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[simspark-svn] SF.net SVN: simspark:[113] branches/multiphys/spark
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From: <a-...@us...> - 2009-12-03 09:04:33
|
Revision: 113
http://simspark.svn.sourceforge.net/simspark/?rev=113&view=rev
Author: a-held
Date: 2009-12-03 09:04:19 +0000 (Thu, 03 Dec 2009)
Log Message:
-----------
completed bridge pattern for PhysicsObject class
nearly done with RigidBody
changed some return types and parameters to engine-independent types
Modified Paths:
--------------
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/int/physicsobjectint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/joint.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/odespace.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/space.h
branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -62,7 +62,7 @@
// our parent is an ODE transform geom that encapsulates
// this geom, so register ourself to it. This geom must
// not directly register to a space or a body.
- dGeomTransformSetGeom(tcParent->GetODEGeom(), mODEGeom);
+ dGeomTransformSetGeom((dGeomID) tcParent->GetGeomID(), mODEGeom);
return;
}
@@ -126,9 +126,9 @@
}
}
-dGeomID Collider::GetODEGeom()
+long Collider::GetGeomID()
{
- return mODEGeom;
+ return (long) mODEGeom;
}
bool Collider::AddCollisionHandler(const std::string& handlerName)
@@ -175,21 +175,21 @@
}
}
-shared_ptr<Collider> Collider::GetCollider(dGeomID id)
+shared_ptr<Collider> Collider::GetCollider(long geomID)
{
- if (id == 0)
+ if (geomID == 0)
{
return shared_ptr<Collider>();
}
Collider* collPtr =
- static_cast<Collider*>(dGeomGetData(id));
+ static_cast<Collider*>(dGeomGetData((dGeomID) geomID));
if (collPtr == 0)
{
// we cannot use the logserver here
- cerr << "ERROR: (Collider) no Collider found for dGeomID "
- << id << "\n";
+ cerr << "ERROR: (Collider) no Collider found for GeomID "
+ << geomID << "\n";
return shared_ptr<Collider>();
}
@@ -199,8 +199,8 @@
if (collider.get() == 0)
{
// we cannot use the logserver here
- cerr << "ERROR: (Collider) got no shared_ptr for dGeomID "
- << id << "\n";
+ cerr << "ERROR: (Collider) got no shared_ptr for GeomID "
+ << geomID << "\n";
}
return collider;
@@ -209,7 +209,7 @@
void Collider::SetRotation(const Matrix& rot)
{
dMatrix3 m;
- ConvertRotationMatrix(rot,m);
+ ConvertRotationMatrix(rot,(int&) m);
dGeomSetRotation(mODEGeom,m);
}
@@ -255,7 +255,7 @@
return dCollide
(
mODEGeom,
- collider->GetODEGeom(),
+ (dGeomID) collider->GetGeomID(),
1, /* ask for at most one collision point */
&contact,
sizeof(contact)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -94,10 +94,10 @@
bool AddCollisionHandler(const std::string& handlerName);
/** returns the Collider corresponding to the given ODE geom */
- static boost::shared_ptr<Collider> GetCollider(dGeomID id);
+ static boost::shared_ptr<Collider> GetCollider(long geomID);
/** returns the ID of managed ODE geom */
- dGeomID GetODEGeom();
+ long GetGeomID();
/** sets the relative position of the managed geom directly. If
the geom is connected to a body, the position of the body will
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -163,8 +163,8 @@
// to create a contact joint it we must have at least one body to
// attach it to.
- dBodyID myBody = dGeomGetBody(mCollider->GetODEGeom());
- dBodyID collideeBody = dGeomGetBody(collidee->GetODEGeom());
+ dBodyID myBody = dGeomGetBody((dGeomID) mCollider->GetGeomID());
+ dBodyID collideeBody = dGeomGetBody((dGeomID) collidee->GetGeomID());
if (
(myBody == 0) &&
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -35,8 +35,8 @@
{
public:
- virtual void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix) = 0;
- virtual void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const = 0;
+ virtual void ConvertRotationMatrix(const salt::Matrix& rot, int& matrix) = 0;
+ virtual void ConvertRotationMatrix(const void* matrix, salt::Matrix& rot) const = 0;
protected:
PhysicsObjectInt(){
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -43,7 +43,7 @@
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 GetMassParameters(float& 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;
@@ -84,6 +84,17 @@
virtual bool GetMassTransformed() = 0;
virtual void SetMassTransformed(bool f) = 0;
+ /** Here, we have to cheat with the preprocessor, since a static method
+ is required, and the bridge pattern requires member variables to
+ be used (so we cannot use the bridge pattern)
+ */
+ static RigidBody* GetBodyPointer(long bodyID){
+ //if ODE is used (currently not checked since ODE is the only supported engine)
+ return static_cast<RigidBody*>(dBodyGetData( (dBodyID) bodyID));
+ //if another engine is used
+ //do something else
+ }
+
protected:
RigidBodyInt() : ODEBody(), mBodyID(0), mMassTrans(0,0,0), mMassTransformed(false){
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -47,21 +47,21 @@
dJointSetData(mODEJoint, this);
}
-shared_ptr<Joint> Joint::GetJoint(dJointID id)
+shared_ptr<Joint> Joint::GetJoint(long jointID)
{
- if (id == 0)
+ if (jointID == 0)
{
return shared_ptr<Joint>();
}
Joint* jointPtr =
- static_cast<Joint*>(dJointGetData(id));
+ static_cast<Joint*>(dJointGetData((dJointID) jointID));
if (jointPtr == 0)
{
// we cannot use the logserver here
cerr << "ERROR: (Joint) no joint found for dJointID "
- << id << "\n";
+ << jointID << "\n";
return shared_ptr<Joint>();
}
@@ -72,7 +72,7 @@
{
// we cannot use the logserver here
cerr << "ERROR: (Joint) got no shared_ptr for dJointID "
- << id << "\n";
+ << jointID << "\n";
}
return joint;
@@ -165,7 +165,8 @@
boost::shared_ptr<RigidBody> Joint::GetBody(EBodyIndex idx)
{
- return RigidBody::GetBody(dJointGetBody(mODEJoint, idx));
+ long bodyID = (long) dJointGetBody(mODEJoint, idx);
+ return RigidBody::GetBody(bodyID);
}
bool Joint::AreConnected (shared_ptr<RigidBody> body1, shared_ptr<RigidBody> body2)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -91,8 +91,8 @@
*/
boost::shared_ptr<RigidBody> GetBody(EBodyIndex idx);
- /** returns the Joint node corresponding to the given ODE joint */
- static boost::shared_ptr<Joint> GetJoint(dJointID id);
+ /** returns the Joint node corresponding to the given joint */
+ static boost::shared_ptr<Joint> GetJoint(long jointID);
/** returns the type of the managed ODE joint, possible return
values are dJointTypeNone, dJointTypeBall, dJointTypeHinge,
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -33,36 +33,40 @@
{
}
-void ODEPhysicsObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
+void ODEPhysicsObject::ConvertRotationMatrix(const salt::Matrix& rot, int& matrix)
{
- matrix[0] = rot.m[0];
- matrix[1] = rot.m[4];
- matrix[2] = rot.m[8];
- matrix[3] = 0;
- matrix[4] = rot.m[1];
- matrix[5] = rot.m[5];
- matrix[6] = rot.m[9];
- matrix[7] = 0;
- matrix[8] = rot.m[2];
- matrix[9] = rot.m[6];
- matrix[10] = rot.m[10];
- matrix[11] = 0;
+ dMatrix3& odeMatrix = (dMatrix3&) matrix;
+
+ odeMatrix[0] = rot.m[0];
+ odeMatrix[1] = rot.m[4];
+ odeMatrix[2] = rot.m[8];
+ odeMatrix[3] = 0;
+ odeMatrix[4] = rot.m[1];
+ odeMatrix[5] = rot.m[5];
+ odeMatrix[6] = rot.m[9];
+ odeMatrix[7] = 0;
+ odeMatrix[8] = rot.m[2];
+ odeMatrix[9] = rot.m[6];
+ odeMatrix[10] = rot.m[10];
+ odeMatrix[11] = 0;
}
-void ODEPhysicsObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
+void ODEPhysicsObject::ConvertRotationMatrix(const void* matrix, salt::Matrix& rot) const
{
- rot.m[0] = matrix[0] ;
- rot.m[4] = matrix[1] ;
- rot.m[8] = matrix[2];
- rot.m[12] = matrix[3];
- rot.m[1] = matrix[4];
- rot.m[5] = matrix[5];
- rot.m[9] = matrix[6];
- rot.m[13] = matrix[7];
- rot.m[2] = matrix[8];
- rot.m[6] = matrix[9];
- rot.m[10] = matrix[10] ;
- rot.m[14] = matrix[11];
+ dReal* odeMatrix = (dReal*) matrix;
+
+ rot.m[0] = odeMatrix[0];
+ rot.m[4] = odeMatrix[1];
+ rot.m[8] = odeMatrix[2];
+ rot.m[12] = odeMatrix[3];
+ rot.m[1] = odeMatrix[4];
+ rot.m[5] = odeMatrix[5];
+ rot.m[9] = odeMatrix[6];
+ rot.m[13] = odeMatrix[7];
+ rot.m[2] = odeMatrix[8];
+ rot.m[6] = odeMatrix[9];
+ rot.m[10] = odeMatrix[10];
+ rot.m[14] = odeMatrix[11];
rot.m[3] = 0.0;
rot.m[7] = 0.0;
rot.m[11] = 0.0;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -34,8 +34,8 @@
{
public:
ODEPhysicsObject();
- void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
- void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
+ void ConvertRotationMatrix(const salt::Matrix& rot, int& matrix);
+ void ConvertRotationMatrix(const void* matrix, salt::Matrix& rot) const;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -35,10 +35,9 @@
ODERigidBody::ODERigidBody() : RigidBodyInt(){
}
-long ODERigidBody::GetBodyID()
-{
+long ODERigidBody::GetBodyID(){
return mBodyID;
-}
+}
salt::Vector3f ODERigidBody::GetMassTrans(){
return mMassTrans;
@@ -58,17 +57,17 @@
void ODERigidBody::Enable()
{
- dBodyEnable((dBodyID)mBodyID);
+ dBodyEnable((dBodyID) mBodyID);
}
void ODERigidBody::Disable()
{
- dBodyDisable((dBodyID)mBodyID);
+ dBodyDisable((dBodyID) mBodyID);
}
bool ODERigidBody::IsEnabled() const
{
- return (dBodyIsEnabled((dBodyID)mBodyID) != 0);
+ return (dBodyIsEnabled((dBodyID) mBodyID) != 0);
}
void ODERigidBody::UseGravity(bool f)
@@ -76,59 +75,52 @@
if (f == true)
{
// body is affected by gravity
- dBodySetGravityMode((dBodyID)mBodyID, 1);
+ dBodySetGravityMode((dBodyID) mBodyID, 1);
}
else
{
// body is not affected by gravity
- dBodySetGravityMode((dBodyID)mBodyID, 0);
+ dBodySetGravityMode((dBodyID) mBodyID, 0);
}
}
-bool ODERigidBody::UsesGravity() const
-{
- return (dBodyGetGravityMode((dBodyID)mBodyID) != 0);
+bool ODERigidBody::UsesGravity() const{
+ return (dBodyGetGravityMode((dBodyID) mBodyID) != 0);
}
void ODERigidBody::CreateBody(long world)
{
- if (mBodyID != 0)
- {
- return;
- }
-
// create the managed body
- mBodyID = (long) dBodyCreate( (dWorldID) world);
+ mBodyID = (long) dBodyCreate((dWorldID) world);
}
-void ODERigidBody::DestroyPhysicsObject()
-{
+void ODERigidBody::DestroyPhysicsObject(){
if (mBodyID == 0)
{
return;
}
- dBodyDestroy((dBodyID)mBodyID);
+ dBodyDestroy((dBodyID) mBodyID);
mBodyID = 0;
}
void ODERigidBody::BodySetData(RigidBody* rb)
{
- dBodySetData((dBodyID)mBodyID, rb);
+ dBodySetData((dBodyID) mBodyID, rb);
}
void ODERigidBody::SetMass(float mass)
{
dMass ODEMass;
- dBodyGetMass((dBodyID)mBodyID, &ODEMass);
+ dBodyGetMass((dBodyID) mBodyID, &ODEMass);
dMassAdjust(&ODEMass, mass);
- dBodySetMass((dBodyID)mBodyID, &ODEMass);
+ dBodySetMass((dBodyID) mBodyID, &ODEMass);
}
float ODERigidBody::GetMass() const
{
dMass m;
- dBodyGetMass((dBodyID)mBodyID, &m);
+ dBodyGetMass((dBodyID) mBodyID, &m);
return m.mass;
}
@@ -137,7 +129,7 @@
dMass transMass(mass);
dMatrix3 rot;
- ConvertRotationMatrix(matrix, rot);
+ ConvertRotationMatrix(matrix,(int&) rot);
dMassRotate(&transMass,rot);
const Vector3f& trans(matrix.Pos());
@@ -146,7 +138,7 @@
dMassTranslate(&transMass,mMassTrans[0],mMassTrans[1],mMassTrans[2]);
dMass bodyMass;
- dBodyGetMass((dBodyID)mBodyID, &bodyMass);
+ dBodyGetMass((dBodyID) mBodyID, &bodyMass);
dMassAdd(&bodyMass, &transMass);
/** ODE currently requires that the center mass is always in the
@@ -156,7 +148,7 @@
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);
+ dBodySetMass((dBodyID) mBodyID, (const dMass*)&bodyMass);
// Move body so mass is at right position again
SetPosition(GetPosition() + trans2);
@@ -167,14 +159,16 @@
mMassTransformed = true;
}
-void ODERigidBody::GetMassParameters(dMass& mass) const
+void ODERigidBody::GetMassParameters(float& mass) const
{
- dBodyGetMass((dBodyID)mBodyID, &mass);
+ dMass& odeMass = (dMass&) mass;
+ dBodyGetMass((dBodyID) mBodyID, &odeMass);
+ mass = (float&) odeMass;
}
void ODERigidBody::SetMassParameters(const dMass& mass)
{
- dBodySetMass((dBodyID)mBodyID, &mass);
+ dBodySetMass((dBodyID) mBodyID, &mass);
}
void ODERigidBody::PrepareSphere(dMass& mass, float density, float radius) const
@@ -186,7 +180,7 @@
{
dMass ODEMass;
PrepareSphere(ODEMass, density, radius);
- dBodySetMass((dBodyID)mBodyID, &ODEMass);
+ dBodySetMass((dBodyID) mBodyID, &ODEMass);
}
void ODERigidBody::AddSphere(float density, float radius, const Matrix& matrix)
@@ -205,7 +199,7 @@
{
dMass ODEMass;
PrepareSphereTotal(ODEMass, total_mass, radius);
- dBodySetMass((dBodyID)mBodyID, &ODEMass);
+ dBodySetMass((dBodyID) mBodyID, &ODEMass);
}
void ODERigidBody::AddSphereTotal(float total_mass, float radius, const Matrix& matrix)
@@ -224,7 +218,7 @@
{
dMass ODEMass;
PrepareBox(ODEMass, density, size);
- dBodySetMass((dBodyID)mBodyID, &ODEMass);
+ dBodySetMass((dBodyID) mBodyID, &ODEMass);
}
void ODERigidBody::AddBox(float density, const Vector3f& size, const Matrix& matrix)
@@ -243,7 +237,7 @@
{
dMass ODEMass;
PrepareBoxTotal(ODEMass, total_mass, size);
- dBodySetMass((dBodyID)mBodyID, &ODEMass);
+ dBodySetMass((dBodyID) mBodyID, &ODEMass);
}
void ODERigidBody::AddBoxTotal(float total_mass, const Vector3f& size, const Matrix& matrix)
@@ -265,7 +259,7 @@
{
dMass ODEMass;
PrepareCylinder(ODEMass, density, radius, length);
- dBodySetMass((dBodyID)mBodyID, &ODEMass);
+ dBodySetMass((dBodyID) mBodyID, &ODEMass);
}
void ODERigidBody::AddCylinder (float density, float radius, float length, const Matrix& matrix)
@@ -287,7 +281,7 @@
{
dMass ODEMass;
PrepareCylinderTotal(ODEMass, total_mass, radius, length);
- dBodySetMass((dBodyID)mBodyID, &ODEMass);
+ dBodySetMass((dBodyID) mBodyID, &ODEMass);
}
void ODERigidBody::AddCylinderTotal(float total_mass, float radius, float length, const Matrix& matrix)
@@ -309,7 +303,7 @@
{
dMass ODEMass;
PrepareCapsule(ODEMass, density, radius, length);
- dBodySetMass((dBodyID)mBodyID, &ODEMass);
+ dBodySetMass((dBodyID) mBodyID, &ODEMass);
}
void ODERigidBody::AddCapsule (float density, float radius, float length, const Matrix& matrix)
@@ -331,7 +325,7 @@
{
dMass ODEMass;
PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
- dBodySetMass((dBodyID)mBodyID, &ODEMass);
+ dBodySetMass((dBodyID) mBodyID, &ODEMass);
}
void ODERigidBody::AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
@@ -343,25 +337,25 @@
Vector3f ODERigidBody::GetVelocity() const
{
- const dReal* vel = dBodyGetLinearVel((dBodyID)mBodyID);
+ const dReal* vel = dBodyGetLinearVel((dBodyID) mBodyID);
return Vector3f(vel[0], vel[1], vel[2]);
}
void ODERigidBody::SetVelocity(const Vector3f& vel)
{
- dBodySetLinearVel((dBodyID)mBodyID, 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((dBodyID)mBodyID,m);
+ ConvertRotationMatrix(rot,(int&) m);
+ dBodySetRotation((dBodyID) mBodyID,m);
}
salt::Matrix ODERigidBody::GetRotation() const
{
- const dReal* m = dBodyGetRotation((dBodyID)mBodyID);
+ const dReal* m = dBodyGetRotation((dBodyID) mBodyID);
salt::Matrix rot;
ConvertRotationMatrix(m,rot);
return rot;
@@ -369,19 +363,19 @@
Vector3f ODERigidBody::GetAngularVelocity() const
{
- const dReal* vel = dBodyGetAngularVel((dBodyID)mBodyID);
+ const dReal* vel = dBodyGetAngularVel((dBodyID) mBodyID);
return Vector3f(vel[0], vel[1], vel[2]);
}
void ODERigidBody::SetAngularVelocity(const Vector3f& vel)
{
- dBodySetAngularVel((dBodyID)mBodyID, vel[0], vel[1], vel[2]);
+ dBodySetAngularVel((dBodyID) mBodyID, vel[0], vel[1], vel[2]);
}
salt::Matrix ODERigidBody::GetSynchronisationMatrix()
{
- const dReal* pos = dBodyGetPosition((dBodyID)mBodyID);
- const dReal* rot = dBodyGetRotation((dBodyID)mBodyID);
+ const dReal* pos = dBodyGetPosition((dBodyID) mBodyID);
+ const dReal* rot = dBodyGetRotation((dBodyID) mBodyID);
Matrix mat;
mat.m[0] = rot[0];
@@ -414,29 +408,29 @@
void ODERigidBody::AddForce(const Vector3f& force)
{
- dBodyAddForce((dBodyID)mBodyID, force.x(), force.y(), force.z());
+ dBodyAddForce((dBodyID) mBodyID, force.x(), force.y(), force.z());
}
void ODERigidBody::AddTorque(const Vector3f& torque)
{
- dBodyAddTorque((dBodyID)mBodyID, torque.x(), torque.y(), torque.z());
+ dBodyAddTorque((dBodyID) mBodyID, torque.x(), torque.y(), torque.z());
}
void ODERigidBody::SetPosition(const Vector3f& pos)
{
- dBodySetPosition((dBodyID)mBodyID, 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((dBodyID)mBodyID);
+ const dReal* pos = dBodyGetPosition((dBodyID) mBodyID);
return Vector3f(pos[0], pos[1], pos[2]);
}
void ODERigidBody::TranslateMass(const Vector3f& v)
{
dMass m;
- dBodyGetMass((dBodyID)mBodyID, &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 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -40,7 +40,7 @@
void SetMass(float mass);
void SetMassParameters(const dMass& mass);
float GetMass() const;
- void GetMassParameters(dMass& mass) const;
+ void GetMassParameters(float& 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);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -112,23 +112,9 @@
const dSpaceID s1 = dGeomGetSpace(obj1);
const dSpaceID s2 = dGeomGetSpace(obj2);
- // NOTICE: this should not happen since it is checked in Collide(dSpaceID)
-// if (
-// (s1 == s2) &&
-// (gDisabledInnerCollisionSet.find(s1) != gDisabledInnerCollisionSet.end())
-// )
-// {
-// return;
-// }
-
-
- // if obj1 and obj2 are in the same space, and
- // obj1 is in obj2's "mNotCollideWithSet" or ojb2 is in obj1's
- // reject the collision
-
// get shared pointers to the two corresponding Collider nodes first
- shared_ptr<Collider> collider = Collider::GetCollider(obj1);
- shared_ptr<Collider> collidee = Collider::GetCollider(obj2);
+ shared_ptr<Collider> collider = Collider::GetCollider((long) obj1);
+ shared_ptr<Collider> collidee = Collider::GetCollider((long) obj2);
if (
(collider.get() == 0) ||
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -135,12 +135,12 @@
return 0;
}
-void PhysicsObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
+void PhysicsObject::ConvertRotationMatrix(const salt::Matrix& rot, int& matrix)
{
mPhysicsObjectImp->ConvertRotationMatrix(rot, matrix);
}
-void PhysicsObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
+void PhysicsObject::ConvertRotationMatrix(const void* matrix, salt::Matrix& rot) const
{
mPhysicsObjectImp->ConvertRotationMatrix(matrix, rot);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -25,7 +25,6 @@
#include <oxygen/oxygen_defines.h>
#include <oxygen/sceneserver/basenode.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
namespace oxygen
{
@@ -73,12 +72,15 @@
/** finds the nearest parent space node */
boost::shared_ptr<Space> GetSpace();
- /** converts the rotation part of a salt::Matrix to an ODE
- dMatrix3 */
- void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
+ /** converts the rotation part of a salt::Matrix to an
+ engine-specific matrix, currently used for ODE's dMatrix3
+ */
+ void ConvertRotationMatrix(const salt::Matrix& rot, int& matrix);
- /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
- void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
+ /** coverts an engine-specific to the rotation part of a salt::Matrix,
+ currently used for ODE's dMatrix3
+ */
+ void ConvertRotationMatrix(const void* matrix, salt::Matrix& rot) const;
private:
boost::shared_ptr<PhysicsObjectInt> mPhysicsObjectImp;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -25,7 +25,6 @@
#include <zeitgeist/class.h>
#include <zeitgeist/leaf.h>
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -30,7 +30,7 @@
using namespace salt;
using namespace std;
-RigidBody::RigidBody() : Body(), mODEBody(0), mMassTrans(0,0,0), mMassTransformed(false)
+RigidBody::RigidBody() : Body()
{
mRigidBodyImp = boost::shared_ptr<ODERigidBody>(new ODERigidBody());
}
@@ -86,8 +86,6 @@
mRigidBodyImp->CreateBody(world);
- mODEBody = (dBodyID) mRigidBodyImp->GetBodyID();
-
if (mRigidBodyImp->GetBodyID() == 0)
{
GetLog()->Error()
@@ -138,7 +136,7 @@
mRigidBodyImp->AddMass(mass, matrix);
}
-void RigidBody::GetMassParameters(dMass& mass) const
+void RigidBody::GetMassParameters(float& mass) const
{
mRigidBodyImp->GetMassParameters(mass);
}
@@ -273,6 +271,7 @@
// Check whether mass/body has been translated
if (mRigidBodyImp->GetMassTransformed())
{
+ Vector3f massTrans = mRigidBodyImp->GetMassTrans();
weak_ptr<Node> parent = GetParent();
// Update colliders (only those encapsulated in transform colliders)
@@ -286,7 +285,7 @@
if (collider.get())
{
Vector3f pos = collider->GetPosition();
- pos = pos + mMassTrans;
+ pos = pos + massTrans;
collider->SetLocalPosition(pos);
}
}
@@ -298,7 +297,7 @@
{
shared_ptr<Transform> transform = shared_dynamic_cast<Transform>(*iter);
Matrix worldTransform = transform->GetWorldTransform();
- worldTransform.Pos() = worldTransform.Pos() + mMassTrans;
+ worldTransform.Pos() = worldTransform.Pos() + massTrans;
transform->SetWorldTransform(worldTransform);
}
@@ -313,7 +312,7 @@
SynchronizeParent();
}
-shared_ptr<RigidBody> RigidBody::GetBody(dBodyID id)
+shared_ptr<RigidBody> RigidBody::GetBody(long id)
{
long bodyID = (long) id;
if (bodyID == 0)
@@ -321,8 +320,7 @@
return shared_ptr<RigidBody>();
}
- RigidBody* bodyPtr =
- static_cast<RigidBody*>(dBodyGetData( (dBodyID) bodyID));
+ RigidBody* bodyPtr = RigidBodyInt::GetBodyPointer(bodyID);
if (bodyPtr == 0)
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -84,7 +84,7 @@
float GetMass() const;
/** returns the ODE mass parameters of this body */
- void GetMassParameters(dMass& mass) const;
+ void GetMassParameters(float& mass) const;
/** adds the given ode mass to this body. The given matrix is
applied to the mass center
@@ -218,7 +218,7 @@
void SetAngularVelocity(const salt::Vector3f& vel);
/** returns the Body node corresponding to the given ODE body */
- static boost::shared_ptr<RigidBody> GetBody(dBodyID id);
+ static boost::shared_ptr<RigidBody> GetBody(long id);
/** applies a force to the managed ODE body */
void AddForce(const salt::Vector3f& force);
@@ -266,15 +266,6 @@
//
protected:
boost::shared_ptr<RigidBodyInt> mRigidBodyImp;
-
- /** the managed ode body */
- dBodyID mODEBody;
-
- /** the total mass translation */
- salt::Vector3f mMassTrans;
-
- /** flag whether mass has been transformed */
- bool mMassTransformed;
};
DECLARE_CLASS(RigidBody);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -35,7 +35,7 @@
void Space::collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2)
{
Space *space = (Space*)data;
- space->HandleCollide(obj1, obj2);
+ space->HandleCollide((long) obj1, (long) obj2);
}
Space::Space() : PhysicsObject(), mODESpace(0)
@@ -89,24 +89,27 @@
}
}
-void Space::HandleCollide(dGeomID obj1, dGeomID obj2)
+void Space::HandleCollide(long obj1, long obj2)
{
//mSpaceImp->HandleCollide(obj1, obj2);
+
+ dGeomID geom1 = (dGeomID) obj1;
+ dGeomID geom2 = (dGeomID) obj2;
if (
- (dGeomIsSpace (obj1)) ||
- (dGeomIsSpace (obj2))
+ (dGeomIsSpace (geom1)) ||
+ (dGeomIsSpace (geom2))
)
{
// colliding a space with something
- HandleSpaceCollide(obj1, obj2);
+ HandleSpaceCollide(geom1, geom2);
return;
}
// colliding two non-space geoms; reject collisions
// between bodies that are connected with joints
- const dBodyID b1 = dGeomGetBody(obj1);
- const dBodyID b2 = dGeomGetBody(obj2);
+ const dBodyID b1 = dGeomGetBody(geom1);
+ const dBodyID b2 = dGeomGetBody(geom2);
if (
(b1) && (b2) &&
@@ -118,23 +121,9 @@
// if obj1 and obj2 are in a space that disabled inner collision,
// reject the collision
- const dSpaceID s1 = dGeomGetSpace(obj1);
- const dSpaceID s2 = dGeomGetSpace(obj2);
+ const dSpaceID s1 = dGeomGetSpace(geom1);
+ const dSpaceID s2 = dGeomGetSpace(geom2);
- // NOTICE: this should not happen since it is checked in Collide(dSpaceID)
-// if (
-// (s1 == s2) &&
-// (gDisabledInnerCollisionSet.find(s1) != gDisabledInnerCollisionSet.end())
-// )
-// {
-// return;
-// }
-
-
- // if obj1 and obj2 are in the same space, and
- // obj1 is in obj2's "mNotCollideWithSet" or ojb2 is in obj1's
- // reject the collision
-
// get shared pointers to the two corresponding Collider nodes first
shared_ptr<Collider> collider = Collider::GetCollider(obj1);
shared_ptr<Collider> collidee = Collider::GetCollider(obj2);
@@ -169,7 +158,7 @@
static const int nContacts = 4;
static dContact contacts[nContacts];
- int n = dCollide (obj1, obj2, nContacts,
+ int n = dCollide (geom1, geom2, nContacts,
&contacts[0].geom, sizeof(dContact));
if (n == 0)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2009-12-03 09:04:19 UTC (rev 113)
@@ -95,7 +95,7 @@
geoms. It will look up and notify the corresponding colliders
for a potential collision.
*/
- void HandleCollide(dGeomID obj1, dGeomID obj2);
+ void HandleCollide(long obj1, long obj2);
/** handle the collision between two geoms from which at least one
is a space geom
Modified: branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp
===================================================================
--- branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp 2009-12-02 10:06:02 UTC (rev 112)
+++ branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp 2009-12-03 09:04:19 UTC (rev 113)
@@ -65,8 +65,8 @@
// to create a contact joint it we must have at least one body to
// attach it to.
- dBodyID myBody = dGeomGetBody(mCollider->GetODEGeom());
- dBodyID collideeBody = dGeomGetBody(collidee->GetODEGeom());
+ dBodyID myBody = dGeomGetBody((dGeomID) mCollider->GetGeomID());
+ dBodyID collideeBody = dGeomGetBody((dGeomID) collidee->GetGeomID());
if (myBody == 0 && collideeBody == 0)
return;
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