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[simspark-svn] SF.net SVN: simspark:[156] branches/multiphys/spark/lib/oxygen
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From: <a-...@us...> - 2010-02-02 08:17:22
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Revision: 156
http://simspark.svn.sourceforge.net/simspark/?rev=156&view=rev
Author: a-held
Date: 2010-02-02 08:17:15 +0000 (Tue, 02 Feb 2010)
Log Message:
-----------
got rid of staticphysicsmethods class
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
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/odejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.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/rigidbody.cpp
Removed Paths:
-------------
branches/multiphys/spark/lib/oxygen/physicsserver/ode/staticphysicsmethods_ode.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/staticphysicsmethods.h
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2010-02-02 08:17:15 UTC (rev 156)
@@ -40,7 +40,6 @@
physicsserver/recorderhandler.h
physicsserver/space.h
physicsserver/spherecollider.h
- physicsserver/staticphysicsmethods.h
physicsserver/transformcollider.h
physicsserver/world.h
physicsserver/dragcontroller.h
@@ -93,7 +92,6 @@
physicsserver/int/worldint.h
#ode-specific files
- physicsserver/ode/staticphysicsmethods_ode.cpp
physicsserver/ode/odeangularmotor.h
physicsserver/ode/odeballjoint.h
physicsserver/ode/odebody.h
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2010-02-02 08:17:15 UTC (rev 156)
@@ -167,7 +167,7 @@
}
Collider* collPtr =
- StaticPhysicsMethods::GetColliderPointer(geomID);
+ mColliderImp->GetColliderPointer(geomID);
if (collPtr == 0)
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2010-02-02 08:17:15 UTC (rev 156)
@@ -37,6 +37,10 @@
{
public:
+ /** Gets the pointer to the Collider object that manages the geom
+ specified by geomID.
+ */
+ virtual Collider* GetColliderPointer(long geomID) = 0;
virtual void SetPosition(const salt::Vector3f& globalPos, long geomID) = 0;
virtual void SetLocalPosition(const salt::Vector3f& pos, long geomID) = 0;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h 2010-02-02 08:17:15 UTC (rev 156)
@@ -38,7 +38,22 @@
class OXYGEN_API JointInt
{
public:
+
+ /** Gets the pointer to the Joint object that manages the joint
+ specified by jointID.
+ */
+ virtual Joint* GetJoint(long jointID) = 0;
+ /** Checks if two bodies, specified by bodyID1 and bodyID2, are
+ connected by a joint.
+ */
+ virtual bool AreConnected(long bodyID1, long bodyID2) = 0;
+
+ /** Checks if two bodies, specified by bodyID1 and bodyID2, are
+ connected by a joint that is not of the type specified by joint_type.
+ */
+ virtual bool AreConnectedExcluding(long bodyID1, long bodyID2, int joint_type) = 0;
+
virtual void DestroyJoint(long jointID,
boost::shared_ptr<GenericJointFeedback> feedback) = 0;
virtual void Attach(long bodyID1, long bodiID2, long jointID) = 0;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-02-02 08:17:15 UTC (rev 156)
@@ -34,6 +34,8 @@
{
public:
+ virtual RigidBody* GetBodyPointer(long bodyID) = 0;
+
virtual void Enable(long bodyID) = 0;
virtual void Disable(long bodyID) = 0;
virtual bool IsEnabled(long bodyID) const = 0;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2010-02-02 08:17:15 UTC (rev 156)
@@ -60,7 +60,7 @@
return shared_ptr<Joint>();
}
- Joint* jointPtr = StaticPhysicsMethods::GetJoint(jointID);
+ Joint* jointPtr = mJointImp->GetJoint(jointID);
if (jointPtr == 0)
{
@@ -184,7 +184,7 @@
return false;
}
- const bool connected = StaticPhysicsMethods::AreConnected(body1->GetBodyID(), body2->GetBodyID());
+ const bool connected = mJointImp->AreConnected(body1->GetBodyID(), body2->GetBodyID());
return connected;
}
@@ -201,10 +201,9 @@
return false;
}
- const bool connected =
- StaticPhysicsMethods::AreConnectedExcluding(body1->GetBodyID(),
- body2->GetBodyID(),
- joint_type);
+ const bool connected = mJointImp->AreConnectedExcluding(body1->GetBodyID(),
+ body2->GetBodyID(),
+ joint_type);
return connected;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2010-02-02 08:17:15 UTC (rev 156)
@@ -44,6 +44,11 @@
{
}
+Collider* ODECollider::GetColliderPointer(long geomID){
+ dGeomID ODEGeom = (dGeomID) geomID;
+ return static_cast<Collider*>(dGeomGetData(ODEGeom));
+}
+
void ODECollider::SetRotation(const Matrix& rot, long geomID)
{
dGeomID ODEGeom = (dGeomID) geomID;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2010-02-02 08:17:15 UTC (rev 156)
@@ -37,6 +37,11 @@
ODECollider();
virtual ~ODECollider();
+ /** Gets the pointer to the Collider object that manages the geom
+ specified by geomID.
+ */
+ Collider* GetColliderPointer(long geomID);
+
void SetPosition(const salt::Vector3f& globalPos, long geomID);
void SetLocalPosition(const salt::Vector3f& pos, long GeomID);
salt::Vector3f GetPosition(long geomID) const;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp 2010-02-02 08:17:15 UTC (rev 156)
@@ -31,6 +31,23 @@
{
}
+Joint* ODEJoint::GetJoint(long jointID){
+ dJointID ODEJoint = (dJointID) jointID;
+ return static_cast<Joint*>(dJointGetData(ODEJoint));
+}
+
+bool ODEJoint::AreConnected(long bodyID1, long bodyID2){
+ dBodyID ODEBody1 = (dBodyID) bodyID1;
+ dBodyID ODEBody2 = (dBodyID) bodyID2;
+ return dAreConnected(ODEBody1, ODEBody2) == 1;
+}
+
+bool ODEJoint::AreConnectedExcluding(long bodyID1, long bodyID2, int joint_type){
+ dBodyID ODEBody1 = (dBodyID) bodyID1;
+ dBodyID ODEBody2 = (dBodyID) bodyID2;
+ return dAreConnectedExcluding(ODEBody1, ODEBody2, joint_type) == 1;
+}
+
void ODEJoint::OnLink(long jointID, Joint* joint)
{
dJointID ODEJoint = (dJointID) jointID;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h 2010-02-02 08:17:15 UTC (rev 156)
@@ -33,6 +33,10 @@
{
public:
ODEJoint();
+
+ Joint* GetJoint(long jointID);
+ bool AreConnected(long bodyID1, long bodyID2);
+ bool AreConnectedExcluding(long bodyID1, long bodyID2, int joint_type);
virtual void DestroyJoint(long jointID,
boost::shared_ptr<GenericJointFeedback> feedback);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2010-02-02 08:17:15 UTC (rev 156)
@@ -36,6 +36,11 @@
ODERigidBody::ODERigidBody() : Body(){
}
+RigidBody* ODERigidBody::GetBodyPointer(long bodyID){
+ dBodyID ODEBody = (dBodyID) bodyID;
+ return static_cast<RigidBody*>(dBodyGetData(ODEBody));
+}
+
void ODERigidBody::Enable(long bodyID)
{
dBodyID ODEBody = (dBodyID) bodyID;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2010-02-02 08:17:15 UTC (rev 156)
@@ -35,6 +35,8 @@
public:
ODERigidBody();
+ RigidBody* GetBodyPointer(long bodyID);
+
void Enable(long bodyID);
void Disable(long bodyID);
bool IsEnabled(long bodyID) const;
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/staticphysicsmethods_ode.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/staticphysicsmethods_ode.cpp 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/staticphysicsmethods_ode.cpp 2010-02-02 08:17:15 UTC (rev 156)
@@ -1,56 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2003 Koblenz University
- $Id: body.cpp 106 2009-11-19 10:10:50Z a-held $
-
- 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/staticphysicsmethods.h>
-#include <oxygen/physicsserver/collider.h>
-#include <oxygen/physicsserver/joint.h>
-#include <oxygen/physicsserver/rigidbody.h>
-#include <oxygen/physicsserver/space.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
-
-using namespace oxygen;
-using namespace boost;
-
-Collider* StaticPhysicsMethods::GetColliderPointer(long geomID){
- dGeomID ODEGeom = (dGeomID) geomID;
- return static_cast<Collider*>(dGeomGetData(ODEGeom));
-}
-
-Joint* StaticPhysicsMethods::GetJoint(long jointID){
- dJointID ODEJoint = (dJointID) jointID;
- return static_cast<Joint*>(dJointGetData(ODEJoint));
-}
-
-RigidBody* StaticPhysicsMethods::GetBodyPointer(long bodyID){
- dBodyID ODEBody = (dBodyID) bodyID;
- return static_cast<RigidBody*>(dBodyGetData(ODEBody));
-}
-
-bool StaticPhysicsMethods::AreConnected(long bodyID1, long bodyID2){
- dBodyID ODEBody1 = (dBodyID) bodyID1;
- dBodyID ODEBody2 = (dBodyID) bodyID2;
- return dAreConnected(ODEBody1, ODEBody2) == 1;
-}
-
-bool StaticPhysicsMethods::AreConnectedExcluding(long bodyID1, long bodyID2, int joint_type){
- dBodyID ODEBody1 = (dBodyID) bodyID1;
- dBodyID ODEBody2 = (dBodyID) bodyID2;
- return dAreConnectedExcluding(ODEBody1, ODEBody2, joint_type) == 1;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2010-02-02 08:17:15 UTC (rev 156)
@@ -327,7 +327,7 @@
return shared_ptr<RigidBody>();
}
- RigidBody* bodyPtr = StaticPhysicsMethods::GetBodyPointer(bodyID);
+ RigidBody* bodyPtr = mRigidBodyImp->GetBodyPointer(bodyID);
if (bodyPtr == 0)
{
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/staticphysicsmethods.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/staticphysicsmethods.h 2010-02-01 05:08:06 UTC (rev 155)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/staticphysicsmethods.h 2010-02-02 08:17:15 UTC (rev 156)
@@ -1,71 +0,0 @@
-/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2002,2003 Koblenz University
- Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: joint.h 107 2009-11-25 06:09:10Z a-held $
-
- 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 OXYGEN_STATICPHYSICSMETHODS_H
-#define OXYGEN_STATICPHYSICSMETHODS_H
-
-#include <oxygen/oxygen_defines.h>
-
-namespace oxygen
-{
-class Collider;
-class Joint;
-class RigidBody;
-/** StaticPhysicsMethods is a workaround class. It defines static
- engine-specific methods which are called from within other
- static methods in engine-unspecific classes.
-
- The StaticPhysicsMethods class should be implemented once for each
- supported engine. The preprocessor must decide which file to use.
-*/
-
-class OXYGEN_API StaticPhysicsMethods{
-
-public:
- /** Gets the pointer to the Collider object that manages the geom
- specified by geomID.
- */
- static Collider* GetColliderPointer(long geomID);
-
- /** Gets the pointer to the Joint object that manages the joint
- specified by jointID.
- */
- static Joint* GetJoint(long jointID);
-
- /** Gets the pointer to the RigidBody object that manages the rigid body
- specified by bodyID.
- */
- static RigidBody* GetBodyPointer(long bodyID);
-
- /** Checks if two bodies, specified by bodyID1 and bodyID2, are
- connected by a joint.
- */
- static bool AreConnected(long bodyID1, long bodyID2);
-
- /** Checks if two bodies, specified by bodyID1 and bodyID2, are
- connected by a joint that is not of the type specified by joint_type.
- */
- static bool AreConnectedExcluding(long bodyID1, long bodyID2, int joint_type);
-};
-
-} //namespace oxygen
-
-#endif //OXYGEN_GENERICPHYSICSOBJECTS_H
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