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[simspark-svn] SF.net SVN: simspark:[109] branches/multiphys/spark/lib/oxygen
|
From: <a-...@us...> - 2009-11-26 10:30:39
|
Revision: 109
http://simspark.svn.sourceforge.net/simspark/?rev=109&view=rev
Author: a-held
Date: 2009-11-26 10:30:24 +0000 (Thu, 26 Nov 2009)
Log Message:
-----------
implemented bridge Pattern for PhysicsServer and all but one method in PhysicsObject
removed some unneeded files
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.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/ode/odeworld.h
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.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/int/physicsobjectint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsserverint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsserver.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsserver.h
Removed Paths:
-------------
branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-26 10:30:24 UTC (rev 109)
@@ -54,9 +54,15 @@
physicsserver/angularmotor.h
#interfaces
+ physicsserver/int/physicsobjectint.h
+ physicsserver/int/physicsserverint.h
+ physicsserver/int/spaceint.h
physicsserver/int/worldint.h
#ode-specific files
+ physicsserver/ode/odephysicsobject.h
+ physicsserver/ode/odephysicsserver.h
+ physicsserver/ode/odespace.h
physicsserver/ode/odeworld.h
physicsserver/ode/odewrapper.h
@@ -184,15 +190,11 @@
physicsserver/angularmotor.cpp
physicsserver/angularmotor_c.cpp
- #interfaces
- physicsserver/int/worldint_c.cpp
- physicsserver/int/spaceint_c.cpp
-
#ODE-specific files
+ physicsserver/ode/odephysicsobject.cpp
+ physicsserver/ode/odephysicsserver.cpp
physicsserver/ode/odespace.cpp
- physicsserver/ode/odespace_c.cpp
physicsserver/ode/odeworld.cpp
- physicsserver/ode/odeworld_c.cpp
sceneserver/basenode.cpp
sceneserver/basenode_c.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -262,7 +262,7 @@
) > 0;
}
-void Collider::DestroyODEObject()
+void Collider::DestroyPhysicsObject()
{
if (! mODEGeom)
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -148,8 +148,8 @@
*/
virtual void PrePhysicsUpdateInternal(float deltaTime);
- /** destroy the managed ODE object */
- virtual void DestroyODEObject();
+ /** destroy the managed physicsobject */
+ virtual void DestroyPhysicsObject();
//
// Members
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -0,0 +1,57 @@
+/* -*- 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_PHYSICSOBJECTINT_H
+#define OXYGEN_PHYSICSOBJECTINT_H
+
+#include <boost/smart_ptr/shared_ptr.hpp>
+#include <oxygen/physicsserver/ode/odewrapper.h>
+#include <oxygen/sceneserver/basenode.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+class World;
+class Space;
+
+class OXYGEN_API PhysicsObjectInt : public BaseNode
+{
+
+public:
+ PhysicsObjectInt(){};
+ virtual ~PhysicsObjectInt(){};
+
+ virtual dWorldID GetWorldID() = 0;
+ virtual dSpaceID FindSpaceID() = 0;
+ virtual dSpaceID GetParentSpaceID() = 0;
+ virtual void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix) = 0;
+ virtual void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const = 0;
+ virtual void DestroyPhysicsObject() = 0;
+
+ boost::shared_ptr<Scene> scene;
+ boost::shared_ptr<Space> space;
+ boost::shared_ptr<World> world;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_PHYSICSOBJECTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsserverint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsserverint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsserverint.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -0,0 +1,41 @@
+/* -*- 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_PHYSICSSERVERINT_H
+#define OXYGEN_PHYSICSSERVERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API PhysicsServerInt
+{
+
+public:
+ PhysicsServerInt(){};
+ virtual ~PhysicsServerInt(){};
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_PHYSICSSERVERINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -23,7 +23,7 @@
#ifndef OXYGEN_SPACEINT_H
#define OXYGEN_SPACEINT_H
-#include <oxygen/physicsserver/physicsobject.h>
+#include <oxygen/physicsserver/ode/odephysicsobject.h>
#include <set>
#include <oxygen/oxygen_defines.h>
@@ -33,13 +33,13 @@
class RigidBody;
class Collider;
-class OXYGEN_API SpaceInt : public PhysicsObject
+class OXYGEN_API SpaceInt : public ODEPhysicsObject
{
public:
typedef std::set<dSpaceID> TSpaceIdSet;
- SpaceInt() : PhysicsObject(){};
+ SpaceInt() : ODEPhysicsObject(){};
virtual ~SpaceInt(){};
//virtual void collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2) = 0;
@@ -63,8 +63,6 @@
boost::shared_ptr<Scene> scene;
};
-DECLARE_ABSTRACTCLASS(SpaceInt);
-
} //namespace oxygen
#endif //OXYGEN_SPACEINT_H
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint_c.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint_c.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -1,29 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-this file is part of rcssserver3D
-Fri May 9 2003
-Copyright (C) 2003 Koblenz University
-$Id: world_c.cpp 3 2008-11-21 02:38:08Z hedayat $
-
-This program is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; version 2 of the License.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program; if not, write to the Free Software
-Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-
-#include <oxygen/physicsserver/int/spaceint.h>
-
-using namespace oxygen;
-
-void CLASS(SpaceInt)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/ODEObject);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -23,16 +23,16 @@
#define OXYGEN_WORLDINT_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/ode/odephysicsobject.h>
namespace oxygen
{
-class OXYGEN_API WorldInt : public ODEObject
+class OXYGEN_API WorldInt : public ODEPhysicsObject
{
public:
- WorldInt() : ODEObject(){};
+ WorldInt() : ODEPhysicsObject(){};
virtual ~WorldInt(){};
virtual dWorldID GetODEWorld() const = 0;
@@ -47,12 +47,10 @@
virtual void SetAutoDisableFlag(bool flag) = 0;
virtual void SetContactSurfaceLayer(float depth) = 0;
virtual float GetContactSurfaceLayer() const = 0;
- virtual void DestroyODEObject() = 0;
+ virtual void DestroyPhysicsObject() = 0;
virtual bool ConstructInternal() = 0;
};
-DECLARE_ABSTRACTCLASS(WorldInt);
-
}
#endif //OXYGEN_WORLDINT_H
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint_c.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint_c.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -1,29 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-this file is part of rcssserver3D
-Fri May 9 2003
-Copyright (C) 2003 Koblenz University
-$Id: world_c.cpp 3 2008-11-21 02:38:08Z hedayat $
-
-This program is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; version 2 of the License.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program; if not, write to the Free Software
-Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-
-#include <oxygen/physicsserver/int/worldint.h>
-
-using namespace oxygen;
-
-void CLASS(WorldInt)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/ODEObject);
-}
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -1,167 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2002,2003 Koblenz University
- Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-#include <oxygen/physicsserver/ode/odeobject.h>
-#include <oxygen/physicsserver/space.h>
-#include <oxygen/physicsserver/world.h>
-#include <oxygen/sceneserver/scene.h>
-#include <zeitgeist/logserver/logserver.h>
-
-using namespace oxygen;
-using namespace boost;
-
-ODEObject::ODEObject() : BaseNode()
-{
-}
-
-ODEObject::~ODEObject()
-{
-}
-
-void ODEObject::OnUnlink()
-{
- DestroyODEObject();
-}
-
-/** returns the world node */
-shared_ptr<World> ODEObject::GetWorld()
-{
- shared_ptr<Scene> scene = GetScene();
- if (scene.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
- return shared_ptr<World>();
- }
-
- shared_ptr<World> worldNode = shared_dynamic_cast<World>
- (scene->GetChildOfClass("World"));
- if (worldNode.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no World node\n";
- }
-
- return worldNode;
-}
-
-shared_ptr<Space> ODEObject::GetSpace()
-{
- // try to find the nearest parent space object
- weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
- if (! parentSpace.expired())
- {
- return parentSpace.lock();
- }
-
- // return the global space instance
- shared_ptr<Scene> scene = GetScene();
- if (scene.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
- return shared_ptr<Space>();
- }
-
- shared_ptr<Space> spaceNode = shared_dynamic_cast<Space>
- (scene->GetChildOfClass("Space"));
- if (spaceNode.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Space node\n";
- }
-
- return spaceNode;
-}
-
-dWorldID ODEObject::GetWorldID()
-{
- shared_ptr<World> world = GetWorld();
- if (world.get() == 0)
- {
- return 0;
- }
-
- dWorldID worldId = world->GetODEWorld();
- if (worldId == 0)
- {
- GetLog()->Error()
- << "(ODEObject) ERROR: World returned empty ODE handle\n";
- }
-
- return worldId;
-}
-
-dSpaceID ODEObject::FindSpaceID()
-{
- shared_ptr<Space> space = GetSpace();
- if (space.get() == 0)
- {
- return 0;
- }
-
- dSpaceID spaceId = space->GetODESpace();
-
- if (spaceId == 0)
- {
- GetLog()->Error()
- << "(ODEObject) ERROR: Space returned empty ODE handle\n";
- }
-
- return spaceId;
-}
-
-dSpaceID ODEObject::GetParentSpaceID()
-{
- return 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
-{
- matrix[0] = rot.m[0];
- matrix[1] = rot.m[4];
- matrix[2] = rot.m[8];
- matrix[3] = 0;
- matrix[4] = rot.m[1];
- matrix[5] = rot.m[5];
- matrix[6] = rot.m[9];
- matrix[7] = 0;
- matrix[8] = rot.m[2];
- matrix[9] = rot.m[6];
- matrix[10] = rot.m[10];
- matrix[11] = 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
-{
- rot.m[0] = matrix[0] ;
- rot.m[4] = matrix[1] ;
- rot.m[8] = matrix[2];
- rot.m[12] = matrix[3];
- rot.m[1] = matrix[4];
- rot.m[5] = matrix[5];
- rot.m[9] = matrix[6];
- rot.m[13] = matrix[7];
- rot.m[2] = matrix[8];
- rot.m[6] = matrix[9];
- rot.m[10] = matrix[10] ;
- rot.m[14] = matrix[11];
- rot.m[3] = 0.0;
- rot.m[7] = 0.0;
- rot.m[11] = 0.0;
- rot.m[15] = 1.0;
-}
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -1,83 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2002,2003 Koblenz University
- Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
- $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-#ifndef OXYGEN_ODEOBJECT_H
-#define OXYGEN_ODEOBJECT_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/sceneserver/basenode.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
-
-namespace oxygen
-{
-class Space;
-class World;
-
-/** ODEObject is the base of all classes encapsulating ODE concepts
- */
-class OXYGEN_API ODEObject : public BaseNode
-{
-public:
- //
- // Functions
- //
- ODEObject(){};
- virtual ~ODEObject(){};
-
- /** This rountine is called, before the hierarchy object is
- removed from the parent. It can be overridden to support
- custom 'unlink' behavior.
- */
- virtual void OnUnlink(){};
-
- /** returns the ODE world handle */
- dWorldID GetWorldID(){};
-
- /** returns the nearest parent space ODE handle */
- dSpaceID FindSpaceID(){};
-
- /** returns the ODE handle ID of the containing parent space */
- virtual dSpaceID GetParentSpaceID(){};
-
- /** destroy the managed ODE object */
- virtual void DestroyODEObject(){};
-
-protected:
- /** returns the world node */
- boost::shared_ptr<World> GetWorld();
-
- /** finds the nearest parent space node */
- boost::shared_ptr<Space> GetSpace(){};
-
- /** converts the rotation part of a salt::Matrix to an ODE
- dMatrix3 */
- void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
-
- /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
- void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
-};
-
-DECLARE_ABSTRACTCLASS(ODEObject);
-
-} //namespace oxygen
-
-#endif //OXYGEN_ODEOBJECT_H
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -1,29 +0,0 @@
-/* -*- mode: c++ -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2003 Koblenz University
- $Id: odeobject_c.cpp 3 2008-11-21 02:38:08Z hedayat $
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-
-#include <oxygen/physicsserver/ode/odeobject.h>
-
-using namespace oxygen;
-
-void CLASS(ODEObject)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/BaseNode);
-}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -0,0 +1,112 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include <oxygen/physicsserver/ode/odephysicsobject.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/physicsserver/world.h>
+#include <oxygen/sceneserver/scene.h>
+#include <iostream>
+
+using namespace oxygen;
+using namespace boost;
+using namespace std;
+
+ODEPhysicsObject::ODEPhysicsObject() : PhysicsObjectInt()
+{
+}
+
+ODEPhysicsObject::~ODEPhysicsObject()
+{
+}
+
+dWorldID ODEPhysicsObject::GetWorldID()
+{
+ if (world.get() == 0)
+ {
+ return 0;
+ }
+
+ dWorldID worldId = world->GetODEWorld();
+ if (worldId == 0)
+ {
+ cerr << "(ODEObject) ERROR: World returned empty ODE handle\n";
+ }
+
+ return worldId;
+}
+
+dSpaceID ODEPhysicsObject::FindSpaceID()
+{
+ if (space.get() == 0)
+ {
+ return 0;
+ }
+
+ dSpaceID spaceId = space->GetODESpace();
+
+ if (spaceId == 0)
+ {
+ cerr << "(ODEObject) ERROR: Space returned empty ODE handle\n";
+ }
+
+ return spaceId;
+}
+
+dSpaceID ODEPhysicsObject::GetParentSpaceID()
+{
+ return 0;
+}
+
+void ODEPhysicsObject::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 ODEPhysicsObject::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/ode/odephysicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -0,0 +1,53 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
+ $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_ODEOBJECT_H
+#define OXYGEN_ODEOBJECT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/int/physicsobjectint.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
+
+namespace oxygen
+{
+class Space;
+class World;
+
+class OXYGEN_API ODEPhysicsObject : public PhysicsObjectInt
+{
+public:
+ ODEPhysicsObject();
+ virtual ~ODEPhysicsObject();
+
+ dWorldID GetWorldID();
+ dSpaceID FindSpaceID();
+ virtual dSpaceID GetParentSpaceID();
+ virtual void DestroyPhysicsObject(){};
+
+protected:
+ void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
+ void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEPHYSICSOBJECT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsserver.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsserver.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsserver.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -0,0 +1,33 @@
+/* -*- 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/odewrapper.h>
+#include <oxygen/physicsserver/ode/odephysicsserver.h>
+
+using namespace oxygen;
+
+ODEPhysicsServer::ODEPhysicsServer(){
+ dInitODE();
+}
+
+ODEPhysicsServer::~ODEPhysicsServer(){
+ dCloseODE();
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsserver.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsserver.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsserver.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -0,0 +1,41 @@
+/* -*- 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_ODEPHYSICSSERVER_H
+#define OXYGEN_ODEPHYSICSSERVER_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/int/physicsserverint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEPhysicsServer : public PhysicsServerInt
+{
+public:
+ ODEPhysicsServer();
+ virtual ~ODEPhysicsServer();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEPHYSICSSERVER_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -184,14 +184,14 @@
void ODESpace::OnUnlink()
{
DisableInnerCollision(false);
- PhysicsObject::OnUnlink();
+ ODEPhysicsObject::OnUnlink();
}
void ODESpace::OnLink()
{
- PhysicsObject::OnLink();
+ ODEPhysicsObject::OnLink();
- shared_ptr<Space> space = GetSpace();
+ //shared_ptr<Space> space = GetSpace();
dSpaceID spaceId = 0;
if (space.get() != 0)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -67,8 +67,6 @@
static TSpaceIdSet gDisabledInnerCollisionSet;
};
-DECLARE_CLASS(ODESpace);
-
}
#endif //OXYGEN_ODESPACE_H
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace_c.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace_c.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -1,29 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-this file is part of rcssserver3D
-Fri May 9 2003
-Copyright (C) 2003 Koblenz University
-$Id: world_c.cpp 3 2008-11-21 02:38:08Z hedayat $
-
-This program is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; version 2 of the License.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program; if not, write to the Free Software
-Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-
-#include <oxygen/physicsserver/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 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -109,7 +109,7 @@
return (mODEWorld != 0);
}
-void ODEWorld::DestroyODEObject()
+void ODEWorld::DestroyPhysicsObject()
{
static bool recurseLock = false;
if (recurseLock)
@@ -119,7 +119,7 @@
recurseLock = true;
- shared_ptr<Space> space = GetSpace();
+ //shared_ptr<Space> space = GetSpace();
if (space.get() != 0)
{
space->DestroyPhysicsObject();
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -47,7 +47,7 @@
void SetAutoDisableFlag(bool flag);
void SetContactSurfaceLayer(float depth);
float GetContactSurfaceLayer() const;
- virtual void DestroyODEObject();
+ virtual void DestroyPhysicsObject();
protected:
virtual bool ConstructInternal();
@@ -56,8 +56,6 @@
dWorldID mODEWorld;
};
-DECLARE_CLASS(ODEWorld);
-
}
#endif //OXYGEN_ODEWORLD_H
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -1,29 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-this file is part of rcssserver3D
-Fri May 9 2003
-Copyright (C) 2003 Koblenz University
-$Id: world_c.cpp 3 2008-11-21 02:38:08Z hedayat $
-
-This program is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; version 2 of the License.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program; if not, write to the Free Software
-Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-
-#include <oxygen/physicsserver/ode/odeworld.h>
-
-using namespace oxygen;
-
-void CLASS(ODEWorld)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/WorldImp);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -19,9 +19,11 @@
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/physicsserver/ode/odephysicsobject.h>
#include <oxygen/sceneserver/scene.h>
#include <zeitgeist/logserver/logserver.h>
@@ -30,6 +32,7 @@
PhysicsObject::PhysicsObject() : BaseNode()
{
+ mPhysicsObjectImp = shared_ptr<ODEPhysicsObject>(new ODEPhysicsObject());
}
PhysicsObject::~PhysicsObject()
@@ -38,7 +41,7 @@
void PhysicsObject::OnUnlink()
{
- DestroyPhysicsObject();
+ mPhysicsObjectImp->DestroyPhysicsObject();
}
/** returns the world node */
@@ -90,7 +93,11 @@
dWorldID PhysicsObject::GetWorldID()
{
+ mPhysicsObjectImp->world = GetWorld();
+
shared_ptr<World> world = GetWorld();
+
+ //mPhysicsObjectImp->GetWorld();
if (world.get() == 0)
{
return 0;
@@ -108,60 +115,22 @@
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;
+ mPhysicsObjectImp->space = GetSpace();
+
+ return mPhysicsObjectImp->FindSpaceID();
}
dSpaceID PhysicsObject::GetParentSpaceID()
{
- return 0;
+ return mPhysicsObjectImp->GetParentSpaceID();
}
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;
+ mPhysicsObjectImp->ConvertRotationMatrix(rot, matrix);
}
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;
+ mPhysicsObjectImp->ConvertRotationMatrix(matrix, rot);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -31,6 +31,7 @@
{
class Space;
class World;
+class PhysicsObjectInt;
/** ODEObject is the base of all classes encapsulating ODE concepts
*/
@@ -57,8 +58,12 @@
/** returns the ODE handle ID of the containing parent space */
virtual dSpaceID GetParentSpaceID();
-
- /** destroy the managed ODE object */
+
+ /** this method is not implemented here because PhysicsObject is an
+ abstract class. However, it is declared here so that it can be
+ called as a member of this class, which is necessary in some
+ cases (like destroying all objects in a space, where bodies,
+ colliders and joints have to be treated in one go).*/
virtual void DestroyPhysicsObject(){};
protected:
@@ -74,6 +79,9 @@
/** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
+
+private:
+ boost::shared_ptr<PhysicsObjectInt> mPhysicsObjectImp;
};
DECLARE_ABSTRACTCLASS(PhysicsObject);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -20,17 +20,11 @@
*/
#include <oxygen/physicsserver/physicsserver.h>
+#include <oxygen/physicsserver/ode/odephysicsserver.h>
using namespace oxygen;
-PhysicsServer::PhysicsServer()
- : Leaf()
+PhysicsServer::PhysicsServer() : Leaf()
{
- dInitODE();
+ mPhysicsServerImp = boost::shared_ptr<ODEPhysicsServer>(new ODEPhysicsServer());
}
-
-PhysicsServer::~PhysicsServer()
-{
- // release memory associated with ode
- dCloseODE();
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -29,6 +29,7 @@
namespace oxygen
{
+class PhysicsServerInt;
class OXYGEN_API PhysicsServer : public zeitgeist::Leaf
{
@@ -37,7 +38,10 @@
//
public:
PhysicsServer();
- ~PhysicsServer();
+ virtual ~PhysicsServer(){};
+
+private:
+ boost::shared_ptr<PhysicsServerInt> mPhysicsServerImp;
};
DECLARE_CLASS(PhysicsServer);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -102,7 +102,7 @@
return true;
}
-void RigidBody::DestroyODEObject()
+void RigidBody::DestroyPhysicsObject()
{
if (mODEBody == 0)
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -226,8 +226,8 @@
/** returns the current poosition of this body */
salt::Vector3f GetPosition() const;
- /** destroy the managed ODE object */
- virtual void DestroyODEObject();
+ /** destroy the managed physicsobject */
+ virtual void DestroyPhysicsObject();
/** synchronize parent node with the bodies position and
orientation
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-11-26 10:30:24 UTC (rev 109)
@@ -102,7 +102,7 @@
return mWorldImp->ConstructInternal();
}
-void World::DestroyODEObject()
+void World::DestroyPhysicsObject()
{
- mWorldImp->DestroyODEObject();
+ mWorldImp->DestroyPhysicsObject();
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-11-25 10:20:10 UTC (rev 108)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-11-26 10:30:24 UTC (rev 109)
@@ -106,7 +106,7 @@
float GetContactSurfaceLayer() const;
/** destroy the managed ODE object */
- virtual void DestroyODEObject();
+ virtual void DestroyPhysicsObject();
protected:
/** creates them managed ODE world */
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