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[simspark-svn] SF.net SVN: simspark:[112] branches/multiphys/spark
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From: <a-...@us...> - 2009-12-02 10:06:12
|
Revision: 112
http://simspark.svn.sourceforge.net/simspark/?rev=112&view=rev
Author: a-held
Date: 2009-12-02 10:06:02 +0000 (Wed, 02 Dec 2009)
Log Message:
-----------
Improved bridge pattern for World class
nearly completed bridge pattern for PhysicsObject
did some more work on the RigidBody class, too
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/body.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.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/physicsobjectint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsserverint.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/spaceint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/joint.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/odephysicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.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/odespace.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.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/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/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/space.h
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/world.h
branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -34,13 +34,13 @@
void AngularMotor::OnLink()
{
- dWorldID world = GetWorldID();
+ long world = GetWorldID();
if (world == 0)
{
return;
}
- mODEJoint = dJointCreateAMotor(world, 0);
+ mODEJoint = dJointCreateAMotor((dWorldID) world, 0);
}
void AngularMotor::SetMode(EMotorMode mode)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -33,13 +33,13 @@
void BallJoint::OnLink()
{
- dWorldID world = GetWorldID();
+ long world = GetWorldID();
if (world == 0)
{
return;
}
- mODEJoint = dJointCreateBall(world, 0);
+ mODEJoint = dJointCreateBall((dWorldID) world, 0);
}
void BallJoint::SetAnchor(const Vector3f& anchor)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -23,6 +23,7 @@
#define OXYGEN_BODY_H
#include <oxygen/physicsserver/physicsobject.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -68,14 +68,14 @@
// this geom is independent, so register to space and body
// if we have a space add the geom to it
- dSpaceID space = FindSpaceID();
+ long spaceID = FindSpaceID();
if (
- (space) &&
- (! dSpaceQuery(space, mODEGeom))
+ (spaceID) &&
+ (! dSpaceQuery((dSpaceID) spaceID, mODEGeom))
)
{
dGeomSetData(mODEGeom, this);
- dSpaceAdd(space, mODEGeom);
+ dSpaceAdd((dSpaceID) spaceID, mODEGeom);
}
// if there is a Body below our parent, link to it
shared_ptr<RigidBody> body = shared_static_cast<RigidBody>
@@ -83,7 +83,7 @@
if (body.get() != 0)
{
- dGeomSetBody (mODEGeom, body->GetODEBody());
+ dGeomSetBody (mODEGeom, (dBodyID) body->GetBodyID());
} else
{
// no body node found, setup initial position and
@@ -98,7 +98,7 @@
PhysicsObject::OnUnlink();
// remove collision geometry from space
- dSpaceID space = GetParentSpaceID();
+ long space = GetParentSpaceID();
if (
(mODEGeom == 0) ||
@@ -110,7 +110,7 @@
if (space)
{
- dSpaceRemove(space, mODEGeom);
+ dSpaceRemove((dSpaceID) space, mODEGeom);
}
}
@@ -230,14 +230,14 @@
return Vector3f(pos[0],pos[1],pos[2]);
}
-dSpaceID Collider::GetParentSpaceID()
+long Collider::GetParentSpaceID()
{
if (mODEGeom == 0)
{
return 0;
}
- return dGeomGetSpace(mODEGeom);
+ return (long) dGeomGetSpace(mODEGeom);
}
bool Collider::Intersects(boost::shared_ptr<Collider> collider)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -22,6 +22,7 @@
#ifndef OXYGEN_COLLIDER_H
#define OXYGEN_COLLIDER_H
+#include <oxygen/physicsserver/ode/odewrapper.h>
#include <oxygen/physicsserver/physicsobject.h>
#include <oxygen/oxygen_defines.h>
#include <string>
@@ -124,7 +125,7 @@
bool Intersects(boost::shared_ptr<Collider> collider);
/** returns the ODE handle ID of the containing parent space */
- virtual dSpaceID GetParentSpaceID();
+ virtual long GetParentSpaceID();
/** Add/Reomve a collider name that not collide with */
void AddNotCollideWithColliderName(const std::string & colliderName, bool isAdd);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -188,7 +188,7 @@
// create the contact joint and attach it to the body
dJointID joint = dJointCreateContact
- (mWorld->GetODEWorld(), mSpace->GetODEJointGroup(), &contact);
+ ((dWorldID) mWorld->GetWorldID(), mSpace->GetODEJointGroup(), &contact);
dJointAttach (joint, myBody, collideeBody);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -34,13 +34,13 @@
void FixedJoint::OnLink()
{
- dWorldID world = GetWorldID();
+ long world = GetWorldID();
if (world == 0)
{
return;
}
- mODEJoint = dJointCreateFixed(world, 0);
+ mODEJoint = dJointCreateFixed((dWorldID) world, 0);
}
void FixedJoint::SetParameter(int /*parameter*/, float /*value*/)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -34,13 +34,13 @@
void Hinge2Joint::OnLink()
{
- dWorldID world = GetWorldID();
+ long world = GetWorldID();
if (world == 0)
{
return;
}
- mODEJoint = dJointCreateHinge2(world, 0);
+ mODEJoint = dJointCreateHinge2((dWorldID) world, 0);
}
void Hinge2Joint::SetAnchor(const Vector3f& anchor)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -34,13 +34,13 @@
void HingeJoint::OnLink()
{
- dWorldID world = GetWorldID();
+ long world = GetWorldID();
if (world == 0)
{
return;
}
- mODEJoint = dJointCreateHinge(world, 0);
+ mODEJoint = dJointCreateHinge((dWorldID) world, 0);
}
void HingeJoint::SetAnchor(const Vector3f& anchor)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/bodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/bodyint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/bodyint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -32,9 +32,9 @@
class OXYGEN_API BodyInt : public ODEPhysicsObject
{
-public:
- BodyInt() : ODEPhysicsObject(){};
- virtual ~BodyInt(){};
+protected:
+ BodyInt() : ODEPhysicsObject(){
+ };
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -32,9 +32,8 @@
class OXYGEN_API DynamicBodyInt : public ODEBody
{
-public:
+protected:
DynamicBodyInt() : ODEBody(){};
- virtual ~DynamicBodyInt(){};
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -30,26 +30,17 @@
namespace oxygen
{
-class World;
-class Space;
-class OXYGEN_API PhysicsObjectInt : public BaseNode
+class OXYGEN_API PhysicsObjectInt
{
-public:
- PhysicsObjectInt(){};
- virtual ~PhysicsObjectInt(){};
-
- virtual dWorldID GetWorldID() = 0;
- virtual dSpaceID FindSpaceID() = 0;
- virtual dSpaceID GetParentSpaceID() = 0;
+public:
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;
+protected:
+ PhysicsObjectInt(){
+ };
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsserverint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsserverint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsserverint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -31,9 +31,8 @@
class OXYGEN_API PhysicsServerInt
{
-public:
+protected:
PhysicsServerInt(){};
- virtual ~PhysicsServerInt(){};
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -34,10 +34,6 @@
{
public:
- RigidBodyInt() : ODEBody(){};
- virtual ~RigidBodyInt(){};
-
- virtual dBodyID GetODEBody() const = 0;
virtual void Enable() = 0;
virtual void Disable() = 0;
virtual bool IsEnabled() const = 0;
@@ -82,7 +78,16 @@
virtual void BodySetData(RigidBody* rb) = 0;
virtual RigidBody* BodyGetData(long bodyID) = 0;
+ virtual long GetBodyID() = 0;
+ virtual salt::Vector3f GetMassTrans() = 0;
+ virtual void SetMassTrans(salt::Vector3f massTrans) = 0;
+ virtual bool GetMassTransformed() = 0;
+ virtual void SetMassTransformed(bool f) = 0;
+
protected:
+ RigidBodyInt() : ODEBody(), mBodyID(0), mMassTrans(0,0,0), mMassTransformed(false){
+ };
+
/** sets up an ode mass struct representing a box of the given
size and total_mass
*/
@@ -137,10 +142,7 @@
*/
virtual void PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const = 0;
-private:
- virtual void PrePhysicsUpdateInternal(float deltaTime) = 0;
-
-public:
+protected:
long mBodyID;
salt::Vector3f mMassTrans;
bool mMassTransformed;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -32,9 +32,8 @@
class OXYGEN_API SoftBodyInt : public ODEBody
{
-public:
+protected:
SoftBodyInt() : ODEBody(){};
- virtual ~SoftBodyInt(){};
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -39,15 +39,12 @@
public:
typedef std::set<dSpaceID> TSpaceIdSet;
- SpaceInt() : ODEPhysicsObject(){};
- virtual ~SpaceInt(){};
-
//virtual void collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2) = 0;
- virtual dSpaceID GetODESpace() const = 0;
+ virtual long GetSpaceID() const = 0;
virtual dJointGroupID GetODEJointGroup() const = 0;
virtual void Collide() = 0;
virtual void DestroyPhysicsObject() = 0;
- virtual dSpaceID GetParentSpaceID() = 0;
+ virtual long GetParentSpaceID() = 0;
virtual bool IsGlobalSpace() = 0;
virtual void DisableInnerCollision(bool disable) = 0;
virtual bool GetDisableInnerCollision() const = 0;
@@ -61,6 +58,10 @@
virtual void DestroySpaceObjects() = 0;
boost::shared_ptr<Scene> scene;
+
+protected:
+ SpaceInt() : ODEPhysicsObject(){
+ };
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -32,9 +32,8 @@
class OXYGEN_API StaticBodyInt : public ODEBody
{
-public:
+protected:
StaticBodyInt() : ODEBody(){};
- virtual ~StaticBodyInt(){};
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -32,10 +32,7 @@
{
public:
- WorldInt() : ODEPhysicsObject(){};
- virtual ~WorldInt(){};
-
- virtual dWorldID GetODEWorld() const = 0;
+ virtual long GetWorldID() const = 0;
virtual void SetGravity(const salt::Vector3f& gravity) = 0;
virtual salt::Vector3f GetGravity() const = 0;
virtual void SetERP(float erp) = 0;
@@ -47,8 +44,14 @@
virtual void SetAutoDisableFlag(bool flag) = 0;
virtual void SetContactSurfaceLayer(float depth) = 0;
virtual float GetContactSurfaceLayer() const = 0;
- virtual void DestroyPhysicsObject() = 0;
- virtual bool ConstructInternal() = 0;
+ virtual void CreateWorld() = 0;
+ virtual void DestroyWorld() = 0;
+
+protected:
+ WorldInt() : ODEPhysicsObject(), mWorldID(0){
+ };
+
+ long mWorldID;
};
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -88,7 +88,7 @@
}
string path1,path2;
- dBodyID id1,id2;
+ long id1,id2;
static const char strStaticEnv[] = "<static environment>";
@@ -98,7 +98,7 @@
path1 = strStaticEnv;
} else
{
- id1 = body1->GetODEBody();
+ id1 = body1->GetBodyID();
path1 = body1->GetFullPath();
}
@@ -108,14 +108,14 @@
path2 = strStaticEnv;
} else
{
- id2 = body2->GetODEBody();
+ id2 = body2->GetBodyID();
path2 = body2->GetFullPath();
}
GetLog()->Debug() << "(Joint) Attaching '" << path1 << "' to '"
<< path2 << '\n';
- dJointAttach(mODEJoint, id1, id2);
+ dJointAttach(mODEJoint, (dBodyID) id1, (dBodyID) id2);
}
shared_ptr<RigidBody> Joint::GetBody(const std::string& path)
@@ -179,7 +179,7 @@
}
const bool connected =
- (dAreConnected(body1->GetODEBody(),body2->GetODEBody())
+ (dAreConnected((dBodyID) body1->GetBodyID(), (dBodyID) body2->GetBodyID())
== 1);
return connected;
@@ -198,8 +198,8 @@
}
const bool connected =
- (dAreConnectedExcluding(body1->GetODEBody(),
- body2->GetODEBody(),
+ (dAreConnectedExcluding((dBodyID) body1->GetBodyID(),
+ (dBodyID) body2->GetBodyID(),
joint_type
)
== 1);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -23,6 +23,7 @@
#define OXYGEN_JOINT_H
#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
#include <oxygen/physicsserver/physicsobject.h>
namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -26,7 +26,3 @@
ODEBody::ODEBody() : BodyInt(){
}
-
-ODEBody::~ODEBody(){
-
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -31,7 +31,6 @@
{
public:
ODEBody();
- virtual ~ODEBody();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -26,7 +26,3 @@
ODEDynamicBody::ODEDynamicBody() : DynamicBodyInt(){
}
-
-ODEDynamicBody::~ODEDynamicBody(){
-
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -31,7 +31,6 @@
{
public:
ODEDynamicBody();
- virtual ~ODEDynamicBody();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -33,48 +33,6 @@
{
}
-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];
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -29,21 +29,11 @@
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;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -32,19 +32,30 @@
using namespace salt;
using namespace std;
-ODERigidBody::ODERigidBody() : RigidBodyInt(), mMassTrans(0,0,0), mMassTransformed(false){
- mBodyID = 0;
+ODERigidBody::ODERigidBody() : RigidBodyInt(){
}
-ODERigidBody::~ODERigidBody(){
+long ODERigidBody::GetBodyID()
+{
+ return mBodyID;
+}
+salt::Vector3f ODERigidBody::GetMassTrans(){
+ return mMassTrans;
}
-dBodyID ODERigidBody::GetODEBody() const
-{
- return (dBodyID)mBodyID;
+void ODERigidBody::SetMassTrans(Vector3f massTrans){
+ mMassTrans = massTrans;
}
+bool ODERigidBody::GetMassTransformed(){
+ return mMassTransformed;
+}
+
+void ODERigidBody::SetMassTransformed(bool f){
+ mMassTransformed = f;
+}
+
void ODERigidBody::Enable()
{
dBodyEnable((dBodyID)mBodyID);
@@ -393,45 +404,6 @@
return 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;
- }
-}
-
RigidBody* ODERigidBody::BodyGetData(long bodyID)
{
RigidBody* bodyPtr =
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -31,9 +31,7 @@
{
public:
ODERigidBody();
- virtual ~ODERigidBody();
- dBodyID GetODEBody() const;
void Enable();
void Disable();
bool IsEnabled() const;
@@ -77,6 +75,12 @@
void BodySetData(RigidBody* rb);
RigidBody* BodyGetData(long bodyID);
+ long GetBodyID();
+ salt::Vector3f GetMassTrans();
+ void SetMassTrans(salt::Vector3f massTrans);
+ bool GetMassTransformed();
+ void SetMassTransformed(bool f);
+
protected:
void CreateBody(long world);
void PrepareBoxTotal(dMass& mass, float total_mass, const salt::Vector3f& size) const;
@@ -87,13 +91,6 @@
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);
-
-protected:
- salt::Vector3f mMassTrans;
- bool mMassTransformed;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -26,7 +26,3 @@
ODESoftBody::ODESoftBody() : SoftBodyInt(){
}
-
-ODESoftBody::~ODESoftBody(){
-
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -31,7 +31,6 @@
{
public:
ODESoftBody();
- virtual ~ODESoftBody();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -42,15 +42,11 @@
{
}
-ODESpace::~ODESpace()
+long ODESpace::GetSpaceID() const
{
+ return (long) mODESpace;
}
-dSpaceID ODESpace::GetODESpace() const
-{
- return mODESpace;
-}
-
dJointGroupID ODESpace::GetODEJointGroup() const
{
return mODEContactGroup;
@@ -184,32 +180,29 @@
void ODESpace::OnUnlink()
{
DisableInnerCollision(false);
- ODEPhysicsObject::OnUnlink();
}
void ODESpace::OnLink()
{
- ODEPhysicsObject::OnLink();
+ /*shared_ptr<Space> space = GetSpace();
+ dSpaceID spaceID = 0;
- //shared_ptr<Space> space = GetSpace();
- dSpaceID spaceId = 0;
-
if (space.get() != 0)
{
- spaceId = space->GetODESpace();
+ spaceID = (dSpaceID) space->GetSpaceID();
}
- mODESpace = dHashSpaceCreate(spaceId);
+ mODESpace = dHashSpaceCreate(spaceID);*/
}
-dSpaceID ODESpace::GetParentSpaceID()
+long ODESpace::GetParentSpaceID()
{
if (mODESpace == 0)
{
return 0;
}
- return dGeomGetSpace((dGeomID)mODESpace);
+ return (long) dGeomGetSpace((dGeomID)mODESpace);
}
bool ODESpace::IsGlobalSpace()
@@ -235,8 +228,8 @@
dJointGroupEmpty (mODEContactGroup);
}
-void ODESpace::DestroySpaceObjects()
-{
+void ODESpace::DestroySpaceObjects(){}
+/*{
if (scene.get() == 0)
{
return;
@@ -263,19 +256,19 @@
// destroy objects registered to this space; the top level
// space object also destroy any other ODE object
- const dSpaceID parentSpace = object->GetParentSpaceID();
+ const long parentSpace = object->GetParentSpaceID();
if (
(
(globalSpace) &&
(parentSpace == 0)
) ||
- (parentSpace == mODESpace)
+ (parentSpace == (long) mODESpace)
)
{
object->DestroyPhysicsObject();
}
}
-}
+}*/
void ODESpace::DestroyPhysicsObject()
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -36,13 +36,12 @@
public:
ODESpace();
- virtual ~ODESpace();
- dSpaceID GetODESpace() const;
+ long GetSpaceID() const;
dJointGroupID GetODEJointGroup() const;
void Collide();
virtual void DestroyPhysicsObject();
- virtual dSpaceID GetParentSpaceID();
+ virtual long GetParentSpaceID();
bool IsGlobalSpace();
void DisableInnerCollision(bool disable);
bool GetDisableInnerCollision() const;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -26,7 +26,3 @@
ODEStaticBody::ODEStaticBody() : StaticBodyInt(){
}
-
-ODEStaticBody::~ODEStaticBody(){
-
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -31,7 +31,6 @@
{
public:
ODEStaticBody();
- virtual ~ODEStaticBody();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -27,22 +27,18 @@
using namespace oxygen;
using namespace salt;
-ODEWorld::ODEWorld() : WorldInt(), mODEWorld(0)
+ODEWorld::ODEWorld() : WorldInt()
{
}
-ODEWorld::~ODEWorld()
+long ODEWorld::GetWorldID() const
{
+ return mWorldID;
}
-dWorldID ODEWorld::GetODEWorld() const
-{
- return mODEWorld;
-}
-
void ODEWorld::SetGravity(const Vector3f& gravity)
{
- dWorldSetGravity(mODEWorld,
+ dWorldSetGravity((dWorldID) mWorldID,
gravity.x(),
gravity.y(),
gravity.z()
@@ -52,87 +48,62 @@
salt::Vector3f ODEWorld::GetGravity() const
{
dVector3 dGravity;
- dWorldGetGravity(mODEWorld,dGravity);
+ dWorldGetGravity((dWorldID) mWorldID,dGravity);
return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
}
void ODEWorld::SetERP(float erp)
{
- dWorldSetERP(mODEWorld, erp);
+ dWorldSetERP((dWorldID) mWorldID, erp);
}
float ODEWorld::GetERP() const
{
- return dWorldGetERP(mODEWorld);
+ return dWorldGetERP((dWorldID) mWorldID);
}
void ODEWorld::SetCFM(float cfm)
{
- dWorldSetCFM(mODEWorld, cfm);
+ dWorldSetCFM((dWorldID) mWorldID, cfm);
}
float ODEWorld::GetCFM() const
{
- return dWorldGetCFM(mODEWorld);
+ return dWorldGetCFM((dWorldID) mWorldID);
}
void ODEWorld::Step(float deltaTime)
{
- dWorldStep(mODEWorld, deltaTime);
+ dWorldStep((dWorldID) mWorldID, deltaTime);
}
bool ODEWorld::GetAutoDisableFlag() const
{
- return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
+ return (dWorldGetAutoDisableFlag((dWorldID) mWorldID) == 1);
}
void ODEWorld::SetAutoDisableFlag(bool flag)
{
- dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
+ dWorldSetAutoDisableFlag((dWorldID) mWorldID, static_cast<int>(flag));
}
void ODEWorld::SetContactSurfaceLayer(float depth)
{
- dWorldSetContactSurfaceLayer(mODEWorld, depth);
+ dWorldSetContactSurfaceLayer((dWorldID) mWorldID, depth);
}
float ODEWorld::GetContactSurfaceLayer() const
{
- return dWorldGetContactSurfaceLayer(mODEWorld);
+ return dWorldGetContactSurfaceLayer((dWorldID) mWorldID);
}
-bool ODEWorld::ConstructInternal()
+void ODEWorld::CreateWorld()
{
- // create an ode world
- mODEWorld = dWorldCreate();
-
- return (mODEWorld != 0);
+ mWorldID = (long) dWorldCreate();
}
-void ODEWorld::DestroyPhysicsObject()
+void ODEWorld::DestroyWorld()
{
- static bool recurseLock = false;
- if (recurseLock)
- {
- return;
- }
-
- recurseLock = true;
-
- //shared_ptr<Space> space = GetSpace();
- if (space.get() != 0)
- {
- space->DestroyPhysicsObject();
- }
-
- if (mODEWorld == 0)
- {
- return;
- }
-
- // release the ODE world
- dWorldDestroy(mODEWorld);
- mODEWorld = 0;
-
- recurseLock = false;
+ dWorldDestroy((dWorldID) mWorldID);
+ mWorldID = 0;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -33,9 +33,8 @@
public:
ODEWorld();
- virtual ~ODEWorld();
- dWorldID GetODEWorld() const;
+ long GetWorldID() const;
void SetGravity(const salt::Vector3f& gravity);
salt::Vector3f GetGravity() const;
void SetERP(float erp);
@@ -47,13 +46,8 @@
void SetAutoDisableFlag(bool flag);
void SetContactSurfaceLayer(float depth);
float GetContactSurfaceLayer() const;
- virtual void DestroyPhysicsObject();
-
-protected:
- virtual bool ConstructInternal();
-
-private:
- dWorldID mODEWorld;
+ void CreateWorld();
+ void DestroyWorld();
};
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -41,7 +41,7 @@
void PhysicsObject::OnUnlink()
{
- mPhysicsObjectImp->DestroyPhysicsObject();
+ DestroyPhysicsObject();
}
/** returns the world node */
@@ -91,38 +91,48 @@
return spaceNode;
}
-dWorldID PhysicsObject::GetWorldID()
-{
- mPhysicsObjectImp->world = GetWorld();
-
+long PhysicsObject::GetWorldID()
+{
shared_ptr<World> world = GetWorld();
- //mPhysicsObjectImp->GetWorld();
if (world.get() == 0)
{
return 0;
}
- dWorldID worldId = world->GetODEWorld();
- if (worldId == 0)
+ long worldID = world->GetWorldID();
+
+ if (worldID == 0)
{
GetLog()->Error()
<< "(ODEObject) ERROR: World returned empty ODE handle\n";
}
- return worldId;
+ return worldID;
}
-dSpaceID PhysicsObject::FindSpaceID()
+long PhysicsObject::FindSpaceID()
{
- mPhysicsObjectImp->space = GetSpace();
-
- return mPhysicsObjectImp->FindSpaceID();
+ shared_ptr<Space> space = GetSpace();
+ if (space.get() == 0)
+ {
+ return 0;
+ }
+
+ long spaceID = space->GetSpaceID();
+
+ if (spaceID == 0)
+ {
+ GetLog()->Error()
+ << "(ODEObject) ERROR: Space returned empty ODE handle\n";
+ }
+
+ return spaceID;
}
-dSpaceID PhysicsObject::GetParentSpaceID()
+long PhysicsObject::GetParentSpaceID()
{
- return mPhysicsObjectImp->GetParentSpaceID();
+ return 0;
}
void PhysicsObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -51,13 +51,13 @@
virtual void OnUnlink();
/** returns the ODE world handle */
- dWorldID GetWorldID();
+ long GetWorldID();
/** returns the nearest parent space ODE handle */
- dSpaceID FindSpaceID();
+ long FindSpaceID();
/** returns the ODE handle ID of the containing parent space */
- virtual dSpaceID GetParentSpaceID();
+ virtual long GetParentSpaceID();
/** this method is not implemented here because PhysicsObject is an
abstract class. However, it is declared here so that it can be
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -39,9 +39,9 @@
{
}
-dBodyID RigidBody::GetODEBody() const
+long RigidBody::GetBodyID() const
{
- return (dBodyID) mRigidBodyImp->mBodyID;
+ return mRigidBodyImp->GetBodyID();
}
void RigidBody::Enable()
@@ -71,7 +71,7 @@
bool RigidBody::CreateBody()
{
- long bodyID = mRigidBodyImp->mBodyID;
+ long bodyID = mRigidBodyImp->GetBodyID();
if (bodyID != 0)
{
@@ -86,9 +86,9 @@
mRigidBodyImp->CreateBody(world);
- mODEBody = (dBodyID) mRigidBodyImp->mBodyID;
+ mODEBody = (dBodyID) mRigidBodyImp->GetBodyID();
- if (mRigidBodyImp->mBodyID == 0)
+ if (mRigidBodyImp->GetBodyID() == 0)
{
GetLog()->Error()
<< "(Body) ERROR: could not create new ODE body\n";
@@ -140,12 +140,12 @@
void RigidBody::GetMassParameters(dMass& mass) const
{
- dBodyGetMass(mODEBody, &mass);
+ mRigidBodyImp->GetMassParameters(mass);
}
void RigidBody::SetMassParameters(const dMass& mass)
{
- dBodySetMass(mODEBody, &mass);
+ mRigidBodyImp->SetMassParameters(mass);
}
void RigidBody::SetSphere(float density, float radius)
@@ -271,7 +271,7 @@
void RigidBody::PrePhysicsUpdateInternal(float /*deltaTime*/)
{
// Check whether mass/body has been translated
- if (mRigidBodyImp->mMassTransformed)
+ if (mRigidBodyImp->GetMassTransformed())
{
weak_ptr<Node> parent = GetParent();
@@ -302,8 +302,8 @@
transform->SetWorldTransform(worldTransform);
}
- mRigidBodyImp->mMassTrans = Vector3f(0,0,0);
- mRigidBodyImp->mMassTransformed = false;
+ mRigidBodyImp->SetMassTrans(Vector3f(0,0,0));
+ mRigidBodyImp->SetMassTransformed(false);
}
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -47,7 +47,7 @@
virtual ~RigidBody();
/** returns the ID of the mangaged ODE body */
- dBodyID GetODEBody() const;
+ long GetBodyID() const;
/** enables this body. Each body can be enabled or
disabled. Disabled bodies are effectively turned off and are
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -34,13 +34,13 @@
void SliderJoint::OnLink()
{
- dWorldID world = GetWorldID();
+ long world = GetWorldID();
if (world == 0)
{
return;
}
- mODEJoint = dJointCreateSlider(world, 0);
+ mODEJoint = dJointCreateSlider((dWorldID) world, 0);
}
void SliderJoint::Attach(shared_ptr<RigidBody> body1, shared_ptr<RigidBody> body2)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -47,9 +47,9 @@
{
}
-dSpaceID Space::GetODESpace() const
+long Space::GetSpaceID() const
{
- return mSpaceImp->GetODESpace();
+ return mSpaceImp->GetSpaceID();
}
dJointGroupID Space::GetODEJointGroup() const
@@ -197,20 +197,20 @@
PhysicsObject::OnLink();
shared_ptr<Space> space = GetSpace();
- dSpaceID spaceId = 0;
+ long spaceID = 0;
if (space.get() != 0)
{
- spaceId = space->GetODESpace();
+ spaceID = space->GetSpaceID();
}
- mODESpace = dHashSpaceCreate(spaceId);
+ mODESpace = dHashSpaceCreate((dSpaceID) spaceID);
shared_ptr<ODESpace> odespace = shared_static_cast<ODESpace>(mSpaceImp);
odespace->mODESpace = mODESpace;
}
-dSpaceID Space::GetParentSpaceID()
+long Space::GetParentSpaceID()
{
return mSpaceImp->GetParentSpaceID();
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -23,6 +23,7 @@
#define OXYGEN_SPACE_H
#include <oxygen/physicsserver/physicsobject.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
#include <set>
#include <oxygen/oxygen_defines.h>
@@ -47,8 +48,8 @@
Space();
virtual ~Space();
- /** returns the ID of the managed ODE space */
- dSpaceID GetODESpace() const;
+ /** returns the ID of the managed space */
+ long GetSpaceID() const;
/** retuns the ID of joint group for all created contact joints */
dJointGroupID GetODEJointGroup() const;
@@ -65,7 +66,7 @@
virtual void DestroyPhysicsObject();
/** returns the ODE handle ID of the containing parent space */
- virtual dSpaceID GetParentSpaceID();
+ virtual long GetParentSpaceID();
/** returns true if this is the top global, i.e. top level space object */
bool IsGlobalSpace();
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -34,14 +34,14 @@
void UniversalJoint::OnLink()
{
- dWorldID world = GetWorldID();
+ long world = GetWorldID();
if (world == 0)
{
return;
}
- mODEJoint = dJointCreateUniversal(world, 0);
+ mODEJoint = dJointCreateUniversal((dWorldID) world, 0);
}
void UniversalJoint::SetAnchor(const Vector3f& anchor)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -20,8 +20,8 @@
*/
#include <oxygen/physicsserver/ode/odeworld.h>
+#include <oxygen/physicsserver/space.h>
#include <oxygen/physicsserver/world.h>
-#include <oxygen/physicsserver/space.h>
#include <oxygen/sceneserver/scene.h>
using namespace boost;
@@ -37,72 +37,95 @@
{
}
-dWorldID World::GetODEWorld() const
+long World::GetWorldID() const
{
- return mWorldImp->GetODEWorld();
+ return mWorldImp->GetWorldID();
}
void World::SetGravity(const Vector3f& gravity)
{
- mWorldImp->SetGravity(gravity);
+ mWorldImp->SetGravity(gravity);
}
salt::Vector3f World::GetGravity() const
{
- return mWorldImp->GetGravity();
+ return mWorldImp->GetGravity();
}
void World::SetERP(float erp)
{
- mWorldImp->SetERP(erp);
+ mWorldImp->SetERP(erp);
}
float World::GetERP() const
{
- return mWorldImp->GetERP();
+ return mWorldImp->GetERP();
}
void World::SetCFM(float cfm)
{
- mWorldImp->SetCFM(cfm);
+ mWorldImp->SetCFM(cfm);
}
float World::GetCFM() const
{
- return mWorldImp->GetCFM();
+ return mWorldImp->GetCFM();
}
void World::Step(float deltaTime)
{
- mWorldImp->Step(deltaTime);
+ mWorldImp->Step(deltaTime);
}
bool World::GetAutoDisableFlag() const
{
- return mWorldImp->GetAutoDisableFlag();
+ return mWorldImp->GetAutoDisableFlag();
}
void World::SetAutoDisableFlag(bool flag)
{
- mWorldImp->SetAutoDisableFlag(flag);
+ mWorldImp->SetAutoDisableFlag(flag);
}
void World::SetContactSurfaceLayer(float depth)
{
- mWorldImp->SetContactSurfaceLayer(depth);
+ mWorldImp->SetContactSurfaceLayer(depth);
}
float World::GetContactSurfaceLayer() const
{
- return mWorldImp->GetContactSurfaceLayer();
+ return mWorldImp->GetContactSurfaceLayer();
}
bool World::ConstructInternal()
{
- return mWorldImp->ConstructInternal();
+ mWorldImp->CreateWorld();
+
+ return (mWorldImp->GetWorldID() != 0);
}
void World::DestroyPhysicsObject()
{
- mWorldImp->DestroyPhysicsObject();
+ static bool recurseLock = false;
+ if (recurseLock)
+ {
+ return;
+ }
+
+ recurseLock = true;
+
+ shared_ptr<Space> space = GetSpace();
+ if (space.get() != 0)
+ {
+ space->DestroyPhysicsObject();
+ }
+
+ if (mWorldImp->GetWorldID() == 0)
+ {
+ return;
+ }
+
+ mWorldImp->DestroyWorld();
+
+ recurseLock = false;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/world.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/world.h 2009-12-02 10:06:02 UTC (rev 112)
@@ -23,15 +23,15 @@
#define OXYGEN_WORLD_H
#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
#include <oxygen/physicsserver/physicsobject.h>
namespace oxygen
{
class WorldInt;
-class ODEWorld;
-/** World encapsulates an ODE world object. It is a container for
+/** World encapsulates a world object. It is a container for
rigid bodies and joints. Objects in different worlds can not
interact, for example rigid bodies from two different worlds can
not collide. All the objects in a world exist at the same point in
@@ -47,10 +47,10 @@
World();
virtual ~World();
- /** returns the ID of the managed ODE world */
- dWorldID GetODEWorld() const;
+ /** returns the ID of the managed world */
+ long GetWorldID() const;
- /** sets the gravity vector of this vorld */
+ /** sets the gravity vector of this world */
void SetGravity(const salt::Vector3f& gravity);
/** gets the gravity vector of this world */
@@ -105,17 +105,22 @@
void SetContactSurfaceLayer(float depth);
float GetContactSurfaceLayer() const;
- /** destroy the managed ODE object */
+ /** destroy the managed world and all objects in it */
virtual void DestroyPhysicsObject();
protected:
- /** creates them managed ODE world */
+ /** creates a new physics world */
virtual bool ConstructInternal();
//
// Members
//
private:
+ /** Pointer to the implementation of this class.
+ If a method contains engine-specific commands, these commands are
+ carried out in a subclass of WorldInt that has the right calls for
+ the desired physics engine.
+ */
boost::shared_ptr<WorldInt> mWorldImp;
};
Modified: branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp
===================================================================
--- branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp 2009-12-01 09:08:17 UTC (rev 111)
+++ branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp 2009-12-02 10:06:02 UTC (rev 112)
@@ -79,7 +79,7 @@
CalcSurfaceParam(contact.surface,handler->GetSurfaceParameter());
- dJointID joint = dJointCreateContact(mWorld->GetODEWorld(),
+ dJointID joint = dJointCreateContact((dWorldID) mWorld->GetWorldID(),
mSpace->GetODEJointGroup(), &contact);
dJointAttach (joint, myBody, collideeBody);
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