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[simspark-svn] SF.net SVN: simspark:[117] branches/multiphys/spark/lib/oxygen
|
From: <a-...@us...> - 2009-12-09 08:42:53
|
Revision: 117
http://simspark.svn.sourceforge.net/simspark/?rev=117&view=rev
Author: a-held
Date: 2009-12-09 08:42:42 +0000 (Wed, 09 Dec 2009)
Log Message:
-----------
provided bridge pattern for ConvexCollider and CylinderCollider
implemented bridge pattern for BoxCollider and SphereCollider
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.h
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/convexcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/cylindercolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-09 08:42:42 UTC (rev 117)
@@ -55,9 +55,12 @@
#interfaces
physicsserver/int/bodyint.h
+ physicsserver/int/boxcolliderint.h
physicsserver/int/colliderint.h
physicsserver/int/compoundcolliderint.h
physicsserver/int/concavecolliderint.h
+ physicsserver/int/convexcolliderint.h
+ physicsserver/int/cylindercolliderint.h
physicsserver/int/dynamicbodyint.h
physicsserver/int/emptycolliderint.h
physicsserver/int/physicsobjectint.h
@@ -65,21 +68,26 @@
physicsserver/int/rigidbodyint.h
physicsserver/int/softbodyint.h
physicsserver/int/spaceint.h
+ physicsserver/int/spherecolliderint.h
physicsserver/int/staticbodyint.h
physicsserver/int/worldint.h
#ode-specific files
physicsserver/ode/odebody.h
+ physicsserver/ode/odeboxcollider.h
physicsserver/ode/odedynamicbody.h
physicsserver/ode/odecollider.h
physicsserver/ode/odecompoundcollider.h
physicsserver/ode/odeconcavecollider.h
+ physicsserver/ode/odeconvexcollider.h
+ physicsserver/ode/odecylindercollider.h
physicsserver/ode/odeemptycollider.h
physicsserver/ode/odephysicsobject.h
physicsserver/ode/odephysicsserver.h
physicsserver/ode/oderigidbody.h
physicsserver/ode/odesoftbody.h
physicsserver/ode/odespace.h
+ physicsserver/ode/odespherecollider.h
physicsserver/ode/odestaticbody.h
physicsserver/ode/odeworld.h
physicsserver/ode/odewrapper.h
@@ -163,7 +171,6 @@
physicsserver/boxcollider_c.cpp
physicsserver/capsulecollider.cpp
physicsserver/capsulecollider_c.cpp
- physicsserver/cylindercollider_c.cpp
physicsserver/collider.cpp
physicsserver/collider_c.cpp
physicsserver/compoundcollider.cpp
@@ -171,11 +178,14 @@
physicsserver/concavecollider.cpp
physicsserver/concavecollider_c.cpp
physicsserver/conecollider_c.cpp
+ physicsserver/convexcollider.cpp
physicsserver/convexcollider_c.cpp
physicsserver/collisionhandler.cpp
physicsserver/collisionhandler_c.cpp
physicsserver/contactjointhandler.cpp
physicsserver/contactjointhandler_c.cpp
+ physicsserver/cylindercollider.cpp
+ physicsserver/cylindercollider_c.cpp
physicsserver/emptycollider.cpp
physicsserver/emptycollider_c.cpp
physicsserver/physicsserver.cpp
@@ -217,9 +227,12 @@
#ODE-specific files
physicsserver/ode/odebody.cpp
+ physicsserver/ode/odeboxcollider.cpp
+ physicsserver/ode/odecollider.cpp
physicsserver/ode/odecompoundcollider.cpp
physicsserver/ode/odeconcavecollider.cpp
- physicsserver/ode/odecollider.cpp
+ physicsserver/ode/odeconvexcollider.cpp
+ physicsserver/ode/odecylindercollider.cpp
physicsserver/ode/odedynamicbody.cpp
physicsserver/ode/odeemptycollider.cpp
physicsserver/ode/odephysicsobject.cpp
@@ -227,6 +240,7 @@
physicsserver/ode/oderigidbody.cpp
physicsserver/ode/odesoftbody.cpp
physicsserver/ode/odespace.cpp
+ physicsserver/ode/odespherecollider.cpp
physicsserver/ode/odestaticbody.cpp
physicsserver/ode/odeworld.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -21,27 +21,22 @@
*/
#include <oxygen/physicsserver/boxcollider.h>
+#include <oxygen/physicsserver/ode/odeboxcollider.h>
using namespace oxygen;
using namespace salt;
BoxCollider::BoxCollider() : ConvexCollider()
{
+ mBoxColliderImp = boost::shared_ptr<ODEBoxCollider>(new ODEBoxCollider());
}
-void
-BoxCollider::SetBoxLengths(const Vector3f& extents)
+void BoxCollider::SetBoxLengths(const Vector3f& extents)
{
- dGeomBoxSetLengths(
- mODEGeom,
- extents[0],
- extents[1],
- extents[2]
- );
+ mBoxColliderImp->SetBoxLengths(extents);
}
-bool
-BoxCollider::ConstructInternal()
+bool BoxCollider::ConstructInternal()
{
if (! Collider::ConstructInternal())
{
@@ -49,23 +44,18 @@
}
// create a unit box
- mODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
+ mBoxColliderImp->CreateBox();
+ mODEGeom = (dGeomID) mBoxColliderImp->GetGeomID();
- return (mODEGeom != 0);
+ return (mBoxColliderImp->GetGeomID() != 0);
}
-void
-BoxCollider::GetBoxLengths(Vector3f& extents)
+void BoxCollider::GetBoxLengths(Vector3f& extents)
{
- dVector3 lengths;
- dGeomBoxGetLengths(mODEGeom,lengths);
- extents[0] = lengths[0];
- extents[1] = lengths[1];
- extents[2] = lengths[2];
+ mBoxColliderImp->GetBoxLengths(extents);
}
-float
-BoxCollider::GetBoxLength(int axis)
+float BoxCollider::GetBoxLength(int axis)
{
if (
(axis<0) ||
@@ -80,12 +70,8 @@
return extents[axis];
}
-float
-BoxCollider::GetPointDepth(const Vector3f& pos)
+float BoxCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return dGeomBoxPointDepth
- (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
+ return mBoxColliderImp->GetPointDepth(worldPos);
}
-
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class BoxColliderInt;
/** BoxCollider encapsulates an ODE box geometry object.
*/
@@ -60,6 +61,9 @@
protected:
/** constructs a default box with side lengths of 1 */
virtual bool ConstructInternal();
+
+private:
+ boost::shared_ptr<BoxColliderInt> mBoxColliderImp;
};
DECLARE_CLASS(BoxCollider);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -46,7 +46,6 @@
{
PhysicsObject::OnLink();
-
weak_ptr<Node> parent = GetParent();
if (
(mODEGeom == 0) ||
@@ -150,9 +149,12 @@
}
void Collider::OnCollision (boost::shared_ptr<Collider> collidee,
- dContact& contact, ECollisionType type)
+ void* contact, ECollisionType type)
{
+ dContact* helpContact = (dContact*) contact;
+ dContact& ODEContact = (dContact&) *helpContact;
+
TLeafList handlers;
ListChildrenSupportingClass<CollisionHandler>(handlers);
@@ -173,7 +175,7 @@
continue;
}
- handler->HandleCollision(collidee, contact);
+ handler->HandleCollision(collidee, ODEContact);
}
}
@@ -298,7 +300,7 @@
}
}
-const Collider::TColliderNameSet & Collider::GetNotCollideWithSet() const
+const Collider::TColliderNameSet& Collider::GetNotCollideWithSet() const
{
return mNotCollideWithSet;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -32,7 +32,7 @@
{
class ColliderInt;
-/** \class Collider encapsulates an ODE geometry object- geom for
+/** \class Collider encapsulates a geometry object- geom for
short. Geoms are the fundamental objects in the collision
system. They represent a single rigid shape as for example a
sphere or a box. A special kind of geom called 'space' can
@@ -49,14 +49,17 @@
//
public:
/** enumerates the two different collision instances reported to
- the OnCollision member for each collision reported from ODE.
+ the OnCollision member for each collision reported from the
+ physics engine.
*/
enum ECollisionType
{
- /** the collision pair as reported from ODE */
+ /** the collision pair as reported from the physics engine */
CT_DIRECT,
- /** the symmetric pair to the pair reported from ODE */
+ /** the symmetric pair to the pair reported from the
+ physics engine
+ */
CT_SYMMETRIC
};
@@ -80,11 +83,11 @@
\param holds the contact points between the two affected geoms
as returned from ODE dCollide function
- \param symmetric indicates tha this collision indicates a
+ \param symmetric indicates that this collision indicates a
symmetric case
*/
virtual void OnCollision (boost::shared_ptr<Collider> collidee,
- dContact& contact, ECollisionType type);
+ void* contact, ECollisionType type);
/** registers a new collision handler to this collider. If no
collision handler is registered until the first call to
@@ -94,10 +97,10 @@
*/
bool AddCollisionHandler(const std::string& handlerName);
- /** returns the Collider corresponding to the given ODE geom */
+ /** returns the Collider corresponding to the given geom */
static boost::shared_ptr<Collider> GetCollider(long geomID);
- /** returns the ID of managed ODE geom */
+ /** returns the ID of managed geom */
long GetGeomID();
/** sets the relative position of the managed geom directly. If
@@ -120,23 +123,23 @@
*/
virtual void SetRotation(const salt::Matrix& rot);
- /** returns true if the ODE geom managed by this
+ /** returns true if the geom managed by this
Collider intersects with the geom managed by the given collider
*/
bool Intersects(boost::shared_ptr<Collider> collider);
- /** returns the ODE handle ID of the containing parent space */
+ /** returns the handle ID of the containing parent space */
virtual long GetParentSpaceID();
/** Add/Reomve a collider name that not collide with */
- void AddNotCollideWithColliderName(const std::string & colliderName, bool isAdd);
+ void AddNotCollideWithColliderName(const std::string& colliderName, bool isAdd);
/** Get the not collide with collider set */
- const TColliderNameSet & GetNotCollideWithSet() const;
+ const TColliderNameSet& GetNotCollideWithSet() const;
protected:
/** registers the managed geom to the Space of the Scene and to
- the associated ODE body
+ the associated body
*/
virtual void OnLink();
@@ -165,7 +168,7 @@
protected:
/** a set that store the colliders that I never collide with
- Note: they are should in the same space, orelse this is ignored
+ Note: they should be in the same space, or else this is ignored
*/
TColliderNameSet mNotCollideWithSet;
};
Added: branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -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/convexcollider.h>
+#include <oxygen/physicsserver/ode/odeconvexcollider.h>
+
+using namespace oxygen;
+
+ConvexCollider::ConvexCollider() : Collider(){
+ mConvexColliderImp = boost::shared_ptr<ODEConvexCollider>(new ODEConvexCollider());
+}
+
+ConvexCollider::~ConvexCollider(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -27,15 +27,21 @@
namespace oxygen
{
+class ConvexColliderInt;
+
/** ConvexCollider is the common base class of all convex
geometry objects, such as spheres and boxes.
*/
class OXYGEN_API ConvexCollider : public Collider
{
+
public:
- ConvexCollider() : Collider(){};
- virtual ~ConvexCollider(){};
+ ConvexCollider();
+ virtual ~ConvexCollider();
+
+private:
+ boost::shared_ptr<ConvexColliderInt> mConvexColliderImp;
};
DECLARE_ABSTRACTCLASS(ConvexCollider);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -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/cylindercollider.h>
+#include <oxygen/physicsserver/ode/odecylindercollider.h>
+
+using namespace oxygen;
+
+CylinderCollider::CylinderCollider() : ConvexCollider(){
+ mCylinderColliderImp = boost::shared_ptr<ODECylinderCollider>(new ODECylinderCollider());
+}
+
+CylinderCollider::~CylinderCollider(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -27,6 +27,8 @@
namespace oxygen
{
+class CylinderColliderInt;
+
/**
CylinderCollider is not yet implemented.
*/
@@ -37,8 +39,11 @@
// Functions
//
public:
- CylinderCollider() : ConvexCollider(){};
- virtual ~CylinderCollider(){};
+ CylinderCollider();
+ virtual ~CylinderCollider();
+
+private:
+ boost::shared_ptr<CylinderColliderInt> mCylinderColliderImp;
};
DECLARE_CLASS(CylinderCollider);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,46 @@
+/* -*- 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_BOXCOLLIDERINT_H
+#define OXYGEN_BOXCOLLIDERINT_H
+
+#include <salt/salt.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API BoxColliderInt
+{
+
+public:
+ virtual void SetBoxLengths(const salt::Vector3f& extents) = 0;
+ virtual void GetBoxLengths(salt::Vector3f& extents) = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void CreateBox() = 0;
+
+ virtual long GetGeomID() = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_BOXCOLLIDERINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -63,7 +63,7 @@
virtual void DestroyPhysicsObject() = 0;
protected:
- dGeomID mODEGeom;
+ long mGeomID;
TColliderNameSet mNotCollideWithSet;
};
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/convexcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/convexcolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/convexcolliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -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_CONVEXCOLLIDERINT_H
+#define OXYGEN_CONVEXCOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ConvexColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_CONVEXCOLLIDERINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/cylindercolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/cylindercolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/cylindercolliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -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_CYLINDERCOLLIDERINT_H
+#define OXYGEN_CYLINDERCOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API CylinderColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_CYLINDERCOLLIDERINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,46 @@
+/* -*- 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_SPHERECOLLIDERINT_H
+#define OXYGEN_SPHERECOLLIDERINT_H
+
+#include <salt/salt.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API SphereColliderInt
+{
+
+public:
+ virtual void SetRadius(float r) = 0;
+ virtual float GetRadius() const = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void CreateSphere() = 0;
+
+ virtual long GetGeomID() = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_SPHERECOLLIDERINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -4,7 +4,7 @@
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 $
+ $Id: odebody.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
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,67 @@
+/* -*- 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: boxcollider.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/collider.h>
+#include <oxygen/physicsserver/ode/odeboxcollider.h>
+
+using namespace oxygen;
+using namespace salt;
+
+ODEBoxCollider::ODEBoxCollider() : ODEConvexCollider()
+{
+
+}
+
+void ODEBoxCollider::SetBoxLengths(const Vector3f& extents)
+{
+ dGeomBoxSetLengths(
+ mODEGeom,
+ extents[0],
+ extents[1],
+ extents[2]
+ );
+}
+
+void ODEBoxCollider::CreateBox()
+{
+ mODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
+ mGeomID = (long) mODEGeom;
+}
+
+void ODEBoxCollider::GetBoxLengths(Vector3f& extents)
+{
+ dVector3 lengths;
+ dGeomBoxGetLengths(mODEGeom,lengths);
+ extents[0] = lengths[0];
+ extents[1] = lengths[1];
+ extents[2] = lengths[2];
+}
+
+float ODEBoxCollider::GetPointDepth(const Vector3f& pos)
+{
+ return dGeomBoxPointDepth
+ (mODEGeom,pos[0],pos[1],pos[2]);
+}
+
+long ODEBoxCollider::GetGeomID(){
+ return mGeomID;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,47 @@
+/* -*- 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.h 56 2009-03-17 18:03:47Z hedayat $
+ $Id: odeobject.h 56 2009-03-17 18:03:47Z 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_ODEBOXCOLLIDER_H
+#define OXYGEN_ODEBOXCOLLIDER_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/int/boxcolliderint.h>
+#include <oxygen/physicsserver/ode/odeconvexcollider.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEBoxCollider : public BoxColliderInt, public ODEConvexCollider
+{
+public:
+ ODEBoxCollider();
+ void SetBoxLengths(const salt::Vector3f& extents);
+ void GetBoxLengths(salt::Vector3f& extents);
+ float GetPointDepth(const salt::Vector3f& pos);
+ void CreateBox();
+
+ long GetGeomID();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEBOXCOLLIDER_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -37,6 +37,7 @@
ODECollider::ODECollider() : ODEPhysicsObject(), mODEGeom(0)
{
+ mGeomID = 0;
}
ODECollider::~ODECollider()
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -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/odeconvexcollider.h>
+
+using namespace oxygen;
+
+ODEConvexCollider::ODEConvexCollider() : ODECollider(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -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_ODECONVEXCOLLIDER_H
+#define OXYGEN_ODECONVEXCOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odecollider.h>
+#include <oxygen/physicsserver/int/convexcolliderint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEConvexCollider : public ConvexColliderInt, public ODECollider
+{
+public:
+ ODEConvexCollider();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECONVEXCOLLIDER_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -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/odecylindercollider.h>
+
+using namespace oxygen;
+
+ODECylinderCollider::ODECylinderCollider() : ODEConvexCollider(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -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_ODECYLINDERCOLLIDER_H
+#define OXYGEN_ODECYLINDERCOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odeconvexcollider.h>
+#include <oxygen/physicsserver/int/cylindercolliderint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODECylinderCollider : public CylinderColliderInt, public ODEConvexCollider
+{
+public:
+ ODECylinderCollider();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECYLINDERCOLLIDER_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -32,7 +32,7 @@
using namespace salt;
using namespace std;
-ODERigidBody::ODERigidBody() : ODEBody(){
+ODERigidBody::ODERigidBody() : ODEBody(), mODEBody(0){
mBodyID = 0;
mMassTrans = Vector3f(0,0,0);
mMassTransformed = false;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -158,8 +158,8 @@
for (int i=0;i<n;++i)
{
// notify the collider nodes
- collider->OnCollision(collidee,contacts[i],Collider::CT_DIRECT);
- collidee->OnCollision(collider,contacts[i],Collider::CT_SYMMETRIC);
+ //collider->OnCollision(collidee,contacts[i],Collider::CT_DIRECT);
+ //collidee->OnCollision(collider,contacts[i],Collider::CT_SYMMETRIC);
}
}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,57 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: spherecollider.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/ode/odespherecollider.h>
+
+using namespace oxygen;
+using namespace salt;
+
+ODESphereCollider::ODESphereCollider() : ODEConvexCollider()
+{
+ mODEGeom = 0;
+ mGeomID = 0;
+}
+
+void ODESphereCollider::SetRadius(float r)
+{
+ dGeomSphereSetRadius(mODEGeom, r);
+}
+
+float ODESphereCollider::GetRadius() const
+{
+ return dGeomSphereGetRadius(mODEGeom);
+}
+
+void ODESphereCollider::CreateSphere()
+{
+ mODEGeom = dCreateSphere(0, 1.0f);
+ mGeomID = (long) mODEGeom;
+}
+
+float ODESphereCollider::GetPointDepth(const Vector3f& pos)
+{
+ return dGeomSpherePointDepth
+ (mODEGeom,pos[0],pos[1],pos[2]);
+}
+
+long ODESphereCollider::GetGeomID(){
+ return mGeomID;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,46 @@
+/* -*- 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.h 56 2009-03-17 18:03:47Z 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_ODESPHERECOLLIDER_H
+#define OXYGEN_ODESPHERECOLLIDER_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/int/spherecolliderint.h>
+#include <oxygen/physicsserver/ode/odeconvexcollider.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODESphereCollider : public SphereColliderInt, public ODEConvexCollider
+{
+public:
+ ODESphereCollider();
+ void SetRadius(float r);
+ float GetRadius() const;
+ float GetPointDepth(const salt::Vector3f& pos);
+ void CreateSphere();
+
+ long GetGeomID();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODESPHERECOLLIDER_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -138,8 +138,8 @@
if (s1 == s2)
{
- const oxygen::Collider::TColliderNameSet & collider_set = collider->GetNotCollideWithSet();
- const oxygen::Collider::TColliderNameSet & collidee_set = collidee->GetNotCollideWithSet();
+ const oxygen::Collider::TColliderNameSet& collider_set = collider->GetNotCollideWithSet();
+ const oxygen::Collider::TColliderNameSet& collidee_set = collidee->GetNotCollideWithSet();
if (
(collider_set.find(collidee->GetName()) != collider_set.end()) ||
(collidee_set.find(collider->GetName()) != collidee_set.end())
@@ -170,8 +170,8 @@
for (int i=0;i<n;++i)
{
// notify the collider nodes
- collider->OnCollision(collidee,contacts[i],Collider::CT_DIRECT);
- collidee->OnCollision(collider,contacts[i],Collider::CT_SYMMETRIC);
+ collider->OnCollision(collidee,(void*) &contacts[i],Collider::CT_DIRECT);
+ collidee->OnCollision(collider,(void*) &contacts[i],Collider::CT_SYMMETRIC);
}
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -20,44 +20,44 @@
*/
#include <oxygen/physicsserver/spherecollider.h>
+#include <oxygen/physicsserver/ode/odespherecollider.h>
using namespace oxygen;
using namespace salt;
SphereCollider::SphereCollider() : ConvexCollider()
{
+ mSphereColliderImp = boost::shared_ptr<ODESphereCollider>(new ODESphereCollider());
}
-void
-SphereCollider::SetRadius(float r)
+void SphereCollider::SetRadius(float r)
{
- dGeomSphereSetRadius(mODEGeom, r);
+ mSphereColliderImp->SetRadius(r);
}
-float
-SphereCollider::GetRadius() const
+float SphereCollider::GetRadius() const
{
- return dGeomSphereGetRadius(mODEGeom);
+ return mSphereColliderImp->GetRadius();
}
-bool
-SphereCollider::ConstructInternal()
+bool SphereCollider::ConstructInternal()
{
- if (! Collider::ConstructInternal())
+ if (!Collider::ConstructInternal())
{
return false;
}
+
+ // mODEGeom = dCreateSphere(0, 1.0f);
// create a unit sphere
- mODEGeom = dCreateSphere(0, 1.0f);
+ mSphereColliderImp->CreateSphere();
+ mODEGeom = (dGeomID) mSphereColliderImp->GetGeomID();
- return (mODEGeom != 0);
+ return (mSphereColliderImp->GetGeomID() != 0);
}
-float
-SphereCollider::GetPointDepth(const Vector3f& pos)
+float SphereCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return dGeomSpherePointDepth
- (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
+ return mSphereColliderImp->GetPointDepth(worldPos);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -27,8 +27,9 @@
namespace oxygen
{
+class SphereColliderInt;
-/** SphereCollider encapsulates an ODE sphere geometry object.
+/** SphereCollider encapsulates a sphere geometry object.
*/
class OXYGEN_API SphereCollider : public ConvexCollider
{
@@ -38,10 +39,10 @@
public:
SphereCollider();
- /** sets the radius of the managed ODE sphere geom */
+ /** sets the radius of the managed sphere geom */
void SetRadius(float r);
- /** get the radius back from ODE */
+ /** get the radius back from */
float GetRadius() const;
/** returns the depth of the given relative position in the
@@ -54,6 +55,9 @@
protected:
/** constructs a default sphere with a radius of 1 */
virtual bool ConstructInternal();
+
+private:
+ boost::shared_ptr<SphereColliderInt> mSphereColliderImp;
};
DECLARE_CLASS(SphereCollider);
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