[simspark-svn] SF.net SVN: simspark:[126] trunk

[<yx...@us...>]

Revision: 126
          http://simspark.svn.sourceforge.net/simspark/?rev=126&view=rev
Author:   yxu
Date:     2009-12-18 13:01:31 +0000 (Fri, 18 Dec 2009)

Log Message:
-----------
* fix for double precision in spark/lib/oxygen/physicsserver/body.cpp
* fix for Accelerometer in spark/spark/spark.rb
* enable Accelerometer in rcssserver3d/data/rsg/agent/nao/nao.rsg again ;)

Modified Paths:
--------------
    trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
    trunk/spark/lib/oxygen/physicsserver/body.cpp
    trunk/spark/spark/spark.rb

Modified: trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg	2009-12-18 06:24:13 UTC (rev 125)
+++ trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg	2009-12-18 13:01:31 UTC (rev 126)
@@ -71,7 +71,7 @@
         )
 
         (nd GyroRatePerceptor (setName torso))
-	;(nd Accelerometer (setName torso))
+	(nd Accelerometer (setName torso))
 
         ;(nd HMDPPerceptor)
         ;(nd HMDPEffector)

Modified: trunk/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/body.cpp	2009-12-18 06:24:13 UTC (rev 125)
+++ trunk/spark/lib/oxygen/physicsserver/body.cpp	2009-12-18 13:01:31 UTC (rev 126)
@@ -420,9 +420,9 @@
 Body::GetLocalAngularVelocity() const
 {
     const dReal* vel = dBodyGetAngularVel(mODEBody);
-    Vector3f w;
-    dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], w.GetData());
-    return w;
+    dReal w[3];
+    dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], w);
+    return Vector3f(w[0],w[1],w[2]);
 }
 
 void

Modified: trunk/spark/spark/spark.rb
===================================================================
--- trunk/spark/spark/spark.rb	2009-12-18 06:24:13 UTC (rev 125)
+++ trunk/spark/spark/spark.rb	2009-12-18 13:01:31 UTC (rev 126)
@@ -613,3 +613,6 @@
 
 #
 importBundle "collisionperceptor"
+
+#
+importBundle "accelerometer"


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