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[simspark-svn] SF.net SVN: simspark:[110] branches/multiphys/spark/lib/oxygen
|
From: <a-...@us...> - 2009-11-30 08:31:13
|
Revision: 110
http://simspark.svn.sourceforge.net/simspark/?rev=110&view=rev
Author: a-held
Date: 2009-11-30 08:31:04 +0000 (Mon, 30 Nov 2009)
Log Message:
-----------
provided bridge pattern for all non-implemented body classes
prepared bridge pattern for RigidBody class
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/body.h
branches/multiphys/spark/lib/oxygen/physicsserver/dynamicbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/softbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/staticbody.h
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/dynamicbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/bodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/softbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/staticbody.cpp
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-26 10:30:24 UTC (rev 109)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-11-30 08:31:04 UTC (rev 110)
@@ -54,15 +54,25 @@
physicsserver/angularmotor.h
#interfaces
+ physicsserver/int/bodyint.h
+ physicsserver/int/dynamicbodyint.h
physicsserver/int/physicsobjectint.h
physicsserver/int/physicsserverint.h
+ physicsserver/int/rigidbodyint.h
+ physicsserver/int/softbodyint.h
physicsserver/int/spaceint.h
+ physicsserver/int/staticbodyint.h
physicsserver/int/worldint.h
#ode-specific files
+ physicsserver/ode/odebody.h
+ physicsserver/ode/odedynamicbody.h
physicsserver/ode/odephysicsobject.h
physicsserver/ode/odephysicsserver.h
+ physicsserver/ode/oderigidbody.h
+ physicsserver/ode/odesoftbody.h
physicsserver/ode/odespace.h
+ physicsserver/ode/odestaticbody.h
physicsserver/ode/odeworld.h
physicsserver/ode/odewrapper.h
@@ -127,11 +137,15 @@
oxygen.cpp
physicsserver/physicsobject.cpp
physicsserver/physicsobject_c.cpp
+ physicsserver/body.cpp
physicsserver/body_c.cpp
physicsserver/rigidbody.cpp
physicsserver/rigidbody_c.cpp
+ physicsserver/staticbody.cpp
physicsserver/staticbody_c.cpp
+ physicsserver/dynamicbody.cpp
physicsserver/dynamicbody_c.cpp
+ physicsserver/softbody.cpp
physicsserver/softbody_c.cpp
physicsserver/bodycontroller.cpp
physicsserver/bodycontroller_c.cpp
@@ -191,9 +205,14 @@
physicsserver/angularmotor_c.cpp
#ODE-specific files
+ physicsserver/ode/odebody.cpp
+ physicsserver/ode/odedynamicbody.cpp
physicsserver/ode/odephysicsobject.cpp
physicsserver/ode/odephysicsserver.cpp
+ physicsserver/ode/oderigidbody.cpp
+ physicsserver/ode/odesoftbody.cpp
physicsserver/ode/odespace.cpp
+ physicsserver/ode/odestaticbody.cpp
physicsserver/ode/odeworld.cpp
sceneserver/basenode.cpp
Added: branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -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) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: body.h 108 2009-11-25 10:20:10Z 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.
+*/
+#include <oxygen/physicsserver/body.h>
+#include <oxygen/physicsserver/ode/odebody.h>
+
+using namespace oxygen;
+
+Body::Body() : PhysicsObject(){
+ mBodyImp = boost::shared_ptr<ODEBody>(new ODEBody());
+}
+
+Body::~Body(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-11-26 10:30:24 UTC (rev 109)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -26,6 +26,8 @@
namespace oxygen
{
+class BodyInt;
+
/** This is currently a placeholder class to comply with the
inheritance tree. Once a Body class other than RigidBody has
been implemented, common functionality should be moved to this
@@ -35,8 +37,10 @@
class OXYGEN_API Body : public PhysicsObject
{
public:
- Body() : PhysicsObject(){};
- virtual ~Body (){};
+ Body();
+ virtual ~Body();
+
+ boost::shared_ptr<BodyInt> mBodyImp;
};
DECLARE_CLASS(Body);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/dynamicbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/dynamicbody.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/dynamicbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -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) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: body.h 106 2009-11-19 10:10:50Z 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.
+*/
+#include <oxygen/physicsserver/dynamicbody.h>
+#include <oxygen/physicsserver/ode/odedynamicbody.h>
+
+using namespace oxygen;
+
+DynamicBody::DynamicBody() : Body(){
+ mDynamicBodyImp = boost::shared_ptr<ODEDynamicBody>(new ODEDynamicBody());
+}
+
+DynamicBody::~DynamicBody(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/dynamicbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/dynamicbody.h 2009-11-26 10:30:24 UTC (rev 109)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/dynamicbody.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class DynamicBodyInt;
/**
DynamicBody is not yet implemented.
*/
@@ -37,8 +38,10 @@
// Functions
//
public:
- DynamicBody() : Body(){};
- virtual ~DynamicBody(){};
+ DynamicBody();
+ virtual ~DynamicBody();
+
+ boost::shared_ptr<DynamicBodyInt> mDynamicBodyImp;
};
DECLARE_CLASS(DynamicBody);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/bodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/bodyint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/bodyint.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,42 @@
+/* -*- 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_BODYINT_H
+#define OXYGEN_BODYINT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odephysicsobject.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API BodyInt : public ODEPhysicsObject
+{
+
+public:
+ BodyInt() : ODEPhysicsObject(){};
+ virtual ~BodyInt(){};
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_BODYINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,42 @@
+/* -*- 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_DYNAMICBODYINT_H
+#define OXYGEN_DYNAMICBODYINT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odebody.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API DynamicBodyInt : public ODEBody
+{
+
+public:
+ DynamicBodyInt() : ODEBody(){};
+ virtual ~DynamicBodyInt(){};
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_DYNAMICBODYINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,105 @@
+/* -*- 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_RIGIDBODYINT_H
+#define OXYGEN_RIGIDBODYINT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odebody.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API RigidBodyInt : public ODEBody
+{
+
+public:
+ RigidBodyInt() : ODEBody(){};
+ virtual ~RigidBodyInt(){};
+
+ virtual dBodyID GetODEBody() const = 0;
+ virtual void Enable() = 0;
+ virtual void Disable() = 0;
+ virtual bool IsEnabled() const = 0;
+ virtual void UseGravity(bool f) = 0;
+ virtual bool UsesGravity() const = 0;
+ virtual void SetMass(float mass) = 0;
+ virtual void SetMassParameters(const dMass& mass) = 0;
+ virtual float GetMass() const = 0;
+ virtual void GetMassParameters(dMass& mass) const = 0;
+ virtual void SetSphere(float density, float radius) = 0;
+ virtual void AddSphere(float density, float radius, const salt::Matrix& matrix) = 0;
+ virtual void SetSphereTotal(float total_mass, float radius) = 0;
+ virtual void AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix) = 0;
+ virtual void SetBox(float density, const salt::Vector3f& size) = 0;
+ virtual void AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix) = 0;
+ virtual void SetBoxTotal(float total_mass, const salt::Vector3f& size) = 0;
+ virtual void AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix) = 0;
+ virtual void SetCylinder(float density, float radius, float length) = 0;
+ virtual void AddCylinder(float density, float radius, float length, const salt::Matrix& matrix) = 0;
+ virtual void SetCylinderTotal(float total_mass, float radius, float length) = 0;
+ virtual void AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix) = 0;
+ virtual void SetCapsule(float density, float radius, float length) = 0;
+ virtual void AddCapsule(float density, float radius, float length, const salt::Matrix& matrix) = 0;
+ virtual void SetCapsuleTotal(float total_mass, float radius, float length) = 0;
+ virtual void AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix) = 0;
+ virtual void TranslateMass(const salt::Vector3f& v) = 0;
+ virtual salt::Vector3f GetVelocity() const = 0;
+ virtual void SetVelocity(const salt::Vector3f& vel) = 0;
+ virtual void SetRotation(const salt::Matrix& rot) = 0;
+ virtual salt::Matrix GetRotation() const = 0;
+ virtual salt::Vector3f GetAngularVelocity() const = 0;
+ virtual void SetAngularVelocity(const salt::Vector3f& vel) = 0;
+ virtual void AddForce(const salt::Vector3f& force) = 0;
+ virtual void AddTorque(const salt::Vector3f& torque) = 0;
+ virtual void SetPosition(const salt::Vector3f& pos) = 0;
+ virtual salt::Vector3f GetPosition() const = 0;
+ virtual void DestroyPhysicsObject() = 0;
+ virtual void SynchronizeParent() const = 0;
+ virtual void AddMass(const dMass& mass, const salt::Matrix& matrix) = 0;
+ //virtual salt::Vector3f GetMassCenter() const = 0;
+
+protected:
+ virtual void OnLink() = 0;
+ virtual bool CreateBody() = 0;
+ virtual void PrepareBoxTotal(dMass& mass, float total_mass, const salt::Vector3f& size) const = 0;
+ virtual void PrepareBox(dMass& mass, float density, const salt::Vector3f& size) const = 0;
+ virtual void PrepareSphere(dMass& mass, float density, float radius) const = 0;
+ virtual void PrepareSphereTotal(dMass& mass, float total_mass, float radius) const = 0;
+ virtual void PrepareCylinder(dMass& mass, float density, float radius, float length) const = 0;
+ virtual void PrepareCylinderTotal(dMass& mass, float total_mass, float radius, float length) const = 0;
+ virtual void PrepareCapsule(dMass& mass, float density, float radius, float length) const = 0;
+ virtual void PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const = 0;
+
+private:
+ virtual void PrePhysicsUpdateInternal(float deltaTime) = 0;
+ virtual void PostPhysicsUpdateInternal() = 0;
+
+protected:
+ dBodyID mODEBody;
+ salt::Vector3f mMassTrans;
+ bool mMassTransformed;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_RIGIDBODYINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,42 @@
+/* -*- 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_SOFTBODYINT_H
+#define OXYGEN_SOFTBODYINT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odebody.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API SoftBodyInt : public ODEBody
+{
+
+public:
+ SoftBodyInt() : ODEBody(){};
+ virtual ~SoftBodyInt(){};
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_SOFTBODYINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,42 @@
+/* -*- 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_STATICBODYINT_H
+#define OXYGEN_STATICBODYINT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odebody.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API StaticBodyInt : public ODEBody
+{
+
+public:
+ StaticBodyInt() : ODEBody(){};
+ virtual ~StaticBodyInt(){};
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_STATICBODYINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,32 @@
+/* -*- 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/odebody.h>
+
+using namespace oxygen;
+
+ODEBody::ODEBody() : BodyInt(){
+
+}
+
+ODEBody::~ODEBody(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,39 @@
+/* -*- 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.
+*/
+#ifndef OXYGEN_ODEBODY_H
+#define OXYGEN_ODEBODY_H
+
+#include <oxygen/physicsserver/int/bodyint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEBody : public BodyInt
+{
+public:
+ ODEBody();
+ virtual ~ODEBody();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEBODY_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,32 @@
+/* -*- 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/odedynamicbody.h>
+
+using namespace oxygen;
+
+ODEDynamicBody::ODEDynamicBody() : DynamicBodyInt(){
+
+}
+
+ODEDynamicBody::~ODEDynamicBody(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,39 @@
+/* -*- 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.
+*/
+#ifndef OXYGEN_ODEDYNAMICBODY_H
+#define OXYGEN_ODEDYNAMICBODY_H
+
+#include <oxygen/physicsserver/int/dynamicbodyint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEDynamicBody : public DynamicBodyInt
+{
+public:
+ ODEDynamicBody();
+ virtual ~ODEDynamicBody();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEDYNAMICBODY_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,532 @@
+/* -*- 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/rigidbody.h>
+#include <oxygen/physicsserver/transformcollider.h>
+#include <oxygen/physicsserver/world.h>
+#include <oxygen/physicsserver/ode/oderigidbody.h>
+#include <oxygen/sceneserver/scene.h>
+#include <oxygen/sceneserver/transform.h>
+#include <zeitgeist/logserver/logserver.h>
+
+using namespace oxygen;
+using namespace boost;
+using namespace salt;
+using namespace std;
+
+ODERigidBody::ODERigidBody() : RigidBodyInt(){
+
+}
+
+ODERigidBody::~ODERigidBody(){
+
+}
+
+dBodyID ODERigidBody::GetODEBody() const
+{
+ return mODEBody;
+}
+
+void ODERigidBody::Enable()
+{
+ dBodyEnable(mODEBody);
+}
+
+void ODERigidBody::Disable()
+{
+ dBodyDisable(mODEBody);
+}
+
+bool ODERigidBody::IsEnabled() const
+{
+ return (dBodyIsEnabled(mODEBody) != 0);
+}
+
+void ODERigidBody::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 ODERigidBody::UsesGravity() const
+{
+ return (dBodyGetGravityMode(mODEBody) != 0);
+}
+
+bool ODERigidBody::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 ODERigidBody::DestroyPhysicsObject()
+{
+ if (mODEBody == 0)
+ {
+ return;
+ }
+
+ dBodyDestroy(mODEBody);
+ mODEBody = 0;
+}
+
+void ODERigidBody::OnLink()
+{
+ ODEPhysicsObject::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 ODERigidBody::SetMass(float mass)
+{
+ dMass ODEMass;
+ dBodyGetMass(mODEBody, &ODEMass);
+ dMassAdjust(&ODEMass, mass);
+ dBodySetMass(mODEBody, &ODEMass);
+}
+
+float ODERigidBody::GetMass() const
+{
+ dMass m;
+ dBodyGetMass(mODEBody, &m);
+ return m.mass;
+}
+
+void ODERigidBody::GetMassParameters(dMass& mass) const
+{
+ dBodyGetMass(mODEBody, &mass);
+}
+
+void ODERigidBody::SetMassParameters(const dMass& mass)
+{
+ dBodySetMass(mODEBody, &mass);
+}
+
+void ODERigidBody::PrepareSphere(dMass& mass, float density, float radius) const
+{
+ dMassSetSphere(&mass, density, radius);
+}
+
+void ODERigidBody::SetSphere(float density, float radius)
+{
+ dMass ODEMass;
+ PrepareSphere(ODEMass, density, radius);
+ dBodySetMass(mODEBody, &ODEMass);
+}
+
+void ODERigidBody::AddSphere(float density, float radius, const Matrix& matrix)
+{
+ dMass ODEMass;
+ PrepareSphere(ODEMass, density, radius);
+ AddMass(ODEMass, matrix);
+}
+
+void ODERigidBody::PrepareSphereTotal(dMass& mass, float total_mass, float radius) const
+{
+ dMassSetSphereTotal(&mass, total_mass, radius);
+}
+
+void ODERigidBody::SetSphereTotal(float total_mass, float radius)
+{
+ dMass ODEMass;
+ PrepareSphereTotal(ODEMass, total_mass, radius);
+ dBodySetMass(mODEBody, &ODEMass);
+}
+
+void ODERigidBody::AddSphereTotal(float total_mass, float radius, const Matrix& matrix)
+{
+ dMass ODEMass;
+ PrepareSphereTotal(ODEMass, total_mass, radius);
+ AddMass(ODEMass, matrix);
+}
+
+void ODERigidBody::PrepareBox(dMass& mass, float density, const Vector3f& size) const
+{
+ dMassSetBox(&mass, density, size[0], size[1], size[2]);
+}
+
+void ODERigidBody::SetBox(float density, const Vector3f& size)
+{
+ dMass ODEMass;
+ PrepareBox(ODEMass, density, size);
+ dBodySetMass(mODEBody, &ODEMass);
+}
+
+void ODERigidBody::AddBox(float density, const Vector3f& size, const Matrix& matrix)
+{
+ dMass ODEMass;
+ PrepareBox(ODEMass, density, size);
+ AddMass(ODEMass, matrix);
+}
+
+void ODERigidBody::PrepareBoxTotal(dMass& mass, float total_mass, const Vector3f& size) const
+{
+ dMassSetBoxTotal(&mass, total_mass, size[0], size[1], size[2]);
+}
+
+void ODERigidBody::SetBoxTotal(float total_mass, const Vector3f& size)
+{
+ dMass ODEMass;
+ PrepareBoxTotal(ODEMass, total_mass, size);
+ dBodySetMass(mODEBody, &ODEMass);
+}
+
+void ODERigidBody::AddBoxTotal(float total_mass, const Vector3f& size, const Matrix& matrix)
+{
+ dMass ODEMass;
+ PrepareBoxTotal(ODEMass, total_mass, size);
+ AddMass(ODEMass, matrix);
+}
+
+void ODERigidBody::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,mMassTrans[0],mMassTrans[1],mMassTrans[2]);
+
+ dMass bodyMass;
+ dBodyGetMass(mODEBody, &bodyMass);
+ dMassAdd(&bodyMass, &transMass);
+
+ /** ODE currently requires that the center mass is always in the
+ origin of the body
+ */
+ Vector3f trans2(bodyMass.c[0], bodyMass.c[1], bodyMass.c[2]);
+
+ dMassTranslate(&bodyMass, -trans2[0], -trans2[1], -trans2[2]);
+ bodyMass.c[0] = bodyMass.c[1] = bodyMass.c[2] = 0.0f;
+ dBodySetMass(mODEBody, (const dMass*)&bodyMass);
+
+ // Move body so mass is at right position again
+ SetPosition(GetPosition() + trans2);
+
+ // Keep track of total translation of mass
+ mMassTrans = mMassTrans - trans2;
+
+ mMassTransformed = true;
+}
+
+void ODERigidBody::PrepareCylinder (dMass& mass, float density, float radius, float length) const
+{
+ // direction: (1=x, 2=y, 3=z)
+ int direction = 3;
+
+ dMassSetCylinder (&mass, density, direction, radius, length);
+}
+
+void ODERigidBody::SetCylinder (float density, float radius, float length)
+{
+ dMass ODEMass;
+ PrepareCylinder(ODEMass, density, radius, length);
+ dBodySetMass(mODEBody, &ODEMass);
+}
+
+void ODERigidBody::AddCylinder (float density, float radius, float length, const Matrix& matrix)
+{
+ dMass ODEMass;
+ PrepareCylinder(ODEMass, density, radius, length);
+ AddMass(ODEMass, matrix);
+}
+
+void ODERigidBody::PrepareCylinderTotal(dMass& mass, float total_mass, float radius, float length) const
+{
+ // direction: (1=x, 2=y, 3=z)
+ int direction = 3;
+
+ dMassSetCylinderTotal(&mass, total_mass, direction, radius, length);
+}
+
+void ODERigidBody::SetCylinderTotal(float total_mass, float radius, float length)
+{
+ dMass ODEMass;
+ PrepareCylinderTotal(ODEMass, total_mass, radius, length);
+ dBodySetMass(mODEBody, &ODEMass);
+}
+
+void ODERigidBody::AddCylinderTotal(float total_mass, float radius, float length, const Matrix& matrix)
+{
+ dMass ODEMass;
+ PrepareCylinderTotal(ODEMass, total_mass, radius, length);
+ AddMass(ODEMass, matrix);
+}
+
+void ODERigidBody::PrepareCapsule (dMass& mass, float density, float radius, float length) const
+{
+ // direction: (1=x, 2=y, 3=z)
+ int direction = 3;
+
+ dMassSetCapsule (&mass, density, direction, radius, length);
+}
+
+void ODERigidBody::SetCapsule (float density, float radius, float length)
+{
+ dMass ODEMass;
+ PrepareCapsule(ODEMass, density, radius, length);
+ dBodySetMass(mODEBody, &ODEMass);
+}
+
+void ODERigidBody::AddCapsule (float density, float radius, float length, const Matrix& matrix)
+{
+ dMass ODEMass;
+ PrepareCapsule(ODEMass, density, radius, length);
+ AddMass(ODEMass, matrix);
+}
+
+void ODERigidBody::PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const
+{
+ // direction: (1=x, 2=y, 3=z)
+ int direction = 3;
+
+ dMassSetCapsuleTotal(&mass, total_mass, direction, radius, length);
+}
+
+void ODERigidBody::SetCapsuleTotal(float total_mass, float radius, float length)
+{
+ dMass ODEMass;
+ PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
+ dBodySetMass(mODEBody, &ODEMass);
+}
+
+void ODERigidBody::AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
+{
+ dMass ODEMass;
+ PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
+ AddMass(ODEMass, matrix);
+}
+
+Vector3f ODERigidBody::GetVelocity() const
+{
+ const dReal* vel = dBodyGetLinearVel(mODEBody);
+ return Vector3f(vel[0], vel[1], vel[2]);
+}
+
+void ODERigidBody::SetVelocity(const Vector3f& vel)
+{
+ dBodySetLinearVel(mODEBody, vel[0], vel[1], vel[2]);
+}
+
+void ODERigidBody::SetRotation(const Matrix& rot)
+{
+ dMatrix3 m;
+ ConvertRotationMatrix(rot,m);
+ dBodySetRotation(mODEBody,m);
+}
+
+salt::Matrix ODERigidBody::GetRotation() const
+{
+ const dReal* m = dBodyGetRotation(mODEBody);
+ salt::Matrix rot;
+ ConvertRotationMatrix(m,rot);
+ return rot;
+}
+
+Vector3f ODERigidBody::GetAngularVelocity() const
+{
+ const dReal* vel = dBodyGetAngularVel(mODEBody);
+ return Vector3f(vel[0], vel[1], vel[2]);
+}
+
+void ODERigidBody::SetAngularVelocity(const Vector3f& vel)
+{
+ dBodySetAngularVel(mODEBody, vel[0], vel[1], vel[2]);
+}
+
+void ODERigidBody::SynchronizeParent() const
+{
+ const dReal* pos = dBodyGetPosition(mODEBody);
+ const dReal* rot = dBodyGetRotation(mODEBody);
+
+ shared_ptr<BaseNode> baseNode = shared_static_cast<BaseNode>
+ (GetParent().lock());
+
+
+ Matrix mat;
+ mat.m[0] = rot[0];
+ mat.m[1] = rot[4];
+ mat.m[2] = rot[8];
+ mat.m[3] = 0;
+ mat.m[4] = rot[1];
+ mat.m[5] = rot[5];
+ mat.m[6] = rot[9];
+ mat.m[7] = 0;
+ mat.m[8] = rot[2];
+ mat.m[9] = rot[6];
+ mat.m[10] = rot[10];
+ mat.m[11] = 0;
+ mat.m[12] = pos[0];
+ mat.m[13] = pos[1];
+ mat.m[14] = pos[2];
+ mat.m[15] = 1;
+
+ baseNode->SetWorldTransform(mat);
+}
+
+void ODERigidBody::PrePhysicsUpdateInternal(float /*deltaTime*/)
+{
+ // Check whether mass/body has been translated
+ if (mMassTransformed)
+ {
+ weak_ptr<Node> parent = GetParent();
+
+ // Update colliders (only those encapsulated in transform colliders)
+ TLeafList transformColliders;
+ parent.lock()->ListChildrenSupportingClass<TransformCollider>(transformColliders);
+
+ for (TLeafList::iterator iter = transformColliders.begin(); iter != transformColliders.end(); ++iter)
+ {
+ // Only move non-transform colliders
+ shared_ptr<Collider> collider = shared_static_cast<TransformCollider>(*iter)->FindChildSupportingClass<Collider>();
+ if (collider.get())
+ {
+ Vector3f pos = collider->GetPosition();
+ pos = pos + mMassTrans;
+ collider->SetLocalPosition(pos);
+ }
+ }
+
+ // Update visuals (or other transforms in the tree)
+ TLeafList transforms;
+ parent.lock()->ListShallowChildrenSupportingClass<Transform>(transforms);
+ for (TLeafList::iterator iter = transforms.begin(); iter != transforms.end(); ++iter)
+ {
+ shared_ptr<Transform> transform = shared_dynamic_cast<Transform>(*iter);
+ Matrix worldTransform = transform->GetWorldTransform();
+ worldTransform.Pos() = worldTransform.Pos() + mMassTrans;
+ transform->SetWorldTransform(worldTransform);
+ }
+
+ mMassTrans = Vector3f(0,0,0);
+ mMassTransformed = false;
+ }
+}
+
+
+void ODERigidBody::PostPhysicsUpdateInternal()
+{
+ SynchronizeParent();
+}
+
+shared_ptr<RigidBody> ODERigidBody::GetBody(dBodyID id)
+{
+ if (id == 0)
+ {
+ return shared_ptr<RigidBody>();
+ }
+
+ RigidBody* bodyPtr =
+ static_cast<RigidBody*>(dBodyGetData(id));
+
+ if (bodyPtr == 0)
+ {
+ // we cannot use the logserver here
+ cerr << "ERROR: (ODERigidBody) no body found for dBodyID "
+ << id << "\n";
+ return shared_ptr<RigidBody>();
+ }
+
+ shared_ptr<RigidBody> body = shared_static_cast<RigidBody>
+ (bodyPtr->GetSelf().lock());
+
+ if (body.get() == 0)
+ {
+ // we cannot use the logserver here
+ cerr << "ERROR: (ODERigidBody) got no shared_ptr for dBodyID "
+ << id << "\n";
+ }
+
+ return body;
+}
+
+void ODERigidBody::AddForce(const Vector3f& force)
+{
+ dBodyAddForce(mODEBody, force.x(), force.y(), force.z());
+}
+
+void ODERigidBody::AddTorque(const Vector3f& torque)
+{
+ dBodyAddTorque(mODEBody, torque.x(), torque.y(), torque.z());
+}
+
+void ODERigidBody::SetPosition(const Vector3f& pos)
+{
+ dBodySetPosition(mODEBody, pos.x(), pos.y(), pos.z());
+ // the parent node will be updated in the next physics cycle
+}
+
+Vector3f ODERigidBody::GetPosition() const
+{
+ const dReal* pos = dBodyGetPosition(mODEBody);
+ return Vector3f(pos[0], pos[1], pos[2]);
+}
+
+void ODERigidBody::TranslateMass(const Vector3f& v)
+{
+ dMass m;
+ dBodyGetMass(mODEBody, &m);
+ dMassTranslate(&m,v[0],v[1],v[2]);
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,103 @@
+/* -*- 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.
+*/
+#ifndef OXYGEN_ODERIGIDBODY_H
+#define OXYGEN_ODERIGIDBODY_H
+
+#include <oxygen/physicsserver/int/rigidbodyint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODERigidBody : public RigidBodyInt
+{
+public:
+ ODERigidBody();
+ virtual ~ODERigidBody();
+
+ dBodyID GetODEBody() const;
+ void Enable();
+ void Disable();
+ bool IsEnabled() const;
+ void UseGravity(bool f);
+ bool UsesGravity() const;
+ void SetMass(float mass);
+ void SetMassParameters(const dMass& mass);
+ float GetMass() const;
+ void GetMassParameters(dMass& mass) const;
+ void SetSphere(float density, float radius);
+ void AddSphere(float density, float radius, const salt::Matrix& matrix);
+ void SetSphereTotal(float total_mass, float radius);
+ void AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix);
+ void SetBox(float density, const salt::Vector3f& size);
+ void AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix);
+ void SetBoxTotal(float total_mass, const salt::Vector3f& size);
+ void AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix);
+ void SetCylinder(float density, float radius, float length);
+ void AddCylinder(float density, float radius, float length, const salt::Matrix& matrix);
+ void SetCylinderTotal(float total_mass, float radius, float length);
+ void AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
+ void SetCapsule(float density, float radius, float length);
+ void AddCapsule(float density, float radius, float length, const salt::Matrix& matrix);
+ void SetCapsuleTotal(float total_mass, float radius, float length);
+ void AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
+ void TranslateMass(const salt::Vector3f& v);
+ salt::Vector3f GetVelocity() const;
+ void SetVelocity(const salt::Vector3f& vel);
+ void SetRotation(const salt::Matrix& rot);
+ salt::Matrix GetRotation() const;
+ salt::Vector3f GetAngularVelocity() const;
+ void SetAngularVelocity(const salt::Vector3f& vel);
+ void AddForce(const salt::Vector3f& force);
+ void AddTorque(const salt::Vector3f& torque);
+ void SetPosition(const salt::Vector3f& pos);
+ salt::Vector3f GetPosition() const;
+ void DestroyPhysicsObject();
+ void SynchronizeParent() const;
+ void AddMass(const dMass& mass, const salt::Matrix& matrix);
+ //salt::Vector3f GetMassCenter() const;
+ boost::shared_ptr<RigidBody> GetBody(dBodyID id); //static in rigidbody.h
+
+protected:
+ void OnLink();
+ bool CreateBody();
+ void PrepareBoxTotal(dMass& mass, float total_mass, const salt::Vector3f& size) const;
+ void PrepareBox(dMass& mass, float density, const salt::Vector3f& size) const;
+ void PrepareSphere(dMass& mass, float density, float radius) const;
+ void PrepareSphereTotal(dMass& mass, float total_mass, float radius) const;
+ void PrepareCylinder(dMass& mass, float density, float radius, float length) const;
+ void PrepareCylinderTotal(dMass& mass, float total_mass, float radius, float length) const;
+ void PrepareCapsule(dMass& mass, float density, float radius, float length) const;
+ void PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const;
+
+private:
+ void PrePhysicsUpdateInternal(float deltaTime);
+ void PostPhysicsUpdateInternal();
+
+protected:
+ dBodyID mODEBody;
+ salt::Vector3f mMassTrans;
+ bool mMassTransformed;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODERIGIDBODY_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,32 @@
+/* -*- 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/odesoftbody.h>
+
+using namespace oxygen;
+
+ODESoftBody::ODESoftBody() : SoftBodyInt(){
+
+}
+
+ODESoftBody::~ODESoftBody(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,39 @@
+/* -*- 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.
+*/
+#ifndef OXYGEN_ODESOFTBODY_H
+#define OXYGEN_ODESOFTBODY_H
+
+#include <oxygen/physicsserver/int/softbodyint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODESoftBody : public SoftBodyInt
+{
+public:
+ ODESoftBody();
+ virtual ~ODESoftBody();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODESOFTBODY_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,32 @@
+/* -*- 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/odestaticbody.h>
+
+using namespace oxygen;
+
+ODEStaticBody::ODEStaticBody() : StaticBodyInt(){
+
+}
+
+ODEStaticBody::~ODEStaticBody(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -0,0 +1,39 @@
+/* -*- 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.
+*/
+#ifndef OXYGEN_ODESTATICBODY_H
+#define OXYGEN_ODESTATICBODY_H
+
+#include <oxygen/physicsserver/int/staticbodyint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEStaticBody : public StaticBodyInt
+{
+public:
+ ODEStaticBody();
+ virtual ~ODEStaticBody();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODESTATICBODY_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-11-26 10:30:24 UTC (rev 109)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -17,13 +17,13 @@
along with this program; if not, write to the Free Software
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-
#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/physicsserver/transformcollider.h>
#include <oxygen/physicsserver/world.h>
+#include <oxygen/physicsserver/ode/oderigidbody.h>
#include <oxygen/sceneserver/scene.h>
-#include "zeitgeist/logserver/logserver.h"
#include <oxygen/sceneserver/transform.h>
+#include <zeitgeist/logserver/logserver.h>
using namespace boost;
using namespace oxygen;
@@ -32,6 +32,7 @@
RigidBody::RigidBody() : Body(), mODEBody(0), mMassTrans(0,0,0), mMassTransformed(false)
{
+ mRigidBodyImp = boost::shared_ptr<ODERigidBody>(new ODERigidBody());
}
RigidBody::~RigidBody()
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-11-26 10:30:24 UTC (rev 109)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -28,6 +28,7 @@
namespace oxygen
{
class World;
+class RigidBodyInt;
/** Body encapsulates an ODE rigid body object. A rigid body has
various properties from the point of view of the simulation. Some
@@ -318,6 +319,8 @@
// Members
//
protected:
+ boost::shared_ptr<RigidBodyInt> mRigidBodyImp;
+
/** the managed ode body */
dBodyID mODEBody;
Added: branches/multiphys/spark/lib/oxygen/physicsserver/softbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/softbody.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/softbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -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) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: body.h 106 2009-11-19 10:10:50Z 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.
+*/
+#include <oxygen/physicsserver/softbody.h>
+#include <oxygen/physicsserver/ode/odesoftbody.h>
+
+using namespace oxygen;
+
+SoftBody::SoftBody() : Body(){
+ mSoftBodyImp = boost::shared_ptr<ODESoftBody>(new ODESoftBody());
+}
+
+SoftBody::~SoftBody(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/softbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/softbody.h 2009-11-26 10:30:24 UTC (rev 109)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/softbody.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class SoftBodyInt;
/**
SoftBody is not yet implemented.
*/
@@ -37,8 +38,10 @@
// Functions
//
public:
- SoftBody() : Body(){};
- virtual ~SoftBody(){};
+ SoftBody();
+ virtual ~SoftBody();
+
+ boost::shared_ptr<SoftBodyInt> mSoftBodyImp;
};
DECLARE_CLASS(SoftBody);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/staticbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/staticbody.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/staticbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
@@ -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) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: body.h 106 2009-11-19 10:10:50Z 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.
+*/
+#include <oxygen/physicsserver/staticbody.h>
+#include <oxygen/physicsserver/ode/odestaticbody.h>
+
+using namespace oxygen;
+
+StaticBody::StaticBody() : Body(){
+ mStaticBodyImp = boost::shared_ptr<ODEStaticBody>(new ODEStaticBody());
+}
+
+StaticBody::~StaticBody(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/staticbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/staticbody.h 2009-11-26 10:30:24 UTC (rev 109)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/staticbody.h 2009-11-30 08:31:04 UTC (rev 110)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class StaticBodyInt;
/**
StaticBody is not yet implemented.
*/
@@ -37,8 +38,10 @@
// Functions
//
public:
- StaticBody() : Body(){};
- virtual ~StaticBody(){};
+ StaticBody();
+ virtual ~StaticBody();
+
+ boost::shared_ptr<StaticBodyInt> mStaticBodyImp;
};
DECLARE_CLASS(StaticBody);
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