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[simspark-svn] SF.net SVN: simspark:[178] trunk/spark
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From: <a-...@us...> - 2010-02-26 09:19:52
|
Revision: 178
http://simspark.svn.sourceforge.net/simspark/?rev=178&view=rev
Author: a-held
Date: 2010-02-26 09:19:45 +0000 (Fri, 26 Feb 2010)
Log Message:
-----------
Remove a tiny bit of ODE-specific code that I overlooked
Modified Paths:
--------------
trunk/spark/lib/oxygen/CMakeLists.txt
trunk/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
trunk/spark/lib/oxygen/physicsserver/rigidbody.cpp
trunk/spark/lib/oxygen/physicsserver/rigidbody.h
trunk/spark/lib/oxygen/physicsserver/rigidbody_c.cpp
trunk/spark/plugin/odeimps/oderigidbody.cpp
trunk/spark/plugin/odeimps/oderigidbody.h
Removed Paths:
-------------
trunk/spark/lib/oxygen/physicsserver/odeobject.cpp
trunk/spark/lib/oxygen/physicsserver/odeobject.h
trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp
trunk/spark/lib/oxygen/physicsserver/odewrapper.h
Modified: trunk/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- trunk/spark/lib/oxygen/CMakeLists.txt 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/lib/oxygen/CMakeLists.txt 2010-02-26 09:19:45 UTC (rev 178)
@@ -89,8 +89,8 @@
physicsserver/int/universaljointint.h
physicsserver/int/worldint.h
- proxyserver/agentproxy.h
- proxyserver/proxyserver.h
+ #proxyserver/agentproxy.h
+ #proxyserver/proxyserver.h
sceneserver/sceneimporter.h
sceneserver/basenode.h
sceneserver/fpscontroller.h
@@ -279,10 +279,10 @@
monitorserver/custommonitor_c.cpp
monitorserver/monitorcmdparser.cpp
monitorserver/monitorcmdparser_c.cpp
- proxyserver/agentproxy.cpp
- proxyserver/agentproxy_c.cpp
- proxyserver/proxyserver.cpp
- proxyserver/proxyserver_c.cpp
+ #proxyserver/agentproxy.cpp
+ #proxyserver/agentproxy_c.cpp
+ #proxyserver/proxyserver.cpp
+ #proxyserver/proxyserver_c.cpp
)
if(SPADES_FOUND)
set(oxygen_LIB_SRCS
Modified: trunk/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-02-26 09:19:45 UTC (rev 178)
@@ -247,6 +247,17 @@
by \param worldID
*/
virtual long CreateBody(long worldID) = 0;
+
+ /** Creates a new mass object with the information passed on to this
+ method via \param mass and \param cVector
+ */
+ virtual GenericMass& CreateMass(float mass, salt::Vector3f cVector) = 0;
+
+ /** Sets the value of the inertia tensor of this body. \param i is the
+ index of the \param value 's position in the inertia tensor.
+ (It's a 3x3 matrix)
+ */
+ virtual void SetInertiaTensorAt(int i, float value, GenericMass& mass) = 0;
};
} //namespace oxygen
Deleted: trunk/spark/lib/oxygen/physicsserver/odeobject.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject.cpp 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject.cpp 2010-02-26 09:19:45 UTC (rev 178)
@@ -1,167 +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
- $Id$
-
- 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 "odeobject.h"
-#include "space.h"
-#include "world.h"
-#include <oxygen/sceneserver/scene.h>
-#include <zeitgeist/logserver/logserver.h>
-
-using namespace oxygen;
-using namespace boost;
-
-ODEObject::ODEObject() : BaseNode()
-{
-}
-
-ODEObject::~ODEObject()
-{
-}
-
-void ODEObject::OnUnlink()
-{
- DestroyODEObject();
-}
-
-/** returns the world node */
-shared_ptr<World> ODEObject::GetWorld() const
-{
- shared_ptr<Scene> scene = GetScene();
- if (scene.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
- return shared_ptr<World>();
- }
-
- shared_ptr<World> worldNode = shared_dynamic_cast<World>
- (scene->GetChildOfClass("World"));
- if (worldNode.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no World node\n";
- }
-
- return worldNode;
-}
-
-shared_ptr<Space> ODEObject::GetSpace()
-{
- // try to find the nearest parent space object
- weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
- if (! parentSpace.expired())
- {
- return parentSpace.lock();
- }
-
- // return the global space instance
- shared_ptr<Scene> scene = GetScene();
- if (scene.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
- return shared_ptr<Space>();
- }
-
- shared_ptr<Space> spaceNode = shared_dynamic_cast<Space>
- (scene->GetChildOfClass("Space"));
- if (spaceNode.get() == 0)
- {
- GetLog()->Error() << "(ODEObject) ERROR: found no Space node\n";
- }
-
- return spaceNode;
-}
-
-dWorldID ODEObject::GetWorldID()
-{
- shared_ptr<World> world = GetWorld();
- if (world.get() == 0)
- {
- return 0;
- }
-
- dWorldID worldId = world->GetODEWorld();
- if (worldId == 0)
- {
- GetLog()->Error()
- << "(ODEObject) ERROR: World returned empty ODE handle\n";
- }
-
- return worldId;
-}
-
-dSpaceID ODEObject::FindSpaceID()
-{
- shared_ptr<Space> space = GetSpace();
- if (space.get() == 0)
- {
- return 0;
- }
-
- dSpaceID spaceId = space->GetODESpace();
-
- if (spaceId == 0)
- {
- GetLog()->Error()
- << "(ODEObject) ERROR: Space returned empty ODE handle\n";
- }
-
- return spaceId;
-}
-
-dSpaceID ODEObject::GetParentSpaceID()
-{
- return 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
-{
- matrix[0] = rot.m[0];
- matrix[1] = rot.m[4];
- matrix[2] = rot.m[8];
- matrix[3] = 0;
- matrix[4] = rot.m[1];
- matrix[5] = rot.m[5];
- matrix[6] = rot.m[9];
- matrix[7] = 0;
- matrix[8] = rot.m[2];
- matrix[9] = rot.m[6];
- matrix[10] = rot.m[10];
- matrix[11] = 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
-{
- rot.m[0] = matrix[0] ;
- rot.m[4] = matrix[1] ;
- rot.m[8] = matrix[2];
- rot.m[12] = matrix[3];
- rot.m[1] = matrix[4];
- rot.m[5] = matrix[5];
- rot.m[9] = matrix[6];
- rot.m[13] = matrix[7];
- rot.m[2] = matrix[8];
- rot.m[6] = matrix[9];
- rot.m[10] = matrix[10] ;
- rot.m[14] = matrix[11];
- rot.m[3] = 0.0;
- rot.m[7] = 0.0;
- rot.m[11] = 0.0;
- rot.m[15] = 1.0;
-}
Deleted: trunk/spark/lib/oxygen/physicsserver/odeobject.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject.h 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject.h 2010-02-26 09:19:45 UTC (rev 178)
@@ -1,83 +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
- $Id$
- $Id$
-
- 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_ODEOBJECT_H
-#define OXYGEN_ODEOBJECT_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/sceneserver/basenode.h>
-#include "odewrapper.h"
-
-namespace oxygen
-{
-class Space;
-class World;
-
-/** ODEObject is the base of all classes encapsulating ODE concepts
- */
-class OXYGEN_API ODEObject : public BaseNode
-{
-public:
- //
- // Functions
- //
- ODEObject();
- virtual ~ODEObject();
-
- /** This rountine is called, before the hierarchy object is
- removed from the parent. It can be overridden to support
- custom 'unlink' behavior.
- */
- virtual void OnUnlink();
-
- /** returns the ODE world handle */
- dWorldID GetWorldID();
-
- /** returns the nearest parent space ODE handle */
- dSpaceID FindSpaceID();
-
- /** returns the ODE handle ID of the containing parent space */
- virtual dSpaceID GetParentSpaceID();
-
- /** destroy the managed ODE object */
- virtual void DestroyODEObject() = 0;
-
- /** returns the world node */
- boost::shared_ptr<World> GetWorld() const;
-
-protected:
- /** finds the nearest parent space node */
- boost::shared_ptr<Space> GetSpace();
-
- /** converts the rotation part of a salt::Matrix to an ODE
- dMatrix3 */
- void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
-
- /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
- void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
-};
-
-DECLARE_ABSTRACTCLASS(ODEObject);
-
-} //namespace oxygen
-
-#endif //OXYGEN_ODEOBJECT_H
Deleted: trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject_c.cpp 2010-02-26 09:19:45 UTC (rev 178)
@@ -1,29 +0,0 @@
-/* -*- mode: c++ -*-
-
- this file is part of rcssserver3D
- Fri May 9 2003
- Copyright (C) 2003 Koblenz University
- $Id$
-
- 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 "odeobject.h"
-
-using namespace oxygen;
-
-void CLASS(ODEObject)::DefineClass()
-{
- DEFINE_BASECLASS(oxygen/BaseNode);
-}
Deleted: trunk/spark/lib/oxygen/physicsserver/odewrapper.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odewrapper.h 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/lib/oxygen/physicsserver/odewrapper.h 2010-02-26 09:19:45 UTC (rev 178)
@@ -1,80 +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
- $Id$
-
- 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_ODEWRAPPER_H
-#define OXYGEN_ODEWRAPPER_H
-
-#undef EXTERN
-#undef HAVE_VPRINTF
-#undef PACKAGE
-#undef PACKAGE_BUGREPORT
-#undef PACKAGE_NAME
-#undef PACKAGE_STRING
-#undef PACKAGE_TARNAME
-#undef PACKAGE_VERSION
-#undef PREFIX
-#undef VERSION
-
-#ifdef WIN32
-
-#ifdef copysignf
-#undef copysignf
-#endif
-
-#ifdef copysign
-#undef copysign
-#endif
-
-#endif // WIN32
-
-#ifdef __APPLE__
-
-// there is a conflicting type in a system header (Leopard)
-// so we define a dummy here
-#define uint32 dummy
-
-#endif
-
-#include <ode/ode.h>
-
-#ifdef __APPLE__
-
-// undefine the dummy
-#undef uint32
-
-#endif
-
-#undef EXTERN
-#undef HAVE_VPRINTF
-#undef PACKAGE
-#undef PACKAGE_BUGREPORT
-#undef PACKAGE_NAME
-#undef PACKAGE_STRING
-#undef PACKAGE_TARNAME
-#undef PACKAGE_VERSION
-#undef PREFIX
-#undef VERSION
-
-#ifdef HAVE_CONFIG_H
-#include <sparkconfig.h>
-#endif
-
-#endif // OXYGEN_ODEWRAPPER
Modified: trunk/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/rigidbody.cpp 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/lib/oxygen/physicsserver/rigidbody.cpp 2010-02-26 09:19:45 UTC (rev 178)
@@ -389,3 +389,13 @@
{
mRigidBodyImp->TranslateMass(v, mBodyID);
}
+
+GenericMass& RigidBody::CreateMass(float mass, salt::Vector3f cVector)
+{
+ mRigidBodyImp->CreateMass(mass, cVector);
+}
+
+void RigidBody::SetInertiaTensorAt(int i, float value, GenericMass& mass)
+{
+ mRigidBodyImp->SetInertiaTensorAt(i, value, mass);
+}
Modified: trunk/spark/lib/oxygen/physicsserver/rigidbody.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/rigidbody.h 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/lib/oxygen/physicsserver/rigidbody.h 2010-02-26 09:19:45 UTC (rev 178)
@@ -239,6 +239,17 @@
orientation
*/
void SynchronizeParent() const;
+
+ /** Creates a new mass object with the information passed on to this
+ method via \param mass and \param cVector
+ */
+ GenericMass& CreateMass(float mass, salt::Vector3f cVector);
+
+ /** Sets the value of the inertia tensor of this body. \param i is the
+ index of the \param value 's position in the inertia tensor.
+ (It's a 3x3 matrix)
+ */
+ void SetInertiaTensorAt(int i, float value, GenericMass& mass);
protected:
/** creates the managed body and moves it to the position of
Modified: trunk/spark/lib/oxygen/physicsserver/rigidbody_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/rigidbody_c.cpp 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/lib/oxygen/physicsserver/rigidbody_c.cpp 2010-02-26 09:19:45 UTC (rev 178)
@@ -20,8 +20,6 @@
*/
#include <oxygen/physicsserver/rigidbody.h>
-//TODO: Do not include odewrapper in this file!
-#include <../plugin/odeimps/odewrapper.h>
using namespace boost;
using namespace oxygen;
@@ -88,22 +86,33 @@
return false;
}
- dMass mass;
- mass.mass = inMass;
- mass.c[0] = inCenter[0];
- mass.c[1] = inCenter[1];
- mass.c[2] = inCenter[2];
-
+ GenericMass& mass = obj->CreateMass(inMass, inCenter);
+ //mass.mass = inMass;
+ //mass.c[0] = inCenter[0];
+ //mass.c[1] = inCenter[1];
+ //mass.c[2] = inCenter[2];
+
+ float currentValue;
+
+ //try to emulate the loop commented out below without understanding it
for (int i=0;i<9;++i)
{
- if (! in.AdvanceValue(iter,mass.I[i]))
+ if (in.AdvanceValue(iter,currentValue))
{
- return false;
+ obj->SetInertiaTensorAt(i, currentValue, mass);
}
- }
+ else return false;
+ }
+
+ //for (int i=0;i<9;++i)
+ // {
+ // if (! in.AdvanceValue(iter,mass.I[i]))
+ // {
+ // return false;
+ // }
+ // }
- GenericMass& massRef = (GenericMass&) mass;
- obj->SetMassParameters(massRef);
+ obj->SetMassParameters(mass);
return true;
}
Modified: trunk/spark/plugin/odeimps/oderigidbody.cpp
===================================================================
--- trunk/spark/plugin/odeimps/oderigidbody.cpp 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/plugin/odeimps/oderigidbody.cpp 2010-02-26 09:19:45 UTC (rev 178)
@@ -455,3 +455,21 @@
dBodyGetMass(ODEBody, &m);
dMassTranslate(&m,v[0],v[1],v[2]);
}
+
+GenericMass& RigidBodyImp::CreateMass(float mass, salt::Vector3f cVector)
+{
+ dMass ODEMass;
+ ODEMass.mass = mass;
+ ODEMass.c[0] = cVector[0];
+ ODEMass.c[1] = cVector[1];
+ ODEMass.c[2] = cVector[2];
+
+ GenericMass& massRef = (GenericMass&) ODEMass;
+ return massRef;
+}
+
+void RigidBodyImp::SetInertiaTensorAt(int i, float value, GenericMass& mass)
+{
+ dMass& ODEMass = (dMass&) mass;
+ ODEMass.I[i] = value;
+}
Modified: trunk/spark/plugin/odeimps/oderigidbody.h
===================================================================
--- trunk/spark/plugin/odeimps/oderigidbody.h 2010-02-25 12:27:30 UTC (rev 177)
+++ trunk/spark/plugin/odeimps/oderigidbody.h 2010-02-26 09:19:45 UTC (rev 178)
@@ -90,6 +90,8 @@
void BodySetData(oxygen::RigidBody* rb, long bodyID);
oxygen::RigidBody* BodyGetData(long bodyID);
long CreateBody(long worldID);
+ oxygen::GenericMass& CreateMass(float mass, salt::Vector3f cVector);
+ void SetInertiaTensorAt(int i, float value, oxygen::GenericMass& mass);
protected:
//These methods are only called internally and are not declared in the interface.
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