[simspark-devel] Accelerometer

[<ah...@un...>]

Hi,


I just wanted to remark that one of the two functions added to the body
class together with the Accelerometer does not compile on my computer. I
get the following compiler error:

/home/andreas/simspark/trunk/spark/lib/oxygen/physicsserver/body.cpp:424:
error: cannot convert ‘float*’ to ‘dReal*’ for argument ‘5’ to ‘void
dBodyVectorFromWorld(dxBody*, dReal, dReal, dReal, dReal*)’

It's probably caused by me either having a newer version of ODE (I had to
rename the CCylinders to Capsules to make it compile) or me using Linux or
something. Anyway, it was pretty easy to fix:

Vector3f ODERigidBody::GetLocalAngularVelocity() const
{
    const dReal* vel = dBodyGetAngularVel(mODEBody);
    Vector3f w;
    dReal* wData = (dReal*) w.GetData();
    dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], wData);
    return w;
}

That code compiles on my computer and from my experiences from casting
between pointers, shouldn't cause a problem.

Also, the "(nd Accelerometer" in the RSG file makes the RubySceneImporter
crash. I assume this is already a known issue since it was commented out
in R124.

Nevertheless, the branch is now up to date with the changes made to the
trunk.


Andreas