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[simspark-svn] SF.net SVN: simspark:[111] branches/multiphys/spark/lib/oxygen/ physicsserver
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From: <a-...@us...> - 2009-12-01 09:08:25
|
Revision: 111
http://simspark.svn.sourceforge.net/simspark/?rev=111&view=rev
Author: a-held
Date: 2009-12-01 09:08:17 +0000 (Tue, 01 Dec 2009)
Log Message:
-----------
Tackled bridge pattern for RigidBody class
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.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/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-11-30 08:31:04 UTC (rev 110)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-01 09:08:17 UTC (rev 111)
@@ -25,6 +25,7 @@
#include <oxygen/oxygen_defines.h>
#include <oxygen/physicsserver/ode/odebody.h>
+#include <iostream>
namespace oxygen
{
@@ -42,6 +43,7 @@
virtual bool IsEnabled() const = 0;
virtual void UseGravity(bool f) = 0;
virtual bool UsesGravity() const = 0;
+ virtual void CreateBody(long world) = 0;
virtual void SetMass(float mass) = 0;
virtual void SetMassParameters(const dMass& mass) = 0;
virtual float GetMass() const = 0;
@@ -74,28 +76,72 @@
virtual void SetPosition(const salt::Vector3f& pos) = 0;
virtual salt::Vector3f GetPosition() const = 0;
virtual void DestroyPhysicsObject() = 0;
- virtual void SynchronizeParent() const = 0;
+ virtual salt::Matrix GetSynchronisationMatrix() = 0;
virtual void AddMass(const dMass& mass, const salt::Matrix& matrix) = 0;
//virtual salt::Vector3f GetMassCenter() const = 0;
+ virtual void BodySetData(RigidBody* rb) = 0;
+ virtual RigidBody* BodyGetData(long bodyID) = 0;
protected:
- virtual void OnLink() = 0;
- virtual bool CreateBody() = 0;
+ /** sets up an ode mass struct representing a box of the given
+ size and total_mass
+ */
virtual void PrepareBoxTotal(dMass& mass, float total_mass, const salt::Vector3f& size) const = 0;
+
+ /** sets up an ode mass struct representing a box of the given
+ density and size
+ */
virtual void PrepareBox(dMass& mass, float density, const salt::Vector3f& size) const = 0;
+
+ /** sets up an ode mass struct representing a sphere of the given
+ density and radius
+ */
virtual void PrepareSphere(dMass& mass, float density, float radius) const = 0;
+
+ /** sets up an ode mass struct representing a sphere of the given
+ radius and total_mass
+ */
virtual void PrepareSphereTotal(dMass& mass, float total_mass, float radius) const = 0;
+
+ /** sets up an ode mass struct representing a flat-ended cylinder
+ of the given parameters and density, with the center of mass
+ at (0,0,0) relative to the body. The radius of the cylinder is
+ radius. The length of the cylinder is length. The cylinder's
+ long axis is oriented along the body's z axis.
+ */
virtual void PrepareCylinder(dMass& mass, float density, float radius, float length) const = 0;
+
+ /** sets up an ode mass struct representing a flat-ended cylinder
+ of the given parameters and total mass, with the center of
+ mass at (0,0,0) relative to the body. The radius of the
+ cylinder is radius. The length of the cylinder is length. The
+ cylinder's long axis is oriented along the body's z axis.
+ */
virtual void PrepareCylinderTotal(dMass& mass, float total_mass, float radius, float length) const = 0;
+
+ /* sets up an ode mass struct representing a capsule of
+ the given parameters and density, with the center of mass at
+ (0,0,0) relative to the body. The radius of the capsule (and
+ the spherical cap) is radius. The length of the capsule (not
+ counting the spherical cap) is length. The capsule's long axis
+ is oriented along the body's z axis.
+ */
virtual void PrepareCapsule(dMass& mass, float density, float radius, float length) const = 0;
+
+ /* sets up an ode mass struct representing a capsule of
+ the given parameters and total mass, with the center of mass at
+ (0,0,0) relative to the body. The radius of the capsule (and
+ the spherical cap) is radius. The length of the capsule (not
+ counting the spherical cap) is length. The capsule's long axis
+ is oriented along the body's z axis.
+ */
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;
+public:
+ long mBodyID;
salt::Vector3f mMassTrans;
bool mMassTransformed;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-01 09:08:17 UTC (rev 111)
@@ -32,8 +32,8 @@
using namespace salt;
using namespace std;
-ODERigidBody::ODERigidBody() : RigidBodyInt(){
-
+ODERigidBody::ODERigidBody() : RigidBodyInt(), mMassTrans(0,0,0), mMassTransformed(false){
+ mBodyID = 0;
}
ODERigidBody::~ODERigidBody(){
@@ -42,22 +42,22 @@
dBodyID ODERigidBody::GetODEBody() const
{
- return mODEBody;
+ return (dBodyID)mBodyID;
}
void ODERigidBody::Enable()
{
- dBodyEnable(mODEBody);
+ dBodyEnable((dBodyID)mBodyID);
}
void ODERigidBody::Disable()
{
- dBodyDisable(mODEBody);
+ dBodyDisable((dBodyID)mBodyID);
}
bool ODERigidBody::IsEnabled() const
{
- return (dBodyIsEnabled(mODEBody) != 0);
+ return (dBodyIsEnabled((dBodyID)mBodyID) != 0);
}
void ODERigidBody::UseGravity(bool f)
@@ -65,99 +65,105 @@
if (f == true)
{
// body is affected by gravity
- dBodySetGravityMode(mODEBody, 1);
+ dBodySetGravityMode((dBodyID)mBodyID, 1);
}
else
{
// body is not affected by gravity
- dBodySetGravityMode(mODEBody, 0);
+ dBodySetGravityMode((dBodyID)mBodyID, 0);
}
}
bool ODERigidBody::UsesGravity() const
{
- return (dBodyGetGravityMode(mODEBody) != 0);
+ return (dBodyGetGravityMode((dBodyID)mBodyID) != 0);
}
-bool ODERigidBody::CreateBody()
+void ODERigidBody::CreateBody(long world)
{
- if (mODEBody != 0)
+ if (mBodyID != 0)
{
- return true;
+ return;
}
- 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;
+ mBodyID = (long) dBodyCreate( (dWorldID) world);
}
void ODERigidBody::DestroyPhysicsObject()
{
- if (mODEBody == 0)
+ if (mBodyID == 0)
{
return;
}
- dBodyDestroy(mODEBody);
- mODEBody = 0;
+ dBodyDestroy((dBodyID)mBodyID);
+ mBodyID = 0;
}
-void ODERigidBody::OnLink()
+void ODERigidBody::BodySetData(RigidBody* rb)
{
- 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());
+ dBodySetData((dBodyID)mBodyID, rb);
}
void ODERigidBody::SetMass(float mass)
{
dMass ODEMass;
- dBodyGetMass(mODEBody, &ODEMass);
+ dBodyGetMass((dBodyID)mBodyID, &ODEMass);
dMassAdjust(&ODEMass, mass);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass((dBodyID)mBodyID, &ODEMass);
}
float ODERigidBody::GetMass() const
{
dMass m;
- dBodyGetMass(mODEBody, &m);
+ dBodyGetMass((dBodyID)mBodyID, &m);
return m.mass;
}
+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((dBodyID)mBodyID, &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((dBodyID)mBodyID, (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::GetMassParameters(dMass& mass) const
{
- dBodyGetMass(mODEBody, &mass);
+ dBodyGetMass((dBodyID)mBodyID, &mass);
}
void ODERigidBody::SetMassParameters(const dMass& mass)
{
- dBodySetMass(mODEBody, &mass);
+ dBodySetMass((dBodyID)mBodyID, &mass);
}
void ODERigidBody::PrepareSphere(dMass& mass, float density, float radius) const
@@ -169,7 +175,7 @@
{
dMass ODEMass;
PrepareSphere(ODEMass, density, radius);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass((dBodyID)mBodyID, &ODEMass);
}
void ODERigidBody::AddSphere(float density, float radius, const Matrix& matrix)
@@ -188,7 +194,7 @@
{
dMass ODEMass;
PrepareSphereTotal(ODEMass, total_mass, radius);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass((dBodyID)mBodyID, &ODEMass);
}
void ODERigidBody::AddSphereTotal(float total_mass, float radius, const Matrix& matrix)
@@ -207,7 +213,7 @@
{
dMass ODEMass;
PrepareBox(ODEMass, density, size);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass((dBodyID)mBodyID, &ODEMass);
}
void ODERigidBody::AddBox(float density, const Vector3f& size, const Matrix& matrix)
@@ -226,7 +232,7 @@
{
dMass ODEMass;
PrepareBoxTotal(ODEMass, total_mass, size);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass((dBodyID)mBodyID, &ODEMass);
}
void ODERigidBody::AddBoxTotal(float total_mass, const Vector3f& size, const Matrix& matrix)
@@ -236,41 +242,6 @@
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)
@@ -283,7 +254,7 @@
{
dMass ODEMass;
PrepareCylinder(ODEMass, density, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass((dBodyID)mBodyID, &ODEMass);
}
void ODERigidBody::AddCylinder (float density, float radius, float length, const Matrix& matrix)
@@ -305,7 +276,7 @@
{
dMass ODEMass;
PrepareCylinderTotal(ODEMass, total_mass, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass((dBodyID)mBodyID, &ODEMass);
}
void ODERigidBody::AddCylinderTotal(float total_mass, float radius, float length, const Matrix& matrix)
@@ -327,7 +298,7 @@
{
dMass ODEMass;
PrepareCapsule(ODEMass, density, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass((dBodyID)mBodyID, &ODEMass);
}
void ODERigidBody::AddCapsule (float density, float radius, float length, const Matrix& matrix)
@@ -349,7 +320,7 @@
{
dMass ODEMass;
PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass((dBodyID)mBodyID, &ODEMass);
}
void ODERigidBody::AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
@@ -361,25 +332,25 @@
Vector3f ODERigidBody::GetVelocity() const
{
- const dReal* vel = dBodyGetLinearVel(mODEBody);
+ const dReal* vel = dBodyGetLinearVel((dBodyID)mBodyID);
return Vector3f(vel[0], vel[1], vel[2]);
}
void ODERigidBody::SetVelocity(const Vector3f& vel)
{
- dBodySetLinearVel(mODEBody, vel[0], vel[1], vel[2]);
+ dBodySetLinearVel((dBodyID)mBodyID, vel[0], vel[1], vel[2]);
}
void ODERigidBody::SetRotation(const Matrix& rot)
{
dMatrix3 m;
ConvertRotationMatrix(rot,m);
- dBodySetRotation(mODEBody,m);
+ dBodySetRotation((dBodyID)mBodyID,m);
}
salt::Matrix ODERigidBody::GetRotation() const
{
- const dReal* m = dBodyGetRotation(mODEBody);
+ const dReal* m = dBodyGetRotation((dBodyID)mBodyID);
salt::Matrix rot;
ConvertRotationMatrix(m,rot);
return rot;
@@ -387,23 +358,19 @@
Vector3f ODERigidBody::GetAngularVelocity() const
{
- const dReal* vel = dBodyGetAngularVel(mODEBody);
+ const dReal* vel = dBodyGetAngularVel((dBodyID)mBodyID);
return Vector3f(vel[0], vel[1], vel[2]);
}
void ODERigidBody::SetAngularVelocity(const Vector3f& vel)
{
- dBodySetAngularVel(mODEBody, vel[0], vel[1], vel[2]);
+ dBodySetAngularVel((dBodyID)mBodyID, vel[0], vel[1], vel[2]);
}
-void ODERigidBody::SynchronizeParent() const
+salt::Matrix ODERigidBody::GetSynchronisationMatrix()
{
- const dReal* pos = dBodyGetPosition(mODEBody);
- const dReal* rot = dBodyGetRotation(mODEBody);
-
- shared_ptr<BaseNode> baseNode = shared_static_cast<BaseNode>
- (GetParent().lock());
-
+ const dReal* pos = dBodyGetPosition((dBodyID)mBodyID);
+ const dReal* rot = dBodyGetRotation((dBodyID)mBodyID);
Matrix mat;
mat.m[0] = rot[0];
@@ -423,7 +390,7 @@
mat.m[14] = pos[2];
mat.m[15] = 1;
- baseNode->SetWorldTransform(mat);
+ return mat;
}
void ODERigidBody::PrePhysicsUpdateInternal(float /*deltaTime*/)
@@ -465,68 +432,39 @@
}
}
-
-void ODERigidBody::PostPhysicsUpdateInternal()
+RigidBody* ODERigidBody::BodyGetData(long bodyID)
{
- SynchronizeParent();
-}
-
-shared_ptr<RigidBody> ODERigidBody::GetBody(dBodyID id)
-{
- if (id == 0)
- {
- return shared_ptr<RigidBody>();
- }
-
RigidBody* bodyPtr =
- static_cast<RigidBody*>(dBodyGetData(id));
+ static_cast<RigidBody*>(dBodyGetData( (dBodyID) bodyID));
- 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;
+ return bodyPtr;
}
void ODERigidBody::AddForce(const Vector3f& force)
{
- dBodyAddForce(mODEBody, force.x(), force.y(), force.z());
+ dBodyAddForce((dBodyID)mBodyID, force.x(), force.y(), force.z());
}
void ODERigidBody::AddTorque(const Vector3f& torque)
{
- dBodyAddTorque(mODEBody, torque.x(), torque.y(), torque.z());
+ dBodyAddTorque((dBodyID)mBodyID, torque.x(), torque.y(), torque.z());
}
void ODERigidBody::SetPosition(const Vector3f& pos)
{
- dBodySetPosition(mODEBody, pos.x(), pos.y(), pos.z());
+ dBodySetPosition((dBodyID)mBodyID, 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);
+ const dReal* pos = dBodyGetPosition((dBodyID)mBodyID);
return Vector3f(pos[0], pos[1], pos[2]);
}
void ODERigidBody::TranslateMass(const Vector3f& v)
{
dMass m;
- dBodyGetMass(mODEBody, &m);
+ dBodyGetMass((dBodyID)mBodyID, &m);
dMassTranslate(&m,v[0],v[1],v[2]);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-11-30 08:31:04 UTC (rev 110)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-12-01 09:08:17 UTC (rev 111)
@@ -43,6 +43,7 @@
void SetMassParameters(const dMass& mass);
float GetMass() const;
void GetMassParameters(dMass& mass) const;
+ void AddMass(const dMass& mass, const salt::Matrix& matrix);
void SetSphere(float density, float radius);
void AddSphere(float density, float radius, const salt::Matrix& matrix);
void SetSphereTotal(float total_mass, float radius);
@@ -71,14 +72,13 @@
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::Matrix GetSynchronisationMatrix();
//salt::Vector3f GetMassCenter() const;
- boost::shared_ptr<RigidBody> GetBody(dBodyID id); //static in rigidbody.h
+ void BodySetData(RigidBody* rb);
+ RigidBody* BodyGetData(long bodyID);
protected:
- void OnLink();
- bool CreateBody();
+ void CreateBody(long world);
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;
@@ -90,10 +90,8 @@
private:
void PrePhysicsUpdateInternal(float deltaTime);
- void PostPhysicsUpdateInternal();
protected:
- dBodyID mODEBody;
salt::Vector3f mMassTrans;
bool mMassTransformed;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-11-30 08:31:04 UTC (rev 110)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-12-01 09:08:17 UTC (rev 111)
@@ -41,59 +41,54 @@
dBodyID RigidBody::GetODEBody() const
{
- return mODEBody;
+ return (dBodyID) mRigidBodyImp->mBodyID;
}
void RigidBody::Enable()
{
- dBodyEnable(mODEBody);
+ mRigidBodyImp->Enable();
}
void RigidBody::Disable()
{
- dBodyDisable(mODEBody);
+ mRigidBodyImp->Disable();
}
bool RigidBody::IsEnabled() const
{
- return (dBodyIsEnabled(mODEBody) != 0);
+ return mRigidBodyImp->IsEnabled();
}
void RigidBody::UseGravity(bool f)
{
- if (f == true)
- {
- // body is affected by gravity
- dBodySetGravityMode(mODEBody, 1);
- }
- else
- {
- // body is not affected by gravity
- dBodySetGravityMode(mODEBody, 0);
- }
+ mRigidBodyImp->UseGravity(f);
}
bool RigidBody::UsesGravity() const
{
- return (dBodyGetGravityMode(mODEBody) != 0);
+ return mRigidBodyImp->UsesGravity();
}
bool RigidBody::CreateBody()
{
- if (mODEBody != 0)
+ long bodyID = mRigidBodyImp->mBodyID;
+
+ if (bodyID != 0)
{
return true;
}
- dWorldID world = GetWorldID();
+ long world = (long) GetWorldID();
if (world == 0)
{
return false;
}
-
- // create the managed body
- mODEBody = dBodyCreate(world);
- if (mODEBody == 0)
+
+ mRigidBodyImp->CreateBody(world);
+
+ mODEBody = (dBodyID) mRigidBodyImp->mBodyID;
+
+ if (mRigidBodyImp->mBodyID == 0)
{
GetLog()->Error()
<< "(Body) ERROR: could not create new ODE body\n";
@@ -105,13 +100,7 @@
void RigidBody::DestroyPhysicsObject()
{
- if (mODEBody == 0)
- {
- return;
- }
-
- dBodyDestroy(mODEBody);
- mODEBody = 0;
+ mRigidBodyImp->DestroyPhysicsObject();
}
void RigidBody::OnLink()
@@ -124,31 +113,31 @@
}
// let the body, take on the world space position of the parent
- dBodySetData(mODEBody, this);
+ mRigidBodyImp->BodySetData(this);
shared_ptr<BaseNode> baseNode = shared_static_cast<BaseNode>
(GetParent().lock());
const Matrix& mat = baseNode->GetWorldTransform();
- SetRotation(mat);
- SetPosition(mat.Pos());
+ mRigidBodyImp->SetRotation(mat);
+ mRigidBodyImp->SetPosition(mat.Pos());
}
void RigidBody::SetMass(float mass)
{
- dMass ODEMass;
- dBodyGetMass(mODEBody, &ODEMass);
- dMassAdjust(&ODEMass, mass);
- dBodySetMass(mODEBody, &ODEMass);
+ mRigidBodyImp->SetMass(mass);
}
float RigidBody::GetMass() const
{
- dMass m;
- dBodyGetMass(mODEBody, &m);
- return m.mass;
+ return mRigidBodyImp->GetMass();
}
+void RigidBody::AddMass(const dMass& mass, const Matrix& matrix)
+{
+ mRigidBodyImp->AddMass(mass, matrix);
+}
+
void RigidBody::GetMassParameters(dMass& mass) const
{
dBodyGetMass(mODEBody, &mass);
@@ -159,268 +148,122 @@
dBodySetMass(mODEBody, &mass);
}
-void RigidBody::PrepareSphere(dMass& mass, float density, float radius) const
-{
- dMassSetSphere(&mass, density, radius);
-}
-
void RigidBody::SetSphere(float density, float radius)
{
- dMass ODEMass;
- PrepareSphere(ODEMass, density, radius);
- dBodySetMass(mODEBody, &ODEMass);
+ mRigidBodyImp->SetSphere(density, radius);
}
void RigidBody::AddSphere(float density, float radius, const Matrix& matrix)
{
- dMass ODEMass;
- PrepareSphere(ODEMass, density, radius);
- AddMass(ODEMass, matrix);
+ mRigidBodyImp->AddSphere(density, radius, matrix);
}
-void RigidBody::PrepareSphereTotal(dMass& mass, float total_mass, float radius) const
-{
- dMassSetSphereTotal(&mass, total_mass, radius);
-}
-
void RigidBody::SetSphereTotal(float total_mass, float radius)
{
- dMass ODEMass;
- PrepareSphereTotal(ODEMass, total_mass, radius);
- dBodySetMass(mODEBody, &ODEMass);
+ mRigidBodyImp->SetSphereTotal(total_mass, radius);
}
void RigidBody::AddSphereTotal(float total_mass, float radius, const Matrix& matrix)
{
- dMass ODEMass;
- PrepareSphereTotal(ODEMass, total_mass, radius);
- AddMass(ODEMass, matrix);
+ mRigidBodyImp->AddSphereTotal(total_mass, radius, matrix);
}
-void RigidBody::PrepareBox(dMass& mass, float density, const Vector3f& size) const
-{
- dMassSetBox(&mass, density, size[0], size[1], size[2]);
-}
-
void RigidBody::SetBox(float density, const Vector3f& size)
{
- dMass ODEMass;
- PrepareBox(ODEMass, density, size);
- dBodySetMass(mODEBody, &ODEMass);
+ mRigidBodyImp->SetBox(density, size);
}
void RigidBody::AddBox(float density, const Vector3f& size, const Matrix& matrix)
{
- dMass ODEMass;
- PrepareBox(ODEMass, density, size);
- AddMass(ODEMass, matrix);
+ mRigidBodyImp->AddBox(density, size, matrix);
}
-void RigidBody::PrepareBoxTotal(dMass& mass, float total_mass, const Vector3f& size) const
-{
- dMassSetBoxTotal(&mass, total_mass, size[0], size[1], size[2]);
-}
-
void RigidBody::SetBoxTotal(float total_mass, const Vector3f& size)
{
- dMass ODEMass;
- PrepareBoxTotal(ODEMass, total_mass, size);
- dBodySetMass(mODEBody, &ODEMass);
+ mRigidBodyImp->SetBoxTotal(total_mass, size);
}
void RigidBody::AddBoxTotal(float total_mass, const Vector3f& size, const Matrix& matrix)
{
- dMass ODEMass;
- PrepareBoxTotal(ODEMass, total_mass, size);
- AddMass(ODEMass, matrix);
+ mRigidBodyImp->AddBoxTotal(total_mass, size, matrix);
}
-void RigidBody::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 RigidBody::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 RigidBody::SetCylinder (float density, float radius, float length)
{
- dMass ODEMass;
- PrepareCylinder(ODEMass, density, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ mRigidBodyImp->SetCylinder(density, radius, length);
}
void RigidBody::AddCylinder (float density, float radius, float length, const Matrix& matrix)
{
- dMass ODEMass;
- PrepareCylinder(ODEMass, density, radius, length);
- AddMass(ODEMass, matrix);
+ mRigidBodyImp->AddCylinder(density, radius, length, matrix);
}
-void RigidBody::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 RigidBody::SetCylinderTotal(float total_mass, float radius, float length)
{
- dMass ODEMass;
- PrepareCylinderTotal(ODEMass, total_mass, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ mRigidBodyImp->SetCylinderTotal(total_mass, radius, length);
}
void RigidBody::AddCylinderTotal(float total_mass, float radius, float length, const Matrix& matrix)
{
- dMass ODEMass;
- PrepareCylinderTotal(ODEMass, total_mass, radius, length);
- AddMass(ODEMass, matrix);
+ mRigidBodyImp->AddCylinderTotal(total_mass, radius, length, matrix);
}
-void RigidBody::PrepareCappedCylinder (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 RigidBody::SetCappedCylinder (float density, float radius, float length)
{
- dMass ODEMass;
- PrepareCappedCylinder(ODEMass, density, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ mRigidBodyImp->SetCapsule(density, radius, length);
}
void RigidBody::AddCappedCylinder (float density, float radius, float length, const Matrix& matrix)
{
- dMass ODEMass;
- PrepareCappedCylinder(ODEMass, density, radius, length);
- AddMass(ODEMass, matrix);
+ mRigidBodyImp->AddCapsule(density, radius, length, matrix);
}
-void RigidBody::PrepareCappedCylinderTotal(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 RigidBody::SetCappedCylinderTotal(float total_mass, float radius, float length)
{
- dMass ODEMass;
- PrepareCappedCylinderTotal(ODEMass, total_mass, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ mRigidBodyImp->SetCapsuleTotal(total_mass, radius, length);
}
void RigidBody::AddCappedCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
{
- dMass ODEMass;
- PrepareCappedCylinderTotal(ODEMass, total_mass, radius, length);
- AddMass(ODEMass, matrix);
+ mRigidBodyImp->AddCapsuleTotal(total_mass, radius, length, matrix);
}
Vector3f RigidBody::GetVelocity() const
{
- const dReal* vel = dBodyGetLinearVel(mODEBody);
- return Vector3f(vel[0], vel[1], vel[2]);
+ return mRigidBodyImp->GetVelocity();
}
void RigidBody::SetVelocity(const Vector3f& vel)
{
- dBodySetLinearVel(mODEBody, vel[0], vel[1], vel[2]);
+ mRigidBodyImp->SetVelocity(vel);
}
void RigidBody::SetRotation(const Matrix& rot)
{
- dMatrix3 m;
- ConvertRotationMatrix(rot,m);
- dBodySetRotation(mODEBody,m);
+ mRigidBodyImp->SetRotation(rot);
}
salt::Matrix RigidBody::GetRotation() const
{
- const dReal* m = dBodyGetRotation(mODEBody);
- salt::Matrix rot;
- ConvertRotationMatrix(m,rot);
- return rot;
+ return mRigidBodyImp->GetRotation();
}
Vector3f RigidBody::GetAngularVelocity() const
{
- const dReal* vel = dBodyGetAngularVel(mODEBody);
- return Vector3f(vel[0], vel[1], vel[2]);
+ return mRigidBodyImp->GetAngularVelocity();
}
void RigidBody::SetAngularVelocity(const Vector3f& vel)
{
- dBodySetAngularVel(mODEBody, vel[0], vel[1], vel[2]);
+ mRigidBodyImp->SetAngularVelocity(vel);
}
void RigidBody::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;
+ Matrix mat = mRigidBodyImp->GetSynchronisationMatrix();
baseNode->SetWorldTransform(mat);
}
@@ -428,7 +271,7 @@
void RigidBody::PrePhysicsUpdateInternal(float /*deltaTime*/)
{
// Check whether mass/body has been translated
- if (mMassTransformed)
+ if (mRigidBodyImp->mMassTransformed)
{
weak_ptr<Node> parent = GetParent();
@@ -459,8 +302,8 @@
transform->SetWorldTransform(worldTransform);
}
- mMassTrans = Vector3f(0,0,0);
- mMassTransformed = false;
+ mRigidBodyImp->mMassTrans = Vector3f(0,0,0);
+ mRigidBodyImp->mMassTransformed = false;
}
}
@@ -472,18 +315,19 @@
shared_ptr<RigidBody> RigidBody::GetBody(dBodyID id)
{
- if (id == 0)
+ long bodyID = (long) id;
+ if (bodyID == 0)
{
return shared_ptr<RigidBody>();
}
RigidBody* bodyPtr =
- static_cast<RigidBody*>(dBodyGetData(id));
+ static_cast<RigidBody*>(dBodyGetData( (dBodyID) bodyID));
if (bodyPtr == 0)
{
// we cannot use the logserver here
- cerr << "ERROR: (RigidBody) no body found for dBodyID "
+ cerr << "ERROR: (RigidBody) no body found for BodyID "
<< id << "\n";
return shared_ptr<RigidBody>();
}
@@ -503,29 +347,25 @@
void RigidBody::AddForce(const Vector3f& force)
{
- dBodyAddForce(mODEBody, force.x(), force.y(), force.z());
+ mRigidBodyImp->AddForce(force);
}
void RigidBody::AddTorque(const Vector3f& torque)
{
- dBodyAddTorque(mODEBody, torque.x(), torque.y(), torque.z());
+ mRigidBodyImp->AddTorque(torque);
}
void RigidBody::SetPosition(const Vector3f& pos)
{
- dBodySetPosition(mODEBody, pos.x(), pos.y(), pos.z());
- // the parent node will be updated in the next physics cycle
+ mRigidBodyImp->SetPosition(pos);
}
Vector3f RigidBody::GetPosition() const
{
- const dReal* pos = dBodyGetPosition(mODEBody);
- return Vector3f(pos[0], pos[1], pos[2]);
+ return mRigidBodyImp->GetPosition();
}
void RigidBody::TranslateMass(const Vector3f& v)
{
- dMass m;
- dBodyGetMass(mODEBody, &m);
- dMassTranslate(&m,v[0],v[1],v[2]);
+ mRigidBodyImp->TranslateMass(v);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-11-30 08:31:04 UTC (rev 110)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-12-01 09:08:17 UTC (rev 111)
@@ -85,6 +85,11 @@
/** returns the ODE mass parameters of this body */
void GetMassParameters(dMass& mass) const;
+
+ /** adds the given ode mass to this body. The given matrix is
+ applied to the mass center
+ */
+ void AddMass(const dMass& mass, const salt::Matrix& matrix);
/** sets the mass parameters to represent a sphere of the given
radius and density, with the center of mass at (0,0,0)
@@ -235,11 +240,6 @@
*/
void SynchronizeParent() const;
- /** adds the given ode mass to this body. The given matrix is
- applied to the mass center
- */
- void AddMass(const dMass& mass, const salt::Matrix& matrix);
-
salt::Vector3f GetMassCenter() const;
protected:
@@ -251,60 +251,6 @@
/** create the managed ODE body; returns true on success */
bool CreateBody();
- /** sets up an ode mass struct representing a box of the given
- size and total_mass
- */
- void PrepareBoxTotal(dMass& mass, float total_mass, const salt::Vector3f& size) const;
-
- /** sets up an ode mass struct representing a box of the given
- density and size
- */
- void PrepareBox(dMass& mass, float density, const salt::Vector3f& size) const;
-
- /** sets up an ode mass struct representing a sphere of the given
- density and radius
- */
- void PrepareSphere(dMass& mass, float density, float radius) const;
-
- /** sets up an ode mass struct representing a sphere of the given
- radius and total_mass
- */
- void PrepareSphereTotal(dMass& mass, float total_mass, float radius) const;
-
- /** sets up an ode mass struct representing a flat-ended cylinder
- of the given parameters and density, with the center of mass
- at (0,0,0) relative to the body. The radius of the cylinder is
- radius. The length of the cylinder is length. The cylinder's
- long axis is oriented along the body's z axis.
- */
- void PrepareCylinder (dMass& mass, float density, float radius, float length) const;
-
- /** sets up an ode mass struct representing a flat-ended cylinder
- of the given parameters and total mass, with the center of
- mass at (0,0,0) relative to the body. The radius of the
- cylinder is radius. The length of the cylinder is length. The
- cylinder's long axis is oriented along the body's z axis.
- */
- void PrepareCylinderTotal(dMass& mass, float total_mass, float radius, float length) const;
-
- /* sets up an ode mass struct representing a capped cylinder of
- the given parameters and density, with the center of mass at
- (0,0,0) relative to the body. The radius of the cylinder (and
- the spherical cap) is radius. The length of the cylinder (not
- counting the spherical cap) is length. The cylinder's long axis
- is oriented along the body's z axis.
- */
- void PrepareCappedCylinder (dMass& mass, float density, float radius, float length) const;
-
- /* sets up an ode mass struct representing a capped cylinder of
- the given parameters and total mass, with the center of mass at
- (0,0,0) relative to the body. The radius of the cylinder (and
- the spherical cap) is radius. The length of the cylinder (not
- counting the spherical cap) is length. The cylinder's long axis
- is oriented along the body's z axis.
- */
- void PrepareCappedCylinderTotal(dMass& mass, float total_mass, float radius, float length) const;
-
private:
/** updates internal state before physics calculation */
virtual void PrePhysicsUpdateInternal(float deltaTime);
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