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,
|
