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[simspark-cvs] simspark/spark/oxygen Makefile.am, 1.3.2.2.2.1, 1.3.2.2.2.2

From: Oliver O. <fr...@us...> - 2007-06-17 08:24:55

Update of /cvsroot/simspark/simspark/spark/oxygen
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv2954

Modified Files:
      Tag: projectx
	Makefile.am 
Log Message:
merge from HEAD


Index: Makefile.am
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/Makefile.am,v
retrieving revision 1.3.2.2.2.1
retrieving revision 1.3.2.2.2.2
diff -C2 -d -r1.3.2.2.2.1 -r1.3.2.2.2.2
*** Makefile.am	5 Apr 2007 04:18:00 -0000	1.3.2.2.2.1
--- Makefile.am	17 Jun 2007 08:24:15 -0000	1.3.2.2.2.2
***************
*** 130,133 ****
--- 130,134 ----
  sceneserver/camera.cpp \
  sceneserver/camera_c.cpp \
+ sceneserver/scenedict.cpp \
  simulationserver/simulationserver.h \
  simulationserver/simulationserver.cpp \

[simspark-cvs] simspark/spark/oxygen/geometryserver geometryserver.cpp, 1.2.4.2, 1.2.4.3

From: Oliver O. <fr...@us...> - 2007-06-17 08:22:14

Update of /cvsroot/simspark/simspark/spark/oxygen/geometryserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv1716

Modified Files:
      Tag: projectx
	geometryserver.cpp 
Log Message:
merge from HEAD


Index: geometryserver.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/geometryserver/geometryserver.cpp,v
retrieving revision 1.2.4.2
retrieving revision 1.2.4.3
diff -C2 -d -r1.2.4.2 -r1.2.4.3
*** geometryserver.cpp	5 Apr 2007 04:13:06 -0000	1.2.4.2
--- geometryserver.cpp	17 Jun 2007 08:21:59 -0000	1.2.4.3
***************
*** 143,146 ****
--- 143,151 ----
                             << " with '" << importer->GetName() << "'\n";
  
+         if (mesh.get() == 0 || mesh->GetVertexCount() == 0)
+         {
+             continue;
+         }
+ 
          RegisterMesh(mesh);

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

From: Oliver O. <fr...@us...> - 2007-06-17 08:16:13

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv32128

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


Index: body.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/body.cpp,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.cpp	15 Feb 2007 21:00:18 -0000	1.2.2.1
--- body.cpp	17 Jun 2007 08:16:06 -0000	1.2.2.1.2.1
***************
*** 159,235 ****
  }
  
  void Body::SetSphere(float density, float radius)
  {
      dMass ODEMass;
!     dMassSetSphere(&ODEMass, density, radius);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
  void Body::SetSphereTotal(float total_mass, float radius)
  {
      dMass ODEMass;
!     dMassSetSphereTotal(&ODEMass, total_mass, radius);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
  void Body::SetBox(float density, const Vector3f& size)
  {
      dMass ODEMass;
!     dMassSetBox(&ODEMass, density, size[0], size[1], size[2]);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::SetBoxTotal(float total_mass, const salt::Vector3f& size)
  {
      dMass ODEMass;
!     dMassSetBoxTotal(&ODEMass, total_mass, size[0], size[1], size[2]);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::SetCylinder (float density, float radius, float length)
  {
      dMass ODEMass;
  
      // direction: (1=x, 2=y, 3=z)
      int direction = 3;
  
!     dMassSetCylinder (&ODEMass, density, direction, radius, length);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::SetCylinderTotal(float total_mass, float radius, float length)
  {
      dMass ODEMass;
  
      // direction: (1=x, 2=y, 3=z)
      int direction = 3;
  
!     dMassSetCylinderTotal(&ODEMass, total_mass, direction, radius, length);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::SetCappedCylinder (float density, float radius, float length)
  {
      dMass ODEMass;
  
      // direction: (1=x, 2=y, 3=z)
      int direction = 3;
  
!     dMassSetCappedCylinder (&ODEMass, density, direction, radius, length);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::SetCappedCylinderTotal(float total_mass, float radius, float length)
  {
      dMass ODEMass;
  
      // direction: (1=x, 2=y, 3=z)
      int direction = 3;
  
!     dMassSetCappedCylinderTotal(&ODEMass, total_mass,
!                                 direction, radius, length);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
  Vector3f Body::GetVelocity() const
  {
--- 159,346 ----
  }
  
+ void Body::PrepareSphere(dMass& mass, float density, float radius) const
+ {
+     dMassSetSphere(&mass, density, radius);
+ }
+ 
  void Body::SetSphere(float density, float radius)
  {
      dMass ODEMass;
!     PrepareSphere(ODEMass, density, radius);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
+ void Body::Addphere(float density, float radius, const Matrix& matrix)
+ {
+     dMass ODEMass;
+     PrepareSphere(ODEMass, density, radius);
+     AddMass(ODEMass, matrix);
+ }
+ 
+ void Body::PrepareSphereTotal(dMass& mass, float total_mass, float radius) const
+ {
+     dMassSetSphereTotal(&mass, total_mass, radius);
+ }
+ 
  void Body::SetSphereTotal(float total_mass, float radius)
  {
      dMass ODEMass;
!     PrepareSphereTotal(ODEMass, total_mass, radius);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
+ void Body::AddSphereTotal(float total_mass, float radius, const Matrix& matrix)
+ {
+     dMass ODEMass;
+     PrepareSphereTotal(ODEMass, total_mass, radius);
+     AddMass(ODEMass, matrix);
+ }
+ 
+ void Body::PrepareBox(dMass& mass, float density, const Vector3f& size) const
+ {
+     dMassSetBox(&mass, density, size[0], size[1], size[2]);
+ }
+ 
  void Body::SetBox(float density, const Vector3f& size)
  {
      dMass ODEMass;
!     PrepareBox(ODEMass, density, size);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::AddBox(float density, const Vector3f& size, const Matrix& matrix)
  {
      dMass ODEMass;
!     PrepareBox(ODEMass, density, size);
!     AddMass(ODEMass, matrix);
! }
! 
! void Body::PrepareBoxTotal(dMass& mass, float total_mass, const Vector3f& size) const
! {
!     dMassSetBoxTotal(&mass, total_mass, size[0], size[1], size[2]);
! }
! 
! void Body::SetBoxTotal(float total_mass, const Vector3f& size)
! {
!     dMass ODEMass;
!     PrepareBoxTotal(ODEMass, total_mass, size);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::AddBoxTotal(float total_mass, const Vector3f& size, const Matrix& matrix)
  {
      dMass ODEMass;
+     PrepareBoxTotal(ODEMass, total_mass, size);
+     AddMass(ODEMass, matrix);
+ }
+ 
+ void Body::AddMass(const dMass& mass, const Matrix& matrix)
+ {
+     dMass transMass(mass);
+ 
+     dMatrix3 rot;
+     ConvertRotationMatrix(matrix, rot);
+     dMassRotate(&transMass,rot);
+ 
+     dMass bodyMass;
+     dBodyGetMass(mODEBody, &bodyMass);
+     dMassAdd(&bodyMass, &transMass);
+     dBodySetMass(mODEBody, (const dMass*)&bodyMass);
+ 
+     /** ODE currently requires that the center mass is always in the
+         origin of the body
+     */
+     const Vector3f& trans(matrix.Pos());
+     dMassTranslate(&transMass,trans[0],trans[1],trans[2]);
+ }
  
+ void Body::PrepareCylinder (dMass& mass, float density, float radius, float length) const
+ {
      // direction: (1=x, 2=y, 3=z)
      int direction = 3;
  
!     dMassSetCylinder (&mass, density, direction, radius, length);
! }
! 
! void Body::SetCylinder (float density, float radius, float length)
! {
!     dMass ODEMass;
!     PrepareCylinder(ODEMass, density, radius, length);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::AddCylinder (float density, float radius, float length, const Matrix& matrix)
  {
      dMass ODEMass;
+     PrepareCylinder(ODEMass, density, radius, length);
+     AddMass(ODEMass, matrix);
+ }
  
+ void Body::PrepareCylinderTotal(dMass& mass, float total_mass, float radius, float length) const
+ {
      // direction: (1=x, 2=y, 3=z)
      int direction = 3;
  
!     dMassSetCylinderTotal(&mass, total_mass, direction, radius, length);
! }
! 
! void Body::SetCylinderTotal(float total_mass, float radius, float length)
! {
!     dMass ODEMass;
!     PrepareCylinderTotal(ODEMass, total_mass, radius, length);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::AddCylinderTotal(float total_mass, float radius, float length, const Matrix& matrix)
  {
      dMass ODEMass;
+     PrepareCylinderTotal(ODEMass, total_mass, radius, length);
+     AddMass(ODEMass, matrix);
+ }
  
+ void Body::PrepareCappedCylinder (dMass& mass, float density, float radius, float length) const
+ {
      // direction: (1=x, 2=y, 3=z)
      int direction = 3;
  
!     dMassSetCappedCylinder (&mass, density, direction, radius, length);
! }
! 
! void Body::SetCappedCylinder (float density, float radius, float length)
! {
!     dMass ODEMass;
!     PrepareCappedCylinder(ODEMass, density, radius, length);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
! void Body::AddCappedCylinder (float density, float radius, float length, const Matrix& matrix)
  {
      dMass ODEMass;
+     PrepareCappedCylinder(ODEMass, density, radius, length);
+     AddMass(ODEMass, matrix);
+ }
  
+ void Body::PrepareCappedCylinderTotal(dMass& mass, float total_mass, float radius, float length) const
+ {
      // direction: (1=x, 2=y, 3=z)
      int direction = 3;
  
!     dMassSetCappedCylinderTotal(&mass, total_mass, direction, radius, length);
! }
! 
! void Body::SetCappedCylinderTotal(float total_mass, float radius, float length)
! {
!     dMass ODEMass;
!     PrepareCappedCylinderTotal(ODEMass, total_mass, radius, length);
      dBodySetMass(mODEBody, &ODEMass);
  }
  
+ void Body::AddCappedCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
+ {
+     dMass ODEMass;
+     PrepareCappedCylinderTotal(ODEMass, total_mass, radius, length);
+     AddMass(ODEMass, matrix);
+ }
+ 
  Vector3f Body::GetVelocity() const
  {
***************
*** 264,271 ****
  }
  
! void Body::PostPhysicsUpdateInternal()
  {
-     // synchronize parent node with the bodies position and
-     // orientation
      const dReal* pos = dBodyGetPosition(mODEBody);
      const dReal* rot = dBodyGetRotation(mODEBody);
--- 375,380 ----
  }
  
! void Body::SynchronizeParent() const
  {
      const dReal* pos = dBodyGetPosition(mODEBody);
      const dReal* rot = dBodyGetRotation(mODEBody);
***************
*** 295,298 ****
--- 404,412 ----
  }
  
+ void Body::PostPhysicsUpdateInternal()
+ {
+     SynchronizeParent();
+ }
+ 
  shared_ptr<Body> Body::GetBody(dBodyID id)
  {
***************
*** 352,356 ****
  }
  
! void Body::TranslateMass(const salt::Vector3f& v)
  {
      dMass m;
--- 466,470 ----
  }
  
! void Body::TranslateMass(const Vector3f& v)
  {
      dMass m;

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

From: Oliver O. <fr...@us...> - 2007-06-17 08:15:43

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,

[simspark-cvs] simspark/spark/oxygen/physicsserver collider.cpp, 1.2.2.1, 1.2.2.1.2.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:14:47

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv31418

Modified Files:
      Tag: projectx
	collider.cpp 
Log Message:
merge from HEAD


Index: collider.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/collider.cpp,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
*** collider.cpp	15 Feb 2007 21:00:18 -0000	1.2.2.1
--- collider.cpp	17 Jun 2007 08:14:43 -0000	1.2.2.1.2.1
***************
*** 68,72 ****
  
      // if we have a space add the geom to it
!     dSpaceID space = GetSpaceID();
      if (
          (space) &&
--- 68,72 ----
  
      // if we have a space add the geom to it
!     dSpaceID space = FindSpaceID();
      if (
          (space) &&
***************
*** 99,103 ****
  
      // remove collision geometry from space
!     dSpaceID space = GetSpaceID();
  
      if (
--- 99,103 ----
  
      // remove collision geometry from space
!     dSpaceID space = GetParentSpaceID();
  
      if (
***************
*** 109,119 ****
          }
  
!     if (
!         (space) &&
!         (dSpaceQuery(space, mODEGeom))
!         )
!         {
!             dSpaceRemove(space, mODEGeom);
!         }
  }
  
--- 109,116 ----
          }
  
!     if (space)
!     {
!         dSpaceRemove(space, mODEGeom);
!     }
  }
  
***************
*** 225,228 ****
--- 222,241 ----
  }
  
+ Vector3f Collider::GetPosition() const
+ {
+     const dReal* pos = dGeomGetPosition(mODEGeom);
+     return Vector3f(pos[0],pos[1],pos[2]);
+ }
+ 
+ dSpaceID Collider::GetParentSpaceID()
+ {
+     if (mODEGeom == 0)
+         {
+             return 0;
+         }
+ 
+     return dGeomGetSpace(mODEGeom);
+ }
+ 
  bool Collider::Intersects(boost::shared_ptr<Collider> collider)
  {

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

From: Oliver O. <fr...@us...> - 2007-06-17 08:14:09

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv31042

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


Index: collider.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/collider.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
*** collider.h	15 Feb 2007 21:00:18 -0000	1.2.2.1
--- collider.h	17 Jun 2007 08:14:03 -0000	1.2.2.1.2.1
***************
*** 101,104 ****
--- 101,107 ----
      virtual void SetPosition(const salt::Vector3f& pos);
  
+     /** returns the absolute position of the managed geom */
+     salt::Vector3f GetPosition() const;
+ 
      /** sets the relative orientation of the managed geom directly. If
          the geom is connected to a body, the orientation of the body
***************
*** 112,115 ****
--- 115,121 ----
      bool Intersects(boost::shared_ptr<Collider> collider);
  
+     /** returns the ODE handle ID of the containing parent space */
+     virtual dSpaceID GetParentSpaceID();
+ 
  protected:
      /** registers the managed geom to the Space of the Scene and to

[simspark-cvs] simspark/spark/oxygen/physicsserver hingejoint.cpp, 1.5, 1.5.4.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:13:12

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv30964

Modified Files:
      Tag: projectx
	hingejoint.cpp 
Log Message:
merge from HEAD


Index: hingejoint.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/hingejoint.cpp,v
retrieving revision 1.5
retrieving revision 1.5.4.1
diff -C2 -d -r1.5 -r1.5.4.1
*** hingejoint.cpp	19 Feb 2006 13:15:26 -0000	1.5
--- hingejoint.cpp	17 Jun 2007 08:13:09 -0000	1.5.4.1
***************
*** 118,127 ****
  }
  
! float HingeJoint::GetAngle()
  {
      return gRadToDeg(dJointGetHingeAngle(mODEJoint));
  }
  
! float HingeJoint::GetAngleRate()
  {
      return gRadToDeg(dJointGetHingeAngleRate(mODEJoint));
--- 118,127 ----
  }
  
! float HingeJoint::GetAngle() const
  {
      return gRadToDeg(dJointGetHingeAngle(mODEJoint));
  }
  
! float HingeJoint::GetAngleRate() const
  {
      return gRadToDeg(dJointGetHingeAngleRate(mODEJoint));

[simspark-cvs] simspark/spark/oxygen/physicsserver hingejoint.h, 1.5, 1.5.4.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:12:25

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv30551

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


Index: hingejoint.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/hingejoint.h,v
retrieving revision 1.5
retrieving revision 1.5.4.1
diff -C2 -d -r1.5 -r1.5.4.1
*** hingejoint.h	19 Feb 2006 13:15:26 -0000	1.5
--- hingejoint.h	17 Jun 2007 08:12:20 -0000	1.5.4.1
***************
*** 63,70 ****
          bodies, or between the body and the static environment.
      */
!     float GetAngle();
  
      /** returns the time derivate of the hinge angle */
!     float GetAngleRate();
  
      /** sets a joint parameter value */
--- 63,70 ----
          bodies, or between the body and the static environment.
      */
!     float GetAngle() const;
  
      /** returns the time derivate of the hinge angle */
!     float GetAngleRate() const;
  
      /** sets a joint parameter value */

[simspark-cvs] simspark/spark/oxygen/physicsserver odeobject.cpp, 1.1.2.1, 1.1.2.1.2.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:11:03

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv30145

Modified Files:
      Tag: projectx
	odeobject.cpp 
Log Message:
merge from HEAD


Index: odeobject.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/odeobject.cpp,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.1.2.1
diff -C2 -d -r1.1.2.1 -r1.1.2.1.2.1
*** odeobject.cpp	15 Feb 2007 20:59:41 -0000	1.1.2.1
--- odeobject.cpp	17 Jun 2007 08:11:00 -0000	1.1.2.1.2.1
***************
*** 63,66 ****
--- 63,74 ----
  shared_ptr<Space> ODEObject::GetSpace()
  {
+     // try to find the nearest parent space object
+     weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
+     if (! parentSpace.expired())
+         {
+             return parentSpace.lock();
+         }
+ 
+     // return the global space instance
      shared_ptr<Scene> scene = GetScene();
      if (scene.get() == 0)
***************
*** 98,102 ****
  }
  
! dSpaceID ODEObject::GetSpaceID()
  {
      shared_ptr<Space> space = GetSpace();
--- 106,110 ----
  }
  
! dSpaceID ODEObject::FindSpaceID()
  {
      shared_ptr<Space> space = GetSpace();
***************
*** 117,120 ****
--- 125,133 ----
  }
  
+ dSpaceID ODEObject::GetParentSpaceID()
+ {
+     return 0;
+ }
+ 
  void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
  {

[simspark-cvs] simspark/spark/oxygen/physicsserver odeobject.h, 1.1.2.2, 1.1.2.2.2.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:10:32

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv30108

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


Index: odeobject.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/odeobject.h,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.2.2.1
diff -C2 -d -r1.1.2.2 -r1.1.2.2.2.1
*** odeobject.h	15 Feb 2007 20:59:41 -0000	1.1.2.2
--- odeobject.h	17 Jun 2007 08:10:15 -0000	1.1.2.2.2.1
***************
*** 51,56 ****
      dWorldID GetWorldID();
  
!     /** returns the ODE space handle */
!     dSpaceID GetSpaceID();
  
      /** destroy the managed ODE object */
--- 51,59 ----
      dWorldID GetWorldID();
  
!     /** returns the nearest parent space ODE handle */
!     dSpaceID FindSpaceID();
! 
!     /** returns the ODE handle ID of the containing parent space */
!     virtual dSpaceID GetParentSpaceID();
  
      /** destroy the managed ODE object */
***************
*** 61,65 ****
      boost::shared_ptr<World> GetWorld();
  
!     /** returns the space node */
      boost::shared_ptr<Space> GetSpace();
  
--- 64,68 ----
      boost::shared_ptr<World> GetWorld();
  
!     /** finds the nearest parent space node */
      boost::shared_ptr<Space> GetSpace();

[simspark-cvs] simspark/spark/oxygen/physicsserver space.cpp, 1.1.2.2, 1.1.2.2.2.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:09:32

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv29704

Modified Files:
      Tag: projectx
	space.cpp 
Log Message:
merge from HEAD


Index: space.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/space.cpp,v
retrieving revision 1.1.2.2
retrieving revision 1.1.2.2.2.1
diff -C2 -d -r1.1.2.2 -r1.1.2.2.2.1
*** space.cpp	15 Feb 2007 21:00:19 -0000	1.1.2.2
--- space.cpp	17 Jun 2007 08:09:25 -0000	1.1.2.2.2.1
***************
*** 29,33 ****
  using namespace oxygen;
  
! static void collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2)
  {
      Space *space = (Space*)data;
--- 29,33 ----
  using namespace oxygen;
  
! void Space::collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2)
  {
      Space *space = (Space*)data;
***************
*** 64,70 ****
  }
  
  void Space::HandleCollide(dGeomID obj1, dGeomID obj2)
  {
!     // reject collisions between bodies that are connected with joints
      const dBodyID b1 = dGeomGetBody(obj1);
      const dBodyID b2 = dGeomGetBody(obj2);
--- 64,97 ----
  }
  
+ void Space::HandleSpaceCollide(dGeomID obj1, dGeomID obj2)
+ {
+     // collide all geoms internal to the space(s)
+     dSpaceCollide2 (obj1,obj2,this,&collisionNearCallback);
+ 
+     if (dGeomIsSpace (obj1))
+         {
+             dSpaceCollide ((dSpaceID)(obj1),this,&collisionNearCallback);
+         }
+ 
+     if (dGeomIsSpace (obj2))
+         {
+             dSpaceCollide ((dSpaceID)(obj2),this,&collisionNearCallback);
+         }
+ }
+ 
  void Space::HandleCollide(dGeomID obj1, dGeomID obj2)
  {
!     if (
!         (dGeomIsSpace (obj1)) ||
!         (dGeomIsSpace (obj2))
!         )
!         {
!             // colliding a space with something
!             HandleSpaceCollide(obj1, obj2);
!             return;
!         }
! 
!     // colliding two non-space geoms; reject collisions
!     // between bodies that are connected with joints
      const dBodyID b1 = dGeomGetBody(obj1);
      const dBodyID b2 = dGeomGetBody(obj2);
***************
*** 112,129 ****
  }
  
  bool Space::ConstructInternal()
  {
!   // create the ode space, 0 indicates that this space should
!   // not be inserted into another space, i.e. we always create a
!   // toplevel space object
!   mODESpace = dHashSpaceCreate(0);
  
!   // create a joint group for the contacts
!   mODEContactGroup = dJointGroupCreate(0);
  
!   return (
!           (mODESpace != 0) &&
!           (mODEContactGroup != 0)
!           );
  }
  
--- 139,190 ----
  }
  
+ void Space::OnLink()
+ {
+     ODEObject::OnLink();
+ 
+     dSpaceID space = FindSpaceID();
+     if (
+         (space) &&
+         (space != mODESpace) &&
+         (! dSpaceQuery(space, (dGeomID)mODESpace))
+         )
+         {
+             dSpaceAdd(space, (dGeomID)mODESpace);
+         }
+ }
+ 
+ dSpaceID Space::GetParentSpaceID()
+ {
+     if (mODESpace == 0)
+         {
+             return 0;
+         }
+ 
+     return dGeomGetSpace((dGeomID)mODESpace);
+ }
+ 
+ bool Space::IsGlobalSpace()
+ {
+     return
+         (
+         (mODESpace != 0) &&
+         (GetParentSpaceID() == 0)
+         );
+ }
+ 
  bool Space::ConstructInternal()
  {
!     // create the ode space, 0 indicates that this space should
!     // not be inserted into another space, i.e. we always create a
!     // toplevel space object
!     mODESpace = dHashSpaceCreate(0);
  
!     // create a joint group for the contacts
!     mODEContactGroup = dJointGroupCreate(0);
  
!     return (
!             (mODESpace != 0) &&
!             (mODEContactGroup != 0)
!             );
  }
  
***************
*** 134,188 ****
  }
  
! void Space::DestroySpaceObjects()
  {
!   shared_ptr<Scene> scene = GetScene();
!   if (scene.get() == 0)
!     {
!       return;
!     }
  
!   TLeafList objects;
  
!   const bool recursive = true;
!   scene->ListChildrenSupportingClass<ODEObject>(objects, recursive);
  
!   for (
!        TLeafList::iterator iter = objects.begin();
!        iter != objects.end();
!        ++iter
!        )
!     {
!       shared_ptr<ODEObject> object = shared_static_cast<ODEObject>(*iter);
!       if (object->GetSpaceID() != mODESpace)
          {
!           continue;
!         }
  
!       object->DestroyODEObject();
!     }
  }
  
! void Space::DestroyODEObject()
  {
!   static bool recurseLock = false;
! 
!   if (
!       (recurseLock) ||
!       (! mODESpace)
!       )
!     {
!         return;
!     }
! 
!   recurseLock = true;
! 
!   // make sure that all objects registered to this space are destroyed
!   // before this space. Any other order provokes a segfault in ODE.
!   DestroySpaceObjects();
  
!   // release the ODE space
!   dSpaceDestroy(mODESpace);
!   mODESpace = 0;
  
!   recurseLock = false;
  }
--- 195,256 ----
  }
  
! void 
! Space::DestroySpaceObjects()
  {
!     shared_ptr<Scene> scene = GetScene();
!     if (scene.get() == 0)
!         {
!             return;
!         }
  
!     TLeafList objects;
!     const bool recursive = true;
!     scene->ListChildrenSupportingClass<ODEObject>(objects, recursive);
  
!     bool globalSpace = IsGlobalSpace();
!     shared_ptr<Space> self = shared_static_cast<Space>(GetSelf().lock());
  
!     for (
!          TLeafList::iterator iter = objects.begin();
!          iter != objects.end();
!          ++iter
!          )
          {
!             shared_ptr<ODEObject> object = shared_static_cast<ODEObject>(*iter);
!             if (object == self)
!             {
!                 continue;
!             }
  
!             // destroy objects registered to this space; the top level
!             // space object also destroy any other ODE object
!             const dSpaceID parentSpace = object->GetParentSpaceID();
!             if (
!                 (
!                  (globalSpace) &&
!                  (parentSpace == 0)
!                  ) ||
!                 (parentSpace == mODESpace)
!                 )
!                 {
!                     object->DestroyODEObject();
!                 }
!         }
  }
  
! void 
! Space::DestroyODEObject()
  {
!     if (! mODESpace)
!         {
!             return;
!         }
  
!     // make sure that all objects registered to this space are destroyed
!     // before this space. Any other order provokes a segfault in ODE.
!     DestroySpaceObjects();
  
!     // release the ODE space
!     dSpaceDestroy(mODESpace);
!     mODESpace = 0;
  }

[simspark-cvs] simspark/spark/oxygen/physicsserver space.h, 1.1.2.1, 1.1.2.1.2.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:08:25

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv29666

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


Index: space.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/space.h,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.1.2.1
diff -C2 -d -r1.1.2.1 -r1.1.2.1.2.1
*** space.h	15 Feb 2007 21:00:19 -0000	1.1.2.1
--- space.h	17 Jun 2007 08:08:21 -0000	1.1.2.1.2.1
***************
*** 59,72 ****
      void Collide();
  
      /** callback to handle a potential collision between two contained
          geoms. It will look up and notify the corresponding colliders
          for a potential collision.
      */
!     virtual void HandleCollide(dGeomID obj1, dGeomID obj2);
  
!     /** destroy the managed ODE object */
!     virtual void DestroyODEObject();
  
- protected:
      /** creates them managed ODE space and a contact joint group */
      virtual bool ConstructInternal();
--- 59,88 ----
      void Collide();
  
+     /** destroy the managed ODE object */
+     virtual void DestroyODEObject();
+ 
+     /** returns the ODE handle ID of the containing parent space */
+     virtual dSpaceID GetParentSpaceID();
+ 
+     /** returns true if this is the top global, i.e. top level space object */
+     bool IsGlobalSpace();
+ 
+ protected:
+     static void collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2);
+ 
+     /** registers the managed space to the containing parent space */
+     virtual void OnLink();
+ 
      /** callback to handle a potential collision between two contained
          geoms. It will look up and notify the corresponding colliders
          for a potential collision.
      */
!     void HandleCollide(dGeomID obj1, dGeomID obj2);
  
!     /** handle the collision between two geoms from which at least one
!         is a space geom
!     */
!     void HandleSpaceCollide(dGeomID obj1, dGeomID obj2);
  
      /** creates them managed ODE space and a contact joint group */
      virtual bool ConstructInternal();

[simspark-cvs] simspark/spark/oxygen/physicsserver universaljoint.cpp, 1.3, 1.3.4.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:07:42

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv29286

Modified Files:
      Tag: projectx
	universaljoint.cpp 
Log Message:
merge from HEAD


Index: universaljoint.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/universaljoint.cpp,v
retrieving revision 1.3
retrieving revision 1.3.4.1
diff -C2 -d -r1.3 -r1.3.4.1
*** universaljoint.cpp	12 Feb 2006 11:36:52 -0000	1.3
--- universaljoint.cpp	17 Jun 2007 08:07:32 -0000	1.3.4.1
***************
*** 79,83 ****
  }
  
! void UniversalJoint::SetAxis1(Vector3f & axis)
  {
      Vector3f first(GetWorldTransform().Rotate(axis));
--- 79,83 ----
  }
  
! void UniversalJoint::SetAxis1(const Vector3f & axis)
  {
      Vector3f first(GetWorldTransform().Rotate(axis));
***************
*** 85,89 ****
  }
  
! void UniversalJoint::SetAxis2(Vector3f & axis)
  {
      Vector3f second(GetWorldTransform().Rotate(axis));
--- 85,89 ----
  }
  
! void UniversalJoint::SetAxis2(const Vector3f & axis)
  {
      Vector3f second(GetWorldTransform().Rotate(axis));
***************
*** 91,95 ****
  }
  
! Vector3f UniversalJoint::GetAxis(EAxisIndex idx)
  {
      Vector3f vec(0,0,0);
--- 91,95 ----
  }
  
! Vector3f UniversalJoint::GetAxis(EAxisIndex idx) const
  {
      Vector3f vec(0,0,0);
***************
*** 118,122 ****
  }
  
! float UniversalJoint::GetAngle(EAxisIndex idx)
  {
      switch (idx)
--- 118,122 ----
  }
  
! float UniversalJoint::GetAngle(EAxisIndex idx) const
  {
      switch (idx)
***************
*** 133,137 ****
  }
  
! float UniversalJoint::GetAngleRate(EAxisIndex idx)
  {
      switch (idx)
--- 133,137 ----
  }
  
! float UniversalJoint::GetAngleRate(EAxisIndex idx) const
  {
      switch (idx)

[simspark-cvs] simspark/spark/oxygen/physicsserver universaljoint.h, 1.3, 1.3.4.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:07:36

Update of /cvsroot/simspark/simspark/spark/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv29250

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


Index: universaljoint.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/physicsserver/universaljoint.h,v
retrieving revision 1.3
retrieving revision 1.3.4.1
diff -C2 -d -r1.3 -r1.3.4.1
*** universaljoint.h	12 Feb 2006 11:36:52 -0000	1.3
--- universaljoint.h	17 Jun 2007 08:06:53 -0000	1.3.4.1
***************
*** 48,57 ****
          \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
--- 48,57 ----
          \param axis a vector describing the axis in relative coordinates
      */
!     void SetAxis1(const 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(const salt::Vector3f & axis);
  
      /** returns the vector describing one of the two axis
***************
*** 59,63 ****
          \param idx index of the desired axis
      */
!     salt::Vector3f GetAxis(EAxisIndex idx);
  
      /** returns one of the axis angles in degrees, measured between
--- 59,63 ----
          \param idx index of the desired axis
      */
!     salt::Vector3f GetAxis(EAxisIndex idx) const;
  
      /** returns one of the axis angles in degrees, measured between
***************
*** 65,72 ****
          environment.
      */
!     float GetAngle(EAxisIndex idx);
  
      /** returns the time derivate of one of the hinge angles */
!     float GetAngleRate(EAxisIndex idx);
  
      /** sets a joint parameter value */
--- 65,72 ----
          environment.
      */
!     float GetAngle(EAxisIndex idx) const;
  
      /** returns the time derivate of one of the hinge angles */
!     float GetAngleRate(EAxisIndex idx) const;
  
      /** sets a joint parameter value */

[simspark-cvs] simspark/spark/oxygen/sceneserver basenode.cpp, 1.2, 1.2.4.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:05:35

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv28839

Modified Files:
      Tag: projectx
	basenode.cpp 
Log Message:
merge from HEAD


Index: basenode.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/sceneserver/basenode.cpp,v
retrieving revision 1.2
retrieving revision 1.2.4.1
diff -C2 -d -r1.2 -r1.2.4.1
*** basenode.cpp	15 Feb 2006 01:00:19 -0000	1.2
--- basenode.cpp	17 Jun 2007 08:05:16 -0000	1.2.4.1
***************
*** 201,205 ****
  }
  
! salt::Vector3f BaseNode::GetLocalPos(const salt::Vector3f& worldPos)
  {
      Matrix invWorld = GetWorldTransform();
--- 201,205 ----
  }
  
! salt::Vector3f BaseNode::GetLocalPos(const salt::Vector3f& worldPos) const
  {
      Matrix invWorld = GetWorldTransform();

[simspark-cvs] simspark/spark/oxygen/sceneserver basenode.h, 1.1, 1.1.4.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:04:52

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv28789

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


Index: basenode.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/sceneserver/basenode.h,v
retrieving revision 1.1
retrieving revision 1.1.4.1
diff -C2 -d -r1.1 -r1.1.4.1
*** basenode.h	5 Dec 2005 21:21:17 -0000	1.1
--- basenode.h	17 Jun 2007 08:04:32 -0000	1.1.4.1
***************
*** 111,115 ****
      /** returns the corresponding local coordinates to the given world
          coordinates */
!     salt::Vector3f GetLocalPos(const salt::Vector3f& worldPos);
  
      /** updates internal state before physics calculation */
--- 111,115 ----
      /** returns the corresponding local coordinates to the given world
          coordinates */
!     salt::Vector3f GetLocalPos(const salt::Vector3f& worldPos) const;
  
      /** updates internal state before physics calculation */

[simspark-cvs] simspark/spark/oxygen/sceneserver fpscontroller.cpp, 1.1.2.1.2.1, 1.1.2.1.2.2

From: Oliver O. <fr...@us...> - 2007-06-17 08:03:40

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv28400

Modified Files:
      Tag: projectx
	fpscontroller.cpp 
Log Message:
merge from HEAD


Index: fpscontroller.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/sceneserver/fpscontroller.cpp,v
retrieving revision 1.1.2.1.2.1
retrieving revision 1.1.2.1.2.2
diff -C2 -d -r1.1.2.1.2.1 -r1.1.2.1.2.2
*** fpscontroller.cpp	1 Jun 2007 06:57:10 -0000	1.1.2.1.2.1
--- fpscontroller.cpp	17 Jun 2007 08:03:26 -0000	1.1.2.1.2.2
***************
*** 27,34 ****
--- 27,44 ----
  using namespace salt;
  
+ // define some magic number here for the static fps controller update
+ // (while the simulation is paused). These should be made
+ // configurable.n
+ static const float STATIC_MIN_ANGLE_DELTA = 0.1f;
+ static const float STATIC_MIN_VELOCITY = 1e-3;
+ static const float STATIC_VELOCITY_DECAY = 0.8f;
+ static const float STATIC_ACCELERATION = 0.01f;
+ 
  FPSController::FPSController() : BodyController()
  {
      mHAngle   = 0.0f;
+     mHAngleDelta = 0.0f;
      mVAngle   = 0.0f;
+     mVAngleDelta = 0.0f;
      mForward  = false;
      mBackward = false;
***************
*** 45,57 ****
  
  void 
! FPSController::PrePhysicsUpdateInternal(float /*deltaTime*/)
  {
-     if (mBody.get() == 0)
-     {
-         return;
-     }
- 
      // determine force direction
!     Vector3f vec(0.0f,0.0f,0.0f);
  
      if (mForward)  vec.y() += 1.0f;
--- 55,62 ----
  
  void 
! FPSController::PrepareUpdate(Matrix& matrix, Matrix& fwd, Vector3f& vec)
  {
      // determine force direction
!     vec = Vector3f(0.0f,0.0f,0.0f);
  
      if (mForward)  vec.y() += 1.0f;
***************
*** 71,79 ****
              }
  
!     Matrix matrix;
      float hAngle = gDegToRad(-mHAngle);
      float vAngle = gDegToRad(-mVAngle);
      matrix.RotationZ(hAngle);
      matrix.RotateX(vAngle);
      mBody->SetRotation(matrix);
  
--- 76,101 ----
              }
  
!     matrix.Identity();
      float hAngle = gDegToRad(-mHAngle);
      float vAngle = gDegToRad(-mVAngle);
      matrix.RotationZ(hAngle);
      matrix.RotateX(vAngle);
+ 
+     fwd.Identity();
+     fwd.RotationZ(hAngle);
+ }
+ 
+ void FPSController::PrePhysicsUpdateInternal(float /*deltaTime*/)
+ {
+     if (mBody.get() == 0)
+     {
+         return;
+     }
+ 
+     Matrix matrix;
+     Matrix fwd;
+     Vector3f vec;
+     PrepareUpdate(matrix, fwd, vec);
+ 
      mBody->SetRotation(matrix);
  
***************
*** 83,96 ****
              vec *= force;
  
-             Matrix fwd;
-             fwd.RotationZ(hAngle);
              mBody->AddForce(vec.y() * fwd.Up());
- 
-             Matrix side;
-             side.RotationX(vAngle);
              mBody->AddForce(vec.x() * fwd.Right());
- 
              mBody->AddForce(vec.z() * Vector3f(0,0,1));
          }
  }
  
--- 105,175 ----
              vec *= force;
  
              mBody->AddForce(vec.y() * fwd.Up());
              mBody->AddForce(vec.x() * fwd.Right());
              mBody->AddForce(vec.z() * Vector3f(0,0,1));
          }
+ 
+     mHAngleDelta = 0.0;
+     mVAngleDelta = 0.0;
+ }
+ 
+ bool FPSController::NeedStaticUpdate() const
+ {
+     if (mBody.get() == 0)
+         {
+             return false;
+         }
+ 
+     return (
+             (mForward) ||
+             (mBackward) ||
+             (mRight) ||
+             (mLeft) ||
+             (mUp) ||
+             (mDown) ||
+             (gAbs(mHAngleDelta) >= STATIC_MIN_ANGLE_DELTA) ||
+             (gAbs(mVAngleDelta) >= STATIC_MIN_ANGLE_DELTA) ||
+             (mBody->GetVelocity().Length() > STATIC_MIN_VELOCITY)
+             );
+ }
+ 
+ void FPSController::UpdateStatic(float deltaTime)
+ {
+     if (mBody.get() == 0)
+         {
+             return;
+         }
+ 
+     Matrix matrix;
+     Matrix fwd;
+     Vector3f vec;
+     PrepareUpdate(matrix, fwd, vec);
+ 
+     mBody->SetRotation(matrix);
+ 
+     Vector3f bodyVel = mBody->GetVelocity() + (deltaTime * vec * STATIC_ACCELERATION);
+     bodyVel *= STATIC_VELOCITY_DECAY;
+ 
+     Vector3f velocity =
+         vec.y() * fwd.Up() +
+         vec.x() * fwd.Right() +
+         vec.z() * Vector3f(0,0,1);
+ 
+     matrix.Pos() = mBody->GetPosition() + velocity * bodyVel.Length();
+ 
+     mBody->SetPosition(matrix.Pos());
+     mBody->SetVelocity(velocity);
+ 
+     shared_ptr<BaseNode> bodyParent = shared_static_cast<BaseNode>
+         (make_shared(mBody->GetParent()));
+ 
+     if (bodyParent.get() != 0)
+         {
+             mBody->SynchronizeParent();
+             bodyParent->UpdateHierarchy();
+         }
+ 
+     mHAngleDelta = 0.0;
+     mVAngleDelta = 0.0;
  }
  
***************
*** 98,101 ****
--- 177,181 ----
  {
      mHAngle += delta;
+     mHAngleDelta += delta;
  }
  
***************
*** 103,106 ****
--- 183,187 ----
  {
      mVAngle += delta;
+     mVAngleDelta += delta;
  }
  
***************
*** 108,111 ****
--- 189,193 ----
  {
      mHAngle = angleDeg;
+     mHAngleDelta = 0.0;
  }
  
***************
*** 113,116 ****
--- 195,199 ----
  {
      mVAngle = angleDeg;
+     mVAngleDelta = 0.0;
  }

[simspark-cvs] simspark/spark/oxygen/sceneserver fpscontroller.h, 1.1.2.1, 1.1.2.1.2.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:02:50

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv28347

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


Index: fpscontroller.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/sceneserver/fpscontroller.h,v
retrieving revision 1.1.2.1
retrieving revision 1.1.2.1.2.1
diff -C2 -d -r1.1.2.1 -r1.1.2.1.2.1
*** fpscontroller.h	25 Feb 2007 16:27:45 -0000	1.1.2.1
--- fpscontroller.h	17 Jun 2007 08:02:47 -0000	1.1.2.1.2.1
***************
*** 80,84 ****
--- 80,100 ----
      float GetAcceleration() const;
  
+     /** updates the managed body statically, i.e. without using the
+         dynamics engine; this is useful to move an associated camera
+         when the simulation is paused
+     */
+     void UpdateStatic(float deltaTime);
+ 
+     /** returns true if a call to UpdateStatic will alter the state of
+         the managed body
+     */
+     bool NeedStaticUpdate() const;
+ 
  protected:
+     /** sets up the rotation matrix and directio vector used to update
+         the managed body
+     */
+     void PrepareUpdate(salt::Matrix& matrix, salt::Matrix& fwd, salt::Vector3f& vec);
+ 
      /** calculates and applies the force needed to perfom the
       * activated movements */
***************
*** 95,101 ****
--- 111,123 ----
      float   mHAngle;
  
+     /** applied horizontal delta since last update */
+     float   mHAngleDelta;
+ 
      /** the current vertical angle in degrees */
      float   mVAngle;
  
+     /** applied horizontal delta since last update */
+     float   mVAngleDelta;
+ 
      // event states

[simspark-cvs] simspark/spark/oxygen/sceneserver scenedict.cpp, NONE, 1.2.4.2

From: Oliver O. <fr...@us...> - 2007-06-17 08:01:49

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv27947

Added Files:
      Tag: projectx
	scenedict.cpp 
Log Message:
merge from HEAD


--- NEW FILE: scenedict.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: scenedict.cpp,v 1.2.4.2 2007/06/17 08:01:45 fruit Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include <oxygen/sceneserver/scenedict.h>

using namespace boost;
using namespace oxygen;
using namespace zeitgeist;

SceneDict::SceneDict()
{
}

SceneDict& SceneDict::GetInstance()
{
    static SceneDict theInstance;
    return theInstance;
}

const SceneDict::FileRef* SceneDict::Lookup(boost::weak_ptr<zeitgeist::Leaf> leaf)
{
    if (leaf.expired())
        {
            return 0;
        }

    TDictionary::const_iterator iter = mDictionary.find(leaf);
    if (iter == mDictionary.end())
        {
            return 0;
        }

    return &((*iter).second);
}

void SceneDict::Insert(boost::weak_ptr<zeitgeist::Leaf> leaf, const FileRef& ref)
{
    if (leaf.expired())
        {
            return;
        }

    mDictionary[leaf] = ref;
}

void SceneDict::Clear()
{
    mDictionary.clear();
}

[simspark-cvs] simspark/spark/oxygen/sceneserver scenedict.h, NONE, 1.2.4.2

From: Oliver O. <fr...@us...> - 2007-06-17 08:01:25

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv27919

Added Files:
      Tag: projectx
	scenedict.h 
Log Message:
merge from HEAD


--- NEW FILE: scenedict.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: scenedict.h,v 1.2.4.2 2007/06/17 08:01:21 fruit Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef OXYGEN_SCENEDICT_H
#define OXYGEN_SCENEDICT_H

#include <zeitgeist/leaf.h>
#include <map>

namespace oxygen
{

class SceneDict
{
public:
    struct FileRef
    {
    public:
        std::string fname;
        unsigned int line;

    public:
        FileRef(const std::string& f = std::string(), unsigned int l = 0)
            : fname(f), line(l)
        {
        }
    };

    typedef std::map<boost::weak_ptr<zeitgeist::Leaf>, FileRef> TDictionary;

public:
    static SceneDict& GetInstance();

    const FileRef* Lookup(boost::weak_ptr<zeitgeist::Leaf> leaf);
    void Insert(boost::weak_ptr<zeitgeist::Leaf> leaf, const FileRef& ref);
    void Clear();

private:
    SceneDict();

protected:
    TDictionary mDictionary;
};

} // namespace oxygen

#endif // OXYGEN_SCENEDICT_H

[simspark-cvs] simspark/spark/oxygen/sceneserver sceneimporter.h, 1.1, 1.1.4.1

From: Oliver O. <fr...@us...> - 2007-06-17 08:00:32

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv27863

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


Index: sceneimporter.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/sceneserver/sceneimporter.h,v
retrieving revision 1.1
retrieving revision 1.1.4.1
diff -C2 -d -r1.1 -r1.1.4.1
*** sceneimporter.h	5 Dec 2005 21:21:17 -0000	1.1
--- sceneimporter.h	17 Jun 2007 08:00:26 -0000	1.1.4.1
***************
*** 30,38 ****
  {
  class BaseNode;
  
  class SceneImporter : public zeitgeist::Leaf
  {
  public:
!     SceneImporter() : zeitgeist::Leaf() {}
      virtual ~SceneImporter() {};
  
--- 30,39 ----
  {
  class BaseNode;
+ class SceneDict;
  
  class SceneImporter : public zeitgeist::Leaf
  {
  public:
!     SceneImporter() : zeitgeist::Leaf(), mSceneDict(0) {}
      virtual ~SceneImporter() {};
  
***************
*** 46,49 ****
--- 47,57 ----
                              boost::shared_ptr<BaseNode> root,
                              boost::shared_ptr<zeitgeist::ParameterList> parameter) = 0;
+ 
+ 
+     /** sets up the reference to the SceneDict instance */
+     void SetSceneDict(SceneDict* dict) { mSceneDict = dict; }
+ 
+ protected:
+     SceneDict* mSceneDict;
  };

[simspark-cvs] simspark/spark/oxygen/sceneserver sceneserver.cpp, 1.2.2.1, 1.2.2.1.2.1

From: Oliver O. <fr...@us...> - 2007-06-17 07:58:42

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv27061

Modified Files:
      Tag: projectx
	sceneserver.cpp 
Log Message:
merge from HEAD


Index: sceneserver.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/sceneserver/sceneserver.cpp,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
*** sceneserver.cpp	16 Feb 2007 15:42:53 -0000	1.2.2.1
--- sceneserver.cpp	17 Jun 2007 07:58:25 -0000	1.2.2.1.2.1
***************
*** 30,33 ****
--- 30,34 ----
  #include "scene.h"
  #include "sceneimporter.h"
+ #include "scenedict.h"
  #include <oxygen/physicsserver/world.h>
  #include <oxygen/physicsserver/space.h>
***************
*** 215,218 ****
--- 216,221 ----
                  shared_static_cast<SceneImporter>(*iter);
  
+             importer->SetSceneDict(&SceneDict::GetInstance());
+ 
              GetLog()->Debug()
                  << "(SceneServer) trying importer " << importer->GetName() << std::endl;

[simspark-cvs] simspark/spark/oxygen/sceneserver transform.cpp, 1.2, 1.2.4.1

From: Oliver O. <fr...@us...> - 2007-06-17 07:57:29

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv26653

Modified Files:
      Tag: projectx
	transform.cpp 
Log Message:
merge from HEAD


Index: transform.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/sceneserver/transform.cpp,v
retrieving revision 1.2
retrieving revision 1.2.4.1
diff -C2 -d -r1.2 -r1.2.4.1
*** transform.cpp	18 Feb 2006 19:48:06 -0000	1.2
--- transform.cpp	17 Jun 2007 07:57:25 -0000	1.2.4.1
***************
*** 85,90 ****
      mOldLocalTransform = mLocalTransform;
  
!     mLocalTransform = transform;
!     parent->SetWorldTransform(mIdentityMatrix);
  }
  
--- 85,91 ----
      mOldLocalTransform = mLocalTransform;
  
!     mLocalTransform = (parent->GetWorldTransform());
!     mLocalTransform.InvertMatrix();
!     mLocalTransform = mLocalTransform * transform;
  }
  
***************
*** 98,101 ****
--- 99,107 ----
  }
  
+ const salt::Vector3f& Transform::GetLocalPos()
+ {
+     return mLocalTransform.Pos();
+ }
+ 
  void Transform::SetLocalRotationRad(const salt::Vector3f &rot)
  {

[simspark-cvs] simspark/spark/oxygen/sceneserver transform.h, 1.2, 1.2.4.1

From: Oliver O. <fr...@us...> - 2007-06-17 07:56:45

Update of /cvsroot/simspark/simspark/spark/oxygen/sceneserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv26261

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


Index: transform.h
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/sceneserver/transform.h,v
retrieving revision 1.2
retrieving revision 1.2.4.1
diff -C2 -d -r1.2 -r1.2.4.1
*** transform.h	18 Feb 2006 19:48:06 -0000	1.2
--- transform.h	17 Jun 2007 07:56:40 -0000	1.2.4.1
***************
*** 71,74 ****
--- 71,77 ----
      void SetLocalPos(const salt::Vector3f &pos);
  
+     /** returns the local position of this node */
+     const salt::Vector3f& GetLocalPos();
+ 
      /** sets the local rotation of this node in rad */
      void SetLocalRotationRad(const salt::Vector3f &rot);

[simspark-cvs] simspark/spark/oxygen/simulationserver simulationserver_c.cpp, 1.1.4.2, 1.1.4.3

From: Oliver O. <fr...@us...> - 2007-06-17 07:54:30

Update of /cvsroot/simspark/simspark/spark/oxygen/simulationserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv25480

Modified Files:
      Tag: projectx
	simulationserver_c.cpp 
Log Message:
merge from HEAD


Index: simulationserver_c.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/oxygen/simulationserver/simulationserver_c.cpp,v
retrieving revision 1.1.4.2
retrieving revision 1.1.4.3
diff -C2 -d -r1.1.4.2 -r1.1.4.3
*** simulationserver_c.cpp	1 Jun 2007 15:20:23 -0000	1.1.4.2
--- simulationserver_c.cpp	17 Jun 2007 07:54:26 -0000	1.1.4.3
***************
*** 55,58 ****
--- 55,64 ----
  }
  
+ FUNCTION(SimulationServer, resetTime)
+ {
+     obj->ResetTime();
+     return true;
+ }
+ 
  FUNCTION(SimulationServer, setSimStep)
  {
***************
*** 104,107 ****
--- 110,114 ----
      DEFINE_FUNCTION(initControlNode);
      DEFINE_FUNCTION(getTime);
+     DEFINE_FUNCTION(resetTime);
      DEFINE_FUNCTION(setSimStep);
      DEFINE_FUNCTION(getSimStep);

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