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[simspark-svn] SF.net SVN: simspark:[142] branches/multiphys
|
From: <a-...@us...> - 2010-01-13 13:21:38
|
Revision: 142
http://simspark.svn.sourceforge.net/simspark/?rev=142&view=rev
Author: a-held
Date: 2010-01-13 13:21:31 +0000 (Wed, 13 Jan 2010)
Log Message:
-----------
Finished bridge pattern for ContactJointHandler class
made the collisionperceptor plugin a little less ODE-specific
added the rcsoccersim3d script that SVN "forgot" in the last update
Changes to soccer.rsg are temporary
Modified Paths:
--------------
branches/multiphys/rcssserver3d/data/rsg/agent/nao/soccer.rsg
branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/contactjointhandlerint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.h
branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/space.h
branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp
branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.h
branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp
branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.h
Added Paths:
-----------
branches/multiphys/rcssserver3d/rcssserver3d/rcsoccersim3d.in
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/soccer.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/soccer.rsg 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/soccer.rsg 2010-01-13 13:21:31 UTC (rev 142)
@@ -81,6 +81,49 @@
)
)
+; create falling box
+ (nd AgentAspect
+ (setName fallBox)
+ (setLocalPos -4.9 -3.5 200)
+ (importScene rsg/boxspheres/box.rsg 1 1 1 100 matGrey)
+)
+
+ (nd AgentAspect
+ (setName 2Box)
+ (setLocalPos -4.9 -3.5 0.5)
+ (importScene rsg/boxspheres/box.rsg 1 0.1 2 1 matRed)
+)
+
+(nd AgentAspect
+ (setName 3Box)
+ (setLocalPos -4.9 -2 0.5)
+ (importScene rsg/boxspheres/box.rsg 1 0.1 2 1 matRed)
+)
+
+(nd AgentAspect
+ (setName 4Box)
+ (setLocalPos -4.9 -0.5 0.5)
+ (importScene rsg/boxspheres/box.rsg 1 0.1 2 2 matRed)
+)
+
+(nd AgentAspect
+ (setName 5Box)
+ (setLocalPos -4.9 1 0.5)
+ (importScene rsg/boxspheres/box.rsg 1 0.1 2 2 matRed)
+)
+
+(nd AgentAspect
+ (setName 6Box)
+ (setLocalPos -4.9 2.5 0.5)
+ (importScene rsg/boxspheres/box.rsg 1 0.1 2 3 matRed)
+)
+
+(nd AgentAspect
+ (setName Sphere)
+ (setLocalPos -4.9 -4.2 0.5)
+ (importScene rsg/boxspheres/sphere.rsg 0.5 0.2 matYellow)
+)
+
; create skybox
(nd Transform
(setLocalPos 0 0 0)
Added: branches/multiphys/rcssserver3d/rcssserver3d/rcsoccersim3d.in
===================================================================
--- branches/multiphys/rcssserver3d/rcssserver3d/rcsoccersim3d.in (rev 0)
+++ branches/multiphys/rcssserver3d/rcssserver3d/rcsoccersim3d.in 2010-01-13 13:21:31 UTC (rev 142)
@@ -0,0 +1,72 @@
+#! /bin/sh
+
+bindir="@CMAKE_INSTALL_PREFIX@/@BINDIR@"
+libdir="@CMAKE_INSTALL_PREFIX@/@LIBDIR@"
+
+LIBPATH="$libdir/simspark:$libdir/rcssserver3d"
+if [ x"$LIBPATH" != x ] ; then
+ if [ x"$LD_LIBRARY_PATH" = x ] ; then
+ LD_LIBRARY_PATH=$LIBPATH
+ else
+ LD_LIBRARY_PATH=$LIBPATH:$LD_LIBRARY_PATH
+ fi
+ export LD_LIBRARY_PATH
+fi
+
+#--------------------------------------------------
+# option
+#
+
+SERV="$bindir/rcssserver3d"
+if [ ! -f $SERV ]; then
+ echo "Error: $SERV does not exist!"
+ echo ""
+ exit 1
+fi
+
+MON="$bindir/rcssmonitor3d"
+if [ ! -f $MON ]; then
+ echo "Error: $MON does not exist!"
+ echo ""
+ exit 1
+fi
+
+AGT="$bindir/rcssagent3d"
+if [ ! -f $AGT ]; then
+ echo "Error: $AGT does not exist!"
+ echo ""
+ exit 1
+fi
+
+#--------------------------------------------------
+# set handler
+#
+
+trap kill_server INT
+
+#--------------------------------------------------
+# start server
+#
+
+$SERV &
+PID=$!
+
+#--------------------------------------------------
+# kill server
+#
+kill_server()
+{
+ kill -s INT $PID
+ echo ""
+ exit 0
+}
+
+#--------------------------------------------------
+# start monitor
+#
+
+sleep 2
+
+$MON & $AGT
+
+kill_server
Property changes on: branches/multiphys/rcssserver3d/rcssserver3d/rcsoccersim3d.in
___________________________________________________________________
Added: svn:executable
+ *
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp 2010-01-13 13:21:31 UTC (rev 142)
@@ -32,135 +32,16 @@
ContactJointHandler::ContactJointHandler() : CollisionHandler()
{
mContactJointHandlerImp = boost::shared_ptr<ODEContactJointHandler>(new ODEContactJointHandler());
-
-
- // set up default contact surface parameters
- mSurfaceParameter.mode = dContactBounce;
- mSurfaceParameter.mu = dInfinity;
- mSurfaceParameter.bounce = 0.8f;
- mSurfaceParameter.bounce_vel = 2.0f;
-
- // In contactjointhandler_c.cpp, setContactSlip function, only
- // accept one parameter, so two parameter is a mistake, and then
- // these two value will be not initialized, but slipe mode is open
- mSurfaceParameter.slip1 = 5e-3;
- mSurfaceParameter.slip2 = 5e-3;
-
-
- //mContactJointHandlerImp->Initialize();
+ mContactJointHandlerImp->Initialize();
}
ContactJointHandler::~ContactJointHandler()
{
}
-float
-ContactJointHandler::MixValues(const float v1, const float v2, const int n) const
-{
- switch(n)
- {
- default:
- case 0:
- // undefined, default 0
- return 0.0f;
-
- case 1:
- // first one defined
- return v1;
-
- case 2:
- // second one defined
- return v2;
-
- case 3:
- // both defined, return average
- return (v1 + v2) / 2.0f;
- }
-}
-
void
-ContactJointHandler::CalcSurfaceParam(dSurfaceParameters& surface,
- const dSurfaceParameters& collideeParam)
-{
- // init surface
- surface.mode = 0;
-
- // calculate average mu; mu can be dInfinity, so first multiply with
- // 0.5 and the sum up to avoid a range error
- surface.mu = mSurfaceParameter.mu*0.5f + collideeParam.mu*0.5f;
-
- // soft cfm
- const int nCfm =
- ((mSurfaceParameter.mode & dContactSoftCFM) ? 1:0) +
- ((collideeParam.mode & dContactSoftCFM) ? 2:0);
-
- if (nCfm>0)
- {
- surface.soft_cfm = MixValues
- (mSurfaceParameter.soft_cfm, collideeParam.soft_cfm, nCfm);
- surface.mode |= dContactSoftCFM;
- }
-
- // soft_erp
- const int nErp =
- ((mSurfaceParameter.mode & dContactSoftERP) ? 1:0) +
- ((collideeParam.mode & dContactSoftERP) ? 2:0);
-
- if (nErp>0)
- {
- surface.soft_erp = MixValues
- (mSurfaceParameter.soft_erp, collideeParam.soft_erp, nErp);
- surface.mode |= dContactSoftERP;
- }
-
- // bounce
- const int nBounce =
- ((mSurfaceParameter.mode & dContactBounce) ? 1:0) +
- ((collideeParam.mode & dContactBounce) ? 2:0);
-
- if (nBounce>0)
- {
- surface.bounce = MixValues
- (mSurfaceParameter.bounce, collideeParam.bounce, nBounce);
-
- surface.bounce_vel = MixValues
- (mSurfaceParameter.bounce_vel, collideeParam.bounce_vel, nBounce);
-
- surface.mode |= dContactBounce;
- }
-
- // slip1
- const int nSlip1 =
- ((mSurfaceParameter.mode & dContactSlip1) ? 1 : 0) +
- ((collideeParam.mode & dContactSlip1) ? 2 : 0);
-
- if (nSlip1 > 0)
- {
- surface.slip1 = MixValues
- (mSurfaceParameter.slip1, collideeParam.slip1, nSlip1);
-
- surface.mode |= dContactSlip1;
- }
-
- // slip2
- const int nSlip2 =
- ((mSurfaceParameter.mode & dContactSlip2) ? 1 : 0) +
- ((collideeParam.mode & dContactSlip2) ? 2 : 0);
-
- if (nSlip2 > 0)
- {
- surface.slip2 = MixValues
- (mSurfaceParameter.slip2, collideeParam.slip2, nSlip2);
-
- surface.mode |= dContactSlip2;
- }
-}
-
-void
ContactJointHandler::HandleCollision(shared_ptr<Collider> collidee, GenericContact& contact)
{
- dContact& ODEContact = (dContact&) contact;
-
if (
(mCollider.get() == 0) ||
(mWorld.get() == 0) ||
@@ -172,8 +53,8 @@
// to create a contact joint it we must have at least one body to
// attach it to.
- dBodyID myBody = dGeomGetBody((dGeomID) mCollider->GetGeomID());
- dBodyID collideeBody = dGeomGetBody((dGeomID) collidee->GetGeomID());
+ long myBody = mContactJointHandlerImp->RetrieveBody(mCollider->GetGeomID());
+ long collideeBody = mContactJointHandlerImp->RetrieveBody(collidee->GetGeomID());
if (
(myBody == 0) &&
@@ -192,143 +73,134 @@
return;
}
- // calculate the resulting surface parameters
- CalcSurfaceParam(ODEContact.surface,handler->mSurfaceParameter);
+ // calculate the resulting surface parameters
+ mContactJointHandlerImp->CalcSurfaceParam(
+ contact, handler->GetSurfaceParameter());
// create the contact joint and attach it to the body
- dJointID joint = dJointCreateContact
- ((dWorldID) mWorld->GetWorldID(), mSpace->GetODEJointGroup(), &ODEContact);
+ long joint = mContactJointHandlerImp->CreateContactJoint(
+ mWorld->GetWorldID(), mSpace->GetODEJointGroup(), contact);
- dJointAttach (joint, myBody, collideeBody);
+ mContactJointHandlerImp->AttachContactJoint(joint, myBody, collideeBody);
}
void
ContactJointHandler::SetSurfaceParameter(const GenericSurfaceParameter& surface)
{
- dSurfaceParameters& ODESurface = (dSurfaceParameters&) surface;
- mSurfaceParameter = ODESurface;
+ mContactJointHandlerImp->SetSurfaceParameter(surface);
}
-const GenericSurfaceParameter&
+GenericSurfaceParameter&
ContactJointHandler::GetSurfaceParameter() const
{
- return (GenericSurfaceParameter&) mSurfaceParameter;
+ return mContactJointHandlerImp->GetSurfaceParameter();
}
void
ContactJointHandler::SetContactMode(int mode, bool set)
{
- if (set)
- {
- mSurfaceParameter.mode |= mode;
- } else
- {
- mSurfaceParameter.mode &= ~mode;
- }
+ mContactJointHandlerImp->SetContactMode(mode, set);
}
int
ContactJointHandler::GetContactMode() const
{
- return mSurfaceParameter.mode;
+ return mContactJointHandlerImp->GetContactMode();
}
void
ContactJointHandler::SetContactBounceMode(bool set)
{
- SetContactMode(dContactBounce,set);
+ mContactJointHandlerImp->SetContactBounceMode(set);
}
void
ContactJointHandler::SetMinBounceVel(float vel)
{
- mSurfaceParameter.bounce_vel = std::max<float>(0.0f,vel);
+ mContactJointHandlerImp->SetMinBounceVel(vel);
}
float
ContactJointHandler::GetMinBounceVel() const
{
- return mSurfaceParameter.bounce_vel;
+ return mContactJointHandlerImp->GetMinBounceVel();
}
void
ContactJointHandler::SetBounceValue(float bounce)
{
- mSurfaceParameter.bounce = std::max<float>(0.0f,bounce);
+ mContactJointHandlerImp->SetBounceValue(bounce);
}
float
ContactJointHandler::GetBounceValue() const
{
- return mSurfaceParameter.bounce;
+ return mContactJointHandlerImp->GetBounceValue();
}
void
ContactJointHandler::SetContactSoftERPMode(bool set)
{
- SetContactMode(dContactSoftERP,set);
+ mContactJointHandlerImp->SetContactSoftERPMode(set);
}
void
ContactJointHandler::SetContactSoftERP(float erp)
{
- salt::gClamp(erp,0.0f,1.0f);
- mSurfaceParameter.soft_erp = erp;
+ mContactJointHandlerImp->SetContactSoftERP(erp);
}
float
ContactJointHandler::GetContactSoftERP() const
{
- return mSurfaceParameter.soft_erp;
+ return mContactJointHandlerImp->GetContactSoftERP();
}
void
ContactJointHandler::SetContactSoftCFMMode(bool set)
{
- SetContactMode(dContactSoftCFM,set);
+ mContactJointHandlerImp->SetContactSoftCFMMode(set);
}
void
ContactJointHandler::SetContactSoftCFM(float cfm)
{
- mSurfaceParameter.soft_cfm = std::max<float>(0.0f,cfm);
+ mContactJointHandlerImp->SetContactSoftCFM(cfm);
}
float ContactJointHandler::GetContactSoftCFM() const
{
- return mSurfaceParameter.soft_cfm;
+ return mContactJointHandlerImp->GetContactSoftCFM();
}
void ContactJointHandler::SetContactSlipMode (bool set)
{
- SetContactMode(dContactSlip1,set);
- SetContactMode(dContactSlip2,set);
+ mContactJointHandlerImp->SetContactSlipMode(set);
}
void ContactJointHandler::SetContactSlip(float slip)
{
- mSurfaceParameter.slip1 = slip;
- mSurfaceParameter.slip2 = slip;
+ mContactJointHandlerImp->SetContactSlip(slip);
}
float
ContactJointHandler::GetContactSlip1() const
{
- return mSurfaceParameter.slip1;
+ return mContactJointHandlerImp->GetContactSlip1();
}
float
ContactJointHandler::GetContactSlip2() const
{
- return mSurfaceParameter.slip2;
+ return mContactJointHandlerImp->GetContactSlip2();
}
void ContactJointHandler::SetContactMu(float mu)
{
- mSurfaceParameter.mu = mu;
+ mContactJointHandlerImp->SetContactMu(mu);
}
float ContactJointHandler::GetContactMu() const
{
- return mSurfaceParameter.mu;
+ return mContactJointHandlerImp->GetContactMu();
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.h 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.h 2010-01-13 13:21:31 UTC (rev 142)
@@ -65,10 +65,10 @@
*/
void SetSurfaceParameter(const GenericSurfaceParameter& surface);
- /** returns the surface parameters for the contact joints taht the
+ /** returns the surface parameters for the contact joints that the
CollisionHandler creates
*/
- const GenericSurfaceParameter& GetSurfaceParameter() const;
+ GenericSurfaceParameter& GetSurfaceParameter() const;
/** sets or resets a contact mode flag in the surface parameter*/
void SetContactMode(int mode, bool set);
@@ -139,16 +139,8 @@
/** returns the Coulomb friction coefficient */
float GetContactMu() const;
-
-protected:
- f_inline float MixValues(const float v1, const float v2, const int n) const;
-
- void CalcSurfaceParam(dSurfaceParameters& surface,
- const dSurfaceParameters& collideeParam);
- dSurfaceParameters mSurfaceParameter;
-
-private:
+protected:
boost::shared_ptr<ContactJointHandlerInt> mContactJointHandlerImp;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/contactjointhandlerint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/contactjointhandlerint.h 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/contactjointhandlerint.h 2010-01-13 13:21:31 UTC (rev 142)
@@ -1,4 +1,4 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+/* -*- mode: c++= 0; c-basic-offset: 4= 0; indent-tabs-mode: nil -*-
this file is part of rcssserver3D
Fri May 9 2003
@@ -6,24 +6,27 @@
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
$Id: space.h 102 2009-11-18 07:24:29Z a-held $
- This program is free software; you can redistribute it and/or modify
+ This program is free software= 0; 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.
+ the Free Software Foundation= 0; 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
+ but WITHOUT ANY WARRANTY= 0; 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
+ along with this program= 0; if not, write to the Free Software
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef OXYGEN_CONTACTJOINTHANDLERINT_H
#define OXYGEN_CONTACTJOINTHANDLERINT_H
+#include <oxygen/physicsserver/ode/odewrapper.h>
+
#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/genericphysicsobjects.h>
namespace oxygen
{
@@ -33,7 +36,35 @@
public:
virtual float MixValues(const float v1, const float v2, const int n) const = 0;
virtual void Initialize() = 0;
+ virtual long RetrieveBody(long geomID) = 0;
+ virtual long CreateContactJoint(long worldID, long jointGroupID, GenericContact& contact) = 0;
+ virtual void AttachContactJoint(long jointID, long bodyID1, long bodyID2) = 0;
+ virtual void CalcSurfaceParam(GenericContact& surface, GenericSurfaceParameter& collideeParam) = 0;
+ virtual void SetSurfaceParameter(const GenericSurfaceParameter& surface) = 0;
+ virtual GenericSurfaceParameter& GetSurfaceParameter() const = 0;
+ virtual void SetContactMode(int mode, bool set) = 0;
+ virtual int GetContactMode() const = 0;
+ virtual void SetContactBounceMode(bool set) = 0;
+ virtual void SetBounceValue(float bounce) = 0;
+ virtual float GetBounceValue() const = 0;
+ virtual void SetMinBounceVel(float vel) = 0;
+ virtual float GetMinBounceVel() const = 0;
+ virtual void SetContactSoftERPMode(bool set) = 0;
+ virtual void SetContactSoftERP(float erp) = 0;
+ virtual float GetContactSoftERP() const = 0;
+ virtual void SetContactSoftCFMMode(bool set) = 0;
+ virtual void SetContactSoftCFM(float cfm) = 0;
+ virtual float GetContactSoftCFM() const = 0;
+ virtual void SetContactSlipMode (bool set) = 0;
+ virtual void SetContactSlip(float slip) = 0;
+ virtual float GetContactSlip1() const = 0;
+ virtual float GetContactSlip2() const = 0;
+ virtual void SetContactMu(float mu) = 0;
+ virtual float GetContactMu() const = 0;
+
+ /** the ODE surface parameters of the created contact joint */
+ dSurfaceParameters mSurfaceParameter;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.cpp 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.cpp 2010-01-13 13:21:31 UTC (rev 142)
@@ -39,6 +39,40 @@
mSurfaceParameter.slip2 = 5e-3;
}
+long ODEContactJointHandler::RetrieveBody(long geomID){
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dBodyID ODEBody = dGeomGetBody(ODEGeom);
+ return (long) ODEBody;
+}
+
+long
+ODEContactJointHandler::CreateContactJoint(long worldID, long jointGroupID, GenericContact& contact){
+ dWorldID ODEWorld = (dWorldID) worldID;
+ dJointGroupID ODEJointGroup = (dJointGroupID) jointGroupID;
+ dContact& ODEContact = (dContact&) contact;
+
+ dJointID ODEJoint = dJointCreateContact
+ (ODEWorld, ODEJointGroup, &ODEContact);
+
+ return (long) ODEJoint;
+}
+
+void ODEContactJointHandler::AttachContactJoint(long jointID, long bodyID1, long bodyID2){
+ dJointID ODEJoint = (dJointID) jointID;
+ dBodyID ODEBody1 = (dBodyID) bodyID1;
+ dBodyID ODEBody2 = (dBodyID) bodyID2;
+
+ dJointAttach (ODEJoint, ODEBody1, ODEBody2);
+}
+
+void
+ODEContactJointHandler::CalcSurfaceParam(GenericContact& surface, GenericSurfaceParameter& collideeParam){
+ dContact& ODEContact = (dContact&) surface;
+ dSurfaceParameters& ODEParams = (dSurfaceParameters&) collideeParam;
+
+ CalcSurfaceParamInternal(ODEContact.surface, ODEParams);
+}
+
float
ODEContactJointHandler::MixValues(const float v1, const float v2, const int n) const
{
@@ -64,8 +98,8 @@
}
void
-ODEContactJointHandler::CalcSurfaceParam(dSurfaceParameters& surface,
- const dSurfaceParameters& collideeParam)
+ODEContactJointHandler::CalcSurfaceParamInternal(dSurfaceParameters& surface,
+ const dSurfaceParameters& collideeParam)
{
// init surface
surface.mode = 0;
@@ -140,3 +174,134 @@
surface.mode |= dContactSlip2;
}
}
+
+void
+ODEContactJointHandler::SetSurfaceParameter(const GenericSurfaceParameter& surface)
+{
+ dSurfaceParameters& ODESurface = (dSurfaceParameters&) surface;
+ mSurfaceParameter = ODESurface;
+}
+
+GenericSurfaceParameter&
+ODEContactJointHandler::GetSurfaceParameter() const
+{
+ return (GenericSurfaceParameter&) mSurfaceParameter;
+}
+
+void
+ODEContactJointHandler::SetContactMode(int mode, bool set)
+{
+ if (set)
+ {
+ mSurfaceParameter.mode |= mode;
+ } else
+ {
+ mSurfaceParameter.mode &= ~mode;
+ }
+}
+
+int
+ODEContactJointHandler::GetContactMode() const
+{
+ return mSurfaceParameter.mode;
+}
+
+void
+ODEContactJointHandler::SetContactBounceMode(bool set)
+{
+ SetContactMode(dContactBounce,set);
+}
+
+void
+ODEContactJointHandler::SetMinBounceVel(float vel)
+{
+ mSurfaceParameter.bounce_vel = std::max<float>(0.0f,vel);
+}
+
+float
+ODEContactJointHandler::GetMinBounceVel() const
+{
+ return mSurfaceParameter.bounce_vel;
+}
+
+void
+ODEContactJointHandler::SetBounceValue(float bounce)
+{
+ mSurfaceParameter.bounce = std::max<float>(0.0f,bounce);
+}
+
+float
+ODEContactJointHandler::GetBounceValue() const
+{
+ return mSurfaceParameter.bounce;
+}
+
+void
+ODEContactJointHandler::SetContactSoftERPMode(bool set)
+{
+ SetContactMode(dContactSoftERP,set);
+}
+
+void
+ODEContactJointHandler::SetContactSoftERP(float erp)
+{
+ salt::gClamp(erp,0.0f,1.0f);
+ mSurfaceParameter.soft_erp = erp;
+}
+
+float
+ODEContactJointHandler::GetContactSoftERP() const
+{
+ return mSurfaceParameter.soft_erp;
+}
+
+void
+ODEContactJointHandler::SetContactSoftCFMMode(bool set)
+{
+ SetContactMode(dContactSoftCFM,set);
+}
+
+void
+ODEContactJointHandler::SetContactSoftCFM(float cfm)
+{
+ mSurfaceParameter.soft_cfm = std::max<float>(0.0f,cfm);
+}
+
+float ODEContactJointHandler::GetContactSoftCFM() const
+{
+ return mSurfaceParameter.soft_cfm;
+}
+
+void ODEContactJointHandler::SetContactSlipMode (bool set)
+{
+ SetContactMode(dContactSlip1,set);
+ SetContactMode(dContactSlip2,set);
+}
+
+void ODEContactJointHandler::SetContactSlip(float slip)
+{
+ mSurfaceParameter.slip1 = slip;
+ mSurfaceParameter.slip2 = slip;
+}
+
+float
+ODEContactJointHandler::GetContactSlip1() const
+{
+ return mSurfaceParameter.slip1;
+}
+
+float
+ODEContactJointHandler::GetContactSlip2() const
+{
+ return mSurfaceParameter.slip2;
+}
+
+void ODEContactJointHandler::SetContactMu(float mu)
+{
+ mSurfaceParameter.mu = mu;
+}
+
+float ODEContactJointHandler::GetContactMu() const
+{
+ return mSurfaceParameter.mu;
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.h 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.h 2010-01-13 13:21:31 UTC (rev 142)
@@ -32,15 +32,38 @@
{
public:
ODEContactJointHandler();
- float MixValues(const float v1, const float v2, const int n) const;
void Initialize();
+ long RetrieveBody(long geomID);
+ long CreateContactJoint(long worldID, long jointGroupID, GenericContact& contact);
+ void AttachContactJoint(long jointID, long bodyID1, long bodyID2);
+ void CalcSurfaceParam(GenericContact& surface, GenericSurfaceParameter& collideeParam);
+
+ void SetSurfaceParameter(const GenericSurfaceParameter& surface);
+ GenericSurfaceParameter& GetSurfaceParameter() const;
+ void SetContactMode(int mode, bool set);
+ int GetContactMode() const;
+ void SetContactBounceMode(bool set);
+ void SetBounceValue(float bounce);
+ float GetBounceValue() const;
+ void SetMinBounceVel(float vel);
+ float GetMinBounceVel() const;
+ void SetContactSoftERPMode(bool set);
+ void SetContactSoftERP(float erp);
+ float GetContactSoftERP() const;
+ void SetContactSoftCFMMode(bool set);
+ void SetContactSoftCFM(float cfm);
+ float GetContactSoftCFM() const;
+ void SetContactSlipMode (bool set);
+ void SetContactSlip(float slip);
+ float GetContactSlip1() const;
+ float GetContactSlip2() const;
+ void SetContactMu(float mu);
+ float GetContactMu() const;
-protected:
- /** the ODE surface parameters of the created contact joint */
- dSurfaceParameters mSurfaceParameter;
-
- void CalcSurfaceParam(dSurfaceParameters& surface,
- const dSurfaceParameters& collideeParam);
+protected:
+ f_inline float MixValues(const float v1, const float v2, const int n) const;
+ void CalcSurfaceParamInternal(dSurfaceParameters& surface,
+ const dSurfaceParameters& collideeParam);
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2010-01-13 13:21:31 UTC (rev 142)
@@ -52,9 +52,9 @@
return mSpaceImp->GetSpaceID();
}
-dJointGroupID Space::GetODEJointGroup() const
+long Space::GetODEJointGroup() const
{
- return mSpaceImp->GetODEJointGroup();
+ return (long) mSpaceImp->GetODEJointGroup();
}
void Space::Collide()
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.h 2010-01-13 13:21:31 UTC (rev 142)
@@ -52,7 +52,7 @@
long GetSpaceID() const;
/** retuns the ID of joint group for all created contact joints */
- dJointGroupID GetODEJointGroup() const;
+ long GetODEJointGroup() const;
/** starts ODE's collision culling system. ODE will quickly
identify which pairs of geoms are potentially
Modified: branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp
===================================================================
--- branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp 2010-01-13 13:21:31 UTC (rev 142)
@@ -52,10 +52,11 @@
mBody.reset();
}
-dJointFeedback *ForceResistancePerceptor::AddTouchInfo(dContact &contact)
+GenericJointFeedback* ForceResistancePerceptor::AddTouchInfo(oxygen::GenericContact& contact)
{
- mContactList.push_front(make_pair(contact.geom, dJointFeedback()));
- return &mContactList.front().second;
+ dContact& ODEContact = (dContact&) contact;
+ mContactList.push_front(make_pair(ODEContact.geom, dJointFeedback()));
+ return (GenericJointFeedback*) &mContactList.front().second;
}
bool ForceResistancePerceptor::Percept(
Modified: branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.h
===================================================================
--- branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.h 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.h 2010-01-13 13:21:31 UTC (rev 142)
@@ -24,6 +24,7 @@
#define FORCERESISTANCEPERCEPTOR_H_
#include <oxygen/agentaspect/perceptor.h>
+#include <oxygen/physicsserver/genericphysicsobjects.h>
#include <oxygen/physicsserver/ode/odewrapper.h>
#include <oxygen/sceneserver/transform.h>
#include <salt/vector.h>
@@ -42,7 +43,7 @@
* feedback information.
* \return the address of allocated memory
*/
- dJointFeedback *AddTouchInfo(dContact &contact);
+ oxygen::GenericJointFeedback* AddTouchInfo(oxygen::GenericContact& contact);
/** adds touch information to predList
\return true if data is available
Modified: branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp
===================================================================
--- branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp 2010-01-13 13:21:31 UTC (rev 142)
@@ -22,7 +22,7 @@
#include "touchperceptorhandler.h"
#include <oxygen/physicsserver/collider.h>
-#include <oxygen/physicsserver/genericphysicsobjects.h>
+#include <oxygen/physicsserver/ode/odecontactjointhandler.h>
#include <oxygen/sceneserver/transform.h>
#include <oxygen/physicsserver/world.h>
#include <oxygen/physicsserver/space.h>
@@ -59,15 +59,15 @@
}
void TouchPerceptorHandler::HandleCollision(
- boost::shared_ptr<Collider> collidee, dContact& contact)
+ boost::shared_ptr<Collider> collidee, GenericContact& contact)
{
if (mCollider.get() == 0 || mWorld.get() == 0 || mSpace.get() == 0)
return;
- // to create a contact joint it we must have at least one body to
+ // to create a contact joint we must have at least one body to
// attach it to.
- dBodyID myBody = dGeomGetBody((dGeomID) mCollider->GetGeomID());
- dBodyID collideeBody = dGeomGetBody((dGeomID) collidee->GetGeomID());
+ long myBody = mContactJointHandlerImp->RetrieveBody(mCollider->GetGeomID());
+ long collideeBody = mContactJointHandlerImp->RetrieveBody(collidee->GetGeomID());
if (myBody == 0 && collideeBody == 0)
return;
@@ -78,17 +78,19 @@
if (handler.get() == 0)
return;
- CalcSurfaceParam(contact.surface, (dSurfaceParameters&) handler->GetSurfaceParameter());
+ mContactJointHandlerImp->CalcSurfaceParam(
+ contact, handler->GetSurfaceParameter());
- dJointID joint = dJointCreateContact((dWorldID) mWorld->GetWorldID(),
- mSpace->GetODEJointGroup(), &contact);
+ // create the contact joint and attach it to the body
+ long joint = mContactJointHandlerImp->CreateContactJoint(
+ mWorld->GetWorldID(), mSpace->GetODEJointGroup(), contact);
- dJointAttach (joint, myBody, collideeBody);
-
+ mContactJointHandlerImp->AttachContactJoint(joint, myBody, collideeBody);
+
if (mForceResistancePercept.get() != 0)
{
- dJointFeedback *feedback =
+ GenericJointFeedback* feedback =
mForceResistancePercept->AddTouchInfo(contact);
- dJointSetFeedback(joint, feedback);
+ dJointSetFeedback( (dJointID) joint, (dJointFeedback*) feedback);
}
}
Modified: branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.h
===================================================================
--- branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.h 2010-01-13 06:28:54 UTC (rev 141)
+++ branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.h 2010-01-13 13:21:31 UTC (rev 142)
@@ -24,6 +24,7 @@
#define TOUCHPERCEPTORHANDLER_H_
#include <oxygen/physicsserver/contactjointhandler.h>
+#include <oxygen/physicsserver/genericphysicsobjects.h>
class ForceResistancePerceptor;
@@ -34,7 +35,7 @@
{
public:
virtual void HandleCollision(boost::shared_ptr<oxygen::Collider> collidee,
- dContact& contact);
+ oxygen::GenericContact& contact);
protected:
virtual void OnLink();
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