserver3d/plugin/soccer/catcheffector/catcheffector.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/catcheffector/catcheffector.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/catcheffector/catcheffector.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -22,7 +22,7 @@
#define CATCHEFFECTOR_H
#include <oxygen/agentaspect/effector.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <ball/ball.h>
#include <ballstateaspect/ballstateaspect.h>
@@ -33,7 +33,7 @@
namespace oxygen
{
- class Body;
+ class RigidBody;
class AgentAspect;
}
@@ -74,7 +74,7 @@
protected:
/** reference to the body node of the ball */
- boost::shared_ptr<oxygen::Body> mBallBody;
+ boost::shared_ptr<oxygen::RigidBody> mBallBody;
/** reference to the agent aspect */
boost::shared_ptr<oxygen::AgentAspect> mAgent;
/** reference to the agentstate */
Modified: branches/multiphys/rcssserver3d/plugin/soccer/driveeffector/driveeffector.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/driveeffector/driveeffector.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/driveeffector/driveeffector.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -24,7 +24,7 @@
#include <salt/random.h>
#include <oxygen/agentaspect/effector.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <agentstate/agentstate.h>
class DriveEffector : public oxygen::Effector
@@ -84,7 +84,7 @@
/** the reference to the parent transform node */
boost::shared_ptr<oxygen::Transform> mTransformParent;
/** the reference to the parents body node */
- boost::shared_ptr<oxygen::Body> mBody;
+ boost::shared_ptr<oxygen::RigidBody> mBody;
//! a reference to the agent state
boost::shared_ptr<AgentState> mAgentState;
Modified: branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -141,7 +141,7 @@
// parent should be a transform, or some other node, which has a
// Body-child
- mBody = shared_dynamic_cast<Body>(parent->GetChildOfClass("Body"));
+ mBody = shared_dynamic_cast<RigidBody>(parent->GetChildOfClass("RigidBody"));
if (mBody.get() == 0)
{
@@ -268,7 +268,7 @@
if (abs(err) > 0.00001)
{
- shared_ptr<Body> body = joint->GetBody(Joint::BI_FIRST);
+ shared_ptr<RigidBody> body = joint->GetBody(Joint::BI_FIRST);
if (body && !body->IsEnabled())
{
body->Enable();
Modified: branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpeffector.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -23,7 +23,7 @@
#define HMDPEFFECTOR_H
#include <oxygen/agentaspect/effector.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include "naospecific.h"
//! make it possible to have a pointer to the perceptor
@@ -112,7 +112,7 @@
protected:
/** the reference to the parents body node */
- boost::shared_ptr<oxygen::Body> mBody;
+ boost::shared_ptr<oxygen::RigidBody> mBody;
};
DECLARE_CLASS(HMDPEffector)
Modified: branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -23,7 +23,7 @@
#include "hmdpperceptor.h"
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/sceneserver/transform.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <salt/vector.h>
using namespace oxygen;
@@ -51,7 +51,7 @@
shared_ptr<Transform> transformParent = shared_static_cast<Transform> (
FindParentSupportingClass<Transform> ().lock());
- mBody = shared_static_cast<Body> (transformParent->GetChildOfClass("Body"));
+ mBody = shared_static_cast<RigidBody> (transformParent->GetChildOfClass("RigidBody"));
}
void HMDPPerceptor::OnUnlink()
Modified: branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/hmdp_effector/hmdpperceptor.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -24,7 +24,7 @@
#define HMDPPERCEPTOR_H
#include <oxygen/agentaspect/perceptor.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
class HMDPPerceptor: public oxygen::Perceptor
{
@@ -45,7 +45,7 @@
private:
//! reference to the body of which the perceptor is measuring the angle change rate
- boost::shared_ptr<oxygen::Body> mBody;
+ boost::shared_ptr<oxygen::RigidBody> mBody;
};
DECLARE_CLASS(HMDPPerceptor)
Modified: branches/multiphys/rcssserver3d/plugin/soccer/initeffector/initeffector.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/initeffector/initeffector.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/initeffector/initeffector.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -24,7 +24,7 @@
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/agentaspect/agentaspect.h>
#include <oxygen/gamecontrolserver/predicate.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/physicsserver/space.h>
#include <soccerbase/soccerbase.h>
#include <agentstate/agentstate.h>
Modified: branches/multiphys/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -22,7 +22,7 @@
#include <zeitgeist/logserver/logserver.h>
#include <gamestateaspect/gamestateaspect.h>
#include <soccerruleaspect/soccerruleaspect.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/sceneserver/fpscontroller.h>
#include <oxygen/gamecontrolserver/gamecontrolserver.h>
#include <oxygen/agentaspect/agentaspect.h>
@@ -93,7 +93,7 @@
}
// get camera body
- mCameraBody = shared_dynamic_cast<Body>
+ mCameraBody = shared_dynamic_cast<RigidBody>
(GetCore()->Get("/usr/scene/camera/physics"));
if (mCameraBody.get() == 0)
Modified: branches/multiphys/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/internalsoccermonitor/internalsoccerinput.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -28,7 +28,7 @@
namespace oxygen
{
class FPSController;
- class Body;
+ class RigidBody;
class GameControlServer;
}
@@ -88,7 +88,7 @@
boost::shared_ptr<SoccerRuleAspect> mSoccerRule;
/** cached reference to the camera body */
- boost::shared_ptr<oxygen::Body> mCameraBody;
+ boost::shared_ptr<oxygen::RigidBody> mCameraBody;
/** cached reference to the camera body */
boost::shared_ptr<oxygen::FPSController> mFPS;
Modified: branches/multiphys/rcssserver3d/plugin/soccer/kickeffector/kickeffector.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/kickeffector/kickeffector.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/kickeffector/kickeffector.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -25,7 +25,7 @@
#include <salt/random.h>
#include <oxygen/agentaspect/agentaspect.h>
#include <oxygen/agentaspect/effector.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <ball/ball.h>
#include <ballstateaspect/ballstateaspect.h>
@@ -104,7 +104,7 @@
typedef boost::shared_ptr<salt::NormalRNG<> > NormalRngPtr;
/** reference to the body node of the ball */
- boost::shared_ptr<oxygen::Body> mBallBody;
+ boost::shared_ptr<oxygen::RigidBody> mBallBody;
/** reference to the body node of the ball */
boost::shared_ptr<Ball> mBall;
/** reference to the agent aspect */
Modified: branches/multiphys/rcssserver3d/plugin/soccer/pantilteffector/pantilteffector.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/pantilteffector/pantilteffector.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/pantilteffector/pantilteffector.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -24,7 +24,7 @@
#include <salt/random.h>
#include <oxygen/agentaspect/effector.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <agentstate/agentstate.h>
class PanTiltEffector : public oxygen::Effector
@@ -77,7 +77,7 @@
/** the reference to the parent transform node */
boost::shared_ptr<oxygen::Transform> mTransformParent;
/** the reference to the parents body node */
- boost::shared_ptr<oxygen::Body> mBody;
+ boost::shared_ptr<oxygen::RigidBody> mBody;
//! a reference to the agent state
boost::shared_ptr<AgentState> mAgentState;
Modified: branches/multiphys/rcssserver3d/plugin/soccer/soccerbase/soccerbase.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/soccerbase/soccerbase.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/soccerbase/soccerbase.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -20,7 +20,7 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "soccerbase.h"
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/physicsserver/spherecollider.h>
#include <oxygen/agentaspect/perceptor.h>
#include <oxygen/agentaspect/agentaspect.h>
@@ -94,10 +94,10 @@
bool
SoccerBase::GetAgentBody(const shared_ptr<Transform> transform,
- shared_ptr<Body>& agent_body)
+ shared_ptr<RigidBody>& agent_body)
{
- agent_body = transform->FindChildSupportingClass<Body>(true);
+ agent_body = transform->FindChildSupportingClass<RigidBody>(true);
if (agent_body.get() == 0)
{
@@ -112,7 +112,7 @@
bool
SoccerBase::GetAgentBody(const Leaf& base, TTeamIndex idx,
- int unum, shared_ptr<Body>& agent_body)
+ int unum, shared_ptr<RigidBody>& agent_body)
{
shared_ptr<AgentState> agentState;
shared_ptr<Transform> parent;
@@ -380,7 +380,7 @@
}
bool
-SoccerBase::GetBody(const Leaf& base, shared_ptr<Body>& body)
+SoccerBase::GetBody(const Leaf& base, shared_ptr<RigidBody>& body)
{
shared_ptr<Transform> parent;
if (! GetTransformParent(base,parent))
@@ -390,7 +390,7 @@
return false;
}
- body = shared_dynamic_cast<Body>(parent->FindChildSupportingClass<Body>());
+ body = shared_dynamic_cast<RigidBody>(parent->FindChildSupportingClass<RigidBody>());
if (body.get() == 0)
{
@@ -443,10 +443,10 @@
}
bool
-SoccerBase::GetBallBody(const Leaf& base, shared_ptr<Body>& body)
+SoccerBase::GetBallBody(const Leaf& base, shared_ptr<RigidBody>& body)
{
static shared_ptr<Scene> scene;
- static shared_ptr<Body> bodyRef;
+ static shared_ptr<RigidBody> bodyRef;
if (scene.get() == 0)
{
@@ -462,7 +462,7 @@
if (bodyRef.get() == 0)
{
- bodyRef = shared_dynamic_cast<Body>
+ bodyRef = shared_dynamic_cast<RigidBody>
(base.GetCore()->Get(scene->GetFullPath() + "Ball/physics"));
if (bodyRef.get() == 0)
@@ -647,7 +647,7 @@
Leaf::TLeafList leafList;
- parent->ListChildrenSupportingClass<Body>(leafList, true);
+ parent->ListChildrenSupportingClass<RigidBody>(leafList, true);
if (leafList.size() == 0)
{
@@ -663,8 +663,8 @@
// move all child bodies
for (; iter != leafList.end(); ++iter)
{
- shared_ptr<Body> childBody =
- shared_dynamic_cast<Body>(*iter);
+ shared_ptr<RigidBody> childBody =
+ shared_dynamic_cast<RigidBody>(*iter);
Vector3f childPos = childBody->GetPosition();
@@ -692,7 +692,7 @@
Leaf::TLeafList leafList;
- parent->ListChildrenSupportingClass<Body>(leafList, true);
+ parent->ListChildrenSupportingClass<RigidBody>(leafList, true);
if (leafList.size() == 0)
{
@@ -703,7 +703,7 @@
return false;
}
- shared_ptr<Body> body;
+ shared_ptr<RigidBody> body;
GetAgentBody(agent_aspect, body);
Matrix bodyR = body->GetRotation();
@@ -720,8 +720,8 @@
++iter
)
{
- shared_ptr<Body> childBody =
- shared_dynamic_cast<Body>(*iter);
+ shared_ptr<RigidBody> childBody =
+ shared_dynamic_cast<RigidBody>(*iter);
Vector3f childPos = childBody->GetPosition();
Matrix childR = childBody->GetRotation();
Modified: branches/multiphys/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/soccerbase/soccerbase.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -40,7 +40,7 @@
class Scene;
class Transform;
class Perceptor;
- class Body;
+ class RigidBody;
class SphereCollider;
class ControlAspect;
class AgentAspect;
@@ -84,19 +84,19 @@
/** returns a reference to the Body node below the closest
transform parent */
static bool
- GetBody(const zeitgeist::Leaf& base, boost::shared_ptr<oxygen::Body>& body);
+ GetBody(const zeitgeist::Leaf& base, boost::shared_ptr<oxygen::RigidBody>& body);
/** returns a reference to the Body node below the given Transform
node */
static bool
GetAgentBody(const boost::shared_ptr<oxygen::Transform> transform,
- boost::shared_ptr<oxygen::Body>& agent_body);
+ boost::shared_ptr<oxygen::RigidBody>& agent_body);
/** returns a reference to the Body node below the given Transform
node based on parameters team index and uniform number */
static bool
GetAgentBody(const zeitgeist::Leaf& base, TTeamIndex idx,
- int unum, boost::shared_ptr<oxygen::Body>& agent_body);
+ int unum, boost::shared_ptr<oxygen::RigidBody>& agent_body);
/** returns a reference to the AgentState node below the closest
Transform parent */
@@ -148,7 +148,7 @@
/** returns a reference to the Body node below the Ball */
static bool
GetBallBody(const zeitgeist::Leaf& base,
- boost::shared_ptr<oxygen::Body>& body);
+ boost::shared_ptr<oxygen::RigidBody>& body);
/** returns a reference to the Body SphereCollider node below the Ball */
static bool
Modified: branches/multiphys/rcssserver3d/plugin/soccer/soccercontrolaspect/soccercontrolaspect.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/soccercontrolaspect/soccercontrolaspect.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/soccercontrolaspect/soccercontrolaspect.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -32,7 +32,7 @@
namespace oxygen
{
class RecorderHandler;
- class Body;
+ class RigidBody;
}
/** \class SoccerControlAspect is the base class for all
Modified: branches/multiphys/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -23,7 +23,7 @@
#include <salt/random.h>
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/agentaspect/agentaspect.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/sceneserver/scene.h>
#include <oxygen/gamecontrolserver/gamecontrolserver.h>
#include <soccerbase/soccerbase.h>
@@ -958,7 +958,7 @@
salt::BoundingSphere sphere(pos, mAudioCutDist);
shared_ptr<Transform> transform_parent;
- shared_ptr<Body> agent_body;
+ shared_ptr<RigidBody> agent_body;
for (
TAgentStateList::const_iterator it = agent_states.begin();
@@ -1104,7 +1104,7 @@
opp_defender_pos = 0.0;
shared_ptr<Transform> transform_parent;
- shared_ptr<Body> agent_body;
+ shared_ptr<RigidBody> agent_body;
list<shared_ptr<AgentState> >::const_iterator it;
for (it = opp_agent_states.begin(); it != opp_agent_states.end(); it++)
Modified: branches/multiphys/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/soccerruleaspect/soccerruleaspect.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -36,7 +36,7 @@
namespace oxygen
{
- class Body;
+ class RigidBody;
class AgentAspect;
class Transform;
}
@@ -193,7 +193,7 @@
protected:
/** reference to the body node of the Ball */
- boost::shared_ptr<oxygen::Body> mBallBody;
+ boost::shared_ptr<oxygen::RigidBody> mBallBody;
/** reference to the GameStateAspect */
CachedPath<GameStateAspect> mGameState;
Modified: branches/multiphys/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccer/trainercommandparser/trainercommandparser.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -23,7 +23,7 @@
*/
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/gamecontrolserver/gamecontrolserver.h>
#include <soccerbase/soccerbase.h>
#include <agentstate/agentstate.h>
@@ -365,7 +365,7 @@
return;
}
- shared_ptr<Body> body;
+ shared_ptr<RigidBody> body;
if (SoccerBase::GetBallBody(*this, body))
{
@@ -394,7 +394,7 @@
return;
}
- shared_ptr<Body> body;
+ shared_ptr<RigidBody> body;
if (SoccerBase::GetBallBody(*this, body))
{
Modified: branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinput.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinput.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -21,7 +21,7 @@
#include <zeitgeist/scriptserver/scriptserver.h>
#include <zeitgeist/logserver/logserver.h>
#include "soccermonitor.h"
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/sceneserver/fpscontroller.h>
using namespace boost;
@@ -68,7 +68,7 @@
}
// get camera body
- mCameraBody = shared_dynamic_cast<Body>
+ mCameraBody = shared_dynamic_cast<RigidBody>
(GetCore()->Get("/usr/scene/camera/physics"));
if (mCameraBody.get() == 0)
Modified: branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinput.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinput.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinput.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -27,7 +27,7 @@
namespace oxygen
{
class FPSController;
- class Body;
+ class RigidBody;
}
class SoccerInput : public kerosin::InputItem
@@ -79,7 +79,7 @@
boost::shared_ptr<oxygen::NetClient> mMonitorClient;
/** cached reference to the camera body */
- boost::shared_ptr<oxygen::Body> mCameraBody;
+ boost::shared_ptr<oxygen::RigidBody> mCameraBody;
boost::shared_ptr<oxygen::FPSController> mFPS;
};
Modified: branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinputlogplayer.cpp
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinputlogplayer.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinputlogplayer.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -20,7 +20,7 @@
#include "soccerinputlogplayer.h"
#include <zeitgeist/scriptserver/scriptserver.h>
#include <zeitgeist/logserver/logserver.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
using namespace boost;
using namespace zeitgeist;
@@ -71,7 +71,7 @@
}
// get camera body
- mCameraBody = shared_dynamic_cast<Body>
+ mCameraBody = shared_dynamic_cast<RigidBody>
(GetCore()->Get("/usr/scene/camera/physics"));
if (mCameraBody.get() == 0)
Modified: branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinputlogplayer.h
===================================================================
--- branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinputlogplayer.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rcssserver3d/plugin/soccermonitor/soccerinputlogplayer.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -72,7 +72,7 @@
boost::shared_ptr<zeitgeist::ScriptServer> mScriptServer;
/** cached reference to the camera body */
- boost::shared_ptr<oxygen::Body> mCameraBody;
+ boost::shared_ptr<oxygen::RigidBody> mCameraBody;
/** cached reference to the camera body */
boost::shared_ptr<oxygen::FPSController> mFPS;
Modified: branches/multiphys/rsgedit/src/property.cpp
===================================================================
--- branches/multiphys/rsgedit/src/property.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rsgedit/src/property.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -33,7 +33,7 @@
#include <oxygen/sceneserver/basenode.h>
#include <oxygen/sceneserver/transform.h>
#include <oxygen/sceneserver/scenedict.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/physicsserver/joint.h>
#include <oxygen/physicsserver/hingejoint.h>
#include <oxygen/physicsserver/universaljoint.h>
@@ -107,7 +107,7 @@
mClassMap[wxT("ClassClass")] = CL_CLASS;
mClassMap[wxT("/classes/oxygen/BaseNode")] = CL_BASENODE;
mClassMap[wxT("/classes/oxygen/Transform")] = CL_TRANSFORM;
- mClassMap[wxT("/classes/oxygen/Body")] = CL_BODY;
+ mClassMap[wxT("/classes/oxygen/RigidBody")] = CL_RIGIDBODY;
mClassMap[wxT("/classes/oxygen/Joint")] = CL_JOINT;
mClassMap[wxT("/classes/oxygen/HingeJoint")] = CL_HINGEJOINT;
mClassMap[wxT("/classes/oxygen/UniversalJoint")] = CL_UNIVERSALJOINT;
@@ -189,7 +189,7 @@
void Property::GenBodyEntries(shared_ptr<Leaf> leaf, TEntryList& entries) const
{
- const Body& body = *shared_static_cast<Body>(leaf);
+ const RigidBody& body = *shared_static_cast<RigidBody>(leaf);
entries.push_back(Entry(wxT("GetMass"),FormatFloat(body.GetMass())));
entries.push_back(Entry(wxT("GetVelocity"),FormatVector3(body.GetVelocity())));
entries.push_back(Entry(wxT("GetAngularVelocity"),FormatVector3(body.GetAngularVelocity())));
@@ -398,7 +398,7 @@
GenTransformEntries(leaf, entries);
break;
- case CL_BODY:
+ case CL_RIGIDBODY:
GenBodyEntries(leaf, entries);
break;
Modified: branches/multiphys/rsgedit/src/sparkglrender.cpp
===================================================================
--- branches/multiphys/rsgedit/src/sparkglrender.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/rsgedit/src/sparkglrender.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -19,7 +19,7 @@
*/
#include "sparkglrender.h"
#include <zeitgeist/logserver/logserver.h>
-#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/physicsserver/joint.h>
#include <oxygen/sceneserver/camera.h>
#include <oxygen/sceneserver/sceneserver.h>
@@ -163,7 +163,7 @@
++i
)
{
- shared_ptr<Body> body =
+ shared_ptr<RigidBody> body =
jointNode->GetBody(static_cast<Joint::EBodyIndex>(i));
if (body.get() == 0)
Modified: branches/multiphys/simspark-utilities/data/rsg/agent/ball.rsg
===================================================================
--- branches/multiphys/simspark-utilities/data/rsg/agent/ball.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/simspark-utilities/data/rsg/agent/ball.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -15,7 +15,7 @@
(setScale $Radius $Radius $Radius)
)
- (nd Body
+ (nd RigidBody
(setName physics)
(setSphereTotal $Mass $Radius)
Modified: branches/multiphys/spark/data/rsg/boxspheres/box.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/box.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/data/rsg/boxspheres/box.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -8,7 +8,7 @@
(setMaterial $material)
)
- (nd Body
+ (nd RigidBody
(setName boxBody)
;(setBoxTotal $totalMass $lenX $lenY $lenZ)
(setBox $totalMass $lenX $lenY $lenZ)
@@ -34,4 +34,4 @@
)
)
-)
\ No newline at end of file
+)
Modified: branches/multiphys/spark/data/rsg/boxspheres/box_with_handler.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/box_with_handler.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/data/rsg/boxspheres/box_with_handler.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -8,7 +8,7 @@
(setMaterial $material)
)
- (nd Body
+ (nd RigidBody
(setName boxBody)
;(setBoxTotal $totalMass $lenX $lenY $lenZ)
(setBox $totalMass $lenX $lenY $lenZ)
@@ -36,4 +36,4 @@
;(nd PerceptorHandler)
)
-)
\ No newline at end of file
+)
Modified: branches/multiphys/spark/data/rsg/boxspheres/box_with_handler055.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/box_with_handler055.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/data/rsg/boxspheres/box_with_handler055.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -8,7 +8,7 @@
(setMaterial $material)
)
- (nd Body
+ (nd RigidBody
(setName boxBody)
;(setBoxTotal $totalMass $lenX $lenY $lenZ)
(setBox $totalMass $lenX $lenY $lenZ)
Modified: branches/multiphys/spark/data/rsg/boxspheres/box_with_handler056.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/box_with_handler056.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/data/rsg/boxspheres/box_with_handler056.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -8,7 +8,7 @@
(setMaterial $material)
)
- (nd Body
+ (nd RigidBody
(setName boxBody)
;(setBoxTotal $totalMass $lenX $lenY $lenZ)
(setBox $totalMass $lenX $lenY $lenZ)
@@ -36,4 +36,4 @@
;(nd PerceptorHandler)
)
-)
\ No newline at end of file
+)
Modified: branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -9,7 +9,7 @@
(setMaterial $material)
)
- (nd Body
+ (nd RigidBody
(setName ccylinderBody)
;(setCappedCylinderTotal $totalMass $radius $length)
(setCappedCylinder $totalMass $radius $length)
Modified: branches/multiphys/spark/data/rsg/boxspheres/sphere.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/sphere.rsg 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/data/rsg/boxspheres/sphere.rsg 2009-11-25 06:09:10 UTC (rev 107)
@@ -9,7 +9,7 @@
(setMaterial $material)
)
- (nd Body
+ (nd RigidBody
(setName sphereBody)
;(setSphereTotal $totalMass $radius)
(setSphere $totalMass $radius)
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-25 06:09:10 UTC (rev 107)
@@ -16,6 +16,7 @@
oxygen_defines.h
physicsserver/physicsobject.h
physicsserver/body.h
+ physicsserver/rigidbody.h
physicsserver/bodycontroller.h
physicsserver/boxcollider.h
physicsserver/ccylindercollider.h
@@ -109,8 +110,9 @@
oxygen.cpp
physicsserver/physicsobject.cpp
physicsserver/physicsobject_c.cpp
- physicsserver/body.cpp
physicsserver/body_c.cpp
+ physicsserver/rigidbody.cpp
+ physicsserver/rigidbody_c.cpp
physicsserver/bodycontroller.cpp
physicsserver/bodycontroller_c.cpp
physicsserver/transformcollider.cpp
Modified: branches/multiphys/spark/lib/oxygen/oxygen.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -55,6 +55,7 @@
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(RigidBody), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(BodyController), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(DragController), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(VelocityController), "oxygen/");
Modified: branches/multiphys/spark/lib/oxygen/oxygen.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/lib/oxygen/oxygen.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -37,6 +37,7 @@
//abstract physics classes
#include <oxygen/physicsserver/physicsobject.h>
#include "physicsserver/body.h"
+#include "physicsserver/rigidbody.h"
#include "physicsserver/bodycontroller.h"
#include "physicsserver/dragcontroller.h"
#include "physicsserver/velocitycontroller.h"
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -25,7 +25,7 @@
namespace oxygen
{
-class Body;
+class RigidBody;
/** An angular motor allows the relative angular velocities of two
bodies to be controlled. The angular velocity can be controlled on
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h 2009-11-25 06:09:10 UTC (rev 107)
@@ -25,7 +25,7 @@
namespace oxygen
{
-class Body;
+class RigidBody;
class OXYGEN_API BallJoint : public Joint
{
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-11-19 10:10:50 UTC (rev 106)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-11-25 06:09:10 UTC (rev 107)
@@ -1,559 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2003 Koblenz University
- $Id$
-
- 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 "body.h"
-#include "world.h"
-#include "../sceneserver/scene.h"
-#include "zeitgeist/logserver/logserver.h"
-#include "../sceneserver/transform.h"
-#include "transformcollider.h"
-
-using namespace boost;
-using namespace oxygen;
-using namespace salt;
-using namespace std;
-
-Body::Body() : PhysicsObject(), mODEBody(0), mMassTrans(0,0,0), mMassTransformed(false)
-{
-}
-
-Body::~Body()
-{
-}
-
-dBodyID Body::GetODEBody() const
-{
- return mODEBody;
-}
-
-void Body::Enable()
-{
- dBodyEnable(mODEBody);
-}
-
-void Body::Disable()
-{
- dBodyDisable(mODEBody);
-}
-
-bool Body::IsEnabled() const
-{
- return (dBodyIsEnabled(mODEBody) != 0);
-}
-
-void Body::UseGravity(bool f)
-{
- if (f == true)
- {
- // body is affected by gravity
- dBodySetGravityMode(mODEBody, 1);
- }
- else
- {
- // body is not affected by gravity
- dBodySetGravityMode(mODEBody, 0);
- }
-}
-
-bool Body::UsesGravity() const
-{
- return (dBodyGetGravityMode(mODEBody) != 0);
-}
-
-bool Body::CreateBody()
-{
- if (mODEBody != 0)
- {
- return true;
- }
-
- dWorldID world = GetWorldID();
- if (world == 0)
- {
- return false;
- }
-
- // create the managed body
- mODEBody = dBodyCreate(world);
- if (mODEBody == 0)
- {
- GetLog()->Error()
- << "(Body) ERROR: could not create new ODE body\n";
- return false;
- }
-
- return true;
-}
-
-void Body::DestroyODEObject()
-{
- if (mODEBody == 0)
- {
- return;
- }
-
- dBodyDestroy(mODEBody);
- mODEBody = 0;
-}
-
-void Body::OnLink()
-{
- PhysicsObject::OnLink();
-
- if (! CreateBody())
- {
- return;
- }
-
- // let the body, take on the world space position of the parent
- dBodySetData(mODEBody, this);
-
- shared_ptr<BaseNode> baseNode = shared_static_cast<BaseNode>
- (GetParent().lock());
-
- const Matrix& mat = baseNode->GetWorldTransform();
- SetRotation(mat);
- SetPosition(mat.Pos());
-}
-
-void
-Body::SetMass(float mass)
-{
- dMass ODEMass;
- dBodyGetMass(mODEBody, &ODEMass);
- dMassAdjust(&ODEMass, mass);
- dBodySetMass(mODEBody, &ODEMass);
-}
-
-float
-Body::GetMass() const
-{
- dMass m;
- dBodyGetMass(mODEBody, &m);
- return m.mass;
-}
-
-void Body::GetMassParameters(dMass& mass) const
-{
- dBodyGetMass(mODEBody, &mass);
-}
-
-void Body::SetMassParameters(const dMass& mass)
-{
- dBodySetMass(mODEBody, &mass);
-}
-
-void Body::PrepareSphere(dMass& mass, float density, float radius) const
-{
- dMassSetSphere(&mass, density, radius);
-}
-
-void Body::SetSphere(float density, float radius)
-{
- dMass ODEMass;
- PrepareSphere(ODEMass, density, radius);
- dBodySetMass(mODEBody, &ODEMass);
-}
-
-void Body::AddSphere(float density, float radius, const Matrix& matrix)
-{
- dMass ODEMass;
- PrepareSphere(ODEMass, density, radius);
- AddMass(ODEMass, matrix);
-}
-
-void Body::PrepareSphereTotal(dMass& mass, float total_mass, float radius) const
-{
- dMassSetSphereTotal(&mass, total_mass, radius);
-}
-
-void Body::SetSphereTotal(float total_mass, float radius)
-{
- dMass ODEMass;
- PrepareSphereTotal(ODEMass, total_mass, radius);
- dBodySetMass(mODEBody, &ODEMass);
-}
-
-void Body::AddSphereTotal(float total_mass, float radius, const Matrix& matrix)
-{
- dMass ODEMass;
- PrepareSphereTotal(ODEMass, total_mass, radius);
- AddMass(ODEMass, matrix);
-}
-
-void Body::PrepareBox(dMass& mass, float density, const Vector3f& size) const
-{
- dMassSetBox(&mass, density, size[0], size[1], size[2]);
-}
-
-void Body::SetBox(float density, const Vector3f& size)
-{
- dMass ODEMass;
- PrepareBox(ODEMass, density, size);
- dBodySetMass(mODEBody, &ODEMass);
-}
-
-void Body::AddBox(float density, const Vector3f& size, const Matrix& matrix)
-{
- dMass ODEMass;
- PrepareBox(ODEMass, density, size);
- AddMass(ODEMass, matrix);
-}
-
-void Body::PrepareBoxTotal(dMass& mass, float total_mass, const Vector3f& size) const
-{
- dMassSetBoxTotal(&mass, total_mass, size[0], size[1], size[2]);
-}
-
-void Body::SetBoxTotal(float total_mass, const Vector3f& size)
-{
- dMass ODEMass;
- PrepareBoxTotal(ODEMass, total_mass, size);
- dBodySetMass(mODEBody, &ODEMass);
-}
-
-void Body::AddBoxTotal(float total_mass, const Vector3f& size, const Matrix& matrix)
-{
- dMass ODEMass;
- PrepareBoxTotal(ODEMass, total_mass, size);
- AddMass(ODEMass, matrix);
-}
-/*
- dMass ODEMass;
- dBodyGetMass(mODEBody, &ODEMass);
- Vector3f trans(ODEMass.c[0], ODEMass.c[1], ODEMass.c[2]);
-
- if (trans.SquareLength() > 0)
- {
- mOrigin = mOrigin - trans;
- GetLog()->Warning() << "(Body::CenterMass) New origin: " << mOrigin << "\n";
-
- dMassTranslate(&ODEMass, -trans[0], -trans[1], -trans[2]);
- dBodySetMass(mODEBody, &ODEMass);
-
- Vector3f position = GetPosition();
- position = position + trans;
- SetPosition(position);
-
- mCOMShifted = true;
- }
-*/
-void Body::AddMass(const dMass& mass, const Matrix& matrix)
-{
- dMass transMass(mass);
-
- dMatrix3 rot;
- ConvertRotationMatrix(matrix, rot);
- dMassRotate(&transMass,rot);
-
- const Vector3f& trans(matrix.Pos());
- dMassTranslate(&transMass,trans[0],trans[1],trans[2]);
-
- dMassTranslate(&transMass,mMa...
[truncated message content] |
