[simspark-cvs] simspark/spark/oxygen/physicsserver universaljoint.cpp,1.1,1.2 universaljoint.h,1.1,1.2 universaljoint_c.cpp,1.1,1.2

[Markus R. <rol...@us...>]

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv1518/physicsserver

Modified Files:
	universaljoint.cpp universaljoint.h universaljoint_c.cpp 
Log Message:
(sync with rcssserver3d cvs, thanks Joschka)
- implemented ruby function calls for setAxis1 and setAxis2
- made SetParameter and GetParameter public in order
  to set joint velocities correctly (doesn't seem to work with the
  base class methods)
- implemented SetAxis1 and SetAxis2 to separate setup of anchor
  and axis


Index: universaljoint.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/universaljoint.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** universaljoint.cpp	5 Dec 2005 21:16:49 -0000	1.1
--- universaljoint.cpp	6 Jan 2006 13:53:38 -0000	1.2
***************
*** 36,43 ****
  {
      dWorldID world = GetWorldID();
      if (world == 0)
!         {
!             return;
!         }
  
      mODEJoint = dJointCreateUniversal(world, 0);
--- 36,44 ----
  {
      dWorldID world = GetWorldID();
+ 
      if (world == 0)
!     {
!         return;
!     }
  
      mODEJoint = dJointCreateUniversal(world, 0);
***************
*** 49,60 ****
      Vector3f gAnchor(GetWorldTransform() * anchor);
      dJointSetUniversalAnchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
- 
-     // relative universal axis 1 points up
-     Vector3f up(GetWorldTransform().Rotate(Vector3f(0,0,1)));
-     dJointSetUniversalAxis1(mODEJoint,up[0],up[1],up[2]);
- 
-     // relative universal axis 2 points right
-     Vector3f right(GetWorldTransform().Rotate(Vector3f(1,0,0)));
-     dJointSetUniversalAxis2(mODEJoint,right[0],right[1],right[2]);
  }
  
--- 50,53 ----
***************
*** 64,102 ****
  
      switch (idx)
!         {
!         case BI_FIRST:
!             {
!                 dReal anchor[3];
!                 dJointGetUniversalAnchor (mODEJoint, anchor);
!                 pos = Vector3f(anchor[0],anchor[1],anchor[2]);
!             }
  
!         case BI_SECOND:
!             {
!                 dReal anchor[3];
!                 dJointGetUniversalAnchor2(mODEJoint, anchor);
!                 pos = Vector3f(anchor[0],anchor[1],anchor[2]);
!             }
  
!         default:
!             break;
!         }
  
      return GetLocalPos(pos);
  }
  
  float UniversalJoint::GetAngle(EAxisIndex idx)
  {
      switch (idx)
!         {
!         case AI_FIRST:
!             return gRadToDeg(dJointGetUniversalAngle1(mODEJoint));
  
!         case AI_SECOND:
!             return gRadToDeg(dJointGetUniversalAngle2(mODEJoint));
  
!         default:
!             return 0;
!         }
  }
  
--- 57,134 ----
  
      switch (idx)
!     {
!     case BI_FIRST:
!     {
!         dReal anchor[3];
!         dJointGetUniversalAnchor (mODEJoint, anchor);
!         pos = Vector3f(anchor[0],anchor[1],anchor[2]);
!     }
  
!     case BI_SECOND:
!     {
!         dReal anchor[3];
!         dJointGetUniversalAnchor2(mODEJoint, anchor);
!         pos = Vector3f(anchor[0],anchor[1],anchor[2]);
!     }
  
!     default:
!         break;
!     }
  
      return GetLocalPos(pos);
  }
  
+ void UniversalJoint::SetAxis1(Vector3f & axis)
+ {
+     Vector3f first(GetWorldTransform().Rotate(axis));
+     dJointSetUniversalAxis1(mODEJoint,first[0],first[1],first[2]);
+ }
+ 
+ void UniversalJoint::SetAxis2(Vector3f & axis)
+ {
+     Vector3f second(GetWorldTransform().Rotate(axis));
+     dJointSetUniversalAxis2(mODEJoint,second[0],second[1],second[2]);
+ }
+ 
+ Vector3f UniversalJoint::GetAxis(EAxisIndex idx)
+ {
+     Vector3f vec(0,0,0);
+ 
+     switch (idx)
+     {
+     case AI_FIRST:
+     {
+         dReal axis[3];
+         dJointGetUniversalAxis1(mODEJoint, axis);
+         vec = Vector3f(axis[0],axis[1],axis[2]);
+     }
+ 
+     case AI_SECOND:
+     {
+         dReal axis[3];
+         dJointGetUniversalAxis2(mODEJoint, axis);
+         vec = Vector3f(axis[0],axis[1],axis[2]);
+     }
+ 
+     default:
+         break;
+     }
+ 
+     return GetLocalPos(vec);
+ }
+ 
  float UniversalJoint::GetAngle(EAxisIndex idx)
  {
      switch (idx)
!     {
!     case AI_FIRST:
!         return gRadToDeg(dJointGetUniversalAngle1(mODEJoint));
  
!     case AI_SECOND:
!         return gRadToDeg(dJointGetUniversalAngle2(mODEJoint));
  
!     default:
!         return 0;
!     }
  }
  

Index: universaljoint_c.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/universaljoint_c.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** universaljoint_c.cpp	5 Dec 2005 21:16:49 -0000	1.1
--- universaljoint_c.cpp	6 Jan 2006 13:53:38 -0000	1.2
***************
*** 43,46 ****
--- 43,78 ----
  }
  
+ FUNCTION(UniversalJoint,setAxis1)
+ {
+     Vector3f inAxis1;
+ 
+     if (
+         (in.GetSize() == 0) ||
+         (! in.GetValue(in.begin(), inAxis1))
+         )
+         {
+             return false;
+         }
+ 
+     obj->SetAxis1(inAxis1);
+     return true;
+ }
+ 
+ FUNCTION(UniversalJoint,setAxis2)
+ {
+     Vector3f inAxis2;
+ 
+     if (
+         (in.GetSize() == 0) ||
+         (! in.GetValue(in.begin(), inAxis2))
+         )
+         {
+             return false;
+         }
+ 
+     obj->SetAxis1(inAxis2);
+     return true;
+ }
+ 
  FUNCTION(UniversalJoint,getAngle)
  {
***************
*** 79,82 ****
--- 111,116 ----
      DEFINE_BASECLASS(oxygen/Joint);
      DEFINE_FUNCTION(setAnchor);
+     DEFINE_FUNCTION(setAxis1);
+     DEFINE_FUNCTION(setAxis2);
      DEFINE_FUNCTION(getAngle);
      DEFINE_FUNCTION(getAngleRate);

Index: universaljoint.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/universaljoint.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** universaljoint.h	5 Dec 2005 21:16:49 -0000	1.1
--- universaljoint.h	6 Jan 2006 13:53:38 -0000	1.2
***************
*** 45,49 ****
      salt::Vector3f GetAnchor (EBodyIndex idx);
  
!     /** returns one of the hinge angles in degrees, measured between
          the two bodies, or between the body and the static
          environment.
--- 45,65 ----
      salt::Vector3f GetAnchor (EBodyIndex idx);
  
!     /** This function sets up the first axis of the joint
!         \param axis a vector describing the axis in relative coordinates
!     */
!     void SetAxis1(salt::Vector3f & axis);
! 
!     /** This function sets up the second axis of the joint
!         \param axis a vector describing the axis in local coordinates
!     */
!     void SetAxis2(salt::Vector3f & axis);
! 
!     /** returns the vector describing one of the two axis
!         (in local coordinates)
!         \param idx index of the desired axis 
!     */
!     salt::Vector3f GetAxis(EAxisIndex idx);
! 
!     /** returns one of the axis angles in degrees, measured between
          the two bodies, or between the body and the static
          environment.
***************
*** 54,61 ****
      float GetAngleRate(EAxisIndex idx);
  
- protected:
-     /** creates a new universal joint */
-     virtual void OnLink();
- 
      /** sets a joint parameter value */
      virtual void SetParameter(int parameter, float value);
--- 70,73 ----
***************
*** 63,66 ****
--- 75,82 ----
      /** returns a joint parameter value */
      virtual float GetParameter(int parameter);
+ 
+ protected:
+     /** creates a new universal joint */
+     virtual void OnLink();
  };