[simspark-cvs] simspark/spark/oxygen/physicsserver body.h, 1.2.2.1, 1.2.2.1.2.1

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

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv31819

Modified Files:
      Tag: projectx
	body.h 
Log Message:
merge from HEAD


Index: body.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/body.h,v
retrieving revision 1.2.2.1
retrieving revision 1.2.2.1.2.1
diff -C2 -d -r1.2.2.1 -r1.2.2.1.2.1
*** body.h	15 Feb 2007 21:00:18 -0000	1.2.2.1
--- body.h	17 Jun 2007 08:15:36 -0000	1.2.2.1.2.1
***************
*** 91,94 ****
--- 91,100 ----
      void SetSphere(float density, float radius);
  
+     /** adds a mass representing a sphere of the given radius and
+         density, with the matrix determining its center and
+         orientation
+     */
+     void Addphere(float density, float radius, const salt::Matrix& matrix);
+ 
      /** sets the mass parameters to represent a sphere of the given
          radius and total mass, with the center of mass at (0,0,0)
***************
*** 97,100 ****
--- 103,111 ----
      void SetSphereTotal(float total_mass, float radius);
  
+     /** add a mass representing a sphere of the given radius and total
+         mass, with the matrix determining its center and orientation
+     */
+     void AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix);
+ 
      /** Set the mass parameters to represent a box of the given
          dimensions and density, with the center of mass at (0,0,0)
***************
*** 103,106 ****
--- 114,123 ----
      void SetBox(float density, const salt::Vector3f& size);
  
+     /** Add a mass representing a box of the given dimensions and
+         density, with the matrix determining its center and
+         orientation
+     */
+     void AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix);
+ 
      /** Set the mass parameters to represent a box of the given
          dimensions and total mass, with the center of mass at (0,0,0)
***************
*** 109,112 ****
--- 126,135 ----
      void SetBoxTotal(float total_mass, const salt::Vector3f& size);
  
+     /** Add a mass representing a box of the given dimensions and
+         total mass, with the matrix determining its center and
+         orientation
+     */
+     void AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix);
+ 
      /** Set the mass parameters to represent a flat-ended cylinder of
          the given parameters and density, with the center of mass at
***************
*** 115,119 ****
          long axis is oriented along the body's z axis.
       */
!     void SetCylinder (float density, float radius, float length);
  
      /** Set the mass parameters to represent a flat-ended cylinder of
--- 138,148 ----
          long axis is oriented along the body's z axis.
       */
!     void SetCylinder(float density, float radius, float length);
! 
!     /** Add a mass representing a flat-ended cylinder of the given
!         parameters and density, with the matrix determining its center
!         and orientation
!      */
!     void AddCylinder(float density, float radius, float length, const salt::Matrix& matrix);
  
      /** Set the mass parameters to represent a flat-ended cylinder of
***************
*** 125,128 ****
--- 154,163 ----
      void SetCylinderTotal(float total_mass, float radius, float length);
  
+     /** Add a mass representing a flat-ended cylinder of the given
+         parameters and total mass, with the matrix determining its
+         center and orientation
+      */
+     void AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
+ 
      /* Set the mass parameters to represent a capped cylinder of the
         given parameters and density, with the center of mass at
***************
*** 134,137 ****
--- 169,178 ----
      void SetCappedCylinder (float density, float radius, float length);
  
+     /* Add a mass representing a capped cylinder of the given
+        parameters and density, with the matrix determining its center
+        and orientation
+     */
+     void AddCappedCylinder (float density, float radius, float length, const salt::Matrix& matrix);
+ 
      /* Set the mass parameters to represent a capped cylinder of the
         given parameters and total mass, with the center of mass at
***************
*** 143,146 ****
--- 184,193 ----
      void SetCappedCylinderTotal(float total_mass, float radius, float length);
  
+     /* Add a mass representing a capped cylinder of the given
+        parameters and total mass, with the matrix determining its
+        center and orientation
+     */
+     void AddCappedCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
+ 
      /** displace the mass center relative to the body frame */
      void TranslateMass(const salt::Vector3f& v);
***************
*** 179,182 ****
--- 226,241 ----
      virtual void DestroyODEObject();
  
+     /** synchronize parent node with the bodies position and
+         orientation
+     */
+     void SynchronizeParent() const;
+ 
+     /** adds the given ode mass to this body. The given matrix is
+         applied to the mass center
+     */
+     void AddMass(const dMass& mass, const salt::Matrix& matrix);
+ 
+     salt::Vector3f GetMassCenter() const;
+ 
  protected:
      /** creates the managed ODE body and moves it to the position of
***************
*** 188,191 ****
--- 247,304 ----
      bool CreateBody();
  
+     /** sets up an ode mass struct representing a box of the given
+         size and total_mass
+     */
+     void PrepareBoxTotal(dMass& mass, float total_mass, const salt::Vector3f& size) const;
+ 
+     /** sets up an ode mass struct representing a box of the given
+         density and size
+     */
+     void PrepareBox(dMass& mass, float density, const salt::Vector3f& size) const;
+ 
+     /** sets up an ode mass struct representing a sphere of the given
+         density and radius
+     */
+     void PrepareSphere(dMass& mass, float density, float radius) const;
+ 
+     /** sets up an ode mass struct representing a sphere of the given
+         radius and total_mass
+     */
+     void PrepareSphereTotal(dMass& mass, float total_mass, float radius) const;
+ 
+     /** sets up an ode mass struct representing a flat-ended cylinder
+         of the given parameters and density, with the center of mass
+         at (0,0,0) relative to the body. The radius of the cylinder is
+         radius. The length of the cylinder is length. The cylinder's
+         long axis is oriented along the body's z axis.
+      */
+     void PrepareCylinder (dMass& mass, float density, float radius, float length) const;
+ 
+     /** sets up an ode mass struct representing a flat-ended cylinder
+         of the given parameters and total mass, with the center of
+         mass at (0,0,0) relative to the body. The radius of the
+         cylinder is radius. The length of the cylinder is length. The
+         cylinder's long axis is oriented along the body's z axis.
+      */
+     void PrepareCylinderTotal(dMass& mass, float total_mass, float radius, float length) const;
+ 
+     /* sets up an ode mass struct representing a capped cylinder of
+        the given parameters and density, with the center of mass at
+        (0,0,0) relative to the body. The radius of the cylinder (and
+        the spherical cap) is radius. The length of the cylinder (not
+        counting the spherical cap) is length. The cylinder's long axis
+        is oriented along the body's z axis.
+     */
+     void PrepareCappedCylinder (dMass& mass, float density, float radius, float length) const;
+ 
+     /* sets up an ode mass struct representing a capped cylinder of
+        the given parameters and total mass, with the center of mass at
+        (0,0,0) relative to the body. The radius of the cylinder (and
+        the spherical cap) is radius. The length of the cylinder (not
+        counting the spherical cap) is length. The cylinder's long axis
+        is oriented along the body's z axis.
+     */
+     void PrepareCappedCylinderTotal(dMass& mass, float total_mass, float radius, float length) const;
+ 
  private:
      /** updates the the internal state after physics calculation,