[simspark-svn] SF.net SVN: simspark:[213] trunk/spark

[<he...@us...>]

Revision: 213
          http://simspark.svn.sourceforge.net/simspark/?rev=213&view=rev
Author:   hedayat
Date:     2010-06-07 13:13:28 +0000 (Mon, 07 Jun 2010)

Log Message:
-----------
Fixed accelerometer installation on MacOSX
Look into ENV{ODE_HOME} instead of ENV{OGRE_HOME} to find ODE library
Reapply the accelerometer filter to remain compatible with simspark-0.2

Modified Paths:
--------------
    trunk/spark/ChangeLog
    trunk/spark/cmake/FindODE.cmake
    trunk/spark/plugin/accelerometer/CMakeLists.txt
    trunk/spark/plugin/accelerometer/accelerometer.cpp

Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog	2010-06-06 22:44:51 UTC (rev 212)
+++ trunk/spark/ChangeLog	2010-06-07 13:13:28 UTC (rev 213)
@@ -4,6 +4,16 @@
 	* RELEASE:
 	- prepared for 0.2.1 release 
 	
+	* plugin/accelerometer/accelerometer.cpp:
+	- reapply the filter to remain compatible with simspark-0.2 for RoboCup 2010
+	 
+	* cmake/FindODE.cmake: 
+	- lookup in the directory specified in ODE_HOME env. variable instead of 
+	  OGRE_HOME
+	
+	* plugin/accelerometer/CMakeLists.txt: 
+	- fixed accelerometer installation on MacOSX
+	
 	* lib/oxygen/simulationserver/monitorlogger.h: 
 	* lib/oxygen/simulationserver/monitorlogger.cpp:
 	- request complete game information every 10 seconds so that it'll receive

Modified: trunk/spark/cmake/FindODE.cmake
===================================================================
--- trunk/spark/cmake/FindODE.cmake	2010-06-06 22:44:51 UTC (rev 212)
+++ trunk/spark/cmake/FindODE.cmake	2010-06-07 13:13:28 UTC (rev 213)
@@ -46,7 +46,7 @@
   FIND_PATH(ODE_INCLUDE_DIR ode/ode.h
     /usr/include
     /usr/local/include
-    $ENV{OGRE_HOME}/include # OGRE SDK on WIN32
+    $ENV{ODE_HOME}/include
     $ENV{INCLUDE}
     C:/library/ode/include
     "C:/Program Files/ode/include"
@@ -59,7 +59,7 @@
     /usr/lib
     /usr/lib64
     /usr/local/lib
-    $ENV{OGRE_HOME}/lib # OGRE SDK on WIN32
+    $ENV{ODE_HOME}/lib
     C:/library/ode/lib/
     "C:/Program Files/ode/lib/"
     "C:/Program Files (x86)/ode/lib/"

Modified: trunk/spark/plugin/accelerometer/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/accelerometer/CMakeLists.txt	2010-06-06 22:44:51 UTC (rev 212)
+++ trunk/spark/plugin/accelerometer/CMakeLists.txt	2010-06-07 13:13:28 UTC (rev 213)
@@ -10,7 +10,8 @@
 
 target_link_libraries(accelerometer ${spark_libs} ${Boost_LIBRARIES})
 
-set_target_properties(accelerometer PROPERTIES VERSION 0.0.0 SOVERSION 0)
 if (NOT APPLE)
-   install(TARGETS accelerometer DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
+    set_target_properties(accelerometer PROPERTIES VERSION 0.0.0 SOVERSION 0)
 endif (NOT APPLE)
+
+install(TARGETS accelerometer DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})

Modified: trunk/spark/plugin/accelerometer/accelerometer.cpp
===================================================================
--- trunk/spark/plugin/accelerometer/accelerometer.cpp	2010-06-06 22:44:51 UTC (rev 212)
+++ trunk/spark/plugin/accelerometer/accelerometer.cpp	2010-06-07 13:13:28 UTC (rev 213)
@@ -84,5 +84,10 @@
 
     Matrix invRot = mBody->GetRotation();
     invRot.InvertRotationMatrix();
-    mAcc = invRot * acc;
+//    mAcc = invRot * acc;
+    acc = invRot * acc;
+
+    float k = 0.9;
+    mAcc = k*mAcc + (1-k)*acc;
+    mLastVel = vel;
 }


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