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[simspark-svn] SF.net SVN: simspark:[116] branches/multiphys/spark
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From: <a-...@us...> - 2009-12-08 07:56:59
|
Revision: 116
http://simspark.svn.sourceforge.net/simspark/?rev=116&view=rev
Author: a-held
Date: 2009-12-08 07:56:49 +0000 (Tue, 08 Dec 2009)
Log Message:
-----------
updated ccyluinder to capsule
removed some unnecessary includes in interfaces
prepared bridge pattern for Collider class
provided bridge pattern for Compound-, Concave- and EmptyCollider
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/oxygen.cpp
branches/multiphys/spark/lib/oxygen/oxygen.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.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/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/ode/odedynamicbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/compoundcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/concavecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/emptycolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconcavecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconcavecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeemptycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeemptycollider.h
Removed Paths:
-------------
branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider_c.cpp
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-08 07:56:49 UTC (rev 116)
@@ -22,7 +22,7 @@
physicsserver/softbody.h
physicsserver/bodycontroller.h
physicsserver/boxcollider.h
- physicsserver/ccylindercollider.h
+ physicsserver/capsulecollider.h
physicsserver/cylindercollider.h
physicsserver/collider.h
physicsserver/compoundcollider.h
@@ -55,7 +55,11 @@
#interfaces
physicsserver/int/bodyint.h
+ physicsserver/int/colliderint.h
+ physicsserver/int/compoundcolliderint.h
+ physicsserver/int/concavecolliderint.h
physicsserver/int/dynamicbodyint.h
+ physicsserver/int/emptycolliderint.h
physicsserver/int/physicsobjectint.h
physicsserver/int/physicsserverint.h
physicsserver/int/rigidbodyint.h
@@ -67,6 +71,10 @@
#ode-specific files
physicsserver/ode/odebody.h
physicsserver/ode/odedynamicbody.h
+ physicsserver/ode/odecollider.h
+ physicsserver/ode/odecompoundcollider.h
+ physicsserver/ode/odeconcavecollider.h
+ physicsserver/ode/odeemptycollider.h
physicsserver/ode/odephysicsobject.h
physicsserver/ode/odephysicsserver.h
physicsserver/ode/oderigidbody.h
@@ -153,12 +161,14 @@
physicsserver/transformcollider_c.cpp
physicsserver/boxcollider.cpp
physicsserver/boxcollider_c.cpp
- physicsserver/ccylindercollider.cpp
- physicsserver/ccylindercollider_c.cpp
+ physicsserver/capsulecollider.cpp
+ physicsserver/capsulecollider_c.cpp
physicsserver/cylindercollider_c.cpp
physicsserver/collider.cpp
physicsserver/collider_c.cpp
+ physicsserver/compoundcollider.cpp
physicsserver/compoundcollider_c.cpp
+ physicsserver/concavecollider.cpp
physicsserver/concavecollider_c.cpp
physicsserver/conecollider_c.cpp
physicsserver/convexcollider_c.cpp
@@ -166,6 +176,7 @@
physicsserver/collisionhandler_c.cpp
physicsserver/contactjointhandler.cpp
physicsserver/contactjointhandler_c.cpp
+ physicsserver/emptycollider.cpp
physicsserver/emptycollider_c.cpp
physicsserver/physicsserver.cpp
physicsserver/physicsserver_c.cpp
@@ -206,7 +217,11 @@
#ODE-specific files
physicsserver/ode/odebody.cpp
+ physicsserver/ode/odecompoundcollider.cpp
+ physicsserver/ode/odeconcavecollider.cpp
+ physicsserver/ode/odecollider.cpp
physicsserver/ode/odedynamicbody.cpp
+ physicsserver/ode/odeemptycollider.cpp
physicsserver/ode/odephysicsobject.cpp
physicsserver/ode/odephysicsserver.cpp
physicsserver/ode/oderigidbody.cpp
Modified: branches/multiphys/spark/lib/oxygen/oxygen.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/oxygen.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -83,7 +83,7 @@
zg.GetCore()->RegisterClassObject(new CLASS(EmptyCollider), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(TransformCollider), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(BoxCollider), "oxygen/");
- zg.GetCore()->RegisterClassObject(new CLASS(CCylinderCollider), "oxygen/");
+ zg.GetCore()->RegisterClassObject(new CLASS(CapsuleCollider), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(CylinderCollider), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(PlaneCollider), "oxygen/");
zg.GetCore()->RegisterClassObject(new CLASS(RayCollider), "oxygen/");
Modified: branches/multiphys/spark/lib/oxygen/oxygen.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/oxygen.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -46,7 +46,7 @@
#include <oxygen/physicsserver/velocitycontroller.h>
#include <oxygen/physicsserver/transformcollider.h>
#include <oxygen/physicsserver/boxcollider.h>
-#include <oxygen/physicsserver/ccylindercollider.h>
+#include <oxygen/physicsserver/capsulecollider.h>
#include <oxygen/physicsserver/cylindercollider.h>
#include <oxygen/physicsserver/collider.h>
#include <oxygen/physicsserver/compoundcollider.h>
Added: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,89 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: ccylindercollider.cpp 108 2009-11-25 10:20:10Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include <oxygen/physicsserver/capsulecollider.h>
+
+using namespace oxygen;
+using namespace salt;
+
+CapsuleCollider::CapsuleCollider() : ConvexCollider()
+{
+}
+
+void CapsuleCollider::SetParams(float radius, float length)
+{
+ dGeomCCylinderSetParams (mODEGeom, radius, length);
+}
+
+void CapsuleCollider::SetRadius(float radius)
+{
+ SetParams(radius,GetLength());
+}
+
+void CapsuleCollider::SetLength(float length)
+{
+ SetParams(GetRadius(),length);
+}
+
+void CapsuleCollider::GetParams(float& radius, float& length)
+{
+ dReal r,l;
+ dGeomCCylinderGetParams(mODEGeom,&r,&l);
+ radius = r;
+ length = l;
+}
+
+float CapsuleCollider::GetRadius()
+{
+ float length;
+ float radius;
+ GetParams(radius,length);
+ return radius;
+}
+
+float CapsuleCollider::GetLength()
+{
+ float radius;
+ float length;
+ GetParams(radius,length);
+ return length;
+}
+
+bool CapsuleCollider::ConstructInternal()
+{
+ if (! Collider::ConstructInternal())
+ {
+ return false;
+ }
+
+ // create a unit capped cylinder
+ mODEGeom = dCreateCCylinder(0, 1.0f, 1.0f);
+
+ return (mODEGeom != 0);
+}
+
+float CapsuleCollider::GetPointDepth(const Vector3f& pos)
+{
+ Vector3f worldPos(GetWorldTransform() * pos);
+ return dGeomCCylinderPointDepth
+ (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
+}
+
Added: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,83 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: ccylindercollider.h 108 2009-11-25 10:20:10Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_CAPSULECOLLIDER_H
+#define OXYGEN_CAPSULECOLLIDER_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/convexcollider.h>
+
+namespace oxygen
+{
+
+/** CapsuleCollider encapsulates an ODE capsule geometry
+ object. A capsule is like a cylinder except it has
+ half-sphere caps at its ends. This feature makes the internal
+ collision detection code particularly fast and accurate.
+ */
+class OXYGEN_API CapsuleCollider : public ConvexCollider
+{
+ //
+ // Functions
+ //
+public:
+ CapsuleCollider();
+
+ /** sets the parameters of the capsule.
+
+ \param radius is the radius of the caps, and of the cylinder itself
+ \param length is the height of the cylinder, not counting the caps
+ */
+ void SetParams(float radius, float length);
+
+ /** sets the radius of the capsule */
+ void SetRadius(float radius);
+
+ /** sets the length of the capsule */
+ void SetLength(float length);
+
+ /** gets the radius and the length of the capsule */
+ void GetParams(float& radius, float& length);
+
+ /** returns the radius of the capsule */
+ float GetRadius();
+
+ /** return the length of the capsule */
+ float GetLength();
+
+ /** returns the depth of the given relative position in the
+ managed capsule geom. Points inside the geom will have
+ positive depth, points outside it will have negative depth, and
+ points on the surface will have zero depth.
+ */
+ float GetPointDepth(const salt::Vector3f& pos);
+
+protected:
+ /** constructs a default capsule with an radius of 1 and a
+ length of 1 */
+ virtual bool ConstructInternal();
+};
+
+DECLARE_CLASS(CapsuleCollider);
+
+} //namespace oxygen
+
+#endif //OXYGEN_CAPSULECOLLIDER_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,112 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: ccylindercollider_c.cpp 108 2009-11-25 10:20:10Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#include <oxygen/physicsserver/capsulecollider.h>
+
+using namespace oxygen;
+using namespace boost;
+using namespace salt;
+
+FUNCTION(CapsuleCollider,setParams)
+{
+ float inRadius;
+ float inLength;
+
+ if (
+ (in.GetSize() != 2) ||
+ (! in.GetValue(in[0],inRadius)) ||
+ (! in.GetValue(in[1],inLength))
+ )
+ {
+ return false;
+ }
+
+ obj->SetParams(inRadius,inLength);
+ return true;
+}
+
+FUNCTION(CapsuleCollider,setRadius)
+{
+ float inRadius;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in[0],inRadius))
+ )
+ {
+ return false;
+ }
+
+ obj->SetRadius(inRadius);
+ return true;
+}
+
+FUNCTION(CapsuleCollider,setLength)
+{
+ float inLength;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in[0],inLength))
+ )
+ {
+ return false;
+ }
+
+ obj->SetLength(inLength);
+ return true;
+}
+
+FUNCTION(CapsuleCollider,getRadius)
+{
+ return obj->GetRadius();
+}
+
+FUNCTION(CapsuleCollider,getLength)
+{
+ return obj->GetLength();
+}
+
+FUNCTION(CapsuleCollider,getPointDepth)
+{
+ Vector3f inPos;
+
+ if (
+ (in.GetSize() == 0) ||
+ (! in.GetValue(in.begin(), inPos))
+ )
+ {
+ return 0;
+ }
+
+ return obj->GetPointDepth(inPos);
+}
+
+void CLASS(CapsuleCollider)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/ConvexCollider);
+ DEFINE_FUNCTION(setParams);
+ DEFINE_FUNCTION(setRadius);
+ DEFINE_FUNCTION(setLength);
+ DEFINE_FUNCTION(getRadius);
+ DEFINE_FUNCTION(getLength);
+ DEFINE_FUNCTION(getPointDepth);
+}
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.cpp 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -1,94 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2003 Koblenz University
- $Id$
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-
-#include <oxygen/physicsserver/ccylindercollider.h>
-
-using namespace oxygen;
-using namespace salt;
-
-CCylinderCollider::CCylinderCollider() : ConvexCollider()
-{
-}
-
-void CCylinderCollider::SetParams(float radius, float length)
-{
- dGeomCCylinderSetParams (mODEGeom, radius, length);
-}
-
-void CCylinderCollider::SetRadius(float radius)
-{
- SetParams(radius,GetLength());
-}
-
-void CCylinderCollider::SetLength(float length)
-{
- SetParams(GetRadius(),length);
-}
-
-void
-CCylinderCollider::GetParams(float& radius, float& length)
-{
- dReal r,l;
- dGeomCCylinderGetParams(mODEGeom,&r,&l);
- radius = r;
- length = l;
-}
-
-float
-CCylinderCollider::GetRadius()
-{
- float length;
- float radius;
- GetParams(radius,length);
- return radius;
-}
-
-float
-CCylinderCollider::GetLength()
-{
- float radius;
- float length;
- GetParams(radius,length);
- return length;
-}
-
-bool
-CCylinderCollider::ConstructInternal()
-{
- if (! Collider::ConstructInternal())
- {
- return false;
- }
-
- // create a unit capped cylinder
- mODEGeom = dCreateCCylinder(0, 1.0f, 1.0f);
-
- return (mODEGeom != 0);
-}
-
-float
-CCylinderCollider::GetPointDepth(const Vector3f& pos)
-{
- Vector3f worldPos(GetWorldTransform() * pos);
- return dGeomCCylinderPointDepth
- (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
-}
-
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -1,83 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2002,2003 Koblenz University
- Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id$
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-#ifndef OXYGEN_CCYLINDERCOLLIDER_H
-#define OXYGEN_CCYLINDERCOLLIDER_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/convexcollider.h>
-
-namespace oxygen
-{
-
-/** CCylinderCollider encapsulates an ODE capped cylinder geometry
- object. A capped cylinder is like a normal cylinder except it has
- half-sphere caps at its ends. This feature makes the internal
- collision detection code particularly fast and accurate.
- */
-class OXYGEN_API CCylinderCollider : public ConvexCollider
-{
- //
- // Functions
- //
-public:
- CCylinderCollider();
-
- /** sets the parameters of the capped cylinder.
-
- \param radius is the radius of the caps, and of the cylinder itself
- \param length is the height of the cylinder, not counting the caps
- */
- void SetParams(float radius, float length);
-
- /** sets the radius of the capped cylinder */
- void SetRadius(float radius);
-
- /** sets the length of the capped cylinder */
- void SetLength(float length);
-
- /** gets the radius and the length of the capped cylinder */
- void GetParams(float& radius, float& length);
-
- /** returns the radius of the capped cylinder */
- float GetRadius();
-
- /** return the length of the capped cylinder */
- float GetLength();
-
- /** returns the depth of the given relative position in the
- managed capped cylinder geom. Points inside the geom will have
- positive depth, points outside it will have negative depth, and
- points on the surface will have zero depth.
- */
- float GetPointDepth(const salt::Vector3f& pos);
-
-protected:
- /** constructs a default capped cylinder with an radius of 1 and a
- length of 1 */
- virtual bool ConstructInternal();
-};
-
-DECLARE_CLASS(CCylinderCollider);
-
-} //namespace oxygen
-
-#endif //OXYGEN_CCYLINDERCOLLIDER_H
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider_c.cpp 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider_c.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -1,112 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2003 Koblenz University
- $Id$
-
- This program is free software; you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation; version 2 of the License.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
-*/
-
-#include <oxygen/physicsserver/ccylindercollider.h>
-
-using namespace oxygen;
-using namespace boost;
-using namespace salt;
-
-FUNCTION(CCylinderCollider,setParams)
-{
- float inRadius;
- float inLength;
-
- if (
- (in.GetSize() != 2) ||
- (! in.GetValue(in[0],inRadius)) ||
- (! in.GetValue(in[1],inLength))
- )
- {
- return false;
- }
-
- obj->SetParams(inRadius,inLength);
- return true;
-}
-
-FUNCTION(CCylinderCollider,setRadius)
-{
- float inRadius;
-
- if (
- (in.GetSize() != 1) ||
- (! in.GetValue(in[0],inRadius))
- )
- {
- return false;
- }
-
- obj->SetRadius(inRadius);
- return true;
-}
-
-FUNCTION(CCylinderCollider,setLength)
-{
- float inLength;
-
- if (
- (in.GetSize() != 1) ||
- (! in.GetValue(in[0],inLength))
- )
- {
- return false;
- }
-
- obj->SetLength(inLength);
- return true;
-}
-
-FUNCTION(CCylinderCollider,getRadius)
-{
- return obj->GetRadius();
-}
-
-FUNCTION(CCylinderCollider,getLength)
-{
- return obj->GetLength();
-}
-
-FUNCTION(CCylinderCollider,getPointDepth)
-{
- Vector3f inPos;
-
- if (
- (in.GetSize() == 0) ||
- (! in.GetValue(in.begin(), inPos))
- )
- {
- return 0;
- }
-
- return obj->GetPointDepth(inPos);
-}
-
-void CLASS(CCylinderCollider)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/ConvexCollider);
- DEFINE_FUNCTION(setParams);
- DEFINE_FUNCTION(setRadius);
- DEFINE_FUNCTION(setLength);
- DEFINE_FUNCTION(getRadius);
- DEFINE_FUNCTION(getLength);
- DEFINE_FUNCTION(getPointDepth);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -19,6 +19,7 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include <oxygen/physicsserver/collider.h>
+#include <oxygen/physicsserver/ode/odecollider.h>
#include <oxygen/physicsserver/collisionhandler.h>
#include <oxygen/physicsserver/space.h>
#include <oxygen/physicsserver/transformcollider.h>
@@ -34,6 +35,7 @@
Collider::Collider() : PhysicsObject(), mODEGeom(0)
{
+ mColliderImp = boost::shared_ptr<ODECollider>(new ODECollider());
}
Collider::~Collider()
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -30,6 +30,7 @@
namespace oxygen
{
+class ColliderInt;
/** \class Collider encapsulates an ODE geometry object- geom for
short. Geoms are the fundamental objects in the collision
@@ -158,6 +159,9 @@
protected:
/** the ode collision geometry */
dGeomID mODEGeom;
+
+private:
+ boost::shared_ptr<ColliderInt> mColliderImp;
protected:
/** a set that store the colliders that I never collide with
Added: branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,33 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: body.h 106 2009-11-19 10:10:50Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include <oxygen/physicsserver/compoundcollider.h>
+#include <oxygen/physicsserver/ode/odecompoundcollider.h>
+
+using namespace oxygen;
+
+CompoundCollider::CompoundCollider() : Collider(){
+ mCompoundColliderImp = boost::shared_ptr<ODECompoundCollider>(new ODECompoundCollider());
+}
+
+CompoundCollider::~CompoundCollider(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class CompoundColliderInt;
/**
CompoundCollider is not yet implemented.
*/
@@ -37,8 +38,11 @@
// Functions
//
public:
- CompoundCollider() : Collider(){};
- virtual ~CompoundCollider(){};
+ CompoundCollider();
+ virtual ~CompoundCollider();
+
+private:
+ boost::shared_ptr<CompoundColliderInt> mCompoundColliderImp;
};
DECLARE_CLASS(CompoundCollider);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,33 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: body.h 106 2009-11-19 10:10:50Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include <oxygen/physicsserver/concavecollider.h>
+#include <oxygen/physicsserver/ode/odeconcavecollider.h>
+
+using namespace oxygen;
+
+ConcaveCollider::ConcaveCollider() : Collider(){
+ mConcaveColliderImp = boost::shared_ptr<ODEConcaveCollider>(new ODEConcaveCollider());
+}
+
+ConcaveCollider::~ConcaveCollider(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class ConcaveColliderInt;
/**
ConcaveCollider is not yet implemented.
*/
@@ -37,8 +38,11 @@
// Functions
//
public:
- ConcaveCollider() : Collider(){};
- virtual ~ConcaveCollider(){};
+ ConcaveCollider();
+ virtual ~ConcaveCollider();
+
+private:
+ boost::shared_ptr<ConcaveColliderInt> mConcaveColliderImp;
};
DECLARE_CLASS(ConcaveCollider);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,33 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: body.h 106 2009-11-19 10:10:50Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include <oxygen/physicsserver/emptycollider.h>
+#include <oxygen/physicsserver/ode/odeemptycollider.h>
+
+using namespace oxygen;
+
+EmptyCollider::EmptyCollider() : Collider(){
+ mEmptyColliderImp = boost::shared_ptr<ODEEmptyCollider>(new ODEEmptyCollider());
+}
+
+EmptyCollider::~EmptyCollider(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class EmptyColliderInt;
/**
EmptyCollider is not yet implemented.
*/
@@ -37,8 +38,11 @@
// Functions
//
public:
- EmptyCollider() : Collider(){};
- virtual ~EmptyCollider(){};
+ EmptyCollider();
+ virtual ~EmptyCollider();
+
+private:
+ boost::shared_ptr<EmptyColliderInt> mEmptyColliderImp;
};
DECLARE_CLASS(EmptyCollider);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,72 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef OXYGEN_COLLIDERINT_H
+#define OXYGEN_COLLIDERINT_H
+
+#include <oxygen/physicsserver/ode/odewrapper.h>
+#include <oxygen/oxygen_defines.h>
+#include <set>
+#include <string>
+
+namespace oxygen
+{
+class Collider;
+
+class OXYGEN_API ColliderInt
+{
+
+public:
+ enum ECollisionType
+ {
+ CT_DIRECT,
+ CT_SYMMETRIC
+ };
+
+ typedef std::set<std::string> TColliderNameSet;
+
+ static boost::shared_ptr<Collider> GetCollider(long GeomID){};
+
+ virtual void OnCollision(boost::shared_ptr<Collider> collidee, dContact& contact, ECollisionType type) = 0;
+ virtual bool AddCollisionHandler(const std::string& handlerName) = 0;
+ virtual long GetGeomID() = 0;
+ virtual void SetPosition(const salt::Vector3f& pos) = 0;
+ virtual void SetLocalPosition(const salt::Vector3f& pos) = 0;
+ virtual salt::Vector3f GetPosition() const = 0;
+ virtual void SetRotation(const salt::Matrix& rot) = 0;
+ virtual bool Intersects(boost::shared_ptr<Collider> collider) = 0;
+ virtual long GetParentSpaceID() = 0;
+ virtual void AddNotCollideWithColliderName(const std::string& colliderName, bool isAdd) = 0;
+ virtual const TColliderNameSet& GetNotCollideWithSet() const = 0;
+ virtual void OnLink() = 0;
+ virtual void OnUnlink() = 0;
+ virtual void PrePhysicsUpdateInternal(float deltaTime) = 0;
+ virtual void DestroyPhysicsObject() = 0;
+
+protected:
+ dGeomID mODEGeom;
+ TColliderNameSet mNotCollideWithSet;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_COLLIDERINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/compoundcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/compoundcolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/compoundcolliderint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,38 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef OXYGEN_COMPOUNDCOLLIDERINT_H
+#define OXYGEN_COMPOUNDCOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API CompoundColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_COMPOUNDCOLLIDERINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/concavecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/concavecolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/concavecolliderint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,38 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef OXYGEN_CONCAVECOLLIDERINT_H
+#define OXYGEN_CONCAVECOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ConcaveColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_CONCAVECOLLIDERINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -24,7 +24,6 @@
#define OXYGEN_DYNAMICBODYINT_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odebody.h>
namespace oxygen
{
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/emptycolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/emptycolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/emptycolliderint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,38 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef OXYGEN_EMPTYCOLLIDERINT_H
+#define OXYGEN_EMPTYCOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API EmptyColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_EMPTYCOLLIDERINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -24,8 +24,7 @@
#define OXYGEN_PHYSICSOBJECTINT_H
#include <boost/smart_ptr/shared_ptr.hpp>
-#include <oxygen/physicsserver/ode/odewrapper.h>
-#include <oxygen/sceneserver/basenode.h>
+#include <salt/salt.h>
#include <oxygen/oxygen_defines.h>
namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -24,8 +24,6 @@
#define OXYGEN_RIGIDBODYINT_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odebody.h>
-#include <iostream>
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -24,7 +24,6 @@
#define OXYGEN_SOFTBODYINT_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odebody.h>
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -23,7 +23,6 @@
#ifndef OXYGEN_SPACEINT_H
#define OXYGEN_SPACEINT_H
-#include <oxygen/physicsserver/ode/odephysicsobject.h>
#include <set>
#include <oxygen/oxygen_defines.h>
@@ -32,6 +31,7 @@
class Transform;
class RigidBody;
class Collider;
+class Scene;
class OXYGEN_API SpaceInt
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -24,7 +24,6 @@
#define OXYGEN_STATICBODYINT_H
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odebody.h>
namespace oxygen
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h 2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -22,8 +22,8 @@
#ifndef OXYGEN_WORLDINT_H
#define OXYGEN_WORLDINT_H
+#include <salt/salt.h>
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odephysicsobject.h>
namespace oxygen
{
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,305 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: collider.cpp 115 2009-12-07 08:43:40Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include <oxygen/physicsserver/collider.h>
+#include <oxygen/physicsserver/ode/odecollider.h>
+#include <oxygen/physicsserver/collisionhandler.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/physicsserver/transformcollider.h>
+#include <oxygen/physicsserver/rigidbody.h>
+#include <oxygen/sceneserver/basenode.h>
+#include <oxygen/sceneserver/scene.h>
+#include <zeitgeist/leaf.h>
+#include <zeitgeist/logserver/logserver.h>
+
+using namespace oxygen;
+using namespace salt;
+using namespace zeitgeist;
+using namespace boost;
+using namespace std;
+
+ODECollider::ODECollider() : ODEPhysicsObject(), mODEGeom(0)
+{
+}
+
+ODECollider::~ODECollider()
+{
+}
+
+void ODECollider::OnLink()
+{/*
+ //PhysicsObject::OnLink();
+
+
+ //weak_ptr<Node> parent = GetParent();
+ if (
+ (mODEGeom == 0) //||
+ //(parent.expired())
+ )
+ {
+ return;
+ }
+
+ // shared_ptr<TransformCollider> tcParent =
+ // shared_dynamic_cast<TransformCollider>(parent.lock());
+
+ if (tcParent.get() != 0)
+ {
+ // 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((dGeomID) tcParent->GetGeomID(), mODEGeom);
+ return;
+ }
+
+ // this geom is independent, so register to space and body
+ // if we have a space add the geom to it
+ //long spaceID = FindSpaceID();
+ if (
+ (spaceID) &&
+ (! dSpaceQuery((dSpaceID) spaceID, mODEGeom))
+ )
+ {
+ dGeomSetData(mODEGeom, this);
+ dSpaceAdd((dSpaceID) spaceID, mODEGeom);
+ }
+ // if there is a Body below our parent, link to it
+ shared_ptr<RigidBody> body = shared_static_cast<RigidBody>
+ (parent.lock()->GetChildOfClass("RigidBody"));
+
+ if (body.get() != 0)
+ {
+ dGeomSetBody (mODEGeom, (dBodyID) body->GetBodyID());
+ } else
+ {
+ // no body node found, setup initial position and
+ // orientation identical to the parent node
+ SetRotation(GetWorldTransform());
+ SetPosition(Vector3f(0,0,0));
+ }
+*/}
+
+void ODECollider::OnUnlink()
+{
+ //PhysicsObject::OnUnlink();
+
+ // remove collision geometry from space
+ long space = GetParentSpaceID();
+
+ if (
+ (mODEGeom == 0) ||
+ (space == 0)
+ )
+ {
+ return;
+ }
+
+ if (space)
+ {
+ dSpaceRemove((dSpaceID) space, mODEGeom);
+ }
+}
+
+void ODECollider::PrePhysicsUpdateInternal(float /*deltaTime*/)
+{
+ // if (FindChildSupportingClass<CollisionHandler>(false).get() == 0)
+ // {
+ // for convenience we add a ContactJointHandler if no
+ // other handler is registered. This behaviour covers the
+ // majority of all use cases and eases the creation of
+ // Colliders.
+ AddCollisionHandler("oxygen/ContactJointHandler");
+ // }
+}
+
+long ODECollider::GetGeomID()
+{
+ return (long) mODEGeom;
+}
+
+bool ODECollider::AddCollisionHandler(const std::string& handlerName)
+{/*
+ shared_ptr<CollisionHandler> handler =
+ shared_dynamic_cast<CollisionHandler>(GetCore()->New(handlerName));
+
+ if (handler.get() == 0)
+ {
+ GetLog()->Error()
+ << "ERROR: (Collider) Cannot create CollisionHandler "
+ << handlerName << "\n";
+ return false;
+ }
+
+ return AddChildReference(handler);
+*/}
+
+void ODECollider::OnCollision (boost::shared_ptr<Collider> collidee,
+ dContact& contact, ECollisionType type)
+
+{/*
+ TLeafList handlers;
+ ListChildrenSupportingClass<CollisionHandler>(handlers);
+
+ for (
+ TLeafList::iterator iter = handlers.begin();
+ iter != handlers.end();
+ ++iter
+ )
+ {
+ shared_ptr<CollisionHandler> handler =
+ shared_static_cast<CollisionHandler>(*iter);
+
+ if (
+ (type == CT_SYMMETRIC) &&
+ (! handler->IsSymmetricHandler())
+ )
+ {
+ continue;
+ }
+
+ handler->HandleCollision(collidee, contact);
+ }
+*/}
+
+/*shared_ptr<Collider> ODECollider::GetCollider(long geomID)
+{
+ if (geomID == 0)
+ {
+ return shared_ptr<Collider>();
+ }
+
+ Collider* collPtr =
+ static_cast<Collider*>(dGeomGetData((dGeomID) geomID));
+
+ if (collPtr == 0)
+ {
+ // we cannot use the logserver here
+ cerr << "ERROR: (Collider) no Collider found for GeomID "
+ << geomID << "\n";
+ return shared_ptr<Collider>();
+ }
+
+ shared_ptr<Collider> collider = shared_static_cast<Collider>
+ (collPtr->GetSelf().lock());
+
+ if (collider.get() == 0)
+ {
+ // we cannot use the logserver here
+ cerr << "ERROR: (Collider) got no shared_ptr for GeomID "
+ << geomID << "\n";
+ }
+
+ return collider;
+}*/
+
+void ODECollider::SetRotation(const Matrix& rot)
+{
+ dMatrix3 ODEMatrix;
+ void* matrixPtr = (void*) &ODEMatrix;
+ ConvertRotationMatrix(rot, matrixPtr);
+ dGeomSetRotation(mODEGeom, ODEMatrix);
+}
+
+void ODECollider::SetPosition(const Vector3f& pos)
+{
+ //Vector3f globalPos(GetWorldTransform() * pos);
+ //dGeomSetPosition (mODEGeom, globalPos[0], globalPos[1], globalPos[2]);
+}
+
+void ODECollider::SetLocalPosition(const Vector3f& pos)
+{
+ dGeomSetPosition (mODEGeom, pos[0], pos[1], pos[2]);
+}
+
+Vector3f ODECollider::GetPosition() const
+{
+ const dReal* pos = dGeomGetPosition(mODEGeom);
+ return Vector3f(pos[0],pos[1],pos[2]);
+}
+
+long ODECollider::GetParentSpaceID()
+{
+ if (mODEGeom == 0)
+ {
+ return 0;
+ }
+
+ return (long) dGeomGetSpace(mODEGeom);
+}
+
+bool ODECollider::Intersects(boost::shared_ptr<Collider> collider)
+{
+ if (
+ (mODEGeom == 0) ||
+ (collider.get() == 0)
+ )
+ {
+ return false;
+ }
+
+ dContactGeom contact;
+
+ return dCollide
+ (
+ mODEGeom,
+ (dGeomID) collider->GetGeomID(),
+ 1, /* ask for at most one collision point */
+ &contact,
+ sizeof(contact)
+ ) > 0;
+}
+
+void ODECollider::DestroyPhysicsObject()
+{
+ if (! mODEGeom)
+ {
+ return;
+ }
+
+ dGeomDestroy(mODEGeom);
+ mODEGeom = 0;
+}
+
+void ODECollider::AddNotCollideWithColliderName(const std::string & colliderName, bool isAdd)
+{
+ TColliderNameSet::iterator it = mNotCollideWithSet.find(colliderName);
+
+ if (isAdd)
+ {
+ if (it == mNotCollideWithSet.end())
+ {
+ //I'm not have this one
+ mNotCollideWithSet.insert(colliderName);
+ }
+ }
+ else
+ {
+ if (it != mNotCollideWithSet.end())
+ {
+ //Remove
+ mNotCollideWithSet.erase(it);
+ }
+ }
+}
+
+const ODECollider::TColliderNameSet& ODECollider::GetNotCollideWithSet() const
+{
+ return mNotCollideWithSet;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,62 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+
+#ifndef OXYGEN_ODECOLLIDER_H
+#define OXYGEN_ODECOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odephysicsobject.h>
+#include <oxygen/physicsserver/int/colliderint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODECollider : public ColliderInt, public ODEPhysicsObject
+{
+
+public:
+ ODECollider();
+ virtual ~ODECollider();
+
+ void OnCollision(boost::shared_ptr<Collider> collidee, dContact& contact, ECollisionType type);
+ bool AddCollisionHandler(const std::string& handlerName);
+ long GetGeomID();
+ void SetPosition(const salt::Vector3f& pos);
+ void SetLocalPosition(const salt::Vector3f& pos);
+ salt::Vector3f GetPosition() const;
+ void SetRotation(const salt::Matrix& rot);
+ bool Intersects(boost::shared_ptr<Collider> collider);
+ long GetParentSpaceID();
+ void AddNotCollideWithColliderName(const std::string& colliderName, bool isAdd);
+ const TColliderNameSet& GetNotCollideWithSet() const;
+ void OnLink();
+ void OnUnlink();
+ void PrePhysicsUpdateInternal(float deltaTime);
+ void DestroyPhysicsObject();
+
+protected:
+ dGeomID mODEGeom;
+ TColliderNameSet mNotCollideWithSet;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECOLLIDER_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,28 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#include <oxygen/physicsserver/ode/odecompoundcollider.h>
+
+using namespace oxygen;
+
+ODECompoundCollider::ODECompoundCollider() : ODECollider(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.h 2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,39 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
+ $Id: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; version 2 of the License.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+*/
+#ifndef OXYGEN_ODECOMPOUNDCOLLIDER_H
+#define OXYGEN_ODECOMPOUNDCOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odecollider.h>
+#include <oxygen/physicsserver/int/compoundcolliderint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODECompoundCollider : public CompoundColliderInt, public ODECollider
+{
+public:
+ ODECompoundCollider();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECOMPOUNDCOLLIDER_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconcavecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconcavecollider.cpp (rev 0)
+++ br...
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