Re: [simspark-devel] [simspark-svn] SF.net SVN: simspark:[118] branches/multiphys

[Hedayat V. <hed...@ai...>]

Hi,
IMHO using a GenericPhysicsObject class for passing all parameters is 
not very nice. For example, it doesn't show that CRM function needs a 
matrix. I suggest defining a class for each type: e.g. 
GenericPhysicsMatrix for functions which need a matrix.
Also, if engine specific classes inherit from generic classes 
(ODEMatrixClass inherited from both GenericPhysicsMatrix and dMatrix3, 
or inherited from GenericPhysicsMatrix and having a dMatrix3 member), 
you won't need to cast the object to the Generic class when passing 
object as a function parameter.

BTW, use whatever you prefer.

Thanks a lot,
Hedayat

On ۰۹/۱۲/۱۰  12:04, a-...@us... wrote:
> Revision: 118
>            http://simspark.svn.sourceforge.net/simspark/?rev=118&view=rev
> Author:   a-held
> Date:     2009-12-10 08:34:56 +0000 (Thu, 10 Dec 2009)
>
> Log Message:
> -----------
> Searched and renamed all CCylinders, CappedCylinders and Capped Cylinders to Capsule
> Implemented bridge pattern for CapsuleCollider
> Provided bridge pattern for ConeCollider
> Declared GenericPhysicsObject class that can be cast to in order to pass pointers
>      to engine-specific objects on to the abstract layer (like void*, but cleaner)
>
> Modified Paths:
> --------------
>      branches/multiphys/rcssserver3d/data/rsg/agent/hoap2.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot055.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot056.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbot.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotcomp.rsg
>      branches/multiphys/rcssserver3d/doc/users/robots.tex
>      branches/multiphys/spark/data/ros/aibo.rsi
>      branches/multiphys/spark/data/ros/blockworld.ros
>      branches/multiphys/spark/data/rsg/boxspheres/simspark.rsg
>      branches/multiphys/spark/lib/kerosin/CMakeLists.txt
>      branches/multiphys/spark/lib/kerosin/kerosin.cpp
>      branches/multiphys/spark/lib/kerosin/kerosin.h
>      branches/multiphys/spark/lib/oxygen/CMakeLists.txt
>      branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.cpp
>      branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.h
>      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/collider.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/conecollider.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody_c.cpp
>      branches/multiphys/spark/plugin/rosimporter/roselements.cpp
>      branches/multiphys/spark/plugin/rosimporter/roselements.h
>      branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp
>      branches/multiphys/spark/plugin/rosimporter/rosimporter.h
>
> Added Paths:
> -----------
>      branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_appearance.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics_nocollider.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg
>      branches/multiphys/spark/data/rsg/boxspheres/capsule.rsg
>      branches/multiphys/spark/data/rsg/boxspheres/staticcapsule.rsg
>      branches/multiphys/spark/lib/kerosin/sceneserver/capsule.cpp
>      branches/multiphys/spark/lib/kerosin/sceneserver/capsule.h
>      branches/multiphys/spark/lib/kerosin/sceneserver/capsule_c.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/conecollider.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobject.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/int/conecolliderint.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h
>      branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconecollider.cpp
>      branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconecollider.h
>
> Removed Paths:
> -------------
>      branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_appearance.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg
>      branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
>      branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg
>      branches/multiphys/spark/data/rsg/boxspheres/staticccylinder.rsg
>      branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.cpp
>      branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.h
>      branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder_c.cpp
>
> Modified: branches/multiphys/rcssserver3d/data/rsg/agent/hoap2.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/hoap2.rsg  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/hoap2.rsg  2009-12-10 08:34:56 UTC (rev 118)
> @@ -142,7 +142,7 @@
>       (nd Transform
>            (setLocalPos $offsetLeftShoulderCylX $offsetLeftShoulderCylY $offsetLeftShoulderCylZ)
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>              (setMaterial matGrey)
>              (setParams $TorsoCylinderRadius $TorsoCylinderLength)
>            )
> @@ -151,7 +151,7 @@
>       (nd Transform
>            (setLocalPos $offsetRightShoulderCylX $offsetRightShoulderCylY $offsetRightShoulderCylZ)
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>              (setMaterial matGrey)
>              (setParams $TorsoCylinderRadius $TorsoCylinderLength)
>            )
> @@ -373,7 +373,7 @@
>       (nd Transform
>            (setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>              (setMaterial matGrey)
>              (setParams $ElbowRadius $ElbowLength)
>            )
> @@ -410,7 +410,7 @@
>       (nd Transform
>            (setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>              (setMaterial matGrey)
>              (setParams $ElbowRadius $ElbowLength)
>            )
>
> Added: branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_appearance.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_appearance.rsg                         (rev 0)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_appearance.rsg 2009-12-10 08:34:56 UTC (rev 118)
> @@ -0,0 +1,11 @@
> +; -*- mode: lisp; -*-
> +
> +(RSG 0 1)
> +(
> +    (templ $radius $length $material)
> +
> +    (nd Capsule
> +        (setParams $radius $length)
> +        (setMaterial $material)
> +    )
> +)
>
> Added: branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics.rsg                            (rev 0)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics.rsg    2009-12-10 08:34:56 UTC (rev 118)
> @@ -0,0 +1,19 @@
> +; -*- mode: lisp; -*-
> +
> +(RSG 0 1)
> +(
> +    (templ $radius $length $totalMass)
> +
> +    (nd RigidBody
> +        (setName capsuleBody)
> +        (setCapsuleTotal $totalMass $radius $length)
> +
> +        (importScene rsg/agent/nao/dragcontroller.rsg)
> +    )
> +
> +    (nd CapsuleCollider
> +        (setParams $radius $length)
> +
> +        (importScene rsg/agent/nao/contactjointhandler.rsg)
> +    )
> + )
>
> Added: branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics_nocollider.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics_nocollider.rsg                         (rev 0)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics_nocollider.rsg 2009-12-10 08:34:56 UTC (rev 118)
> @@ -0,0 +1,13 @@
> +; -*- mode: lisp; -*-
> +
> +(RSG 0 1)
> +(
> +    (templ $radius $length $totalMass)
> +
> +    (nd RigidBody
> +        (setName capsuleBody)
> +        (setCapsuleTotal $totalMass $radius)
> +
> +        (importScene rsg/agent/nao/dragcontroller.rsg)
> +    )
> +)
>
> Deleted: branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_appearance.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_appearance.rsg   2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_appearance.rsg   2009-12-10 08:34:56 UTC (rev 118)
> @@ -1,11 +0,0 @@
> -; -*- mode: lisp; -*-
> -
> -(RSG 0 1)
> -(
> -    (templ $radius $length $material)
> -
> -    (nd CCylinder
> -        (setParams $radius $length)
> -        (setMaterial $material)
> -    )
> -)
>
> Deleted: branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg  2009-12-10 08:34:56 UTC (rev 118)
> @@ -1,19 +0,0 @@
> -; -*- mode: lisp; -*-
> -
> -(RSG 0 1)
> -(
> -    (templ $radius $length $totalMass)
> -
> -    (nd RigidBody
> -        (setName ccylinderBody)
> -        (setCappedCylinderTotal $totalMass $radius $length)
> -
> -        (importScene rsg/agent/nao/dragcontroller.rsg)
> -    )
> -
> -    (nd CCylinderCollider
> -        (setParams $radius $length)
> -
> -        (importScene rsg/agent/nao/contactjointhandler.rsg)
> -    )
> - )
>
> Deleted: branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg   2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg   2009-12-10 08:34:56 UTC (rev 118)
> @@ -1,13 +0,0 @@
> -; -*- mode: lisp; -*-
> -
> -(RSG 0 1)
> -(
> -    (templ $radius $length $totalMass)
> -
> -    (nd RigidBody
> -        (setName ccylinderBody)
> -        (setCappedCylinderTotal $totalMass $radius)
> -
> -        (importScene rsg/agent/nao/dragcontroller.rsg)
> -    )
> -)
>
> Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg    2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg    2009-12-10 08:34:56 UTC (rev 118)
> @@ -43,12 +43,12 @@
>           (setName neck)
>           (setLocalPos $Neck_X $Neck_Y $Neck_Z)
>
> -        (importScene rsg/agent/nao/ccylinder_appearance.rsg $Neck_Radius $Neck_Length matDarkGrey)
> -        (importScene rsg/agent/nao/ccylinder_physics.rsg    $Neck_Radius $Neck_Length $Neck_Mass)
> +        (importScene rsg/agent/nao/capsule_appearance.rsg $Neck_Radius $Neck_Length matDarkGrey)
> +        (importScene rsg/agent/nao/capsule_physics.rsg    $Neck_Radius $Neck_Length $Neck_Mass)
>
>           (importScene rsg/agent/nao/hingejoint.rsg
>                               hj1 he1
> -                            ../ccylinderBody ../../body/boxBody
> +                            ../capsuleBody ../../body/boxBody
>                               0 0 0
>                               0 0 1
>                               $he1_min $he1_max)
> @@ -80,7 +80,7 @@
>
>           (importScene rsg/agent/nao/hingejoint.rsg
>                                 hj2 he2
> -                              ../sphereBody ../../neck/ccylinderBody
> +                              ../sphereBody ../../neck/capsuleBody
>                                 ;../boxBody ../../body/boxBody
>                                 0 0 -0.005
>                                 1 0 0
>
> Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot055.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot055.rsg   2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot055.rsg   2009-12-10 08:34:56 UTC (rev 118)
> @@ -168,7 +168,7 @@
>       (nd Transform
>            (setLocalPos $offsetLeftShoulderCylX $offsetLeftShoulderCylY $offsetLeftShoulderCylZ)
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>              (setName leftshoulderpin)
>              (setMaterial matDarkGrey)
>              (setParams $TorsoCylinderRadius $TorsoCylinderLength)
> @@ -178,7 +178,7 @@
>       (nd Transform
>            (setLocalPos $offsetRightShoulderCylX $offsetRightShoulderCylY $offsetRightShoulderCylZ)
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>              (setName rightshoulderpin)
>              (setMaterial matDarkGrey)
>              (setParams $TorsoCylinderRadius $TorsoCylinderLength)
> @@ -336,7 +336,7 @@
>       (nd Transform
>            (setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>              (setMaterial matGrey)
>              (setParams $ElbowRadius $ElbowLength)
>            )
> @@ -374,7 +374,7 @@
>       (nd Transform
>            (setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>              (setMaterial matGrey)
>              (setParams $ElbowRadius $ElbowLength)
>            )
>
> Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot056.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot056.rsg   2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot056.rsg   2009-12-10 08:34:56 UTC (rev 118)
> @@ -204,7 +204,7 @@
>       (nd Transform
>           (setLocalPos $offsetLeftShoulderCylX $offsetLeftShoulderCylY $offsetLeftShoulderCylZ)
>           (setLocalRotation 0 90 0)
> -     (nd CCylinder
> +     (nd Capsule
>           (setName leftshoulderpin)
>           (setMaterial matDarkGrey)
>           (setParams $TorsoCylinderRadius $TorsoCylinderLength)
> @@ -214,7 +214,7 @@
>       (nd Transform
>           (setLocalPos $offsetRightShoulderCylX $offsetRightShoulderCylY $offsetRightShoulderCylZ)
>           (setLocalRotation 0 90 0)
> -     (nd CCylinder
> +     (nd Capsule
>           (setName rightshoulderpin)
>           (setMaterial matDarkGrey)
>           (setParams $TorsoCylinderRadius $TorsoCylinderLength)
> @@ -409,7 +409,7 @@
>       (nd Transform
>           (setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
>           (setLocalRotation 0 90 0)
> -     (nd CCylinder   
> +     (nd Capsule 
>           (setMaterial matGrey)
>           (setParams $ElbowRadius $ElbowLength)
>           )
> @@ -455,7 +455,7 @@
>       (nd Transform
>           (setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
>           (setLocalRotation 0 90 0)
> -     (nd CCylinder
> +     (nd Capsule
>           (setMaterial matGrey)
>           (setParams $ElbowRadius $ElbowLength)
>           )
> @@ -771,7 +771,7 @@
>       (nd Transform
>             (setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
>             (setLocalRotation 0 90 0)
> -       (nd CCylinder
> +       (nd Capsule
>               (setMaterial matRed)
>               (setParams 0.1 (eval $ThighLength - 0.2))
>               )
> @@ -812,7 +812,7 @@
>       (nd Transform
>             (setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
>             (setLocalRotation 0 90 0)
> -       (nd CCylinder
> +       (nd Capsule
>               (setMaterial matRed)
>               (setParams 0.1 (eval $ThighLength - 0.2))
>               )
>
> Added: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg                          (rev 0)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg  2009-12-10 08:34:56 UTC (rev 118)
> @@ -0,0 +1,37 @@
> +;; -*- mode: lisp; -*-
> +
> +(RSG 0 1)
> +(
> + (templ $name $perceptorName $effectorName $attach
> + $x $y $z
> + $lenX $lenY $lenZ
> + $anchorX $anchorY $anchorZ
> + $axisX $axisY $axisZ $minDeg $maxDeg
> + $totalMass $material $ElbowRadius $ElbowLen)
> +
> + (nd Transform
> +     (setName $name)
> +     (setLocalPos $x $y $z)
> +     (importScene rsg/agent/soccerbot058/box.rsg
> +       $lenX $lenY $lenZ
> +       $totalMass $material)
> +
> +     ;; install hinge joint
> +     (importScene rsg/agent/nao/hingejoint.rsg
> +       $perceptorName $effectorName
> +       ../boxBody $attach
> +       $anchorX    $anchorY   $anchorZ
> +       $axisX      $axisY     $axisZ
> +       $minDeg $maxDeg)
> + 
> +     ;; static cylinder for the elbow
> +     (nd Transform
> +  (setLocalPos $anchorX $anchorY $anchorZ)
> +  (setLocalRotation 0 90 0)
> +  (nd Capsule
> +      (setMaterial matGrey)
> +      (setParams $ElbowRadius $ElbowLen)
> +      )
> +  )
> +     )
> + )
>
> Deleted: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg    2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg    2009-12-10 08:34:56 UTC (rev 118)
> @@ -1,37 +0,0 @@
> -;; -*- mode: lisp; -*-
> -
> -(RSG 0 1)
> -(
> - (templ $name $perceptorName $effectorName $attach
> - $x $y $z
> - $lenX $lenY $lenZ
> - $anchorX $anchorY $anchorZ
> - $axisX $axisY $axisZ $minDeg $maxDeg
> - $totalMass $material $ElbowRadius $ElbowLen)
> -
> - (nd Transform
> -     (setName $name)
> -     (setLocalPos $x $y $z)
> -     (importScene rsg/agent/soccerbot058/box.rsg
> -       $lenX $lenY $lenZ
> -       $totalMass $material)
> -
> -     ;; install hinge joint
> -     (importScene rsg/agent/nao/hingejoint.rsg
> -       $perceptorName $effectorName
> -       ../boxBody $attach
> -       $anchorX    $anchorY   $anchorZ
> -       $axisX      $axisY     $axisZ
> -       $minDeg $maxDeg)
> - 
> -     ;; static cylinder for the elbow
> -     (nd Transform
> -  (setLocalPos $anchorX $anchorY $anchorZ)
> -  (setLocalRotation 0 90 0)
> -  (nd CCylinder
> -      (setMaterial matGrey)
> -      (setParams $ElbowRadius $ElbowLen)
> -      )
> -  )
> -     )
> - )
>
> Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm.rsg  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm.rsg  2009-12-10 08:34:56 UTC (rev 118)
> @@ -38,7 +38,7 @@
>        (nd Transform
>        (setLocalPos $anchorX $anchorY $anchorZ)
>        (setLocalRotation 0 90 0)
> -  (nd CCylinder
> +  (nd Capsule
>            (setMaterial matGrey)
>            (setParams $ElbowRadius $ElbowLen)
>            )
>
> Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbot.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbot.rsg 2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbot.rsg 2009-12-10 08:34:56 UTC (rev 118)
> @@ -216,7 +216,7 @@
>                 $offsetLeftShoulderCylY
>                 $offsetLeftShoulderCylZ)
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>            (setName leftshoulderpin)
>            (setMaterial matDarkGrey)
>            (setParams $TorsoCylinderRadius $TorsoCylinderLength)
> @@ -228,7 +228,7 @@
>                 $offsetRightShoulderCylY
>                 $offsetRightShoulderCylZ)
>            (setLocalRotation 0 90 0)
> -      (nd CCylinder
> +      (nd Capsule
>            (setName rightshoulderpin)
>            (setMaterial matDarkGrey)
>            (setParams $TorsoCylinderRadius $TorsoCylinderLength)
> @@ -434,7 +434,7 @@
>                      - (eval $ShankHeight / 2.0)
>                      - (eval 0.05 * $scale)))
>        (def $ShankAnchorZ (eval $ShankHeight * 0.5))
> -     (importScene rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
> +     (importScene rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg
>             leftshank llj4 lle4 ../../leftthigh/boxBody
>             $LeftShankPosX $LeftShankPosY $LeftShankPosZ
>             $ShankLength $ShankWidth $ShankHeight
> @@ -447,7 +447,7 @@
>        (def $RightShankPosX $RightThighPosX)
>        (def $RightShankPosY $RightThighPosY)
>        (def $RightShankPosZ $LeftShankPosZ)
> -     (importScene rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
> +     (importScene rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg
>             rightshank rlj4 rle4 ../../rightthigh/boxBody
>             $RightShankPosX $RightShankPosY $RightShankPosZ
>             $ShankLength $ShankWidth $ShankHeight
>
> Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotcomp.rsg
> ===================================================================
> --- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotcomp.rsg  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotcomp.rsg  2009-12-10 08:34:56 UTC (rev 118)
> @@ -203,7 +203,7 @@
>       (nd Transform
>           (setLocalPos $offsetLeftShoulderCylX $offsetLeftShoulderCylY $offsetLeftShoulderCylZ)
>           (setLocalRotation 0 90 0)
> -     (nd CCylinder
> +     (nd Capsule
>           (setName leftshoulderpin)
>           (setMaterial matDarkGrey)
>           (setParams $TorsoCylinderRadius $TorsoCylinderLength)
> @@ -213,7 +213,7 @@
>       (nd Transform
>           (setLocalPos $offsetRightShoulderCylX $offsetRightShoulderCylY $offsetRightShoulderCylZ)
>           (setLocalRotation 0 90 0)
> -     (nd CCylinder
> +     (nd Capsule
>           (setName rightshoulderpin)
>           (setMaterial matDarkGrey)
>           (setParams $TorsoCylinderRadius $TorsoCylinderLength)
> @@ -369,7 +369,7 @@
>       (nd Transform
>           (setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
>           (setLocalRotation 0 90 0)
> -     (nd CCylinder   
> +     (nd Capsule 
>           (setMaterial matGrey)
>           (setParams $ElbowRadius $ElbowLength)
>           )
> @@ -415,7 +415,7 @@
>       (nd Transform
>           (setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
>           (setLocalRotation 0 90 0)
> -     (nd CCylinder
> +     (nd Capsule
>           (setMaterial matGrey)
>           (setParams $ElbowRadius $ElbowLength)
>           )
> @@ -621,7 +621,7 @@
>       (nd Transform
>             (setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
>             (setLocalRotation 0 90 0)
> -       (nd CCylinder
> +       (nd Capsule
>               (setMaterial matRed)
>               (setParams 0.1 (eval $ThighLength - 0.2))
>               )
> @@ -662,7 +662,7 @@
>       (nd Transform
>             (setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
>             (setLocalRotation 0 90 0)
> -       (nd CCylinder
> +       (nd Capsule
>               (setMaterial matRed)
>               (setParams 0.1 (eval $ThighLength - 0.2))
>               )
>
> Modified: branches/multiphys/rcssserver3d/doc/users/robots.tex
> ===================================================================
> --- branches/multiphys/rcssserver3d/doc/users/robots.tex  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/rcssserver3d/doc/users/robots.tex  2009-12-10 08:34:56 UTC (rev 118)
> @@ -237,11 +237,11 @@
>       box\_physics\_with\_handler.rsg&  Not only do the job as file
>       “box\_physics.rsg”, but also install a touchperceptorhandler under
>       the BoxCollider Node. \\
> -    ccylinder\_appearance.rsg&  Install a capped cylinder which is
> +    capsule\_appearance.rsg&  Install a capsule which is
>       for the GL render. \\
> -    ccylinder\_physics.rsg&  Install a capped cylinder that has
> +    capsule\_physics.rsg&  Install a capsule that has
>       physics effect(ODE related) \\
> -    ccylinder\_physics\_nocollider.rsg&  Install a capped cylinder that
> +    capsule\_physics\_nocollider.rsg&  Install a capsule that
>       only has dynamics effect (mass, linear velocity, etc). But it can
>       never collide to the others. \\
>       contactjointhandler.rsg&  Install a contactjointhandler to
>
> Modified: branches/multiphys/spark/data/ros/aibo.rsi
> ===================================================================
> --- branches/multiphys/spark/data/ros/aibo.rsi    2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/data/ros/aibo.rsi    2009-12-10 08:34:56 UTC (rev 118)
> @@ -12184,13 +12184,13 @@
>                 </PhysicalAttributes>
>               </SimpleBox>
>               <!--
> -<SimpleCappedCylinder name="larm3Capped" radius="0.016" height="0.03">
> +<SimpleCapsule name="larm3Capped" radius="0.016" height="0.03">
>                 <Translation x="-0.003" y="-0.028" z="0.0"/>
>                 <Rotation x="-90.0" y="0.0" z="-25.0"/>
>                 <PhysicalAttributes>
>                   <Mass value="0.05"/>
>                 </PhysicalAttributes>
> -</SimpleCappedCylinder>
> +</SimpleCapsule>
>               -->
>             </PhysicalRepresentation>
>           </ComplexShape>
> @@ -15442,13 +15442,13 @@
>                 </PhysicalAttributes>
>               </SimpleBox>
>               <!--
> -<SimpleCappedCylinder name="rarm3Capped" radius="0.016" height="0.03">
> +<SimpleCapsule name="rarm3Capped" radius="0.016" height="0.03">
>                 <Translation x="-0.003" y="-0.028" z="0.0"/>
>                 <Rotation x="-90.0" y="0.0" z="-25.0"/>
>                 <PhysicalAttributes>
>                   <Mass value="0.05"/>
>                 </PhysicalAttributes>
> -</SimpleCappedCylinder>
> +</SimpleCapsule>
>               -->
>             </PhysicalRepresentation>
>           </ComplexShape>
> @@ -24870,13 +24870,13 @@
>           </Polygon>
>         </GraphicalRepresentation>
>         <PhysicalRepresentation>
> -<SimpleCappedCylinder name="headCCylinder" radius="0.026" height="0.075">
> +<SimpleCapsule name="headCapsule" radius="0.026" height="0.075">
>             <Translation x="-0.023" y="0.005" z="0.0"/>
>             <Rotation x="0.0" y="90.0" z="20.0"/>
>             <PhysicalAttributes>
>               <Mass value="0.25"/>
>             </PhysicalAttributes>
> -</SimpleCappedCylinder>
> +</SimpleCapsule>
>           <SimpleSphere name="headSphere" radius="0.032">
>             <Translation x="0.012" y="0.012" z="0.0"/>
>             <PhysicalAttributes>
> @@ -25191,13 +25191,13 @@
>           </Polygon>
>         </GraphicalRepresentation>
>         <PhysicalRepresentation>
> -<SimpleCappedCylinder name="neckCCylinder" radius="0.013" height="0.034">
> +<SimpleCapsule name="neckCapsule" radius="0.013" height="0.034">
>             <Translation x="0.0" y="0.038" z="0.0"/>
>             <Rotation x="90.0" y="0.0" z="0.0"/>
>             <PhysicalAttributes>
>               <Mass value="0.05"/>
>             </PhysicalAttributes>
> -</SimpleCappedCylinder>
> +</SimpleCapsule>
>           <SimpleSphere name="neckSphere" radius="0.032">
>             <Translation x="0.0" y="0.08" z="0.0"/>
>             <PhysicalAttributes>
> @@ -27630,13 +27630,13 @@
>               <Mass value="1.0"/>
>             </PhysicalAttributes>
>           </SimpleSphere>
> -<SimpleCappedCylinder name="bodyCCylinder" radius="0.04" height="0.05">
> +<SimpleCapsule name="bodyCapsule" radius="0.04" height="0.05">
>             <Translation x="0.0" y="-0.005" z="0.0"/>
>             <Rotation x="0.0" y="90.0" z="0.0"/>
>             <PhysicalAttributes>
>               <Mass value="2.5"/>
>             </PhysicalAttributes>
> -</SimpleCappedCylinder>
> +</SimpleCapsule>
>           <SimpleSphere name="bodySphere2" radius="0.055">
>             <Translation x="0.06" y="0.004" z="0.0"/>
>             <PhysicalAttributes>
> @@ -27764,4 +27764,4 @@
>         </Elements>
>       </Movable>
>     </Macro>
> -</RoSiIncludeFile>
> \ No newline at end of file
> +</RoSiIncludeFile>
>
> Modified: branches/multiphys/spark/data/ros/blockworld.ros
> ===================================================================
> --- branches/multiphys/spark/data/ros/blockworld.ros  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/data/ros/blockworld.ros  2009-12-10 08:34:56 UTC (rev 118)
> @@ -273,16 +273,16 @@
>                   </Box>
>               </Elements>
>               </Movable>
> -<Movable name="cappedcylinder">
> +<Movable name="capsule">
>               <Elements>
> -<CappedCylinder name="CappedCylinder" radius="0.05" height="0.15">
> +<Capsule name="Capsule" radius="0.05" height="0.15">
>                       <Translation x="0.3" y="-0.5" z="0.5"/>
>                       <Rotation x="0" y="80" z="0"/>
>                       <Appearance ref="green"/>
>                       <PhysicalAttributes>
>                           <Mass value="1"/>
>                       </PhysicalAttributes>
> -</CappedCylinder>
> +</Capsule>
>               </Elements>
>               </Movable>
>       </Elements>
>
> Added: branches/multiphys/spark/data/rsg/boxspheres/capsule.rsg
> ===================================================================
> --- branches/multiphys/spark/data/rsg/boxspheres/capsule.rsg                          (rev 0)
> +++ branches/multiphys/spark/data/rsg/boxspheres/capsule.rsg  2009-12-10 08:34:56 UTC (rev 118)
> @@ -0,0 +1,35 @@
> +; -*- mode: lisp; -*-
> +
> +(RSG 0 1)
> +(
> + (templ $radius $length $totalMass $material)
> +
> + (nd Capsule
> +       (setParams $radius $length)
> +       (setMaterial $material)
> +       )
> +
> + (nd RigidBody
> +       (setName capsuleBody)
> +       ;(setCapsuleTotal $totalMass $radius $length)
> +       (setCapsule $totalMass $radius $length)
> +       )
> + 
> + (nd CapsuleCollider
> +       (setParams $radius $length)
> +       (nd ContactJointHandler
> +      (setContactBounceMode false)
> +
> +      (setContactSlipMode true)
> +      (setContactSlip 0.1 0.1)
> +
> +      (setContactSoftERPMode true)
> +      (setContactSoftERP 0.2)
> +
> +      (setContactSoftCFM true)
> +      (setContactSoftCFM 0.01)
> +      )
> +       )
> + )
> +
> +
>
> Deleted: branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg
> ===================================================================
> --- branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg    2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg    2009-12-10 08:34:56 UTC (rev 118)
> @@ -1,35 +0,0 @@
> -; -*- mode: lisp; -*-
> -
> -(RSG 0 1)
> -(
> - (templ $radius $length $totalMass $material)
> -
> - (nd CCylinder
> -       (setParams $radius $length)
> -       (setMaterial $material)
> -       )
> -
> - (nd RigidBody
> -       (setName ccylinderBody)
> -       ;(setCappedCylinderTotal $totalMass $radius $length)
> -       (setCappedCylinder $totalMass $radius $length)
> -       )
> - 
> - (nd CCylinderCollider
> -       (setParams $radius $length)
> -       (nd ContactJointHandler
> -      (setContactBounceMode false)
> -
> -      (setContactSlipMode true)
> -      (setContactSlip 0.1 0.1)
> -
> -      (setContactSoftERPMode true)
> -      (setContactSoftERP 0.2)
> -
> -      (setContactSoftCFM true)
> -      (setContactSoftCFM 0.01)
> -      )
> -       )
> - )
> -
> -
>
> Modified: branches/multiphys/spark/data/rsg/boxspheres/simspark.rsg
> ===================================================================
> --- branches/multiphys/spark/data/rsg/boxspheres/simspark.rsg 2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/data/rsg/boxspheres/simspark.rsg 2009-12-10 08:34:56 UTC (rev 118)
> @@ -35,15 +35,15 @@
>            )
>          )
>
> -; add capped cylinder
> +; add capsule
>    (nd Transform
>          (setLocalPos -4 0 20)
> -       (importScene rsg/boxspheres/ccylinder.rsg 1 3 2 matBlue)
> +       (importScene rsg/boxspheres/capsule.rsg 1 3 2 matBlue)
>          )
>
>    (nd Transform
>          (setLocalPos -6 3 20)
> -       (importScene rsg/boxspheres/ccylinder.rsg 1 10 2 matWhite)
> +       (importScene rsg/boxspheres/capsule.rsg 1 10 2 matWhite)
>          )
>
>   ; add two layer of spheres
> @@ -58,4 +58,4 @@
>         (importScene rsg/boxspheres/layer.rsg 1 1)
>         )
>
> -)
> \ No newline at end of file
> +)
>
> Added: branches/multiphys/spark/data/rsg/boxspheres/staticcapsule.rsg
> ===================================================================
> --- branches/multiphys/spark/data/rsg/boxspheres/staticcapsule.rsg                            (rev 0)
> +++ branches/multiphys/spark/data/rsg/boxspheres/staticcapsule.rsg    2009-12-10 08:34:56 UTC (rev 118)
> @@ -0,0 +1,17 @@
> +; -*- mode: lisp; -*-
> +
> +(RSG 0 1)
> +(
> + (templ $radius $length $density $material)
> +
> + (nd Capsule
> +       (setParams $radius $length)
> +       (setMaterial $material)
> +       )
> +
> + (nd CapsuleCollider
> +       (setParams $radius $length)
> +       )
> + )
> +
> +
>
> Deleted: branches/multiphys/spark/data/rsg/boxspheres/staticccylinder.rsg
> ===================================================================
> --- branches/multiphys/spark/data/rsg/boxspheres/staticccylinder.rsg  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/data/rsg/boxspheres/staticccylinder.rsg  2009-12-10 08:34:56 UTC (rev 118)
> @@ -1,17 +0,0 @@
> -; -*- mode: lisp; -*-
> -
> -(RSG 0 1)
> -(
> - (templ $radius $length $density $material)
> -
> - (nd CCylinder
> -       (setParams $radius $length)
> -       (setMaterial $material)
> -       )
> -
> - (nd CCylinderCollider
> -       (setParams $radius $length)
> -       )
> - )
> -
> -
>
> Modified: branches/multiphys/spark/lib/kerosin/CMakeLists.txt
> ===================================================================
> --- branches/multiphys/spark/lib/kerosin/CMakeLists.txt   2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/kerosin/CMakeLists.txt   2009-12-10 08:34:56 UTC (rev 118)
> @@ -25,7 +25,7 @@
>       sceneserver/light.h
>       sceneserver/sphere.h
>       sceneserver/box.h
> -    sceneserver/ccylinder.h
> +    sceneserver/capsule.h
>       sceneserver/cylinder.h
>       sceneserver/staticmesh.h
>       soundserver/soundeffect.h
> @@ -90,8 +90,8 @@
>       sceneserver/box_c.cpp
>       sceneserver/sphere.cpp
>       sceneserver/sphere_c.cpp
> -    sceneserver/ccylinder.cpp
> -    sceneserver/ccylinder_c.cpp
> +    sceneserver/capsule.cpp
> +    sceneserver/capsule_c.cpp
>       sceneserver/cylinder.cpp
>       sceneserver/cylinder_c.cpp
>       sceneserver/staticmesh.cpp
>
> Modified: branches/multiphys/spark/lib/kerosin/kerosin.cpp
> ===================================================================
> --- branches/multiphys/spark/lib/kerosin/kerosin.cpp  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/kerosin/kerosin.cpp  2009-12-10 08:34:56 UTC (rev 118)
> @@ -58,7 +58,7 @@
>       zg.GetCore()->RegisterClassObject(new CLASS(Light), "kerosin/");
>       zg.GetCore()->RegisterClassObject(new CLASS(StaticMesh), "kerosin/");
>       zg.GetCore()->RegisterClassObject(new CLASS(Box), "kerosin/");
> -    zg.GetCore()->RegisterClassObject(new CLASS(CCylinder), "kerosin/");
> +    zg.GetCore()->RegisterClassObject(new CLASS(Capsule), "kerosin/");
>       zg.GetCore()->RegisterClassObject(new CLASS(Cylinder), "kerosin/");
>       zg.GetCore()->RegisterClassObject(new CLASS(Sphere), "kerosin/");
>
>
> Modified: branches/multiphys/spark/lib/kerosin/kerosin.h
> ===================================================================
> --- branches/multiphys/spark/lib/kerosin/kerosin.h    2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/kerosin/kerosin.h    2009-12-10 08:34:56 UTC (rev 118)
> @@ -61,7 +61,7 @@
>   #include "sceneserver/axis.h"
>   #include "sceneserver/light.h"
>   #include "sceneserver/sphere.h"
> -#include "sceneserver/ccylinder.h"
> +#include "sceneserver/capsule.h"
>   #include "sceneserver/cylinder.h"
>   #include "sceneserver/staticmesh.h"
>
>
> Added: branches/multiphys/spark/lib/kerosin/sceneserver/capsule.cpp
> ===================================================================
> --- branches/multiphys/spark/lib/kerosin/sceneserver/capsule.cpp                          (rev 0)
> +++ branches/multiphys/spark/lib/kerosin/sceneserver/capsule.cpp  2009-12-10 08:34:56 UTC (rev 118)
> @@ -0,0 +1,65 @@
> +/* -*- 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: capsule.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 "capsule.h"
> +#include<kerosin/openglserver/openglserver.h>
> +#include<kerosin/materialserver/material.h>
> +
> +using namespace boost;
> +using namespace kerosin;
> +using namespace zeitgeist;
> +using namespace salt;
> +
> +Capsule::Capsule() : SingleMatNode()
> +{
> +}
> +
> +Capsule::~Capsule()
> +{
> +}
> +
> +void Capsule::SetParams(float radius, float length)
> +{
> +    ParameterList parameter;
> +    parameter.AddValue(radius);
> +    parameter.AddValue(length);
> +
> +    Load("StdCapsule",parameter);
> +
> +    mRadius = radius;
> +    mLength = length;
> +}
> +
> +void Capsule::GetParams(float&  radius, float&  length) const
> +{
> +    radius = mRadius;
> +    length = mLength;
> +}
> +
> +float Capsule::GetRadius()
> +{
> +    return mRadius;
> +}
> +
> +float Capsule::GetLength()
> +{
> +    return mLength;
> +}
>
> Added: branches/multiphys/spark/lib/kerosin/sceneserver/capsule.h
> ===================================================================
> --- branches/multiphys/spark/lib/kerosin/sceneserver/capsule.h                            (rev 0)
> +++ branches/multiphys/spark/lib/kerosin/sceneserver/capsule.h    2009-12-10 08:34:56 UTC (rev 118)
> @@ -0,0 +1,78 @@
> +/* -*- 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: capsule.h 57 2009-03-18 07:26:56Z 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 KEROSIN_CAPSULE_H
> +#define KEROSIN_CAPSULE_H
> +
> +#include<kerosin/kerosin_defines.h>
> +#include "singlematnode.h"
> +
> +namespace kerosin
> +{
> +class Material;
> +
> +/** Capsule is a SingleMatNode that creates and renders a capsule
> +    mesh with the given length and radius
> + */
> +class KEROSIN_API Capsule : public SingleMatNode
> +{
> +    //
> +    // Function
> +    //
> +public:
> +    Capsule();
> +    virtual ~Capsule();
> +
> +    /** 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);
> +
> +    /** returns the parameters of the capsule */
> +    void GetParams(float&  radius, float&  length) const;
> +
> +    /** returns the radius of the capsule */
> +    float GetRadius();
> +
> +    /** returns the length of the capsule */
> +    float GetLength();
> +
> +    //
> +    // Members
> +    //
> +protected:
> +    /** the radius of the caps and the cylinder */
> +    float mRadius;
> +
> +    /** the height of the clinder, not counting the caps */
> +    float mLength;
> +};
> +
> +DECLARE_CLASS(Capsule);
> +
> +} //namespace kerosin
> +
> +#endif //KEROSIN_CAPSULE_H
>
> Added: branches/multiphys/spark/lib/kerosin/sceneserver/capsule_c.cpp
> ===================================================================
> --- branches/multiphys/spark/lib/kerosin/sceneserver/capsule_c.cpp                            (rev 0)
> +++ branches/multiphys/spark/lib/kerosin/sceneserver/capsule_c.cpp    2009-12-10 08:34:56 UTC (rev 118)
> @@ -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: capsule_c.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 "capsule.h"
> +
> +using namespace boost;
> +using namespace kerosin;
> +using namespace salt;
> +
> +FUNCTION(Capsule,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(Capsule,getRadius)
> +{
> +    return obj->GetRadius();
> +}
> +
> +FUNCTION(Capsule,getLength)
> +{
> +    return obj->GetLength();
> +}
> +
> +void CLASS(Capsule)::DefineClass()
> +{
> +    DEFINE_BASECLASS(kerosin/SingleMatNode);
> +    DEFINE_FUNCTION(setParams);
> +    DEFINE_FUNCTION(getRadius);
> +    DEFINE_FUNCTION(getLength);
> +}
>
> Deleted: branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.cpp
> ===================================================================
> --- branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.cpp    2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.cpp    2009-12-10 08:34:56 UTC (rev 118)
> @@ -1,65 +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.
> -*/
> -#include "ccylinder.h"
> -#include<kerosin/openglserver/openglserver.h>
> -#include<kerosin/materialserver/material.h>
> -
> -using namespace boost;
> -using namespace kerosin;
> -using namespace zeitgeist;
> -using namespace salt;
> -
> -CCylinder::CCylinder() : SingleMatNode()
> -{
> -}
> -
> -CCylinder::~CCylinder()
> -{
> -}
> -
> -void CCylinder::SetParams(float radius, float length)
> -{
> -    ParameterList parameter;
> -    parameter.AddValue(radius);
> -    parameter.AddValue(length);
> -
> -    Load("StdCCylinder",parameter);
> -
> -    mRadius = radius;
> -    mLength = length;
> -}
> -
> -void CCylinder::GetParams(float&  radius, float&  length) const
> -{
> -    radius = mRadius;
> -    length = mLength;
> -}
> -
> -float CCylinder::GetRadius()
> -{
> -    return mRadius;
> -}
> -
> -float CCylinder::GetLength()
> -{
> -    return mLength;
> -}
>
> Deleted: branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.h
> ===================================================================
> --- branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.h  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.h  2009-12-10 08:34:56 UTC (rev 118)
> @@ -1,78 +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 KEROSIN_CCYLINDER_H
> -#define KEROSIN_CCYLINDER_H
> -
> -#include<kerosin/kerosin_defines.h>
> -#include "singlematnode.h"
> -
> -namespace kerosin
> -{
> -class Material;
> -
> -/** CCylinder is a SingleMatNode that creates and renders a capped
> -    cylinder mesh with the given length and radius
> - */
> -class KEROSIN_API CCylinder : public SingleMatNode
> -{
> -    //
> -    // Function
> -    //
> -public:
> -    CCylinder();
> -    virtual ~CCylinder();
> -
> -    /** 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);
> -
> -    /** returns the parameters of the capped cylinder */
> -    void GetParams(float&  radius, float&  length) const;
> -
> -    /** returns the radius of the capped cylinder */
> -    float GetRadius();
> -
> -    /** returns the length of the capped cylinder */
> -    float GetLength();
> -
> -    //
> -    // Members
> -    //
> -protected:
> -    /** the radius of the caps and the cylinder */
> -    float mRadius;
> -
> -    /** the height of the clinder, not counting the caps */
> -    float mLength;
> -};
> -
> -DECLARE_CLASS(CCylinder);
> -
> -} //namespace kerosin
> -
> -#endif //KEROSIN_CCYLINDER_H
>
> Deleted: branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder_c.cpp
> ===================================================================
> --- branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder_c.cpp  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder_c.cpp  2009-12-10 08:34:56 UTC (rev 118)
> @@ -1,62 +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.
> -*/
> -#include "ccylinder.h"
> -
> -using namespace boost;
> -using namespace kerosin;
> -using namespace salt;
> -
> -FUNCTION(CCylinder,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(CCylinder,getRadius)
> -{
> -    return obj->GetRadius();
> -}
> -
> -FUNCTION(CCylinder,getLength)
> -{
> -    return obj->GetLength();
> -}
> -
> -void CLASS(CCylinder)::DefineClass()
> -{
> -    DEFINE_BASECLASS(kerosin/SingleMatNode);
> -    DEFINE_FUNCTION(setParams);
> -    DEFINE_FUNCTION(getRadius);
> -    DEFINE_FUNCTION(getLength);
> -}
>
> Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
> ===================================================================
> --- branches/multiphys/spark/lib/oxygen/CMakeLists.txt    2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt    2009-12-10 08:34:56 UTC (rev 118)
> @@ -14,6 +14,7 @@
>       gamecontrolserver/behavior.h
>       oxygen.h
>       oxygen_defines.h
> +    physicsserver/genericphysicsobject.h
>       physicsserver/physicsobject.h
>       physicsserver/body.h
>       physicsserver/rigidbody.h
> @@ -56,9 +57,11 @@
>       #interfaces
>       physicsserver/int/bodyint.h
>       physicsserver/int/boxcolliderint.h
> +    physicsserver/int/capsulecolliderint.h
>       physicsserver/int/colliderint.h
>       physicsserver/int/compoundcolliderint.h
>       physicsserver/int/concavecolliderint.h
> +    physicsserver/int/conecolliderint.h
>       physicsserver/int/convexcolliderint.h
>       physicsserver/int/cylindercolliderint.h
>       physicsserver/int/dynamicbodyint.h
> @@ -76,9 +79,11 @@
>       physicsserver/ode/odebody.h
>       physicsserver/ode/odeboxcollider.h
>       physicsserver/ode/odedynamicbody.h
> +    physicsserver/ode/odecapsulecollider.h
>       physicsserver/ode/odecollider.h
>       physicsserver/ode/odecompoundcollider.h
>       physicsserver/ode/odeconcavecollider.h
> +    physicsserver/ode/odeconecollider.h
>       physicsserver/ode/odeconvexcollider.h
>       physicsserver/ode/odecylindercollider.h
>       physicsserver/ode/odeemptycollider.h
> @@ -177,6 +182,7 @@
>       physicsserver/compoundcollider_c.cpp
>       physicsserver/concavecollider.cpp
>       physicsserver/concavecollider_c.cpp
> +    physicsserver/conecollider.cpp
>       physicsserver/conecollider_c.cpp
>       physicsserver/convexcollider.cpp
>       physicsserver/convexcollider_c.cpp
> @@ -228,9 +234,11 @@
>       #ODE-specific files
>       physicsserver/ode/odebody.cpp
>       physicsserver/ode/odeboxcollider.cpp
> +    physicsserver/ode/odecapsulecollider.cpp
>       physicsserver/ode/odecollider.cpp
>       physicsserver/ode/odecompoundcollider.cpp
>       physicsserver/ode/odeconcavecollider.cpp
> +    physicsserver/ode/odeconecollider.cpp
>       physicsserver/ode/odeconvexcollider.cpp
>       physicsserver/ode/odecylindercollider.cpp
>       physicsserver/ode/odedynamicbody.cpp
>
> Modified: branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.cpp
> ===================================================================
> --- branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.cpp    2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.cpp    2009-12-10 08:34:56 UTC (rev 118)
> @@ -40,7 +40,7 @@
>
>   static const string gSphereStr = "StdUnitSphere";
>   static const string gBoxStr = "StdUnitBox";
> -static const string gCCylinderStr = "StdCCylinder";
> +static const string gCapsuleStr = "StdCapsule";
>   static const string gCylinderStr = "StdUnitCylinder";
>
>   shared_ptr<TriMesh>
> @@ -56,9 +56,9 @@
>               return UnitBoxMesh();
>           }
>
> -    if (name == gCCylinderStr)
> +    if (name == gCapsuleStr)
>           {
> -            return UnitCCylinder(parameter);
> +            return UnitCapsule(parameter);
>           }
>
>       if (name == gCylinderStr)
> @@ -253,7 +253,7 @@
>   }
>
>   //
> -// unit capped cylinder
> +// unit capsule
>   //
>   static void AddVertex(float** at, float x, float y, float z)
>   {
> @@ -265,7 +265,7 @@
>   std::string StdMeshImporter::MangleName (const string&  name, const ParameterList&  parameter)
>   {
>       if (
> -        (name != gCCylinderStr) ||
> +        (name != gCapsuleStr) ||
>           (parameter.GetSize()<  2)
>           )
>           {
> @@ -273,7 +273,7 @@
>           }
>
>       stringstream ss;
> -    ss<<  gCCylinderStr;
> +    ss<<  gCapsuleStr;
>
>       float radius;
>       if (parameter.GetValue(parameter[0],radius))
> @@ -290,18 +290,18 @@
>       return ss.str();
>   }
>
> -shared_ptr<TriMesh>  StdMeshImporter::UnitCCylinder(const ParameterList&  parameter)
> +shared_ptr<TriMesh>  StdMeshImporter::UnitCapsule(const ParameterList&  parameter)
>   {
>       //
>       // code adapted from ODE's drawstuff lib
>       //
>
> -    // generated capped clinder with r=1 and l=1
> +    // generated capsule with r=1 and l=1
>       float ccRadius = 1;
>       float ccLength = 1;
>
>       GetLog()->Debug()
> -<<  "(StdMeshImporter::UnitCCylinder) paramSize="
> +<<  "(StdMeshImporter::UnitCapsule) paramSize="
>           <<  parameter.GetSize()<<  "\n";
>       if (parameter.GetSize()>= 2)
>           {
> @@ -310,8 +310,8 @@
>           }
>
>       // number of sides to the cylinder (divisible by 4):
> -    const int capped_cylinder_quality = 3;
> -    const int n = capped_cylinder_quality*4;
> +    const int capsule_quality = 3;
> +    const int n = capsule_quality*4;
>
>       int innerLoop = (n+1);
>       int numVertices = innerLoop * 2;
> @@ -447,7 +447,7 @@
>       mesh->SetPos(pos,numVertices);
>       mesh->SetNormals(normals);
>       mesh->AddFace(idx);
> -    mesh->SetName(MangleName(gCCylinderStr,parameter));
> +    mesh->SetName(MangleName(gCapsuleStr,parameter));
>
>       return mesh;
>   }
>
> Modified: branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.h
> ===================================================================
> --- branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.h  2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.h  2009-12-10 08:34:56 UTC (rev 118)
> @@ -28,7 +28,7 @@
>   namespace oxygen
>   {
>   /** \class StdMeshImporter is a MeshImporter that generates a standard
> -     set of meshes. These are spheres, boxes and capped cylinders.
> +     set of meshes. These are spheres, boxes and capsule.
>   */
>   class OXYGEN_API StdMeshImporter : public MeshImporter
>   {
> @@ -41,7 +41,7 @@
>       virtual boost::shared_ptr<TriMesh>  ImportMesh
>       (const std::string&  name,const zeitgeist::ParameterList&  parameter);
>
> -    /** returns a unique name for each parameterized capped cylinder
> +    /** returns a unique name for each parameterized capsule
>           mesh, and \param name otherwise
>        */
>       virtual std::string MangleName
> @@ -54,8 +54,8 @@
>       /** constructs a unit box */
>       boost::shared_ptr<TriMesh>  UnitBoxMesh();
>
> -    /** constructs a unit capped cylinder */
> -    boost::shared_ptr<TriMesh>  UnitCCylinder
> +    /** constructs a unit capsule */
> +    boost::shared_ptr<TriMesh>  UnitCapsule
>       (const zeitgeist::ParameterList&  parameter);
>
>       /** constructs a flat unit cylinder */
>
> Modified: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
> ===================================================================
> --- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
> +++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2009-12-10 08:34:56 UTC (rev 118)
> @@ -3,7 +3,7 @@
>      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 $
> +   $Id: capsulecollider.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
> @@ -20,51 +20,44 @@
>   */
>
>   #include<oxygen/physicsserver/capsulecollider.h>
> +#include<oxygen...
 
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