[simspark-svn] SF.net SVN: simspark:[125] branches/multiphys

[<a-...@us...>]

Revision: 125
          http://simspark.svn.sourceforge.net/simspark/?rev=125&view=rev
Author:   a-held
Date:     2009-12-18 06:24:13 +0000 (Fri, 18 Dec 2009)

Log Message:
-----------
integrated changes made in R121 and R124 into the branch

Modified Paths:
--------------
    branches/multiphys/rcssserver3d/data/rsg/agent/nao/goal.rsg
    branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg
    branches/multiphys/spark/lib/kerosin/renderserver/rendernode.cpp
    branches/multiphys/spark/lib/kerosin/renderserver/rendernode.h
    branches/multiphys/spark/lib/kerosin/renderserver/rendernode_c.cpp
    branches/multiphys/spark/lib/kerosin/renderserver/renderserver.cpp
    branches/multiphys/spark/lib/kerosin/renderserver/renderserver.h
    branches/multiphys/spark/lib/kerosin/sceneserver/staticmesh_c.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
    branches/multiphys/spark/lib/oxygen/physicsserver/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/sceneserver/basenode.cpp
    branches/multiphys/spark/lib/oxygen/sceneserver/basenode.h
    branches/multiphys/spark/plugin/CMakeLists.txt
    branches/multiphys/spark/plugin/sparkmonitor/sparkmonitor.cpp

Added Paths:
-----------
    branches/multiphys/spark/plugin/accelerometer/
    branches/multiphys/spark/plugin/accelerometer/CMakeLists.txt
    branches/multiphys/spark/plugin/accelerometer/accelerometer.cpp
    branches/multiphys/spark/plugin/accelerometer/accelerometer.h
    branches/multiphys/spark/plugin/accelerometer/accelerometer_c.cpp
    branches/multiphys/spark/plugin/accelerometer/export.cpp

Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/goal.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/goal.rsg	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/goal.rsg	2009-12-18 06:24:13 UTC (rev 125)
@@ -46,8 +46,9 @@
 	     (setLocalPos $GoalHalfDepth 0.0 (eval -1 * $GoalHalfHeight))
 	     (setLocalRotation 90 90 0)
 	     (nd StaticMesh
-		 (load $GoalObj)
-		 (setScale $ObjWidth $ObjWidth $ObjWidth)
+		    (load $GoalObj)
+		    (setScale $ObjWidth $ObjWidth $ObjWidth)
+		    (setTransparent)
 		 )
 	     )
 

Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg	2009-12-18 06:24:13 UTC (rev 125)
@@ -71,6 +71,7 @@
         )
 
         (nd GyroRatePerceptor (setName torso))
+        ;(nd Accelerometer (setName torso))
 
         ;(nd HMDPPerceptor)
         ;(nd HMDPEffector)

Modified: branches/multiphys/spark/lib/kerosin/renderserver/rendernode.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/rendernode.cpp	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/rendernode.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -26,10 +26,16 @@
 using namespace kerosin;
 
 RenderNode::RenderNode()
-    : BaseNode()
+    : BaseNode(),
+      mTransparent(false)
 {
 }
 
 RenderNode::~RenderNode()
 {
 }
+
+void RenderNode::SetTransparent()
+{
+  mTransparent = true;
+}

Modified: branches/multiphys/spark/lib/kerosin/renderserver/rendernode.h
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/rendernode.h	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/rendernode.h	2009-12-18 06:24:13 UTC (rev 125)
@@ -42,6 +42,11 @@
 
     /** renders the node */
     virtual void RenderInternal() = 0;
+
+    bool IsTransparent() { return mTransparent; }
+    void SetTransparent();
+private:
+    bool mTransparent;
 };
 
 DECLARE_ABSTRACTCLASS(RenderNode);

Modified: branches/multiphys/spark/lib/kerosin/renderserver/rendernode_c.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/rendernode_c.cpp	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/rendernode_c.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -23,7 +23,14 @@
 
 using namespace kerosin;
 
+FUNCTION(RenderNode,setTransparent)
+{
+    obj->SetTransparent();
+    return true;
+}
+
 void CLASS(RenderNode)::DefineClass()
 {
     DEFINE_BASECLASS(oxygen/BaseNode);
+    DEFINE_FUNCTION(setTransparent);
 }

Modified: branches/multiphys/spark/lib/kerosin/renderserver/renderserver.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/renderserver.cpp	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/renderserver.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -123,7 +123,8 @@
     }
 
     // standard rendering
-    RenderScene(mActiveScene);
+    RenderScene(mActiveScene, 0);
+    RenderScene(mActiveScene, 1);
 
     // reset GL lights
     glDisable(GL_LIGHTING);
@@ -244,7 +245,7 @@
 }
 
 void
-RenderServer::RenderScene(boost::shared_ptr<BaseNode> node)
+RenderServer::RenderScene(boost::shared_ptr<BaseNode> node, unsigned pass)
 {
 #if 0
     shared_ptr<SphereCollider> collider = shared_dynamic_cast<SphereCollider>(node);
@@ -254,7 +255,9 @@
     }
 #endif
     shared_ptr<RenderNode> renderNode = shared_dynamic_cast<RenderNode>(node);
-    if (renderNode.get() != 0)
+    if (renderNode.get() != 0 &&
+        ((pass == 0 && !renderNode->IsTransparent()) || (pass == 1 && renderNode->IsTransparent()))
+       )
         {
             glPushMatrix();
 
@@ -268,7 +271,7 @@
 
             glMultMatrixf(node->GetWorldTransform().m);
 
-        renderNode->RenderInternal();
+            renderNode->RenderInternal();
 
             if (mEnablePicking)
                 {
@@ -294,7 +297,7 @@
             continue;
         }
 
-        RenderScene(node);
+        RenderScene(node, pass);
     }
 }
 

Modified: branches/multiphys/spark/lib/kerosin/renderserver/renderserver.h
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/renderserver.h	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/renderserver.h	2009-12-18 06:24:13 UTC (rev 125)
@@ -105,7 +105,7 @@
     /** render a scene recursively.
         \param node the scene base node
     */
-    void RenderScene(boost::shared_ptr<oxygen::BaseNode> node);
+    void RenderScene(boost::shared_ptr<oxygen::BaseNode> node, unsigned pass);
 
     /** sets the OpenGl view parameters for a camera
      */

Modified: branches/multiphys/spark/lib/kerosin/sceneserver/staticmesh_c.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/sceneserver/staticmesh_c.cpp	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/sceneserver/staticmesh_c.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -144,6 +144,12 @@
     return true;
 }
 
+FUNCTION(RenderNode,setTransparent)
+{
+    obj->SetTransparent();
+    return true;
+}
+
 void CLASS(StaticMesh)::DefineClass()
 {
     DEFINE_BASECLASS(oxygen/BaseNode);
@@ -154,4 +160,5 @@
     DEFINE_FUNCTION(setExternalMeshName)
     DEFINE_FUNCTION(setExternalMeshScale)
     DEFINE_FUNCTION(resetMaterials)
+    DEFINE_FUNCTION(setTransparent);
 }

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h	2009-12-18 06:24:13 UTC (rev 125)
@@ -62,9 +62,11 @@
     virtual void SetVelocity(const salt::Vector3f& vel) = 0;
     virtual void SetRotation(const salt::Matrix& rot) = 0;
     virtual salt::Matrix GetRotation() const = 0;
+    virtual salt::Vector3f GetLocalAngularVelocity() const = 0;
     virtual salt::Vector3f GetAngularVelocity() const = 0;
     virtual void SetAngularVelocity(const salt::Vector3f& vel) = 0;
     virtual void AddForce(const salt::Vector3f& force) = 0;
+    virtual salt::Vector3f GetForce() const = 0;
     virtual void AddTorque(const salt::Vector3f& torque) = 0;
     virtual void SetPosition(const salt::Vector3f& pos) = 0;
     virtual salt::Vector3f GetPosition() const = 0;

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -362,6 +362,15 @@
     return rot;
 }
 
+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;
+}
+
 Vector3f ODERigidBody::GetAngularVelocity() const
 {
     const dReal* vel = dBodyGetAngularVel(mODEBody);
@@ -413,6 +422,12 @@
     dBodyAddForce(mODEBody, force.x(), force.y(), force.z());
 }
 
+Vector3f ODERigidBody::GetForce() const
+{
+    const dReal* f = dBodyGetForce(mODEBody);
+    return Vector3f(f[0], f[1], f[2]);
+}
+
 void ODERigidBody::AddTorque(const Vector3f& torque)
 {
     dBodyAddTorque(mODEBody, torque.x(), torque.y(), torque.z());

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h	2009-12-18 06:24:13 UTC (rev 125)
@@ -63,9 +63,11 @@
     void SetVelocity(const salt::Vector3f& vel);
     void SetRotation(const salt::Matrix& rot);
     salt::Matrix GetRotation() const;
+    salt::Vector3f GetLocalAngularVelocity() const;
     salt::Vector3f GetAngularVelocity() const;
     void SetAngularVelocity(const salt::Vector3f& vel);
     void AddForce(const salt::Vector3f& force);
+    salt::Vector3f GetForce() const;
     void AddTorque(const salt::Vector3f& torque);
     void SetPosition(const salt::Vector3f& pos);
     salt::Vector3f GetPosition() const;

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -46,7 +46,7 @@
 }
 
 /** returns the world node */
-shared_ptr<World> PhysicsObject::GetWorld()
+shared_ptr<World> PhysicsObject::GetWorld() const
 {
     shared_ptr<Scene> scene = GetScene();
     if (scene.get() == 0)

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h	2009-12-18 06:24:13 UTC (rev 125)
@@ -66,10 +66,10 @@
         colliders and joints have to be treated in one go).*/ 
     virtual void DestroyPhysicsObject(){};
 
-protected:
     /** returns the world node */
-    boost::shared_ptr<World> GetWorld();
+    boost::shared_ptr<World> GetWorld() const;
 
+protected:
     /** finds the nearest parent space node */
     boost::shared_ptr<Space> GetSpace();
 

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -235,6 +235,11 @@
     return mRigidBodyImp->GetRotation();
 }
 
+Vector3f RigidBody::GetLocalAngularVelocity() const
+{
+    return mRigidBodyImp->GetLocalAngularVelocity();
+}
+
 Vector3f RigidBody::GetAngularVelocity() const
 {
     return mRigidBodyImp->GetAngularVelocity();
@@ -337,6 +342,11 @@
     mRigidBodyImp->AddForce(force);
 }
 
+Vector3f RigidBody::GetForce() const
+{
+    return mRigidBodyImp->GetForce();
+}
+
 void RigidBody::AddTorque(const Vector3f& torque)
 {
     mRigidBodyImp->AddTorque(torque);

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h	2009-12-18 06:24:13 UTC (rev 125)
@@ -202,6 +202,9 @@
 
     /** gets the rotation of this body */
     salt::Matrix GetRotation() const;
+    
+    /** returns the current angular velocity of this body in local coordinates */
+    salt::Vector3f GetLocalAngularVelocity() const;
 
     /** returns the current angular velocity of this body */
     salt::Vector3f GetAngularVelocity() const;
@@ -214,6 +217,9 @@
 
     /** applies a force to the managed body */
     void AddForce(const salt::Vector3f& force);
+    
+    /** returns the total force applied to this body */
+    salt::Vector3f GetForce() const;
 
     /** aplies a  force to the managed body */
     void AddTorque(const salt::Vector3f& torque);

Modified: branches/multiphys/spark/lib/oxygen/sceneserver/basenode.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/sceneserver/basenode.cpp	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/sceneserver/basenode.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -141,7 +141,7 @@
         }
 }
 
-shared_ptr<Scene> BaseNode::GetScene()
+shared_ptr<Scene> BaseNode::GetScene() const
 {
     // is this node the scene node ?
     shared_ptr<Scene> self =

Modified: branches/multiphys/spark/lib/oxygen/sceneserver/basenode.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/sceneserver/basenode.h	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/sceneserver/basenode.h	2009-12-18 06:24:13 UTC (rev 125)
@@ -96,7 +96,7 @@
     void UpdateHierarchy();
 
     /** moves up the hierarchy, until it finds a scene */
-    boost::shared_ptr<Scene> GetScene();
+    boost::shared_ptr<Scene> GetScene() const;
 
     /** enables debug mode controls */
     void EnableDebugMode();

Modified: branches/multiphys/spark/plugin/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/plugin/CMakeLists.txt	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/plugin/CMakeLists.txt	2009-12-18 06:24:13 UTC (rev 125)
@@ -9,6 +9,7 @@
       set(spark_libs ${spark_libs} /System/Library/Frameworks/CoreFoundation.framework)
 endif (APPLE AND USE_COREFOUNDATION) 
 
+add_subdirectory(accelerometer)
 add_subdirectory(filesystemstd)
 add_subdirectory(filesystemzip)
 add_subdirectory(forceeffector)

Added: branches/multiphys/spark/plugin/accelerometer/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/CMakeLists.txt	                        (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/CMakeLists.txt	2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,16 @@
+
+set(accelerometer_LIB_SRCS
+   export.cpp
+   accelerometer.h
+   accelerometer.cpp
+   accelerometer_c.cpp
+)
+
+add_library(accelerometer MODULE ${accelerometer_LIB_SRCS})
+
+target_link_libraries(accelerometer ${spark_libs} ${Boost_LIBRARIES})
+
+set_target_properties(accelerometer PROPERTIES VERSION 0.0.0 SOVERSION 0)
+if (NOT APPLE)
+   install(TARGETS accelerometer DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
+endif (NOT APPLE)

Added: branches/multiphys/spark/plugin/accelerometer/accelerometer.cpp
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/accelerometer.cpp	                        (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/accelerometer.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,89 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+   this file is part of rcssserver3D
+   Copyright (C) 2008 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 "oxygen/physicsserver/world.h"
+#include "oxygen/physicsserver/rigidbody.h"
+#include "accelerometer.h"
+#include <oxygen/sceneserver/transform.h>
+
+// using namespace kerosin;
+using namespace oxygen;
+using namespace boost;
+using namespace zeitgeist;
+using namespace salt;
+using namespace std;
+
+Accelerometer::Accelerometer() : oxygen::Perceptor()
+{
+}
+
+Accelerometer::~Accelerometer()
+{
+}
+
+void Accelerometer::OnLink()
+{
+    shared_ptr<Transform> transformParent = shared_static_cast<Transform>
+        (FindParentSupportingClass<Transform>().lock());
+
+    mBody = shared_static_cast<const RigidBody>
+        (transformParent->GetChildOfClass("RigidBody"));
+
+    mGravity = mBody->GetWorld()->GetGravity();
+    mLastVel = mBody->GetVelocity();
+}
+
+bool Accelerometer::Percept(boost::shared_ptr<PredicateList> predList)
+{
+    Predicate &predicate = predList->AddPredicate();
+    predicate.name = "ACC";
+    predicate.parameter.Clear();
+
+    ParameterList &nameElement = predicate.parameter.AddList();
+    nameElement.AddValue(std::string("n"));
+    nameElement.AddValue(GetName());
+
+    ParameterList &ratesElement = predicate.parameter.AddList();
+    ratesElement.AddValue(std::string("a"));
+    ratesElement.AddValue(mAcc.x());
+    ratesElement.AddValue(mAcc.y());
+    ratesElement.AddValue(mAcc.z());
+
+    return true;
+}
+
+void Accelerometer::PrePhysicsUpdateInternal(float deltaTime)
+{
+//    Vector3f F = mBody->GetForce();
+//    float mass = mBody->GetMass();
+//    mAcc = F / mass - mGravity;
+
+    Vector3f vel = mBody->GetVelocity();
+    Vector3f acc = (vel - mLastVel) / deltaTime;
+    acc -= mGravity;
+
+    Matrix invRot = mBody->GetRotation();
+    invRot.InvertRotationMatrix();
+    acc = invRot * acc;
+
+    float k = 0.9;
+    mAcc = k*mAcc + (1-k)*acc;
+    mLastVel = vel;
+}

Added: branches/multiphys/spark/plugin/accelerometer/accelerometer.h
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/accelerometer.h	                        (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/accelerometer.h	2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,49 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+   this file is part of rcssserver3D
+   Copyright (C) 2008 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 ACCELEROMETER_H
+#define ACCELEROMETER_H
+
+#include <oxygen/agentaspect/perceptor.h>
+#include <oxygen/physicsserver/rigidbody.h>
+
+class Accelerometer : public oxygen::Perceptor {
+public:
+    Accelerometer();
+    virtual ~Accelerometer();
+
+    //! \return true, if valid data is available and false otherwise.
+    bool Percept(boost::shared_ptr<oxygen::PredicateList> predList);
+
+    virtual void OnLink();
+
+protected:
+    virtual void PrePhysicsUpdateInternal(float deltaTime);
+
+private:
+    boost::shared_ptr<const oxygen::RigidBody> mBody;
+    salt::Vector3f mAcc;
+    salt::Vector3f mGravity;
+    salt::Vector3f mLastVel;
+};
+
+DECLARE_CLASS(Accelerometer);
+
+#endif //ACCELEROMETER_H

Added: branches/multiphys/spark/plugin/accelerometer/accelerometer_c.cpp
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/accelerometer_c.cpp	                        (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/accelerometer_c.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+   this file is part of rcssserver3D
+   Copyright (C) 2008 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 "accelerometer.h"
+
+using namespace boost;
+using namespace oxygen;
+
+void CLASS(Accelerometer)::DefineClass()
+{
+    DEFINE_BASECLASS(oxygen/Perceptor);
+}

Added: branches/multiphys/spark/plugin/accelerometer/export.cpp
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/export.cpp	                        (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/export.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,26 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+   this file is part of rcssserver3D
+   Copyright (C) 2008 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 "accelerometer.h"
+#include <zeitgeist/zeitgeist.h>
+
+ZEITGEIST_EXPORT_BEGIN()
+        ZEITGEIST_EXPORT(Accelerometer);
+ZEITGEIST_EXPORT_END()

Modified: branches/multiphys/spark/plugin/sparkmonitor/sparkmonitor.cpp
===================================================================
--- branches/multiphys/spark/plugin/sparkmonitor/sparkmonitor.cpp	2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/plugin/sparkmonitor/sparkmonitor.cpp	2009-12-18 06:24:13 UTC (rev 125)
@@ -249,6 +249,11 @@
                 ss << "(nd StaticMesh";
             }
 
+    if (mesh->IsTransparent())
+        {
+            ss << " (setTransparent)";
+        }
+        
     ss << " (load " << mesh->GetMeshName();
 
     const ParameterList& params = mesh->GetMeshParameter();


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