Re: [simspark-devel] Accelerometer

[Yuan Xu <xuy...@gm...>]

Hi Andreas,

I think because you enable the double precision in ODE, then dReal is double.
I recommend to fix the problem in another way:

Vector3f
Body::GetLocalAngularVelocity() const
{
    const dReal* vel = dBodyGetAngularVel(mODEBody);
    dReal w[3];
    dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], w);
    return Vector3f(w[0],w[1],w[2]);
}

 "(nd Accelerometer" makes problem because I forgot to commit in the
change of spark.rb, sorry

2009/12/18  <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
>
>
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-- 
King Regards,

Xu, Yuan