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[simspark-svn] SF.net SVN: simspark:[137] branches/multiphys/spark/lib/oxygen/ physicsserver
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From: <a-...@us...> - 2010-01-06 07:25:08
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Revision: 137
http://simspark.svn.sourceforge.net/simspark/?rev=137&view=rev
Author: a-held
Date: 2010-01-06 07:25:00 +0000 (Wed, 06 Jan 2010)
Log Message:
-----------
Don't store GeomIDs or JointIDs internally anymore
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.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/odecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -49,7 +49,7 @@
{
// calculate anchor position in world coordinates
Vector3f gAnchor = GetWorldTransform() * anchor;
- mBallJointImp->SetAnchor(gAnchor);
+ mBallJointImp->SetAnchor(gAnchor, mJointID);
}
Vector3f BallJoint::GetAnchor(EBodyIndex idx)
@@ -60,13 +60,13 @@
{
case BI_FIRST:
{
- pos = mBallJointImp->GetAnchor1();
+ pos = mBallJointImp->GetAnchor1(mJointID);
break;
}
case BI_SECOND:
{
- pos = mBallJointImp->GetAnchor2();
+ pos = mBallJointImp->GetAnchor2(mJointID);
break;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,7 +33,7 @@
void BoxCollider::SetBoxLengths(const Vector3f& extents)
{
- mBoxColliderImp->SetBoxLengths(extents);
+ mBoxColliderImp->SetBoxLengths(extents, mGeomID);
}
bool BoxCollider::ConstructInternal()
@@ -51,7 +51,7 @@
void BoxCollider::GetBoxLengths(Vector3f& extents)
{
- mBoxColliderImp->GetBoxLengths(extents);
+ mBoxColliderImp->GetBoxLengths(extents, mGeomID);
}
float BoxCollider::GetBoxLength(int axis)
@@ -72,5 +72,5 @@
float BoxCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return mBoxColliderImp->GetPointDepth(worldPos);
+ return mBoxColliderImp->GetPointDepth(worldPos, mGeomID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -32,32 +32,32 @@
void CapsuleCollider::SetParams(float radius, float length)
{
- mCapsuleColliderImp->SetParams(radius, length);
+ mCapsuleColliderImp->SetParams(radius, length, mGeomID);
}
void CapsuleCollider::SetRadius(float radius)
{
- mCapsuleColliderImp->SetRadius(radius);
+ mCapsuleColliderImp->SetRadius(radius, mGeomID);
}
void CapsuleCollider::SetLength(float length)
{
- mCapsuleColliderImp->SetLength(length);
+ mCapsuleColliderImp->SetLength(length, mGeomID);
}
void CapsuleCollider::GetParams(float& radius, float& length)
{
- mCapsuleColliderImp->GetParams(radius, length);
+ mCapsuleColliderImp->GetParams(radius, length, mGeomID);
}
float CapsuleCollider::GetRadius()
{
- return mCapsuleColliderImp->GetRadius();
+ return mCapsuleColliderImp->GetRadius(mGeomID);
}
float CapsuleCollider::GetLength()
{
- return mCapsuleColliderImp->GetLength();
+ return mCapsuleColliderImp->GetLength(mGeomID);
}
bool CapsuleCollider::ConstructInternal()
@@ -75,5 +75,5 @@
float CapsuleCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return mCapsuleColliderImp->GetPointDepth(worldPos);
+ return mCapsuleColliderImp->GetPointDepth(worldPos, mGeomID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -45,18 +45,18 @@
void FixedJoint::SetParameter(int /*parameter*/, float /*value*/)
{
- GetLog()->Error() <<
+ GetLog()->Warning() <<
"(FixedJoint) WARNING: SetParameter function undefined for FixedJoint, ignored\n";
}
float FixedJoint::GetParameter(int /*parameter*/) const
{
- GetLog()->Error() <<
+ GetLog()->Warning() <<
"(FixedJoint) WARNING: GetParameter function undefined for FixedJoint, returned zero\n";
return 0;
}
void FixedJoint::SetFixed()
{
- mFixedJointImp->SetFixed();
+ mFixedJointImp->SetFixed(mJointID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -56,7 +56,7 @@
// relative universal hinge2 axis 2 points right
Vector3f right(GetWorldTransform().Rotate(Vector3f(1,0,0)));
- mHinge2JointImp->SetAnchor(gAnchor, up, right);
+ mHinge2JointImp->SetAnchor(gAnchor, up, right, mJointID);
}
Vector3f Hinge2Joint::GetAnchor(EBodyIndex idx)
@@ -67,12 +67,12 @@
{
case BI_FIRST:
{
- pos = mHinge2JointImp->GetAnchor1();
+ pos = mHinge2JointImp->GetAnchor1(mJointID);
}
case BI_SECOND:
{
- pos = mHinge2JointImp->GetAnchor2();
+ pos = mHinge2JointImp->GetAnchor2(mJointID);
}
default:
@@ -87,10 +87,10 @@
switch (idx)
{
case AI_FIRST:
- return mHinge2JointImp->GetAngle();
+ return mHinge2JointImp->GetAngle(mJointID);
case AI_SECOND:
- GetLog()->Error() <<
+ GetLog()->Warning() <<
"(Hinge2Joint) WARNING: GetAngle is undefined for EAxisIndex::AI_SECOND, returned zero\n";
return 0;
@@ -104,10 +104,10 @@
switch (idx)
{
case AI_FIRST:
- return mHinge2JointImp->GetAngleRate1();
+ return mHinge2JointImp->GetAngleRate1(mJointID);
case AI_SECOND:
- return mHinge2JointImp->GetAngleRate2();
+ return mHinge2JointImp->GetAngleRate2(mJointID);
default:
return 0;
@@ -116,10 +116,10 @@
void Hinge2Joint::SetParameter(int parameter, float value)
{
- mHinge2JointImp->SetParameter(parameter, value);
+ mHinge2JointImp->SetParameter(parameter, value, mJointID);
}
float Hinge2Joint::GetParameter(int parameter) const
{
- return mHinge2JointImp->GetParameter(parameter);
+ return mHinge2JointImp->GetParameter(parameter, mJointID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -49,7 +49,7 @@
{
// calculate anchor position in world coordinates
Vector3f gAnchor(GetWorldTransform() * anchor);
- mHingeJointImp->SetAnchor(gAnchor);
+ mHingeJointImp->SetAnchor(gAnchor, mJointID);
}
Vector3f HingeJoint::GetAnchor(EBodyIndex idx)
@@ -60,13 +60,13 @@
{
case BI_FIRST:
{
- pos = mHingeJointImp->GetAnchor1();
+ pos = mHingeJointImp->GetAnchor1(mJointID);
break;
}
case BI_SECOND:
{
- pos = mHingeJointImp->GetAnchor2();
+ pos = mHingeJointImp->GetAnchor2(mJointID);
break;
}
@@ -107,30 +107,30 @@
void HingeJoint::SetAxis(const Vector3f& axis)
{
Vector3f absAxis(GetWorldTransform().Rotate(axis));
- mHingeJointImp->SetAxis(absAxis);
+ mHingeJointImp->SetAxis(absAxis, mJointID);
}
Vector3f HingeJoint::GetAxis()
{
- return mHingeJointImp->GetAxis();
+ return mHingeJointImp->GetAxis(mJointID);
}
float HingeJoint::GetAngle() const
{
- return mHingeJointImp->GetAngle();
+ return mHingeJointImp->GetAngle(mJointID);
}
float HingeJoint::GetAngleRate() const
{
- return mHingeJointImp->GetAngleRate();
+ return mHingeJointImp->GetAngleRate(mJointID);
}
void HingeJoint::SetParameter(int parameter, float value)
{
- mHingeJointImp->SetParameter(parameter, value);
+ mHingeJointImp->SetParameter(parameter, value, mJointID);
}
float HingeJoint::GetParameter(int parameter) const
{
- return mHingeJointImp->GetParameter(parameter);
+ return mHingeJointImp->GetParameter(parameter, mJointID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,9 +34,9 @@
class OXYGEN_API BallJointInt
{
public:
- virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
- virtual salt::Vector3f GetAnchor1() = 0;
- virtual salt::Vector3f GetAnchor2() = 0;
+ virtual void SetAnchor(const salt::Vector3f& anchor, long jointID) = 0;
+ virtual salt::Vector3f GetAnchor1(long jointID) = 0;
+ virtual salt::Vector3f GetAnchor2(long jointID) = 0;
virtual long CreateBallJoint(long world) = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,9 +33,9 @@
{
public:
- virtual void SetBoxLengths(const salt::Vector3f& extents) = 0;
- virtual void GetBoxLengths(salt::Vector3f& extents) = 0;
- virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void SetBoxLengths(const salt::Vector3f& extents, long geomID) = 0;
+ virtual void GetBoxLengths(salt::Vector3f& extents, long geomID) = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos, long geomID) = 0;
virtual long CreateBox() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -32,13 +32,13 @@
class OXYGEN_API CapsuleColliderInt
{
public:
- virtual void SetParams(float radius, float length) = 0;
- virtual void SetRadius(float radius) = 0;
- virtual void SetLength(float length) = 0;
- virtual void GetParams(float& radius, float& length) = 0;
- virtual float GetRadius() = 0;
- virtual float GetLength() = 0;
- virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void SetParams(float radius, float length, long geomID) = 0;
+ virtual void SetRadius(float radius, long geomID) = 0;
+ virtual void SetLength(float length, long geomID) = 0;
+ virtual void GetParams(float& radius, float& length, long geomID) = 0;
+ virtual float GetRadius(long geomID) = 0;
+ virtual float GetLength(long geomID) = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos, long geomID) = 0;
virtual long CreateCapsule() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -28,7 +28,7 @@
public:
virtual long CreateFixedJoint(long world) = 0;
- virtual void SetFixed() = 0;
+ virtual void SetFixed(long jointID) = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,14 +31,15 @@
virtual long CreateHinge2Joint(long world) = 0;
virtual void SetAnchor(const salt::Vector3f& anchor,
const salt::Vector3f& up,
- const salt::Vector3f& right) = 0;
- virtual salt::Vector3f GetAnchor1() = 0;
- virtual salt::Vector3f GetAnchor2() = 0;
- virtual float GetAngle() = 0;
- virtual float GetAngleRate1() = 0;
- virtual float GetAngleRate2() = 0;
- virtual void SetParameter(int parameter, float value) = 0;
- virtual float GetParameter(int parameter) const = 0;
+ const salt::Vector3f& right,
+ long jointID) = 0;
+ virtual salt::Vector3f GetAnchor1(long jointID) = 0;
+ virtual salt::Vector3f GetAnchor2(long jointID) = 0;
+ virtual float GetAngle(long jointID) = 0;
+ virtual float GetAngleRate1(long jointID) = 0;
+ virtual float GetAngleRate2(long jointID) = 0;
+ virtual void SetParameter(int parameter, float value, long jointID) = 0;
+ virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -29,15 +29,15 @@
public:
virtual long CreateHingeJoint(long world) = 0;
- virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
- virtual salt::Vector3f GetAnchor1() = 0;
- virtual salt::Vector3f GetAnchor2() = 0;
- virtual void SetAxis(const salt::Vector3f& axis) = 0;
- virtual salt::Vector3f GetAxis() = 0;
- virtual float GetAngle() const = 0;
- virtual float GetAngleRate() const = 0;
- virtual void SetParameter(int parameter, float value) = 0;
- virtual float GetParameter(int parameter) const = 0;
+ virtual void SetAnchor(const salt::Vector3f& anchor, long jointID) = 0;
+ virtual salt::Vector3f GetAnchor1(long jointID) = 0;
+ virtual salt::Vector3f GetAnchor2(long jointID) = 0;
+ virtual void SetAxis(const salt::Vector3f& axis, long jointID) = 0;
+ virtual salt::Vector3f GetAxis(long jointID) = 0;
+ virtual float GetAngle(long jointID) const = 0;
+ virtual float GetAngleRate(long jointID) const = 0;
+ virtual void SetParameter(int parameter, float value, long jointID) = 0;
+ virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,9 +33,9 @@
class OXYGEN_API PlaneColliderInt
{
public:
- virtual void SetPlaneParams(float a, float b, float c, float d) = 0;
- virtual void SetParams(const salt::Vector3f& pos, salt::Vector3f normal) = 0;
- virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void SetPlaneParams(float a, float b, float c, float d, long geomID) = 0;
+ virtual void SetParams(const salt::Vector3f& pos, salt::Vector3f normal, long geomID) = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos, long geomID) = 0;
virtual long CreatePlane() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -32,7 +32,7 @@
class OXYGEN_API RayColliderInt
{
public:
- virtual void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length) = 0;
+ virtual void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length, long geomID) = 0;
virtual long CreateRay() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -42,21 +42,29 @@
virtual void SetMassParameters(const GenericMass& mass, long bodyID) = 0;
virtual float GetMass(long bodyID) const = 0;
virtual void SetSphere(float density, float radius, long bodyID) = 0;
- virtual salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetSphereTotal(float total_mass, float radius, long bodyID) = 0;
- virtual salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetBox(float density, const salt::Vector3f& size, long bodyID) = 0;
- virtual salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetBoxTotal(float total_mass, const salt::Vector3f& size, long bodyID) = 0;
- virtual salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetCylinder(float density, float radius, float length, long bodyID) = 0;
- virtual salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetCylinderTotal(float total_mass, float radius, float length, long bodyID) = 0;
- virtual salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetCapsule(float density, float radius, float length, long bodyID) = 0;
- virtual salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetCapsuleTotal(float total_mass, float radius, float length, long bodyID) = 0;
- virtual salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void TranslateMass(const salt::Vector3f& v, long bodyID) = 0;
virtual salt::Vector3f GetVelocity(long bodyID) const = 0;
virtual void SetVelocity(const salt::Vector3f& vel, long bodyID) = 0;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,11 +34,11 @@
{
public:
virtual long CreateSliderJoint(long world) = 0;
- virtual float GetPosition() = 0;
- virtual float GetPositionRate() = 0;
- virtual void SetSliderAxis(salt::Vector3f& up) = 0;
- virtual void SetParameter(int parameter, float value) = 0;
- virtual float GetParameter(int parameter) const = 0;
+ virtual float GetPosition(long jointID) = 0;
+ virtual float GetPositionRate(long jointID) = 0;
+ virtual void SetSliderAxis(salt::Vector3f& up, long jointID) = 0;
+ virtual void SetParameter(int parameter, float value, long jointID) = 0;
+ virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,9 +33,9 @@
{
public:
- virtual void SetRadius(float r) = 0;
- virtual float GetRadius() const = 0;
- virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void SetRadius(float r, long geomID) = 0;
+ virtual float GetRadius(long geomID) const = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos, long geomID) = 0;
virtual long CreateSphere() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -36,7 +36,7 @@
public:
virtual long CreateTransformCollider() = 0;
- virtual void SetColliderParameters(int cleanup, int info) = 0;
+ virtual void SetColliderParameters(int cleanup, int info, long geomID) = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,19 +34,19 @@
public:
virtual long CreateUniversalJoint(long world) = 0;
- virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
- virtual salt::Vector3f GetAnchor1() = 0;
- virtual salt::Vector3f GetAnchor2() = 0;
- virtual void SetAxis1(const salt::Vector3f& axis) = 0;
- virtual void SetAxis2(const salt::Vector3f& axis) = 0;
- virtual salt::Vector3f GetAxis1() const = 0;
- virtual salt::Vector3f GetAxis2() const = 0;
- virtual float GetAngle1() const = 0;
- virtual float GetAngle2() const = 0;
- virtual float GetAngleRate1() const = 0;
- virtual float GetAngleRate2() const = 0;
- virtual void SetParameter(int parameter, float value) = 0;
- virtual float GetParameter(int parameter) const = 0;
+ virtual void SetAnchor(const salt::Vector3f& anchor, long jointID) = 0;
+ virtual salt::Vector3f GetAnchor1(long jointID) = 0;
+ virtual salt::Vector3f GetAnchor2(long jointID) = 0;
+ virtual void SetAxis1(const salt::Vector3f& axis, long jointID) = 0;
+ virtual void SetAxis2(const salt::Vector3f& axis, long jointID) = 0;
+ virtual salt::Vector3f GetAxis1(long jointID) const = 0;
+ virtual salt::Vector3f GetAxis2(long jointID) const = 0;
+ virtual float GetAngle1(long jointID) const = 0;
+ virtual float GetAngle2(long jointID) const = 0;
+ virtual float GetAngleRate1(long jointID) const = 0;
+ virtual float GetAngleRate2(long jointID) const = 0;
+ virtual void SetParameter(int parameter, float value, long jointID) = 0;
+ virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,28 +31,31 @@
long ODEBallJoint::CreateBallJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
- mODEJoint = dJointCreateBall(ODEWorld, 0);
- return (long) mODEJoint;
+ dJointID ODEJoint = dJointCreateBall(ODEWorld, 0);
+ return (long) ODEJoint;
}
-void ODEBallJoint::SetAnchor(const Vector3f& gAnchor)
+void ODEBallJoint::SetAnchor(const Vector3f& gAnchor, long jointID)
{
- dJointSetBallAnchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetBallAnchor (ODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
}
-Vector3f ODEBallJoint::GetAnchor1()
+Vector3f ODEBallJoint::GetAnchor1(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetBallAnchor (mODEJoint, anchor);
+ dJointGetBallAnchor (ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-Vector3f ODEBallJoint::GetAnchor2()
+Vector3f ODEBallJoint::GetAnchor2(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetBallAnchor2(mODEJoint, anchor);
+ dJointGetBallAnchor2(ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,9 +34,9 @@
{
public:
ODEBallJoint();
- void SetAnchor(const salt::Vector3f& anchor);
- salt::Vector3f GetAnchor1();
- salt::Vector3f GetAnchor2();
+ void SetAnchor(const salt::Vector3f& anchor, long jointID);
+ salt::Vector3f GetAnchor1(long jointID);
+ salt::Vector3f GetAnchor2(long jointID);
long CreateBallJoint(long world);
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -30,10 +30,11 @@
{
}
-void ODEBoxCollider::SetBoxLengths(const Vector3f& extents)
+void ODEBoxCollider::SetBoxLengths(const Vector3f& extents, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
dGeomBoxSetLengths(
- mODEGeom,
+ ODEGeom,
extents[0],
extents[1],
extents[2]
@@ -42,21 +43,23 @@
long ODEBoxCollider::CreateBox()
{
- mODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
- return (long) mODEGeom;
+ dGeomID ODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
+ return (long) ODEGeom;
}
-void ODEBoxCollider::GetBoxLengths(Vector3f& extents)
+void ODEBoxCollider::GetBoxLengths(Vector3f& extents, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
dVector3 lengths;
- dGeomBoxGetLengths(mODEGeom,lengths);
+ dGeomBoxGetLengths(ODEGeom,lengths);
extents[0] = lengths[0];
extents[1] = lengths[1];
extents[2] = lengths[2];
}
-float ODEBoxCollider::GetPointDepth(const Vector3f& pos)
+float ODEBoxCollider::GetPointDepth(const Vector3f& pos, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
return dGeomBoxPointDepth
- (mODEGeom,pos[0],pos[1],pos[2]);
+ (ODEGeom,pos[0],pos[1],pos[2]);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,9 +34,9 @@
{
public:
ODEBoxCollider();
- void SetBoxLengths(const salt::Vector3f& extents);
- void GetBoxLengths(salt::Vector3f& extents);
- float GetPointDepth(const salt::Vector3f& pos);
+ void SetBoxLengths(const salt::Vector3f& extents, long geomID);
+ void GetBoxLengths(salt::Vector3f& extents, long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
long CreateBox();
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -28,53 +28,56 @@
{
}
-void ODECapsuleCollider::SetParams(float radius, float length)
+void ODECapsuleCollider::SetParams(float radius, float length, long geomID)
{
- dGeomCapsuleSetParams (mODEGeom, radius, length);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomCapsuleSetParams (ODEGeom, radius, length);
}
-void ODECapsuleCollider::SetRadius(float radius)
+void ODECapsuleCollider::SetRadius(float radius, long geomID)
{
- SetParams(radius,GetLength());
+ SetParams(radius, GetLength(geomID), geomID);
}
-void ODECapsuleCollider::SetLength(float length)
+void ODECapsuleCollider::SetLength(float length, long geomID)
{
- SetParams(GetRadius(),length);
+ SetParams(GetRadius(geomID), length, geomID);
}
-void ODECapsuleCollider::GetParams(float& radius, float& length)
+void ODECapsuleCollider::GetParams(float& radius, float& length, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
dReal r,l;
- dGeomCapsuleGetParams(mODEGeom,&r,&l);
+ dGeomCapsuleGetParams(ODEGeom,&r,&l);
radius = r;
length = l;
}
-float ODECapsuleCollider::GetRadius()
+float ODECapsuleCollider::GetRadius(long geomID)
{
float length;
float radius;
- GetParams(radius,length);
+ GetParams(radius, length, geomID);
return radius;
}
-float ODECapsuleCollider::GetLength()
+float ODECapsuleCollider::GetLength(long geomID)
{
float radius;
float length;
- GetParams(radius,length);
+ GetParams(radius, length, geomID);
return length;
}
long ODECapsuleCollider::CreateCapsule()
{
- mODEGeom = dCreateCapsule(0, 1.0f, 1.0f);
- return (long) mODEGeom;
+ dGeomID ODEGeom = dCreateCapsule(0, 1.0f, 1.0f);
+ return (long) ODEGeom;
}
-float ODECapsuleCollider::GetPointDepth(const Vector3f& pos)
+float ODECapsuleCollider::GetPointDepth(const Vector3f& pos, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
return dGeomCapsulePointDepth
- (mODEGeom,pos[0],pos[1],pos[2]);
+ (ODEGeom,pos[0],pos[1],pos[2]);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -35,13 +35,13 @@
public:
ODECapsuleCollider();
- void SetParams(float radius, float length);
- void SetRadius(float radius);
- void SetLength(float length);
- void GetParams(float& radius, float& length);
- float GetRadius();
- float GetLength();
- float GetPointDepth(const salt::Vector3f& pos);
+ void SetParams(float radius, float length, long geomID);
+ void SetRadius(float radius, long geomID);
+ void SetLength(float length, long geomID);
+ void GetParams(float& radius, float& length, long geomID);
+ float GetRadius(long geomID);
+ float GetLength(long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
long CreateCapsule();
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -35,7 +35,7 @@
using namespace boost;
using namespace std;
-ODECollider::ODECollider() : ODEPhysicsObject(), mODEGeom(0)
+ODECollider::ODECollider() : ODEPhysicsObject()
{
}
@@ -95,7 +95,6 @@
{
dGeomID ODEGeom = (dGeomID) geomID;
dGeomDestroy(ODEGeom);
- mODEGeom = 0;
}
void ODECollider::TransformSetGeom(long parentGeomID, long geomID){
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -48,9 +48,6 @@
void SetSpace(long spaceID, long geomID, Collider* collider);
void SetBody(long bodyID, long geomID);
void RemoveFromSpace(long geomID, long spaceID);
-
-protected:
- dGeomID mODEGeom;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,7 +34,8 @@
return (long) mODEJoint;
}
-void ODEFixedJoint::SetFixed()
+void ODEFixedJoint::SetFixed(long jointID)
{
- dJointSetFixed(mODEJoint);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetFixed(ODEJoint);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,7 +31,7 @@
public:
ODEFixedJoint();
long CreateFixedJoint(long world);
- void SetFixed();
+ void SetFixed(long jointID);
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,56 +31,65 @@
long ODEHinge2Joint::CreateHinge2Joint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
- mODEJoint = dJointCreateHinge2(ODEWorld, 0);
- return (long) mODEJoint;
+ dJointID ODEJoint = dJointCreateHinge2(ODEWorld, 0);
+ return (long) ODEJoint;
}
void ODEHinge2Joint::SetAnchor(const Vector3f& gAnchor,
const Vector3f& up,
- const Vector3f& right)
+ const Vector3f& right,
+ long jointID)
{
- dJointSetHinge2Anchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
- dJointSetHinge2Axis1(mODEJoint,up[0],up[1],up[2]);
- dJointSetHinge2Axis2(mODEJoint,right[0],right[1],right[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHinge2Anchor (ODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+ dJointSetHinge2Axis1(ODEJoint,up[0],up[1],up[2]);
+ dJointSetHinge2Axis2(ODEJoint,right[0],right[1],right[2]);
}
-Vector3f ODEHinge2Joint::GetAnchor1()
+Vector3f ODEHinge2Joint::GetAnchor1(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetHinge2Anchor (mODEJoint, anchor);
+ dJointGetHinge2Anchor (ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-Vector3f ODEHinge2Joint::GetAnchor2()
+Vector3f ODEHinge2Joint::GetAnchor2(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetHinge2Anchor2(mODEJoint, anchor);
+ dJointGetHinge2Anchor2(ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-float ODEHinge2Joint::GetAngle()
+float ODEHinge2Joint::GetAngle(long jointID)
{
- return gRadToDeg(dJointGetHinge2Angle1(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHinge2Angle1(ODEJoint));
}
-float ODEHinge2Joint::GetAngleRate1()
+float ODEHinge2Joint::GetAngleRate1(long jointID)
{
- return gRadToDeg(dJointGetHinge2Angle1Rate(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHinge2Angle1Rate(ODEJoint));
}
-float ODEHinge2Joint::GetAngleRate2()
+float ODEHinge2Joint::GetAngleRate2(long jointID)
{
- return gRadToDeg(dJointGetHinge2Angle2Rate(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHinge2Angle2Rate(ODEJoint));
}
-void ODEHinge2Joint::SetParameter(int parameter, float value)
+void ODEHinge2Joint::SetParameter(int parameter, float value, long jointID)
{
- dJointSetHinge2Param(mODEJoint, parameter, value);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHinge2Param(ODEJoint, parameter, value);
}
-float ODEHinge2Joint::GetParameter(int parameter) const
+float ODEHinge2Joint::GetParameter(int parameter, long jointID) const
{
- return dJointGetHinge2Param(mODEJoint, parameter);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetHinge2Param(ODEJoint, parameter);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,14 +33,15 @@
long CreateHinge2Joint(long world);
void SetAnchor(const salt::Vector3f& gAnchor,
const salt::Vector3f& up,
- const salt::Vector3f& right);
- salt::Vector3f GetAnchor1();
- salt::Vector3f GetAnchor2();
- float GetAngle();
- float GetAngleRate1();
- float GetAngleRate2();
- void SetParameter(int parameter, float value);
- float GetParameter(int parameter) const;
+ const salt::Vector3f& right,
+ long jointID);
+ salt::Vector3f GetAnchor1(long jointID);
+ salt::Vector3f GetAnchor2(long jointID);
+ float GetAngle(long jointID);
+ float GetAngleRate1(long jointID);
+ float GetAngleRate2(long jointID);
+ void SetParameter(int parameter, float value, long jointID);
+ float GetParameter(int parameter, long jointID) const;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -30,61 +30,70 @@
long ODEHingeJoint::CreateHingeJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
- mODEJoint = dJointCreateHinge(ODEWorld, 0);
- return (long) mODEJoint;
+ dJointID ODEJoint = dJointCreateHinge(ODEWorld, 0);
+ return (long) ODEJoint;
}
-void ODEHingeJoint::SetAnchor(const Vector3f& anchor)
+void ODEHingeJoint::SetAnchor(const Vector3f& anchor, long jointID)
{
- dJointSetHingeAnchor (mODEJoint, anchor[0], anchor[1], anchor[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHingeAnchor (ODEJoint, anchor[0], anchor[1], anchor[2]);
}
-Vector3f ODEHingeJoint::GetAnchor1()
+Vector3f ODEHingeJoint::GetAnchor1(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetHingeAnchor (mODEJoint, anchor);
+ dJointGetHingeAnchor (ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-Vector3f ODEHingeJoint::GetAnchor2()
+Vector3f ODEHingeJoint::GetAnchor2(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetHingeAnchor2(mODEJoint, anchor);
+ dJointGetHingeAnchor2(ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-void ODEHingeJoint::SetAxis(const Vector3f& axis)
+void ODEHingeJoint::SetAxis(const Vector3f& axis, long jointID)
{
- dJointSetHingeAxis(mODEJoint, axis[0], axis[1], axis[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHingeAxis(ODEJoint, axis[0], axis[1], axis[2]);
}
-Vector3f ODEHingeJoint::GetAxis()
+Vector3f ODEHingeJoint::GetAxis(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal axis[3];
- dJointGetHingeAxis(mODEJoint, axis);
+ dJointGetHingeAxis(ODEJoint, axis);
return Vector3f (axis[0], axis[1], axis[2]);
}
-float ODEHingeJoint::GetAngle() const
+float ODEHingeJoint::GetAngle(long jointID) const
{
- return gRadToDeg(dJointGetHingeAngle(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHingeAngle(ODEJoint));
}
-float ODEHingeJoint::GetAngleRate() const
+float ODEHingeJoint::GetAngleRate(long jointID) const
{
- return gRadToDeg(dJointGetHingeAngleRate(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHingeAngleRate(ODEJoint));
}
-void ODEHingeJoint::SetParameter(int parameter, float value)
+void ODEHingeJoint::SetParameter(int parameter, float value, long jointID)
{
- dJointSetHingeParam(mODEJoint, parameter, value);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHingeParam(ODEJoint, parameter, value);
}
-float ODEHingeJoint::GetParameter(int parameter) const
+float ODEHingeJoint::GetParameter(int parameter, long jointID) const
{
- return dJointGetHingeParam(mODEJoint, parameter);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetHingeParam(ODEJoint, parameter);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,15 +31,15 @@
public:
ODEHingeJoint();
long CreateHingeJoint(long world);
- void SetAnchor(const salt::Vector3f& anchor);
- salt::Vector3f GetAnchor1();
- salt::Vector3f GetAnchor2();
- void SetAxis(const salt::Vector3f& axis);
- salt::Vector3f GetAxis();
- float GetAngle() const;
- float GetAngleRate() const;
- void SetParameter(int parameter, float value);
- float GetParameter(int parameter) const;
+ void SetAnchor(const salt::Vector3f& anchor, long jointID);
+ salt::Vector3f GetAnchor1(long jointID);
+ salt::Vector3f GetAnchor2(long jointID);
+ void SetAxis(const salt::Vector3f& axis, long jointID);
+ salt::Vector3f GetAxis(long jointID);
+ float GetAngle(long jointID) const;
+ float GetAngleRate(long jointID) const;
+ void SetParameter(int parameter, float value, long jointID);
+ float GetParameter(int parameter, long jointID) const;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -28,27 +28,30 @@
{
}
-void ODEPlaneCollider::SetPlaneParams(float a, float b, float c, float d)
+void ODEPlaneCollider::SetPlaneParams(float a, float b, float c, float d, long geomID)
{
- dGeomPlaneSetParams(mODEGeom, a, b, c, d);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomPlaneSetParams(ODEGeom, a, b, c, d);
}
long ODEPlaneCollider::CreatePlane()
{
// a plane with normal pointing up, going through the origin
- mODEGeom = dCreatePlane(0, 0, 1, 0, 0);
- return (long) mODEGeom;
+ dGeomID ODEGeom = dCreatePlane(0, 0, 1, 0, 0);
+ return (long) ODEGeom;
}
-void ODEPlaneCollider::SetParams(const salt::Vector3f& pos, salt::Vector3f normal)
+void ODEPlaneCollider::SetParams(const salt::Vector3f& pos, salt::Vector3f normal, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
normal.Normalize();
float d = pos.Dot(normal);
- dGeomPlaneSetParams(mODEGeom, normal.x(), normal.y(), normal.z(), d);
+ dGeomPlaneSetParams(ODEGeom, normal.x(), normal.y(), normal.z(), d);
}
-float ODEPlaneCollider::GetPointDepth(const Vector3f& pos)
+float ODEPlaneCollider::GetPointDepth(const Vector3f& pos, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
return dGeomPlanePointDepth
- (mODEGeom,pos[0],pos[1],pos[2]);
+ (ODEGeom,pos[0],pos[1],pos[2]);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,9 +34,9 @@
{
public:
ODEPlaneCollider();
- void SetPlaneParams(float a, float b, float c, float d);
- void SetParams(const salt::Vector3f& pos, salt::Vector3f normal);
- float GetPointDepth(const salt::Vector3f& pos);
+ void SetPlaneParams(float a, float b, float c, float d, long geomID);
+ void SetParams(const salt::Vector3f& pos, salt::Vector3f normal, long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
long CreatePlane();
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -28,14 +28,15 @@
}
void ODERayCollider::SetParams(salt::Vector3f pos,
- salt::Vector3f dir, float length)
+ salt::Vector3f dir, float length, long geomID)
{
- dGeomRaySet(mODEGeom, pos[0], pos[1], pos[2], dir[0], dir[1], dir[2]);
- dGeomRaySetLength(mODEGeom, length);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomRaySet(ODEGeom, pos[0], pos[1], pos[2], dir[0], dir[1], dir[2]);
+ dGeomRaySetLength(ODEGeom, length);
}
long ODERayCollider::CreateRay()
{
- mODEGeom = dCreateRay(0, 1.0f);
- return (long) mODEGeom;
+ dGeomID ODEGeom = dCreateRay(0, 1.0f);
+ return (long) ODEGeom;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,7 +34,7 @@
{
public:
ODERayCollider();
- void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length);
+ void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length, long geomID);
long CreateRay();
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -43,21 +43,29 @@
void SetMassParameters(const GenericMass& mass, long bodyID);
float GetMass(long bodyID) const;
void SetSphere(float density, float radius, long bodyID);
- salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetSphereTotal(float total_mass, float radius, long bodyID);
- salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetBox(float density, const salt::Vector3f& size, long bodyID);
- salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetBoxTotal(float total_mass, const salt::Vector3f& size, long bodyID);
- salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetCylinder(float density, float radius, float length, long bodyID);
- salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetCylinderTotal(float total_mass, float radius, float length, long bodyID);
- salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetCapsule(float density, float radius, float length, long bodyID);
- salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetCapsuleTotal(float total_mass, float radius, float length, long bodyID);
- salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void TranslateMass(const salt::Vector3f& v, long bodyID);
salt::Vector3f GetVelocity(long bodyID) const;
void SetVelocity(const salt::Vector3f& vel, long bodyID);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -30,31 +30,36 @@
long ODESliderJoint::CreateSliderJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
- mODEJoint = dJointCreateSlider(ODEWorld, 0);
- return (long) mODEJoint;
+ dJointID ODEJoint = dJointCreateSlider(ODEWorld, 0);
+ return (long) ODEJoint;
}
-void ODESliderJoint::SetSliderAxis(Vector3f& up)
+void ODESliderJoint::SetSliderAxis(Vector3f& up, long jointID)
{
- dJointSetSliderAxis(mODEJoint,up[0],up[1],up[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetSliderAxis(ODEJoint,up[0],up[1],up[2]);
}
-float ODESliderJoint::GetPosition()
+float ODESliderJoint::GetPosition(long jointID)
{
- return dJointGetSliderPosition(mODEJoint);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetSliderPosition(ODEJoint);
}
-float ODESliderJoint::GetPositionRate()
+float ODESliderJoint::GetPositionRate(long jointID)
{
- return dJointGetSliderPositionRate(mODEJoint);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetSliderPositionRate(ODEJoint);
}
-void ODESliderJoint::SetParameter(int parameter, float value)
+void ODESliderJoint::SetParameter(int parameter, float value, long jointID)
{
- dJointSetSliderParam(mODEJoint, parameter, value);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetSliderParam(ODEJoint, parameter, value);
}
-float ODESliderJoint::GetParameter(int parameter) const
+float ODESliderJoint::GetParameter(int parameter, long jointID) const
{
- return dJointGetSliderParam(mODEJoint, parameter);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetSliderParam(ODEJoint, parameter);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -35,11 +35,11 @@
public:
O...
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