[simspark-cvs] simspark/spark/plugin/sparkagent sparkagent.vcproj, 1.1, 1.2 hinge2effector.cpp, 1.2, 1.3 hinge2effector.h, 1.2, 1.3 hinge2perceptor.cpp, 1.2, 1.3 hinge2perceptor.h, 1.2, 1.3 hingeeffector.cpp, 1.2, 1.3 hingeeffector.h, 1.1, 1.2 hingeperceptor.cpp, 1.1, 1.2 hingeperceptor.h, 1.1, 1.2 timeperceptor.cpp, 1.2, 1.3 universaljointeffector.cpp, 1.2, 1.3 universaljointeffector.h, 1.1, 1.2 universaljointperceptor.cpp, 1.2, 1.3 universaljointperceptor.h, 1.1, 1.2

[Oliver O. <fr...@us...>]

Update of /cvsroot/simspark/simspark/spark/plugin/sparkagent
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv7790/spark/plugin/sparkagent

Modified Files:
	hinge2effector.cpp hinge2effector.h hinge2perceptor.cpp 
	hinge2perceptor.h hingeeffector.cpp hingeeffector.h 
	hingeperceptor.cpp hingeperceptor.h timeperceptor.cpp 
	universaljointeffector.cpp universaljointeffector.h 
	universaljointperceptor.cpp universaljointperceptor.h 
Added Files:
	sparkagent.vcproj 
Log Message:
Merged WIN32 branch back to main trunk (access previous version with tag pre_merge_WIN32)

Index: hinge2effector.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hinge2effector.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** hinge2effector.h	2 Jan 2006 18:11:33 -0000	1.2
--- hinge2effector.h	15 Mar 2007 07:26:29 -0000	1.3
***************
*** 23,30 ****
  #define HINGE2EFFECTOR_H
  
! #include <oxygen/agentaspect/effector.h>
  #include <oxygen/physicsserver/hinge2joint.h>
  
! class Hinge2Effector : public oxygen::Effector
  {
  public:
--- 23,30 ----
  #define HINGE2EFFECTOR_H
  
! #include <oxygen/agentaspect/jointeffector.h>
  #include <oxygen/physicsserver/hinge2joint.h>
  
! class Hinge2Effector : public oxygen::JointEffector<oxygen::Hinge2Joint>
  {
  public:
***************
*** 41,56 ****
      virtual boost::shared_ptr<oxygen::ActionObject>
      GetActionObject(const oxygen::Predicate& predicate);
- 
- protected:
-     /** setup the reference to the Hinge2Joint parent node */
-     virtual void OnLink();
- 
-     /** remove the reference to the Hinge2Joint parent node */
-     virtual void OnUnlink();
- 
- protected:
-     /** cached reference to the monitor joint */
-     boost::shared_ptr<oxygen::Hinge2Joint> mJoint;
- 
  };
  
--- 41,44 ----

Index: hinge2perceptor.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hinge2perceptor.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** hinge2perceptor.cpp	2 Jan 2006 18:11:33 -0000	1.2
--- hinge2perceptor.cpp	15 Mar 2007 07:26:29 -0000	1.3
***************
*** 28,32 ****
  using namespace std;
  
! Hinge2Perceptor::Hinge2Perceptor() : Perceptor()
  {
  }
--- 28,33 ----
  using namespace std;
  
! Hinge2Perceptor::Hinge2Perceptor()
!     : JointPerceptor<Hinge2Joint>::JointPerceptor()
  {
  }
***************
*** 36,60 ****
  }
  
- void Hinge2Perceptor::OnLink()
- {
-     mJoint = make_shared(FindParentSupportingClass<Hinge2Joint>());
- 
-     if (mJoint.get() == 0)
-         {
-             GetLog()->Error()
-                 << "(Hinge2Perceptor) ERROR: found no Hinge2Joint parent\n";
-         }
- 
- }
- 
- void Hinge2Perceptor::OnUnlink()
- {
-     mJoint.reset();
- }
- 
  void Hinge2Perceptor::InsertAxisAngle(Predicate& predicate, Joint::EAxisIndex idx)
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("axis"));
      axisElement.AddValue(static_cast<int>(idx));
      axisElement.AddValue(mJoint->GetAngle(idx));
--- 37,44 ----
  }
  
  void Hinge2Perceptor::InsertAxisAngle(Predicate& predicate, Joint::EAxisIndex idx)
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("ax"));
      axisElement.AddValue(static_cast<int>(idx));
      axisElement.AddValue(mJoint->GetAngle(idx));
***************
*** 64,68 ****
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("rate"));
      axisElement.AddValue(static_cast<int>(idx));
      axisElement.AddValue(mJoint->GetAngleRate(idx));
--- 48,52 ----
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("rt"));
      axisElement.AddValue(static_cast<int>(idx));
      axisElement.AddValue(mJoint->GetAngleRate(idx));
***************
*** 77,81 ****
  
      Predicate& predicate = predList->AddPredicate();
!     predicate.name = "hinge2";
      predicate.parameter.Clear();
  
--- 61,65 ----
  
      Predicate& predicate = predList->AddPredicate();
!     predicate.name = "H2J";
      predicate.parameter.Clear();
  
***************
*** 85,89 ****
  
      InsertAxisAngle(predicate,Joint::AI_FIRST);
!     InsertAxisRate(predicate,Joint::AI_SECOND);
  
      return true;
--- 69,73 ----
  
      InsertAxisAngle(predicate,Joint::AI_FIRST);
! //    InsertAxisRate(predicate,Joint::AI_SECOND);
  
      return true;

Index: universaljointperceptor.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/universaljointperceptor.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** universaljointperceptor.h	6 Jan 2006 13:57:36 -0000	1.1
--- universaljointperceptor.h	15 Mar 2007 07:26:29 -0000	1.2
***************
*** 21,28 ****
  #define UNIVERSALJOINTPERCEPTOR_H
  
! #include <oxygen/agentaspect/perceptor.h>
  #include <oxygen/physicsserver/universaljoint.h>
  
! class UniversalJointPerceptor : public oxygen::Perceptor
  {
  public:
--- 21,28 ----
  #define UNIVERSALJOINTPERCEPTOR_H
  
! #include <oxygen/agentaspect/jointperceptor.h>
  #include <oxygen/physicsserver/universaljoint.h>
  
! class UniversalJointPerceptor : public oxygen::JointPerceptor<oxygen::UniversalJoint>
  {
  public:
***************
*** 34,46 ****
  
  protected:
-     virtual void OnLink();
-     virtual void OnUnlink();
- 
      void InsertAxisAngle(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
      void InsertAxisRate(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
- 
- protected:
-     /** cached reference to the monitor joint */
-     boost::shared_ptr<oxygen::UniversalJoint> mJoint;
  };
  
--- 34,39 ----

Index: universaljointeffector.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/universaljointeffector.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** universaljointeffector.h	6 Jan 2006 13:57:36 -0000	1.1
--- universaljointeffector.h	15 Mar 2007 07:26:29 -0000	1.2
***************
*** 21,28 ****
  #define UNIVERSALJOINTEFFECTOR_H
  
! #include <oxygen/agentaspect/effector.h>
  #include <oxygen/physicsserver/universaljoint.h>
  
! class UniversalJointEffector : public oxygen::Effector
  {
  public:
--- 21,28 ----
  #define UNIVERSALJOINTEFFECTOR_H
  
! #include <oxygen/agentaspect/jointeffector.h>
  #include <oxygen/physicsserver/universaljoint.h>
  
! class UniversalJointEffector : public oxygen::JointEffector<oxygen::UniversalJoint>
  {
  public:
***************
*** 39,54 ****
      virtual boost::shared_ptr<oxygen::ActionObject>
      GetActionObject(const oxygen::Predicate& predicate);
- 
- protected:
-     /** setup the reference to the HingeJoint parent node */
-     virtual void OnLink();
- 
-     /** remove the reference to the HingeJoint parent node */
-     virtual void OnUnlink();
- 
- protected:
-     /** cached reference to the monitor joint */
-     boost::shared_ptr<oxygen::UniversalJoint> mJoint;
- 
  };
  
--- 39,42 ----

Index: timeperceptor.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/timeperceptor.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** timeperceptor.cpp	2 Jan 2006 18:11:33 -0000	1.2
--- timeperceptor.cpp	15 Mar 2007 07:26:29 -0000	1.3
***************
*** 68,74 ****
      nowElement.AddValue(mSimulationServer->GetTime());
  
!     ParameterList& stepElement = predicate.parameter.AddList();
!     stepElement.AddValue(string("step"));
!     stepElement.AddValue(mSimulationServer->GetSimStep());
  
      return true;
--- 68,74 ----
      nowElement.AddValue(mSimulationServer->GetTime());
  
! //     ParameterList& stepElement = predicate.parameter.AddList();
! //     stepElement.AddValue(string("st"));
! //     stepElement.AddValue(mSimulationServer->GetSimStep());
  
      return true;

Index: hingeeffector.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hingeeffector.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** hingeeffector.h	2 Jan 2006 18:11:33 -0000	1.1
--- hingeeffector.h	15 Mar 2007 07:26:29 -0000	1.2
***************
*** 21,28 ****
  #define HINGEEFFECTOR_H
  
! #include <oxygen/agentaspect/effector.h>
  #include <oxygen/physicsserver/hingejoint.h>
  
! class HingeEffector : public oxygen::Effector
  {
  public:
--- 21,28 ----
  #define HINGEEFFECTOR_H
  
! #include <oxygen/agentaspect/jointeffector.h>
  #include <oxygen/physicsserver/hingejoint.h>
  
! class HingeEffector : public oxygen::JointEffector<oxygen::HingeJoint>
  {
  public:
***************
*** 39,54 ****
      virtual boost::shared_ptr<oxygen::ActionObject>
      GetActionObject(const oxygen::Predicate& predicate);
- 
- protected:
-     /** setup the reference to the HingeJoint parent node */
-     virtual void OnLink();
- 
-     /** remove the reference to the HingeJoint parent node */
-     virtual void OnUnlink();
- 
- protected:
-     /** cached reference to the monitor joint */
-     boost::shared_ptr<oxygen::HingeJoint> mJoint;
- 
  };
  
--- 39,42 ----

Index: hinge2perceptor.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hinge2perceptor.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** hinge2perceptor.h	2 Jan 2006 18:11:33 -0000	1.2
--- hinge2perceptor.h	15 Mar 2007 07:26:29 -0000	1.3
***************
*** 23,30 ****
  #define HINGE2PERCEPTOR_H
  
! #include <oxygen/agentaspect/perceptor.h>
  #include <oxygen/physicsserver/hinge2joint.h>
  
! class Hinge2Perceptor : public oxygen::Perceptor
  {
  public:
--- 23,30 ----
  #define HINGE2PERCEPTOR_H
  
! #include <oxygen/agentaspect/jointperceptor.h>
  #include <oxygen/physicsserver/hinge2joint.h>
  
! class Hinge2Perceptor : public oxygen::JointPerceptor<oxygen::Hinge2Joint>
  {
  public:
***************
*** 36,49 ****
  
  protected:
-     virtual void OnLink();
-     virtual void OnUnlink();
- 
      void InsertAxisAngle(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
      void InsertAxisRate(oxygen::Predicate& predicate, oxygen::Joint::EAxisIndex idx);
- 
- 
- protected:
-     /** cached reference to the monitor joint */
-     boost::shared_ptr<oxygen::Hinge2Joint> mJoint;
  };
  
--- 36,41 ----

Index: universaljointeffector.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/universaljointeffector.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** universaljointeffector.cpp	24 Jan 2006 19:16:32 -0000	1.2
--- universaljointeffector.cpp	15 Mar 2007 07:26:29 -0000	1.3
***************
*** 27,33 ****
  using namespace std;
  
! UniversalJointEffector::UniversalJointEffector() : Effector()
  {
-     SetName("universaljoint");
  }
  
--- 27,33 ----
  using namespace std;
  
! UniversalJointEffector::UniversalJointEffector()
!     : JointEffector<UniversalJoint>::JointEffector("universaljoint")
  {
  }
  
***************
*** 100,117 ****
      return shared_ptr<ActionObject>();
  }
- 
- void UniversalJointEffector::OnLink()
- {
-     mJoint = make_shared(FindParentSupportingClass<UniversalJoint>());
- 
-     if (mJoint.get() == 0)
-         {
-             GetLog()->Error()
-                 << "(UniversalJointEffector) ERROR: found no UniversalJoint parent\n";
-         }
- }
- 
- void UniversalJointEffector::OnUnlink()
- {
-     mJoint.reset();
- }
--- 100,101 ----

Index: universaljointperceptor.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/universaljointperceptor.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** universaljointperceptor.cpp	22 Jan 2006 11:57:40 -0000	1.2
--- universaljointperceptor.cpp	15 Mar 2007 07:26:29 -0000	1.3
***************
*** 26,30 ****
  using namespace std;
  
! UniversalJointPerceptor::UniversalJointPerceptor() : Perceptor()
  {
  }
--- 26,31 ----
  using namespace std;
  
! UniversalJointPerceptor::UniversalJointPerceptor()
!     : JointPerceptor<UniversalJoint>::JointPerceptor()
  {
  }
***************
*** 34,54 ****
  }
  
- void UniversalJointPerceptor::OnLink()
- {
-     mJoint = make_shared(FindParentSupportingClass<UniversalJoint>());
- 
-     if (mJoint.get() == 0)
-         {
-             GetLog()->Error()
-                 << "(UniversalJointPerceptor) ERROR: found no UniversalJoint parent\n";
-         }
- 
- }
- 
- void UniversalJointPerceptor::OnUnlink()
- {
-     mJoint.reset();
- }
- 
  void UniversalJointPerceptor::InsertAxisAngle(Predicate& predicate, Joint::EAxisIndex idx)
  {
--- 35,38 ----
***************
*** 56,65 ****
      if (idx == Joint::AI_FIRST)
      {
!         axisElement.AddValue(string("axis1"));
          axisElement.AddValue(mJoint->GetAngle(Joint::AI_FIRST));
      }
      else
      {
!         axisElement.AddValue(string("axis2"));
          axisElement.AddValue(mJoint->GetAngle(Joint::AI_SECOND));
      }
--- 40,49 ----
      if (idx == Joint::AI_FIRST)
      {
!         axisElement.AddValue(string("ax1"));
          axisElement.AddValue(mJoint->GetAngle(Joint::AI_FIRST));
      }
      else
      {
!         axisElement.AddValue(string("ax2"));
          axisElement.AddValue(mJoint->GetAngle(Joint::AI_SECOND));
      }
***************
*** 71,80 ****
      if (idx == Joint::AI_FIRST)
      {
!         axisElement.AddValue(string("rate1"));
          axisElement.AddValue(mJoint->GetAngleRate(Joint::AI_FIRST));
      }
      else
      {
!         axisElement.AddValue(string("rate2"));
          axisElement.AddValue(mJoint->GetAngleRate(Joint::AI_SECOND));
      }
--- 55,64 ----
      if (idx == Joint::AI_FIRST)
      {
!         axisElement.AddValue(string("rt1"));
          axisElement.AddValue(mJoint->GetAngleRate(Joint::AI_FIRST));
      }
      else
      {
!         axisElement.AddValue(string("rt2"));
          axisElement.AddValue(mJoint->GetAngleRate(Joint::AI_SECOND));
      }
***************
*** 97,106 ****
  
      InsertAxisAngle(predicate, Joint::AI_FIRST);
!     InsertAxisRate(predicate, Joint::AI_FIRST);
      InsertAxisAngle(predicate, Joint::AI_SECOND);
!     InsertAxisRate(predicate, Joint::AI_SECOND);
  
      return true;
  }
- 
- 
--- 81,88 ----
  
      InsertAxisAngle(predicate, Joint::AI_FIRST);
! //    InsertAxisRate(predicate, Joint::AI_FIRST);
      InsertAxisAngle(predicate, Joint::AI_SECOND);
! //    InsertAxisRate(predicate, Joint::AI_SECOND);
  
      return true;
  }

--- NEW FILE: sparkagent.vcproj ---
<?xml version="1.0" encoding="Windows-1252"?>
<VisualStudioProject
	ProjectType="Visual C++"
	Version="8,00"
	Name="sparkagent"
	ProjectGUID="{9E5D17FC-5665-48A8-9298-747A3D690787}"
	RootNamespace="sparkagent"
	Keyword="Win32Proj"
	>
	<Platforms>
		<Platform
			Name="Win32"
		/>
	</Platforms>
	<ToolFiles>
	</ToolFiles>
	<Configurations>
		<Configuration
			Name="Debug|Win32"
			OutputDirectory="$(SolutionDir)$(ConfigurationName)"
			IntermediateDirectory="$(ConfigurationName)"
			ConfigurationType="2"
			CharacterSet="0"
			>
			<Tool
				Name="VCPreBuildEventTool"
			/>
			<Tool
				Name="VCCustomBuildTool"
			/>
			<Tool
				Name="VCXMLDataGeneratorTool"
			/>
			<Tool
				Name="VCWebServiceProxyGeneratorTool"
			/>
			<Tool
				Name="VCMIDLTool"
			/>
			<Tool
				Name="VCCLCompilerTool"
				Optimization="0"
				AdditionalIncludeDirectories="..\..\win32;..\..\;..\..\utility"
				PreprocessorDefinitions="WIN32;_DEBUG;_WINDOWS;_USRDLL;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;HAVE_CONFIG_H"
				MinimalRebuild="true"
				BasicRuntimeChecks="3"
				RuntimeLibrary="3"
				UsePrecompiledHeader="0"
				WarningLevel="3"
				Detect64BitPortabilityProblems="true"
				DebugInformationFormat="4"
			/>
			<Tool
				Name="VCManagedResourceCompilerTool"
			/>
			<Tool
				Name="VCResourceCompilerTool"
			/>
			<Tool
				Name="VCPreLinkEventTool"
			/>
			<Tool
				Name="VCLinkerTool"
				AdditionalDependencies="msvcrt-ruby18.lib ode.lib"
				LinkIncremental="2"
				GenerateDebugInformation="true"
				SubSystem="2"
				TargetMachine="1"
			/>
			<Tool
				Name="VCALinkTool"
			/>
			<Tool
				Name="VCManifestTool"
			/>
			<Tool
				Name="VCXDCMakeTool"
			/>
			<Tool
				Name="VCBscMakeTool"
			/>
			<Tool
				Name="VCFxCopTool"
			/>
			<Tool
				Name="VCAppVerifierTool"
			/>
			<Tool
				Name="VCWebDeploymentTool"
			/>
			<Tool
				Name="VCPostBuildEventTool"
			/>
		</Configuration>
		<Configuration
			Name="VCRelease|Win32"
			OutputDirectory="$(SolutionDir)$(ConfigurationName)"
			IntermediateDirectory="$(ConfigurationName)"
			ConfigurationType="2"
			CharacterSet="0"
			WholeProgramOptimization="1"
			>
			<Tool
				Name="VCPreBuildEventTool"
			/>
			<Tool
				Name="VCCustomBuildTool"
			/>
			<Tool
				Name="VCXMLDataGeneratorTool"
			/>
			<Tool
				Name="VCWebServiceProxyGeneratorTool"
			/>
			<Tool
				Name="VCMIDLTool"
			/>
			<Tool
				Name="VCCLCompilerTool"
				AdditionalIncludeDirectories="..\..\win32;..\..\;..\..\utility"
				PreprocessorDefinitions="WIN32;NDEBUG;_WINDOWS;_USRDLL;_CRT_SECURE_NO_DEPRECATE;_CRT_NONSTDC_NO_DEPRECATE;HAVE_CONFIG_H"
				RuntimeLibrary="2"
				UsePrecompiledHeader="0"
				WarningLevel="3"
				Detect64BitPortabilityProblems="true"
				DebugInformationFormat="3"
			/>
			<Tool
				Name="VCManagedResourceCompilerTool"
			/>
			<Tool
				Name="VCResourceCompilerTool"
			/>
			<Tool
				Name="VCPreLinkEventTool"
			/>
			<Tool
				Name="VCLinkerTool"
				AdditionalDependencies="msvcrt-ruby18.lib ode.lib"
				LinkIncremental="1"
				GenerateDebugInformation="true"
				SubSystem="2"
				OptimizeReferences="2"
				EnableCOMDATFolding="2"
				TargetMachine="1"
			/>
			<Tool
				Name="VCALinkTool"
			/>
			<Tool
				Name="VCManifestTool"
			/>
			<Tool
				Name="VCXDCMakeTool"
			/>
			<Tool
				Name="VCBscMakeTool"
			/>
			<Tool
				Name="VCFxCopTool"
			/>
			<Tool
				Name="VCAppVerifierTool"
			/>
			<Tool
				Name="VCWebDeploymentTool"
			/>
			<Tool
				Name="VCPostBuildEventTool"
			/>
		</Configuration>
	</Configurations>
	<References>
	</References>
	<Files>
		<File
			RelativePath=".\export.cpp"
			>
		</File>
		<File
			RelativePath=".\hinge2action.h"
			>
		</File>
		<File
			RelativePath=".\hinge2effector.cpp"
			>
		</File>
		<File
			RelativePath=".\hinge2effector.h"
			>
		</File>
		<File
			RelativePath=".\hinge2effector_c.cpp"
			>
		</File>
		<File
			RelativePath=".\hinge2perceptor.cpp"
			>
		</File>
		<File
			RelativePath=".\hinge2perceptor.h"
			>
		</File>
		<File
			RelativePath=".\hinge2perceptor_c.cpp"
			>
		</File>
		<File
			RelativePath=".\hingeaction.h"
			>
		</File>
		<File
			RelativePath=".\hingeeffector.cpp"
			>
		</File>
		<File
			RelativePath=".\hingeeffector.h"
			>
		</File>
		<File
			RelativePath=".\hingeeffector_c.cpp"
			>
		</File>
		<File
			RelativePath=".\hingeperceptor.cpp"
			>
		</File>
		<File
			RelativePath=".\hingeperceptor.h"
			>
		</File>
		<File
			RelativePath=".\hingeperceptor_c.cpp"
			>
		</File>
		<File
			RelativePath=".\timeperceptor.cpp"
			>
		</File>
		<File
			RelativePath=".\timeperceptor.h"
			>
		</File>
		<File
			RelativePath=".\timeperceptor_c.cpp"
			>
		</File>
		<File
			RelativePath=".\universaljointaction.h"
			>
		</File>
		<File
			RelativePath=".\universaljointeffector.cpp"
			>
		</File>
		<File
			RelativePath=".\universaljointeffector.h"
			>
		</File>
		<File
			RelativePath=".\universaljointeffector_c.cpp"
			>
		</File>
		<File
			RelativePath=".\universaljointperceptor.cpp"
			>
		</File>
		<File
			RelativePath=".\universaljointperceptor.h"
			>
		</File>
		<File
			RelativePath=".\universaljointperceptor_c.cpp"
			>
		</File>
	</Files>
	<Globals>
	</Globals>
</VisualStudioProject>

Index: hingeperceptor.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hingeperceptor.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** hingeperceptor.cpp	2 Jan 2006 18:11:33 -0000	1.1
--- hingeperceptor.cpp	15 Mar 2007 07:26:29 -0000	1.2
***************
*** 26,30 ****
  using namespace std;
  
! HingePerceptor::HingePerceptor() : Perceptor()
  {
  }
--- 26,31 ----
  using namespace std;
  
! HingePerceptor::HingePerceptor()
!     : JointPerceptor<HingeJoint>::JointPerceptor()
  {
  }
***************
*** 34,58 ****
  }
  
- void HingePerceptor::OnLink()
- {
-     mJoint = make_shared(FindParentSupportingClass<HingeJoint>());
- 
-     if (mJoint.get() == 0)
-         {
-             GetLog()->Error()
-                 << "(HingePerceptor) ERROR: found no HingeJoint parent\n";
-         }
- 
- }
- 
- void HingePerceptor::OnUnlink()
- {
-     mJoint.reset();
- }
- 
  void HingePerceptor::InsertAxisAngle(Predicate& predicate)
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("axis"));
      axisElement.AddValue(mJoint->GetAngle());
  }
--- 35,42 ----
  }
  
  void HingePerceptor::InsertAxisAngle(Predicate& predicate)
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("ax"));
      axisElement.AddValue(mJoint->GetAngle());
  }
***************
*** 61,65 ****
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("rate"));
      axisElement.AddValue(mJoint->GetAngleRate());
  }
--- 45,49 ----
  {
      ParameterList& axisElement = predicate.parameter.AddList();
!     axisElement.AddValue(string("rt"));
      axisElement.AddValue(mJoint->GetAngleRate());
  }
***************
*** 81,85 ****
  
      InsertAxisAngle(predicate);
!     InsertAxisRate(predicate);
  
      return true;
--- 65,69 ----
  
      InsertAxisAngle(predicate);
!     //InsertAxisRate(predicate);
  
      return true;

Index: hinge2effector.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hinge2effector.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** hinge2effector.cpp	2 Jan 2006 18:11:33 -0000	1.2
--- hinge2effector.cpp	15 Mar 2007 07:26:29 -0000	1.3
***************
*** 28,34 ****
  using namespace std;
  
! Hinge2Effector::Hinge2Effector() : Effector()
  {
-     SetName("hinge2");
  }
  
--- 28,34 ----
  using namespace std;
  
! Hinge2Effector::Hinge2Effector()
!     : JointEffector<Hinge2Joint>::JointEffector("hinge2")
  {
  }
  
***************
*** 93,111 ****
      return shared_ptr<ActionObject>();
  }
- 
- void Hinge2Effector::OnLink()
- {
-     mJoint = make_shared(FindParentSupportingClass<Hinge2Joint>());
- 
-     if (mJoint.get() == 0)
-         {
-             GetLog()->Error()
-                 << "(Hinge2Effector) ERROR: found no Hinge2Joint parent\n";
-         }
- 
- }
- 
- void Hinge2Effector::OnUnlink()
- {
-     mJoint.reset();
- }
--- 93,94 ----

Index: hingeeffector.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hingeeffector.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** hingeeffector.cpp	6 Jan 2006 13:57:36 -0000	1.2
--- hingeeffector.cpp	15 Mar 2007 07:26:29 -0000	1.3
***************
*** 27,33 ****
  using namespace std;
  
! HingeEffector::HingeEffector() : Effector()
  {
-     SetName("hinge");
  }
  
--- 27,33 ----
  using namespace std;
  
! HingeEffector::HingeEffector()
!     : JointEffector<HingeJoint>::JointEffector("hinge")
  {
  }
  
***************
*** 91,109 ****
      return shared_ptr<ActionObject>();
  }
- 
- void HingeEffector::OnLink()
- {
-     mJoint = make_shared(FindParentSupportingClass<HingeJoint>());
- 
-     if (mJoint.get() == 0)
-         {
-             GetLog()->Error()
-                 << "(HingeEffector) ERROR: found no HingeJoint parent\n";
-         }
- 
- }
- 
- void HingeEffector::OnUnlink()
- {
-     mJoint.reset();
- }
--- 91,92 ----

Index: hingeperceptor.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkagent/hingeperceptor.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** hingeperceptor.h	2 Jan 2006 18:11:33 -0000	1.1
--- hingeperceptor.h	15 Mar 2007 07:26:29 -0000	1.2
***************
*** 21,28 ****
  #define HINGEPERCEPTOR_H
  
! #include <oxygen/agentaspect/perceptor.h>
  #include <oxygen/physicsserver/hingejoint.h>
  
! class HingePerceptor : public oxygen::Perceptor
  {
  public:
--- 21,28 ----
  #define HINGEPERCEPTOR_H
  
! #include <oxygen/agentaspect/jointperceptor.h>
  #include <oxygen/physicsserver/hingejoint.h>
  
! class HingePerceptor : public oxygen::JointPerceptor<oxygen::HingeJoint>
  {
  public:
***************
*** 34,46 ****
  
  protected:
-     virtual void OnLink();
-     virtual void OnUnlink();
- 
      void InsertAxisAngle(oxygen::Predicate& predicate);
      void InsertAxisRate(oxygen::Predicate& predicate);
- 
- protected:
-     /** cached reference to the monitor joint */
-     boost::shared_ptr<oxygen::HingeJoint> mJoint;
  };
  
--- 34,39 ----