[simspark-cvs] simspark/contrib/rsgedit kinematicframe.cpp, 1.2, 1.3 kinematicframe.h, 1.2, 1.3

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

Update of /cvsroot/simspark/simspark/contrib/rsgedit
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv470

Modified Files:
	kinematicframe.cpp kinematicframe.h 
Log Message:
- support kinematic control for second universal joint axis

Index: kinematicframe.h
===================================================================
RCS file: /cvsroot/simspark/simspark/contrib/rsgedit/kinematicframe.h,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** kinematicframe.h	15 Jul 2007 10:29:53 -0000	1.2
--- kinematicframe.h	15 Jul 2007 10:41:10 -0000	1.3
***************
*** 74,77 ****
--- 74,78 ----
  
  protected:
+     int GetParamVel(int axis) const;
      void AddJointControl(boost::shared_ptr<oxygen::Joint> joint, int axis);
      void OnSliderChanged(wxCommandEvent& event);

Index: kinematicframe.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/contrib/rsgedit/kinematicframe.cpp,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** kinematicframe.cpp	15 Jul 2007 10:29:53 -0000	1.2
--- kinematicframe.cpp	15 Jul 2007 10:41:10 -0000	1.3
***************
*** 144,148 ****
          {
              shared_ptr<Joint> joint = shared_static_cast<Joint>(*iter);
!             AddJointControl(joint, 0);
          }
  
--- 144,158 ----
          {
              shared_ptr<Joint> joint = shared_static_cast<Joint>(*iter);
! 
!             switch (joint->GetType())
!                 {
!                 case dJointTypeUniversal:
!                     AddJointControl(joint, 0);
!                     AddJointControl(joint, 1);
! 
!                 default:
!                     AddJointControl(joint, 0);
!                     break;
!                 }
          }
  
***************
*** 254,259 ****
--- 264,276 ----
  }
  
+ int kinematicFrame::GetParamVel(int axis) const
+ {
+     return (axis == 0) ? dParamVel : dParamVel2;
+ }
+ 
  void kinematicFrame::MoveJoint(JointControl& entry)
  {
+     int paramVel = GetParamVel(entry.axis);
+ 
      switch (entry.type)
          {
***************
*** 270,277 ****
                  {
                      entry.mode = CM_PASSIV;
!                     hinge->SetParameter(dParamVel, 0);
                  } else
                  {
!                     hinge->SetParameter(dParamVel, GetJointVel(diff));
                  }
                  break;
--- 287,294 ----
                  {
                      entry.mode = CM_PASSIV;
!                     hinge->SetParameter(paramVel, 0);
                  } else
                  {
!                     hinge->SetParameter(paramVel, GetJointVel(diff));
                  }
                  break;
***************
*** 282,294 ****
                  shared_ptr<UniversalJoint> universal
                      = shared_static_cast<UniversalJoint>(entry.joint.lock());
!                 int value_joint = static_cast<int>(universal->GetAngle(static_cast<Joint::EAxisIndex>(entry.axis)));
                  int diff = (entry.target - value_joint);
                  if (abs(diff) < MIN_JOINT_DIFF)
                  {
                      entry.mode = CM_PASSIV;
!                     universal->SetParameter(dParamVel, 0);
                  } else
                  {
!                     universal->SetParameter(dParamVel, GetJointVel(diff));
                  }
                  break;
--- 299,314 ----
                  shared_ptr<UniversalJoint> universal
                      = shared_static_cast<UniversalJoint>(entry.joint.lock());
!                 int value_joint = static_cast<int>
!                     (universal->GetAngle(static_cast<Joint::EAxisIndex>(entry.axis)));
                  int diff = (entry.target - value_joint);
+ 
+ 
                  if (abs(diff) < MIN_JOINT_DIFF)
                  {
                      entry.mode = CM_PASSIV;
!                     universal->SetParameter(paramVel, 0);
                  } else
                  {
!                     universal->SetParameter(paramVel, GetJointVel(diff));
                  }
                  break;