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From: <a-...@us...> - 2010-01-13 06:29:03
|
Revision: 141
http://simspark.svn.sourceforge.net/simspark/?rev=141&view=rev
Author: a-held
Date: 2010-01-13 06:28:54 +0000 (Wed, 13 Jan 2010)
Log Message:
-----------
Copy changes from r139 and r140 to branch
implemented bridge pattern for AngularMotor, started on ContactJointHandler
modified rcsoccersim3d script to also start the hello world agent
Modified Paths:
--------------
branches/multiphys/rcssserver3d/CMakeLists.txt
branches/multiphys/rcssserver3d/ChangeLog
branches/multiphys/rcssserver3d/RELEASE
branches/multiphys/rcssserver3d/data/models/leftgoal.obj
branches/multiphys/rcssserver3d/data/models/rightgoal.obj
branches/multiphys/rcssserver3d/rcssserver3d/CMakeLists.txt
branches/multiphys/rcssserver3d/rcssserver3d/main.cpp
branches/multiphys/spark/RELEASE
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.h
branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.h
branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/angularmotorint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/bodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp
branches/multiphys/spark/plugin/collisionperceptor/touchperceptorhandler.cpp
Added Paths:
-----------
branches/multiphys/rcssserver3d/rcssserver3d/
branches/multiphys/spark/lib/oxygen/physicsserver/int/contactjointhandlerint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeangularmotor.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeangularmotor.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecontactjointhandler.h
Removed Paths:
-------------
branches/multiphys/rcssserver3d/simspark/
Modified: branches/multiphys/rcssserver3d/CMakeLists.txt
===================================================================
--- branches/multiphys/rcssserver3d/CMakeLists.txt 2010-01-10 23:45:10 UTC (rev 140)
+++ branches/multiphys/rcssserver3d/CMakeLists.txt 2010-01-13 06:28:54 UTC (rev 141)
@@ -76,7 +76,7 @@
add_subdirectory(plugin)
add_subdirectory(rcssagent3d)
add_subdirectory(rcssmonitor3d)
-add_subdirectory(simspark)
+add_subdirectory(rcssserver3d)
########### install files ###############
Modified: branches/multiphys/rcssserver3d/ChangeLog
===================================================================
--- branches/multiphys/rcssserver3d/ChangeLog 2010-01-10 23:45:10 UTC (rev 140)
+++ branches/multiphys/rcssserver3d/ChangeLog 2010-01-13 06:28:54 UTC (rev 141)
@@ -1,3 +1,25 @@
+2010-01-11 Hedayat Vatankhah <he...@gr...>
+
+ * RELEASE:
+ - added some notes about the name change and also the new script
+ (rcsoccersim3d)
+
+ * CMakeLists.txt:
+ * rcssserver3d/main.cpp:
+ * rcssserver3d/CMakeLists.txt:
+ - renamed simspark -> rcssserver3d. creating a simspark symbolic link for
+ backward compatibility
+
+ * rcssserver3d/rcsoccersim3d.in:
+ - added rcsoccersim3d script to run both rcssserver3d (simspark) and
+ rcssmonitor3d, and terminate the simulator when the monitor stops
+
+2010-01-09 Hedayat Vatankhah <he...@gr...>
+
+ * data/models/leftgoal.obj:
+ * data/models/rightgoal.obj:
+ - fixed net visualization in the new models
+
2010-01-03 Hedayat Vatankhah <he...@gr...>
* data/models/leftgoal.obj:
Modified: branches/multiphys/rcssserver3d/RELEASE
===================================================================
--- branches/multiphys/rcssserver3d/RELEASE 2010-01-10 23:45:10 UTC (rev 140)
+++ branches/multiphys/rcssserver3d/RELEASE 2010-01-13 06:28:54 UTC (rev 141)
@@ -1,7 +1,10 @@
RELEASE News of rcssserver3d-0.6.3 (In progress)
* Most notable changes:
- - No internal monitor by default. Run rcssmonitor3d separately to see the game.
+ - Name change: simspark -> rcssserver3d. To make the functionality more clear.
+ - No internal monitor by default. Run rcssmonitor3d separately to see the game.
+ As another option, you might run rcsoccersim3d which runs both
+ rcssserver3d (simspark) and rcssmonitor3d on the local machine.
- Added HMDP effector/perceptor
- Some compilation fixes
- Improved Windows support
Modified: branches/multiphys/rcssserver3d/data/models/leftgoal.obj
===================================================================
--- branches/multiphys/rcssserver3d/data/models/leftgoal.obj 2010-01-10 23:45:10 UTC (rev 140)
+++ branches/multiphys/rcssserver3d/data/models/leftgoal.obj 2010-01-13 06:28:54 UTC (rev 141)
@@ -1,235 +1,247 @@
# Blender3D v249 OBJ File:
# www.blender3d.org
mtllib leftgoal.mtl
-o leftgoal
+o Cylinder
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usemtl grey_naogoalnet.png
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Modified: branches/multiphys/rcssserver3d/data/models/rightgoal.obj
===================================================================
--- branches/multiphys/rcssserver3d/data/models/rightgoal.obj 2010-01-10 23:45:10 UTC (rev 140)
+++ branches/multiphys/rcssserver3d/data/models/rightgoal.obj 2010-01-13 06:28:54 UTC (rev 141)
@@ -1,235 +1,247 @@
# Blender3D v249 OBJ File:
# www.blender3d.org
mtllib rightgoal.mtl
-o rightgoal
+o Cylinder
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+f 4/1/8 34/2/8 32/3/8
+f 1/1/1 33/2/1 35/3/1
+f 4...
[truncated message content] |
|
From: <he...@us...> - 2010-01-10 23:45:17
|
Revision: 140
http://simspark.svn.sourceforge.net/simspark/?rev=140&view=rev
Author: hedayat
Date: 2010-01-10 23:45:10 +0000 (Sun, 10 Jan 2010)
Log Message:
-----------
Add a new script: rcsoccersim3d to run both a server and a monitor, and shut down the server when monitor quits
renamed simspark to rcssserver3d
Updates release notes
Modified Paths:
--------------
trunk/rcssserver3d/CMakeLists.txt
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/RELEASE
trunk/rcssserver3d/rcssserver3d/CMakeLists.txt
trunk/rcssserver3d/rcssserver3d/main.cpp
Added Paths:
-----------
trunk/rcssserver3d/rcssserver3d/
trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
trunk/rcssserver3d/rcssserver3d/rcsoccersim3d.in
Removed Paths:
-------------
trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
trunk/rcssserver3d/simspark/
Modified: trunk/rcssserver3d/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/CMakeLists.txt 2010-01-10 09:14:25 UTC (rev 139)
+++ trunk/rcssserver3d/CMakeLists.txt 2010-01-10 23:45:10 UTC (rev 140)
@@ -76,7 +76,7 @@
add_subdirectory(plugin)
add_subdirectory(rcssagent3d)
add_subdirectory(rcssmonitor3d)
-add_subdirectory(simspark)
+add_subdirectory(rcssserver3d)
########### install files ###############
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2010-01-10 09:14:25 UTC (rev 139)
+++ trunk/rcssserver3d/ChangeLog 2010-01-10 23:45:10 UTC (rev 140)
@@ -1,3 +1,19 @@
+2010-01-11 Hedayat Vatankhah <he...@gr...>
+
+ * RELEASE:
+ - added some notes about the name change and also the new script
+ (rcsoccersim3d)
+
+ * CMakeLists.txt:
+ * rcssserver3d/main.cpp:
+ * rcssserver3d/CMakeLists.txt:
+ - renamed simspark -> rcssserver3d. creating a simspark symbolic link for
+ backward compatibility
+
+ * rcssserver3d/rcsoccersim3d.in:
+ - added rcsoccersim3d script to run both rcssserver3d (simspark) and
+ rcssmonitor3d, and terminate the simulator when the monitor stops
+
2010-01-09 Hedayat Vatankhah <he...@gr...>
* data/models/leftgoal.obj:
Modified: trunk/rcssserver3d/RELEASE
===================================================================
--- trunk/rcssserver3d/RELEASE 2010-01-10 09:14:25 UTC (rev 139)
+++ trunk/rcssserver3d/RELEASE 2010-01-10 23:45:10 UTC (rev 140)
@@ -1,7 +1,10 @@
RELEASE News of rcssserver3d-0.6.3 (In progress)
* Most notable changes:
- - No internal monitor by default. Run rcssmonitor3d separately to see the game.
+ - Name change: simspark -> rcssserver3d. To make the functionality more clear.
+ - No internal monitor by default. Run rcssmonitor3d separately to see the game.
+ As another option, you might run rcsoccersim3d which runs both
+ rcssserver3d (simspark) and rcssmonitor3d on the local machine.
- Added HMDP effector/perceptor
- Some compilation fixes
- Improved Windows support
Modified: trunk/rcssserver3d/rcssserver3d/CMakeLists.txt
===================================================================
--- trunk/rcssserver3d/simspark/CMakeLists.txt 2009-12-18 13:01:31 UTC (rev 126)
+++ trunk/rcssserver3d/rcssserver3d/CMakeLists.txt 2010-01-10 23:45:10 UTC (rev 140)
@@ -1,10 +1,10 @@
########### next target ###############
-set(simspark_SRCS
+set(rcssserver3d_SRCS
main.cpp
)
-add_executable(simspark ${simspark_SRCS})
+add_executable(rcssserver3d ${rcssserver3d_SRCS})
if (APPLE)
set(SDL_LINK_LIBS ${SDLMAIN_LIBRARY} ${SDL_LIBRARY_TEMP})
@@ -12,16 +12,27 @@
include_directories(${SDL_INCLUDE_DIR})
-target_link_libraries(simspark ${SPARK_LIBRARIES} ${SALT_LIBRARIES}
+target_link_libraries(rcssserver3d ${SPARK_LIBRARIES} ${SALT_LIBRARIES}
${ZEITGEIST_LIBRARIES} ${OXYGEN_LIBRARIES} ${KEROSIN_LIBRARIES}
${SDL_LINK_LIBS} ${RCSSNET3D_LIBRARY})
-set_target_properties(simspark PROPERTIES INSTALL_RPATH "${RPATH_DIRECTORIES}")
-install(TARGETS simspark DESTINATION ${BINDIR})
+set_target_properties(rcssserver3d PROPERTIES INSTALL_RPATH "${RPATH_DIRECTORIES}")
+install(TARGETS rcssserver3d DESTINATION ${BINDIR})
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/rcsoccersim3d.in
+ ${CMAKE_CURRENT_BINARY_DIR}/rcsoccersim3d)
+execute_process(COMMAND ${CMAKE_COMMAND} -E create_symlink
+ ${CMAKE_INSTALL_PREFIX}/${BINDIR}/rcssserver3d
+ ${CMAKE_CURRENT_BINARY_DIR}/simspark)
+
########### install files ###############
install(FILES simspark.rb soccersim.rb naosoccersim.rb
internalsoccermonitor.rb internalsoccerbindings.rb
DESTINATION ${DATADIR}/${CMAKE_PROJECT_NAME})
+
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/rcsoccersim3d
+ ${CMAKE_CURRENT_BINARY_DIR}/simspark DESTINATION ${BINDIR}
+ PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ
+ GROUP_EXECUTE GROUP_READ WORLD_READ WORLD_EXECUTE)
Modified: trunk/rcssserver3d/rcssserver3d/main.cpp
===================================================================
--- trunk/rcssserver3d/simspark/main.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ trunk/rcssserver3d/rcssserver3d/main.cpp 2010-01-10 23:45:10 UTC (rev 140)
@@ -69,7 +69,7 @@
void SimSpark::PrintGreeting()
{
GetLog()->Normal()
- << "simspark, a monolithic simulator 0.6.1\n"
+ << "rcssserver3d (formerly simspark), a monolithic simulator 0.6.1\n"
<< "Copyright (C) 2004 Markus Rollmann, \n"
<< "Universität Koblenz.\n"
<< "Copyright (C) 2004-2009, "
@@ -80,7 +80,7 @@
void SimSpark::PrintHelp()
{
GetLog()->Normal()
- << "\nusage: simspark [options] [script]\n"
+ << "\nusage: rcssserver3d [options] [script]\n"
<< "\noptions:\n"
<< " --help\t\t\t print this message.\n"
<< " --script-path PATH\t set the script path (simspark.rb path).\n"
Deleted: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/simspark/naosoccersim.rb 2009-12-18 13:01:31 UTC (rev 126)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2010-01-10 23:45:10 UTC (rev 140)
@@ -1,103 +0,0 @@
-#
-# prepare soccer simulation
-#
-
-# setup soccer specific materials
-# run "scripts/rcs-materials.rb"
-if ($enableInternalMonitor)
- run "scripts/rcs-materials-textures.rb"
-
- material = sparkCreate('kerosin/Material2DTexture', $serverPath+'material/matGrass');
- material.setDiffuse(1.0,1.0,1.0,1.0)
- material.setAmbient(0.5,0.5,0.5,1.0)
- material.setDiffuseTexture('textures/rcs-naofield.png')
-end
-
-importBundle "soccer"
-
-# soccer namespace
-$soccerNameSpace = "Soccer"
-
-# register a variable in the soccer namespace
-def addSoccerVar(name, value)
- createVariable($soccerNameSpace, name, value)
-end
-
-# helper to get the value of a variable in the soccer namespace
-def getSoccerVar(name)
- eval <<-EOS
- #{$soccerNameSpace}.#{name}
- EOS
-end
-
-# set a random seed (a seed of 0 means: use a random random seed)
-randomServer = get($serverPath+'random')
-if (randomServer != nil)
- randomServer.seed(0)
-end
-
-# the soccer field dimensions in meters
-addSoccerVar('FieldLength', 12.0)
-addSoccerVar('FieldWidth', 8.0)
-addSoccerVar('FieldHeight', 40.0)
-addSoccerVar('GoalWidth', 1.4)
-addSoccerVar('GoalDepth', 0.4)
-addSoccerVar('GoalHeight', 0.8)
-addSoccerVar('PenaltyLength',1.2)
-addSoccerVar('PenaltyWidth',2.6)
-addSoccerVar('FreeKickDistance', 1.3)
-addSoccerVar('FreeKickMoveDist', 1.5)
-addSoccerVar('GoalKickDist', 1.0)
-addSoccerVar('AutomaticKickOff', false)
-addSoccerVar('WaitBeforeKickOff', 2.0)
-
-# agent parameters
-addSoccerVar('AgentRadius', 0.4)
-
-# ball parameters
-addSoccerVar('BallRadius', 0.042)
-addSoccerVar('BallMass',0.026)
-
-# soccer rule parameters
-addSoccerVar('RuleGoalPauseTime',3.0)
-addSoccerVar('RuleKickInPauseTime',1.0)
-addSoccerVar('RuleHalfTime',5.0 * 60)
-addSoccerVar('RuleDropBallTime',30)
-addSoccerVar('SingleHalfTime', false)
-addSoccerVar('UseOffside',false)
-
-# recorders
-addSoccerVar('BallRecorder',"Ball/geometry/recorder")
-addSoccerVar('LeftGoalRecorder',"leftgoal/GoalBox/BoxCollider/recorder")
-addSoccerVar('RightGoalRecorder',"rightgoal/GoalBox/BoxCollider/recorder")
-
-# textures
-createVariable('Nao', 'UseTexture', 'true')
-
-scene = get($scenePath)
-if (scene != nil)
- scene.importScene('rsg/agent/nao/soccer.rsg')
-end
-
-# setup the GameControlServer
-gameControlServer = get($serverPath+'gamecontrol')
-if (gameControlServer != nil)
- gameControlServer.initControlAspect('GameStateAspect')
- gameControlServer.initControlAspect('BallStateAspect')
- gameControlServer.initControlAspect('SoccerRuleAspect')
- obj = get('/sys/server/gamecontrol/GameStateAspect')
- if (obj != nil)
- obj.setTime(0)
- obj.setScores(0,0)
- end
-end
-
-# init monitorItems to transmit game state information
-monitorServer = get($serverPath+'monitor')
-if (monitorServer != nil)
- monitorServer.registerMonitorItem('GameStateItem')
-end
-
-# install the TrainerCommandParser to parse commands received from a
-# monitor client
-sparkRegisterMonitorCmdParser 'TrainerCommandParser'
Copied: trunk/rcssserver3d/rcssserver3d/naosoccersim.rb (from rev 130, trunk/rcssserver3d/simspark/naosoccersim.rb)
===================================================================
--- trunk/rcssserver3d/rcssserver3d/naosoccersim.rb (rev 0)
+++ trunk/rcssserver3d/rcssserver3d/naosoccersim.rb 2010-01-10 23:45:10 UTC (rev 140)
@@ -0,0 +1,103 @@
+#
+# prepare soccer simulation
+#
+
+# setup soccer specific materials
+# run "scripts/rcs-materials.rb"
+if ($enableInternalMonitor)
+ run "scripts/rcs-materials-textures.rb"
+
+ material = sparkCreate('kerosin/Material2DTexture', $serverPath+'material/matGrass');
+ material.setDiffuse(1.0,1.0,1.0,1.0)
+ material.setAmbient(0.5,0.5,0.5,1.0)
+ material.setDiffuseTexture('textures/rcs-naofield.png')
+end
+
+importBundle "soccer"
+
+# soccer namespace
+$soccerNameSpace = "Soccer"
+
+# register a variable in the soccer namespace
+def addSoccerVar(name, value)
+ createVariable($soccerNameSpace, name, value)
+end
+
+# helper to get the value of a variable in the soccer namespace
+def getSoccerVar(name)
+ eval <<-EOS
+ #{$soccerNameSpace}.#{name}
+ EOS
+end
+
+# set a random seed (a seed of 0 means: use a random random seed)
+randomServer = get($serverPath+'random')
+if (randomServer != nil)
+ randomServer.seed(0)
+end
+
+# the soccer field dimensions in meters
+addSoccerVar('FieldLength', 18.0)
+addSoccerVar('FieldWidth', 12.0)
+addSoccerVar('FieldHeight', 40.0)
+addSoccerVar('GoalWidth', 2.1)
+addSoccerVar('GoalDepth', 0.6)
+addSoccerVar('GoalHeight', 0.8)
+addSoccerVar('PenaltyLength',1.8)
+addSoccerVar('PenaltyWidth',3.9)
+addSoccerVar('FreeKickDistance', 1.3)
+addSoccerVar('FreeKickMoveDist', 1.5)
+addSoccerVar('GoalKickDist', 1.0)
+addSoccerVar('AutomaticKickOff', false)
+addSoccerVar('WaitBeforeKickOff', 2.0)
+
+# agent parameters
+addSoccerVar('AgentRadius', 0.4)
+
+# ball parameters
+addSoccerVar('BallRadius', 0.042)
+addSoccerVar('BallMass',0.026)
+
+# soccer rule parameters
+addSoccerVar('RuleGoalPauseTime',3.0)
+addSoccerVar('RuleKickInPauseTime',1.0)
+addSoccerVar('RuleHalfTime',5.0 * 60)
+addSoccerVar('RuleDropBallTime',30)
+addSoccerVar('SingleHalfTime', false)
+addSoccerVar('UseOffside',false)
+
+# recorders
+addSoccerVar('BallRecorder',"Ball/geometry/recorder")
+addSoccerVar('LeftGoalRecorder',"leftgoal/GoalBox/BoxCollider/recorder")
+addSoccerVar('RightGoalRecorder',"rightgoal/GoalBox/BoxCollider/recorder")
+
+# textures
+createVariable('Nao', 'UseTexture', 'true')
+
+scene = get($scenePath)
+if (scene != nil)
+ scene.importScene('rsg/agent/nao/soccer.rsg')
+end
+
+# setup the GameControlServer
+gameControlServer = get($serverPath+'gamecontrol')
+if (gameControlServer != nil)
+ gameControlServer.initControlAspect('GameStateAspect')
+ gameControlServer.initControlAspect('BallStateAspect')
+ gameControlServer.initControlAspect('SoccerRuleAspect')
+ obj = get('/sys/server/gamecontrol/GameStateAspect')
+ if (obj != nil)
+ obj.setTime(0)
+ obj.setScores(0,0)
+ end
+end
+
+# init monitorItems to transmit game state information
+monitorServer = get($serverPath+'monitor')
+if (monitorServer != nil)
+ monitorServer.registerMonitorItem('GameStateItem')
+end
+
+# install the TrainerCommandParser to parse commands received from a
+# monitor client
+sparkRegisterMonitorCmdParser 'TrainerCommandParser'
Added: trunk/rcssserver3d/rcssserver3d/rcsoccersim3d.in
===================================================================
--- trunk/rcssserver3d/rcssserver3d/rcsoccersim3d.in (rev 0)
+++ trunk/rcssserver3d/rcssserver3d/rcsoccersim3d.in 2010-01-10 23:45:10 UTC (rev 140)
@@ -0,0 +1,65 @@
+#! /bin/sh
+
+bindir="@CMAKE_INSTALL_PREFIX@/@BINDIR@"
+libdir="@CMAKE_INSTALL_PREFIX@/@LIBDIR@"
+
+LIBPATH="$libdir/simspark:$libdir/rcssserver3d"
+if [ x"$LIBPATH" != x ] ; then
+ if [ x"$LD_LIBRARY_PATH" = x ] ; then
+ LD_LIBRARY_PATH=$LIBPATH
+ else
+ LD_LIBRARY_PATH=$LIBPATH:$LD_LIBRARY_PATH
+ fi
+ export LD_LIBRARY_PATH
+fi
+
+#--------------------------------------------------
+# option
+#
+
+SERV="$bindir/rcssserver3d"
+if [ ! -f $SERV ]; then
+ echo "Error: $SERV does not exist!"
+ echo ""
+ exit 1
+fi
+
+MON="$bindir/rcssmonitor3d"
+if [ ! -f $MON ]; then
+ echo "Error: $MON does not exist!"
+ echo ""
+ exit 1
+fi
+
+#--------------------------------------------------
+# set handler
+#
+
+trap kill_server INT
+
+#--------------------------------------------------
+# start server
+#
+
+$SERV &
+PID=$!
+
+#--------------------------------------------------
+# kill server
+#
+kill_server()
+{
+ kill -s INT $PID
+ echo ""
+ exit 0
+}
+
+#--------------------------------------------------
+# start monitor
+#
+
+sleep 2
+
+$MON
+
+kill_server
Property changes on: trunk/rcssserver3d/rcssserver3d/rcsoccersim3d.in
___________________________________________________________________
Added: svn:executable
+ *
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2010-01-10 09:14:41
|
Revision: 139
http://simspark.svn.sourceforge.net/simspark/?rev=139&view=rev
Author: hedayat
Date: 2010-01-10 09:14:25 +0000 (Sun, 10 Jan 2010)
Log Message:
-----------
Fixed goal net visualization introduced in the previous commit
A small fix in the release notes
remove eclipse project files from rsgedit which was accidently committed
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/data/models/leftgoal.obj
trunk/rcssserver3d/data/models/rightgoal.obj
trunk/spark/RELEASE
Removed Paths:
-------------
trunk/rsgedit/.cproject
trunk/rsgedit/.project
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2010-01-08 07:35:25 UTC (rev 138)
+++ trunk/rcssserver3d/ChangeLog 2010-01-10 09:14:25 UTC (rev 139)
@@ -1,3 +1,9 @@
+2010-01-09 Hedayat Vatankhah <he...@gr...>
+
+ * data/models/leftgoal.obj:
+ * data/models/rightgoal.obj:
+ - fixed net visualization in the new models
+
2010-01-03 Hedayat Vatankhah <he...@gr...>
* data/models/leftgoal.obj:
Modified: trunk/rcssserver3d/data/models/leftgoal.obj
===================================================================
--- trunk/rcssserver3d/data/models/leftgoal.obj 2010-01-08 07:35:25 UTC (rev 138)
+++ trunk/rcssserver3d/data/models/leftgoal.obj 2010-01-10 09:14:25 UTC (rev 139)
@@ -1,235 +1,247 @@
# Blender3D v249 OBJ File:
# www.blender3d.org
mtllib leftgoal.mtl
-o leftgoal
+o Cylinder
+v -0.466661 -0.000000 -0.006727
+v -0.435928 0.000000 0.031272
+v -0.439036 0.000000 0.048194
+v 0.469231 0.001554 -0.881690
+v 0.467925 1.000000 -0.096621
+v 0.467925 0.000247 -0.096621
+v -0.463784 0.001554 -0.895139
+v -0.465090 0.000247 -0.110069
+v -0.465090 1.000000 -0.110069
+v -0.463784 0.001554 -0.895139
+v -0.465090 1.000000 -0.110069
+v -0.465090 0.000247 -0.110069
+v 0.469231 0.001554 -0.881690
+v 0.467925 0.000247 -0.096621
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Modified: trunk/rcssserver3d/data/models/rightgoal.obj
===================================================================
--- trunk/rcssserver3d/data/models/rightgoal.obj 2010-01-08 07:35:25 UTC (rev 138)
+++ trunk/rcssserver3d/data/models/rightgoal.obj 2010-01-10 09:14:25 UTC (rev 139)
@@ -1,235 +1,247 @@
# Blender3D v249 OBJ File:
# www.blender3d.org
mtllib rightgoal.mtl
-o rightgoal
+o Cylinder
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usemtl grey_naogoalnet.png
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[truncated message content] |
|
From: <a-...@us...> - 2010-01-08 07:35:37
|
Revision: 138
http://simspark.svn.sourceforge.net/simspark/?rev=138&view=rev
Author: a-held
Date: 2010-01-08 07:35:25 +0000 (Fri, 08 Jan 2010)
Log Message:
-----------
Implemented bridge pattern for Joint superclass
Created separate file for engine-specific static methods
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.h
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/staticphysicsmethods.h
branches/multiphys/spark/lib/oxygen/physicsserver/staticphysicsmethods_ode.cpp
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2010-01-08 07:35:25 UTC (rev 138)
@@ -39,6 +39,7 @@
physicsserver/recorderhandler.h
physicsserver/space.h
physicsserver/spherecollider.h
+ physicsserver/staticphysicsmethods.h
physicsserver/transformcollider.h
physicsserver/world.h
physicsserver/dragcontroller.h
@@ -89,6 +90,7 @@
physicsserver/int/worldint.h
#ode-specific files
+ physicsserver/staticphysicsmethods_ode.cpp
physicsserver/ode/odeballjoint.h
physicsserver/ode/odebody.h
physicsserver/ode/odeboxcollider.h
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -77,15 +77,12 @@
return GetLocalPos(pos);
}
-void BallJoint::SetParameter(int /*parameter*/, float /*value*/)
-{
- GetLog()->Error() <<
- "(BallJoint) WARNING: SetParameter function undefined for BallJoint, ignored\n";
+void BallJoint::SetParameter(int parameter, float value){
+ GetLog()->Warning()
+ << "(BallJoint) WARNING: SetParameter undefined for BallJoint, call ignored";
}
-float BallJoint::GetParameter(int /*parameter*/) const
-{
- GetLog()->Error() <<
- "(BallJoint) WARNING: GetParameter function undefined for BallJoint, returned zero\n";
- return 0;
+float BallJoint::GetParameter(int parameter) const{
+ GetLog()->Warning()
+ << "(BallJoint) WARNING: SetParameter undefined for BallJoint, call ignored";
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -44,16 +44,16 @@
anchor point will be the same for both bodies.
*/
salt::Vector3f GetAnchor(EBodyIndex idx);
+
+ /** sets a joint parameter value */
+ virtual void SetParameter(int parameter, float value);
+ /** returns a joint parameter value */
+ virtual float GetParameter(int parameter) const;
+
protected:
/** creates a new contact joint */
virtual void OnLink();
-
- /** sets a joint parameter value */
- virtual void SetParameter(int parameter, float value);
-
- /** returns a joint parameter value */
- virtual float GetParameter(int parameter) const;
private:
boost::shared_ptr<BallJointInt> mBallJointImp;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -23,6 +23,7 @@
#include <oxygen/physicsserver/ode/odecollider.h>
#include <oxygen/physicsserver/collisionhandler.h>
#include <oxygen/physicsserver/space.h>
+#include <oxygen/physicsserver/staticphysicsmethods.h>
#include <oxygen/physicsserver/transformcollider.h>
#include <oxygen/physicsserver/rigidbody.h>
#include <oxygen/sceneserver/scene.h>
@@ -163,7 +164,7 @@
}
Collider* collPtr =
- ColliderInt::GetColliderPointer(geomID);
+ StaticPhysicsMethods::GetColliderPointer(geomID);
if (collPtr == 0)
{
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -37,6 +37,7 @@
class OXYGEN_API GenericPhysicsMatrix{};
class OXYGEN_API GenericContact{};
class OXYGEN_API GenericMass{};
+class OXYGEN_API GenericJointFeedback{};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -113,13 +113,3 @@
return 0;
}
}
-
-void Hinge2Joint::SetParameter(int parameter, float value)
-{
- mHinge2JointImp->SetParameter(parameter, value, mJointID);
-}
-
-float Hinge2Joint::GetParameter(int parameter) const
-{
- return mHinge2JointImp->GetParameter(parameter, mJointID);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -57,12 +57,6 @@
protected:
/** creates a new hinge2 joint */
virtual void OnLink();
-
- /** sets a joint parameter value */
- virtual void SetParameter(int parameter, float value);
-
- /** returns a joint parameter value */
- virtual float GetParameter(int parameter) const;
private:
boost::shared_ptr<Hinge2JointInt> mHinge2JointImp;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -125,12 +125,6 @@
return mHingeJointImp->GetAngleRate(mJointID);
}
-void HingeJoint::SetParameter(int parameter, float value)
-{
- mHingeJointImp->SetParameter(parameter, value, mJointID);
+void HingeJoint::SetParameter(int parameter, float value){
+ mJointImp->SetParameter(parameter, value, mJointID);
}
-
-float HingeJoint::GetParameter(int parameter) const
-{
- return mHingeJointImp->GetParameter(parameter, mJointID);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -68,13 +68,10 @@
/** returns the time derivate of the hinge angle */
float GetAngleRate() const;
+
+ /** Sets a parameter value of this joint*/
+ void SetParameter(int parameter, float value);
- /** sets a joint parameter value */
- virtual void SetParameter(int parameter, float value);
-
- /** returns a joint parameter value */
- virtual float GetParameter(int parameter) const;
-
protected:
/** creates a new hingejoint joint */
virtual void OnLink();
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -48,15 +48,6 @@
virtual void SetSpace(long spaceID, long geomID, Collider* collider) = 0;
virtual void SetBody(long bodyID, long geomID) = 0;
virtual void RemoveFromSpace(long geomID, long spaceID) = 0;
-
- // Here, we have to cheat with the preprocessor, since a static method
- // is required, and the bridge pattern requires member variables to
- // be used (so we cannot use the bridge pattern)
- static Collider* GetColliderPointer(long geomID){
- #ifdef OXYGEN_ODEWRAPPER_H
- return static_cast<Collider*>(dGeomGetData( (dGeomID) geomID));
- #endif
- }
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -38,8 +38,6 @@
virtual float GetAngle(long jointID) = 0;
virtual float GetAngleRate1(long jointID) = 0;
virtual float GetAngleRate2(long jointID) = 0;
- virtual void SetParameter(int parameter, float value, long jointID) = 0;
- virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -36,8 +36,6 @@
virtual salt::Vector3f GetAxis(long jointID) = 0;
virtual float GetAngle(long jointID) const = 0;
virtual float GetAngleRate(long jointID) const = 0;
- virtual void SetParameter(int parameter, float value, long jointID) = 0;
- virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -23,6 +23,7 @@
#ifndef OXYGEN_JOINTINT_H
#define OXYGEN_JOINTINT_H
+#include <oxygen/physicsserver/genericphysicsobjects.h>
#include <oxygen/physicsserver/ode/odewrapper.h>
#include <boost/smart_ptr/shared_ptr.hpp>
#include <salt/vector.h>
@@ -36,89 +37,47 @@
class OXYGEN_API JointInt
{
-public:
- enum EBodyIndex
- {
- BI_FIRST = 0,
- BI_SECOND = 1
- };
-
- enum EAxisIndex
- {
- AI_FIRST = 0,
- AI_SECOND = 1,
- AI_THIRD = 2
- };
-
- static Joint* GetJoint(long jointID){
+public:
- }
-
- static bool AreConnected(boost::shared_ptr<RigidBody> body1,
- boost::shared_ptr<RigidBody> body2){
-
- }
-
- static bool AreConnectedExcluding(boost::shared_ptr<RigidBody> body1,
- boost::shared_ptr<RigidBody> body2,
- int joint_type){
-
- }
-
- virtual void DestroyJoint() = 0;
- virtual void Attach(boost::shared_ptr<RigidBody> body1,
- boost::shared_ptr<RigidBody> body2) = 0;
- virtual void Attach(const std::string& path1, const std::string& path2) = 0;
- virtual int GetType() const = 0;
- virtual boost::shared_ptr<RigidBody> GetBody(EBodyIndex idx) = 0;
- virtual void EnableFeedback(bool enable) = 0;
- virtual bool FeedbackEnabled() const = 0;
- virtual salt::Vector3f GetFeedbackForce(EBodyIndex idx) const = 0;
- virtual salt::Vector3f GetFeedbackTorque(EBodyIndex idx) const = 0;
- virtual void SetFudgeFactor(EAxisIndex idx, float fudge_factor) = 0;
- virtual float GetFudgeFactor(EAxisIndex idx) const = 0;
- virtual void SetBounce(EAxisIndex idx, float bounce) = 0;
- virtual float GetBounce(EAxisIndex idx) const = 0;
- virtual void SetLowStopDeg(EAxisIndex idx, float deg) = 0;
- virtual float GetLowStopDeg(EAxisIndex idx) const = 0;
- virtual void SetHighStopDeg(EAxisIndex idx, float deg) = 0;
- virtual float GetHighStopDeg(EAxisIndex idx) const = 0;
- virtual void SetLowStopPos(EAxisIndex idx, float deg) = 0;
- virtual float GetLowStopPos(EAxisIndex idx) const = 0;
- virtual void SetHighStopPos(EAxisIndex idx, float deg) = 0;
- virtual float GetHighStopPos(EAxisIndex idx) const = 0;
- virtual void SetCFM(EAxisIndex idx, float cfm) = 0;
- virtual float GetCFM(EAxisIndex idx) const = 0;
- virtual void SetStopCFM(EAxisIndex idx, float cfm) = 0;
- virtual float GetStopCFM(EAxisIndex idx) const = 0;
- virtual void SetStopERP(EAxisIndex idx, float erp) = 0;
- virtual float GetStopERP(EAxisIndex idx) const = 0;
- virtual void SetSuspensionERP(EAxisIndex idx, float erp) = 0;
- virtual float GetSuspensionERP(EAxisIndex idx) const = 0;
- virtual void SetSuspensionCFM(EAxisIndex idx, float cfm) = 0;
- virtual float GetSuspensionCFM(EAxisIndex idx) const = 0;
- virtual void SetLinearMotorVelocity(EAxisIndex idx, float vel) = 0;
- virtual float GetLinearMotorVelocity(EAxisIndex idx) const = 0;
- virtual void SetAngularMotorVelocity(EAxisIndex idx, float deg) = 0;
- virtual float GetAngularMotorVelocity(EAxisIndex idx) const = 0;
- virtual void SetMaxMotorForce(EAxisIndex idx, float f) = 0;
- virtual float GetMaxMotorForce(EAxisIndex idx) const = 0;
- virtual void SetParameter(int parameter, float value) = 0;
- virtual float GetParameter(int parameter) const = 0;
- virtual void SetJointMaxSpeed1(float rad) = 0;
- virtual void SetJointMaxSpeed2(float rad) = 0;
- virtual float GetJointMaxSpeed1() const = 0;
- virtual float GetJointMaxSpeed2() const = 0;
- virtual bool IsLimitJointMaxSpeed1() const = 0;
- virtual bool IsLimitJointMaxSpeed2() const = 0;
- virtual void OnLink() = 0;
-
-protected:
- boost::shared_ptr<dJointFeedback> mFeedback;
- float mJointMaxSpeed1;
- bool mIsLimitJointMaxSpeed1;
- float mJointMaxSpeed2;
- bool mIsLimitJointMaxSpeed2;
+ virtual void DestroyJoint(long jointID) = 0;
+ virtual void Attach(long bodyID1, long bodiID2, long jointID) = 0;
+ virtual int GetType(long jointID) const = 0;
+ virtual long GetBodyID(int idx, long jointID) = 0;
+ virtual void EnableFeedback(bool enable, long jointID) = 0;
+ virtual bool FeedbackEnabled(long jointID) const = 0;
+ virtual salt::Vector3f GetFeedbackForce(int idx) const = 0;
+ virtual salt::Vector3f GetFeedbackTorque(int idx) const = 0;
+ virtual void SetFudgeFactor(int idx, float fudge_factor, long jointID) = 0;
+ virtual float GetFudgeFactor(int idx, long jointID) const = 0;
+ virtual void SetBounce(int idx, float bounce, long jointID) = 0;
+ virtual float GetBounce(int idx, long jointID) const = 0;
+ virtual void SetLowStopDeg(int idx, float deg, long jointID) = 0;
+ virtual float GetLowStopDeg(int idx, long jointID) const = 0;
+ virtual void SetHighStopDeg(int idx, float deg, long jointID) = 0;
+ virtual float GetHighStopDeg(int idx, long jointID) const = 0;
+ virtual void SetLowStopPos(int idx, float deg, long jointID) = 0;
+ virtual float GetLowStopPos(int idx, long jointID) const = 0;
+ virtual void SetHighStopPos(int idx, float deg, long jointID) = 0;
+ virtual float GetHighStopPos(int idx, long jointID) const = 0;
+ virtual void SetCFM(int idx, float cfm, long jointID) = 0;
+ virtual float GetCFM(int idx, long jointID) const = 0;
+ virtual void SetStopCFM(int idx, float cfm, long jointID) = 0;
+ virtual float GetStopCFM(int idx, long jointID) const = 0;
+ virtual void SetStopERP(int idx, float erp, long jointID) = 0;
+ virtual float GetStopERP(int idx, long jointID) const = 0;
+ virtual void SetSuspensionERP(int idx, float erp, long jointID) = 0;
+ virtual float GetSuspensionERP(int idx, long jointID) const = 0;
+ virtual void SetSuspensionCFM(int idx, float cfm, long jointID) = 0;
+ virtual float GetSuspensionCFM(int idx, long jointID) const = 0;
+ virtual void SetLinearMotorVelocity(int idx, float vel, long jointID) = 0;
+ virtual float GetLinearMotorVelocity(int idx, long jointID) const = 0;
+ virtual void SetAngularMotorVelocity(int idx, float deg, long jointID) = 0;
+ virtual float GetAngularMotorVelocity(int idx, long jointID) const = 0;
+ virtual void SetMaxMotorForce(int idx, float f, long jointID) = 0;
+ virtual float GetMaxMotorForce(int idx, long jointID) const = 0;
+ virtual void SetParameter(int parameter, float value, long jointID) = 0;
+ virtual float GetParameter(int parameter, long jointID) const = 0;
+ virtual void OnLink(long jointID, Joint* joint) = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -81,17 +81,7 @@
virtual void DestroyPhysicsObject(long bodyID) = 0;
virtual salt::Matrix GetSynchronisationMatrix(long bodyID) = 0;
virtual void BodySetData(RigidBody* rb, long bodyID) = 0;
- virtual RigidBody* BodyGetData(long bodyID) = 0;
-
- // Here, we have to cheat with the preprocessor, since a static method
- // is required, and the bridge pattern requires member variables to
- // be used (so we cannot use the bridge pattern)
- static RigidBody* GetBodyPointer(long bodyID){
- #ifdef OXYGEN_ODEWRAPPER_H
- return static_cast<RigidBody*>(dBodyGetData( (dBodyID) bodyID));
- #endif
- }
-
+ virtual RigidBody* BodyGetData(long bodyID) = 0;
virtual long CreateBody(long world) = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -37,8 +37,6 @@
virtual float GetPosition(long jointID) = 0;
virtual float GetPositionRate(long jointID) = 0;
virtual void SetSliderAxis(salt::Vector3f& up, long jointID) = 0;
- virtual void SetParameter(int parameter, float value, long jointID) = 0;
- virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -45,8 +45,6 @@
virtual float GetAngle2(long jointID) const = 0;
virtual float GetAngleRate1(long jointID) const = 0;
virtual float GetAngleRate2(long jointID) const = 0;
- virtual void SetParameter(int parameter, float value, long jointID) = 0;
- virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -19,6 +19,7 @@
*/
#include <oxygen/physicsserver/joint.h>
#include <oxygen/physicsserver/rigidbody.h>
+#include <oxygen/physicsserver/staticphysicsmethods.h>
#include <oxygen/physicsserver/ode/odejoint.h>
#include <zeitgeist/logserver/logserver.h>
@@ -46,7 +47,7 @@
return;
}
- dJointSetData( (dJointID) mJointID, this);
+ mJointImp->OnLink(mJointID, this);
}
shared_ptr<Joint> Joint::GetJoint(long jointID)
@@ -56,8 +57,7 @@
return shared_ptr<Joint>();
}
- Joint* jointPtr =
- static_cast<Joint*>(dJointGetData((dJointID) jointID));
+ Joint* jointPtr = StaticPhysicsMethods::GetJoint(jointID);
if (jointPtr == 0)
{
@@ -117,7 +117,7 @@
GetLog()->Debug() << "(Joint) Attaching '" << path1 << "' to '"
<< path2 << '\n';
- dJointAttach( (dJointID) mJointID, (dBodyID) id1, (dBodyID) id2);
+ mJointImp->Attach(id1, id2, mJointID);
}
shared_ptr<RigidBody> Joint::GetBody(const std::string& path)
@@ -162,16 +162,16 @@
int Joint::GetType() const
{
- return dJointGetType( (dJointID) mJointID);
+ return mJointImp->GetType(mJointID);
}
boost::shared_ptr<RigidBody> Joint::GetBody(EBodyIndex idx)
{
- long bodyID = (long) dJointGetBody( (dJointID) mJointID, idx);
+ long bodyID = mJointImp->GetBodyID(idx, mJointID);
return RigidBody::GetBody(bodyID);
}
-bool Joint::AreConnected (shared_ptr<RigidBody> body1, shared_ptr<RigidBody> body2)
+bool Joint::AreConnected(shared_ptr<RigidBody> body1, shared_ptr<RigidBody> body2)
{
if (
(body1.get() == 0) ||
@@ -181,9 +181,7 @@
return false;
}
- const bool connected =
- (dAreConnected((dBodyID) body1->GetBodyID(), (dBodyID) body2->GetBodyID())
- == 1);
+ const bool connected = StaticPhysicsMethods::AreConnected(body1->GetBodyID(), body2->GetBodyID());
return connected;
}
@@ -200,238 +198,172 @@
return false;
}
- const bool connected =
- (dAreConnectedExcluding((dBodyID) body1->GetBodyID(),
- (dBodyID) body2->GetBodyID(),
- joint_type
- )
- == 1);
+ const bool connected =
+ StaticPhysicsMethods::AreConnectedExcluding(body1->GetBodyID(),
+ body2->GetBodyID(),
+ joint_type);
return connected;
}
void Joint::EnableFeedback(bool enable)
{
- if (enable)
- {
- if (mFeedback.get() == 0)
- {
- mFeedback = shared_ptr<dJointFeedback>(new dJointFeedback());
- memset(mFeedback.get(),0,sizeof(dJointFeedback));
- }
- } else
- {
- if (mFeedback.get() != 0)
- {
- mFeedback.reset();
- }
- }
-
- dJointSetFeedback( (dJointID) mJointID,mFeedback.get());
+ mJointImp->EnableFeedback(enable, mJointID);
}
bool Joint::FeedBackEnabled() const
{
- return (dJointGetFeedback( (dJointID) mJointID) != 0);
+ return mJointImp->FeedbackEnabled(mJointID);
}
Vector3f Joint::GetFeedbackForce(EBodyIndex idx) const
{
- dJointFeedback* fb = mFeedback.get();
- if (fb == 0)
- {
- return Vector3f(0,0,0);
- }
-
- switch (idx)
- {
- case BI_FIRST :
- return Vector3f(
- fb->f1[0],
- fb->f1[1],
- fb->f1[2]
- );
-
- case BI_SECOND :
- return Vector3f(
- fb->f2[0],
- fb->f2[1],
- fb->f2[2]
- );
-
- default:
- return Vector3f(0,0,0);
- }
+ return mJointImp->GetFeedbackForce(idx);
}
Vector3f Joint::GetFeedbackTorque(EBodyIndex idx) const
{
- dJointFeedback* fb = mFeedback.get();
- if (fb == 0)
- {
- return Vector3f(0,0,0);
- }
-
- switch (idx)
- {
- case BI_FIRST :
- return Vector3f(
- fb->t1[0],
- fb->t1[1],
- fb->t1[2]
- );
-
- case BI_SECOND :
- return Vector3f(
- fb->t2[0],
- fb->t2[1],
- fb->t2[2]
- );
-
- default:
- return Vector3f(0,0,0);
- }
+ return mJointImp->GetFeedbackTorque(idx);
}
void Joint::SetFudgeFactor(EAxisIndex idx, float fudge_factor)
{
- SetParameter(dParamFudgeFactor + (idx * dParamGroup), fudge_factor);
+ mJointImp->SetFudgeFactor(idx, fudge_factor, mJointID);
}
float Joint::GetFudgeFactor(EAxisIndex idx) const
{
- return GetParameter(dParamFudgeFactor + (idx * dParamGroup));
+ return mJointImp->GetFudgeFactor(idx, mJointID);
}
-
void Joint::SetBounce(EAxisIndex idx, float bounce)
{
- SetParameter(dParamBounce + (idx * dParamGroup),bounce);
+ mJointImp->SetBounce(idx, bounce, mJointID);
}
float Joint::GetBounce(EAxisIndex idx) const
{
- return GetParameter(dParamBounce + (idx * dParamGroup));
+ return mJointImp->GetBounce(idx, mJointID);
}
void Joint::SetLowStopPos(EAxisIndex idx, float pos)
{
- SetParameter(dParamLoStop + (idx * dParamGroup), pos);
+ mJointImp->SetLowStopPos(idx, pos, mJointID);
}
float Joint::GetLowStopPos(EAxisIndex idx) const
{
- return GetParameter(dParamLoStop + (idx * dParamGroup));
+ return mJointImp->GetLowStopPos(idx, mJointID);
}
void Joint::SetHighStopPos(EAxisIndex idx, float pos)
{
- SetParameter(dParamHiStop + (idx * dParamGroup), pos);
+ mJointImp->SetHighStopPos(idx, pos, mJointID);
}
float Joint::GetHighStopPos(EAxisIndex idx) const
{
- return GetParameter(dParamHiStop + (idx * dParamGroup));
+ return mJointImp->GetHighStopPos(idx, mJointID);
}
void Joint::SetLowStopDeg(EAxisIndex idx, float deg)
{
- SetParameter(dParamLoStop + (idx * dParamGroup), gDegToRad(deg));
+ mJointImp->SetLowStopDeg(idx, deg, mJointID);
}
float Joint::GetLowStopDeg(EAxisIndex idx) const
{
- return gRadToDeg(GetParameter(dParamLoStop + (idx * dParamGroup)));
+ return mJointImp->GetLowStopDeg(idx, mJointID);
}
void Joint::SetHighStopDeg(EAxisIndex idx, float deg)
{
- SetParameter(dParamHiStop + (idx * dParamGroup), gDegToRad(deg));
+ mJointImp->SetHighStopDeg(idx, deg, mJointID);
}
float Joint::GetHighStopDeg(EAxisIndex idx) const
{
- return gRadToDeg(GetParameter(dParamHiStop + (idx * dParamGroup)));
+ return mJointImp->GetHighStopDeg(idx, mJointID);
}
void Joint::SetCFM(EAxisIndex idx, float cfm)
{
- SetParameter(dParamCFM + (idx * dParamGroup), cfm);
+ mJointImp->SetCFM(idx, cfm, mJointID);
}
float Joint::GetCFM(EAxisIndex idx) const
{
- return GetParameter(dParamCFM + (idx * dParamGroup));
+ return mJointImp->GetCFM(idx, mJointID);
}
void Joint::SetStopCFM(EAxisIndex idx, float cfm)
{
- SetParameter(dParamStopCFM + (idx * dParamGroup), cfm);
+ mJointImp->SetStopCFM(idx, cfm, mJointID);
}
float Joint::GetStopCFM(EAxisIndex idx) const
{
- return GetParameter(dParamStopCFM + (idx * dParamGroup));
+ return mJointImp->GetStopCFM(idx, mJointID);
}
void Joint::SetStopERP(EAxisIndex idx, float erp)
{
- SetParameter(dParamStopERP + (idx * dParamGroup), erp);
+ mJointImp->SetStopERP(idx, erp, mJointID);
}
float Joint::GetStopERP(EAxisIndex idx) const
{
- return GetParameter(dParamStopERP + (idx * dParamGroup));
+ return mJointImp->GetStopERP(idx, mJointID);
}
void Joint::SetSuspensionERP(EAxisIndex idx, float erp)
{
- SetParameter(dParamSuspensionERP + (idx * dParamGroup), erp);
+ mJointImp->SetSuspensionERP(idx, erp, mJointID);
}
float Joint::GetSuspensionERP(EAxisIndex idx) const
{
- return GetParameter(dParamSuspensionERP + (idx * dParamGroup));
+ return mJointImp->GetSuspensionERP(idx, mJointID);
}
void Joint::SetSuspensionCFM(EAxisIndex idx, float cfm)
{
- SetParameter(dParamSuspensionCFM + (idx * dParamGroup), cfm);
+ mJointImp->SetSuspensionCFM(idx, cfm, mJointID);
}
float Joint::GetSuspensionCFM(EAxisIndex idx) const
{
- return GetParameter(dParamSuspensionCFM + (idx * dParamGroup));
+ return mJointImp->GetSuspensionCFM(idx, mJointID);
}
void Joint::SetLinearMotorVelocity(EAxisIndex idx, float vel)
{
- SetParameter(dParamVel + (idx * dParamGroup), vel);
+ mJointImp->SetLinearMotorVelocity(idx, vel, mJointID);
}
float Joint::GetLinearMotorVelocity(EAxisIndex idx) const
{
- return GetParameter(dParamVel + (idx * dParamGroup));
+ return mJointImp->GetLinearMotorVelocity(idx, mJointID);
}
void Joint::SetAngularMotorVelocity(EAxisIndex idx, float deg)
{
- SetParameter(dParamVel + (idx * dParamGroup), gDegToRad(deg));
+ mJointImp->SetAngularMotorVelocity(idx, deg, mJointID);
}
float Joint::GetAngularMotorVelocity(EAxisIndex idx) const
{
- return gRadToDeg(GetParameter(dParamVel + (idx * dParamGroup)));
+ return mJointImp->GetAngularMotorVelocity(idx, mJointID);
}
void Joint::SetMaxMotorForce(EAxisIndex idx, float f)
{
- SetParameter(dParamFMax + (idx * dParamGroup), f);
+ mJointImp->SetMaxMotorForce(idx, f, mJointID);
}
float Joint::GetMaxMotorForce(EAxisIndex idx) const
{
- return GetParameter(dParamFMax + (idx * dParamGroup));
+ return mJointImp->GetMaxMotorForce(idx, mJointID);
}
void Joint::DestroyPhysicsObject()
@@ -442,7 +374,7 @@
}
EnableFeedback(false);
- dJointDestroy( (dJointID) mJointID);
+ mJointImp->DestroyJoint(mJointID);
mJointID = 0;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -25,6 +25,7 @@
#include <oxygen/oxygen_defines.h>
#include <oxygen/physicsserver/ode/odewrapper.h>
#include <oxygen/physicsserver/physicsobject.h>
+#include <oxygen/physicsserver/genericphysicsobjects.h>
namespace oxygen
{
@@ -253,12 +254,6 @@
*/
float GetMaxMotorForce(EAxisIndex idx) const;
- /** sets a joint parameter value */
- virtual void SetParameter(int parameter, float value) = 0;
-
- /** returns a joint parameter value */
- virtual float GetParameter(int parameter) const = 0;
-
/** Set the maximum joint speed1, valid for both hingejoint and universaljoint */
virtual void SetJointMaxSpeed1(float rad);
@@ -288,9 +283,6 @@
/** the ID of the managed joint */
long mJointID;
- /** the allocated joint feedback structure */
- boost::shared_ptr<dJointFeedback> mFeedback;
-
protected:
/** The maximum joint speed in rad, valid for both hingejoint and universaljoint */
float mJointMaxSpeed1;
@@ -300,7 +292,6 @@
float mJointMaxSpeed2;
bool mIsLimitJointMaxSpeed2;
-private:
boost::shared_ptr<JointInt> mJointImp;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -30,8 +30,8 @@
long ODEFixedJoint::CreateFixedJoint(long world)
{
dWorldID ODEworld = (dWorldID) world;
- mODEJoint = dJointCreateFixed(ODEworld, 0);
- return (long) mODEJoint;
+ dJointID ODEJoint = dJointCreateFixed(ODEworld, 0);
+ return (long) ODEJoint;
}
void ODEFixedJoint::SetFixed(long jointID)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -81,15 +81,3 @@
dJointID ODEJoint = (dJointID) jointID;
return gRadToDeg(dJointGetHinge2Angle2Rate(ODEJoint));
}
-
-void ODEHinge2Joint::SetParameter(int parameter, float value, long jointID)
-{
- dJointID ODEJoint = (dJointID) jointID;
- dJointSetHinge2Param(ODEJoint, parameter, value);
-}
-
-float ODEHinge2Joint::GetParameter(int parameter, long jointID) const
-{
- dJointID ODEJoint = (dJointID) jointID;
- return dJointGetHinge2Param(ODEJoint, parameter);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -40,8 +40,6 @@
float GetAngle(long jointID);
float GetAngleRate1(long jointID);
float GetAngleRate2(long jointID);
- void SetParameter(int parameter, float value, long jointID);
- float GetParameter(int parameter, long jointID) const;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -85,15 +85,3 @@
dJointID ODEJoint = (dJointID) jointID;
return gRadToDeg(dJointGetHingeAngleRate(ODEJoint));
}
-
-void ODEHingeJoint::SetParameter(int parameter, float value, long jointID)
-{
- dJointID ODEJoint = (dJointID) jointID;
- dJointSetHingeParam(ODEJoint, parameter, value);
-}
-
-float ODEHingeJoint::GetParameter(int parameter, long jointID) const
-{
- dJointID ODEJoint = (dJointID) jointID;
- return dJointGetHingeParam(ODEJoint, parameter);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -38,8 +38,6 @@
salt::Vector3f GetAxis(long jointID);
float GetAngle(long jointID) const;
float GetAngleRate(long jointID) const;
- void SetParameter(int parameter, float value, long jointID);
- float GetParameter(int parameter, long jointID) const;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -26,72 +26,41 @@
using namespace std;
using namespace salt;
-ODEJoint::ODEJoint() : ODEPhysicsObject(), mODEJoint(0)
+ODEJoint::ODEJoint() : ODEPhysicsObject()
{
- mJointMaxSpeed1 = mJointMaxSpeed2 = 0.0;
- mIsLimitJointMaxSpeed1 = mIsLimitJointMaxSpeed2 = false;
}
-void ODEJoint::OnLink()
+void ODEJoint::OnLink(long jointID, Joint* joint)
{
- if (mODEJoint == 0)
- {
- return;
- }
-
- dJointSetData(mODEJoint, this);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetData(ODEJoint, joint);
}
-void ODEJoint::Attach(shared_ptr<RigidBody> body1, shared_ptr<RigidBody> body2)
+void ODEJoint::Attach(long bodyID1, long bodyID2, long jointID)
{
- string path1,path2;
- long id1,id2;
-
- static const char strStaticEnv[] = "<static environment>";
-
- if (body1.get() == 0)
- {
- id1 = 0;
- path1 = strStaticEnv;
- } else
- {
- id1 = body1->GetBodyID();
- path1 = body1->GetFullPath();
- }
-
- if (body2.get() == 0)
- {
- id2 = 0;
- path2 = strStaticEnv;
- } else
- {
- id2 = body2->GetBodyID();
- path2 = body2->GetFullPath();
- }
-
- dJointAttach(mODEJoint, (dBodyID) id1, (dBodyID) id2);
+ dBodyID ODEBody1 = (dBodyID) bodyID1;
+ dBodyID ODEBody2 = (dBodyID) bodyID2;
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointAttach(ODEJoint, ODEBody1, ODEBody2);
}
-void ODEJoint::Attach(const std::string& path1, const std::string& path2)
+int ODEJoint::GetType(long jointID) const
{
- shared_ptr<RigidBody> body1;
- shared_ptr<RigidBody> body2;
- Attach(body1,body2);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetType(ODEJoint);
}
-int ODEJoint::GetType() const
+long ODEJoint::GetBodyID(int idx, long jointID)
{
- return dJointGetType(mODEJoint);
+ dJointID ODEJoint = (dJointID) jointID;
+ dBodyID ODEBodyID = dJointGetBody(ODEJoint, idx);
+ return (long) ODEBodyID;
}
-boost::shared_ptr<RigidBody> ODEJoint::GetBody(EBodyIndex idx)
+void ODEJoint::EnableFeedback(bool enable, long jointID)
{
- long bodyID = (long) dJointGetBody(mODEJoint, idx);
- return RigidBody::GetBody(bodyID);
-}
-
-void ODEJoint::EnableFeedback(bool enable)
-{
+ dJointID ODEJoint = (dJointID) jointID;
+
if (enable)
{
if (mFeedback.get() == 0)
@@ -107,15 +76,16 @@
}
}
- dJointSetFeedback(mODEJoint,mFeedback.get());
+ dJointSetFeedback(ODEJoint,mFeedback.get());
}
-bool ODEJoint::FeedbackEnabled() const
+bool ODEJoint::FeedbackEnabled(long jointID) const
{
- return (dJointGetFeedback(mODEJoint) != 0);
+ dJointID ODEJoint = (dJointID) jointID;
+ return (dJointGetFeedback(ODEJoint) != 0);
}
-Vector3f ODEJoint::GetFeedbackForce(EBodyIndex idx) const
+Vector3f ODEJoint::GetFeedbackForce(int idx) const
{
dJointFeedback* fb = mFeedback.get();
if (fb == 0)
@@ -125,14 +95,14 @@
switch (idx)
{
- case BI_FIRST :
+ case 0 :
return Vector3f(
fb->f1[0],
fb->f1[1],
fb->f1[2]
);
- case BI_SECOND :
+ case 1 :
return Vector3f(
fb->f2[0],
fb->f2[1],
@@ -144,7 +114,7 @@
}
}
-Vector3f ODEJoint::GetFeedbackTorque(EBodyIndex idx) const
+Vector3f ODEJoint::GetFeedbackTorque(int idx) const
{
dJointFeedback* fb = mFeedback.get();
if (fb == 0)
@@ -154,14 +124,14 @@
switch (idx)
{
- case BI_FIRST :
+ case 0 :
return Vector3f(
fb->t1[0],
fb->t1[1],
fb->t1[2]
);
- case BI_SECOND :
+ case 1 :
return Vector3f(
fb->t2[0],
fb->t2[1],
@@ -173,192 +143,181 @@
}
}
-void ODEJoint::SetFudgeFactor(EAxisIndex idx, float fudge_factor)
+void ODEJoint::SetFudgeFactor(int idx, float fudge_factor, long jointID)
{
- SetParameter(dParamFudgeFactor + (idx * dParamGroup), fudge_factor);
+ SetParameter(dParamFudgeFactor + (idx * dParamGroup), fudge_factor, jointID);
}
-float ODEJoint::GetFudgeFactor(EAxisIndex idx) const
+float ODEJoint::GetFudgeFactor(int idx, long jointID) const
{
- return GetParameter(dParamFudgeFactor + (idx * dParamGroup));
+ return GetParameter(dParamFudgeFactor + (idx * dParamGroup), jointID);
}
-
-void ODEJoint::SetBounce(EAxisIndex idx, float bounce)
+void ODEJoint::SetBounce(int idx, float bounce, long jointID)
{
- SetParameter(dParamBounce + (idx * dParamGroup),bounce);
+ SetParameter(dParamBounce + (idx * dParamGroup),bounce, jointID);
}
-float ODEJoint::GetBounce(EAxisIndex idx) const
+float ODEJoint::GetBounce(int idx, long jointID) const
{
- return GetParameter(dParamBounce + (idx * dParamGroup));
+ return GetParameter(dParamBounce + (idx * dParamGroup), jointID);
}
-void ODEJoint::SetLowStopPos(EAxisIndex idx, float pos)
+void ODEJoint::SetLowStopPos(int idx, float pos, long jointID)
{
- SetParameter(dParamLoStop + (idx * dParamGroup), pos);
+ SetParameter(dParamLoStop + (idx * dParamGroup), pos, jointID);
}
-float ODEJoint::GetLowStopPos(EAxisIndex idx) const
+float ODEJoint::GetLowStopPos(int idx, long jointID) const
{
- return GetParameter(dParamLoStop + (idx * dParamGroup));
+ return GetParameter(dParamLoStop + (idx * dParamGroup), jointID);
}
-void ODEJoint::SetHighStopPos(EAxisIndex idx, float pos)
+void ODEJoint::SetHighStopPos(int idx, float pos, long jointID)
{
- SetParameter(dParamHiStop + (idx * dParamGroup), pos);
+ SetParameter(dParamHiStop + (idx * dParamGroup), pos, jointID);
}
-float ODEJoint::GetHighStopPos(EAxisIndex idx) const
+float ODEJoint::GetHighStopPos(int idx, long jointID) const
{
- return GetParameter(dParamHiStop + (idx * dParamGroup));
+ return GetParameter(dParamHiStop + (idx * dParamGroup), jointID);
}
-void ODEJoint::SetLowStopDeg(EAxisIndex idx, float deg)
+void ODEJoint::SetLowStopDeg(int idx, float deg, long jointID)
{
- SetParameter(dParamLoStop + (idx * dParamGroup), gDegToRad(deg));
+ SetParameter(dParamLoStop + (idx * dParamGroup), gDegToRad(deg), jointID);
}
-float ODEJoint::GetLowStopDeg(EAxisIndex idx) const
+float ODEJoint::GetLowStopDeg(int idx, long jointID) const
{
- return gRadToDeg(GetParameter(dParamLoStop + (idx * dParamGroup)));
+ return gRadToDeg(GetParameter(dParamLoStop + (idx * dParamGroup), jointID));
}
-void ODEJoint::SetHighStopDeg(EAxisIndex idx, float deg)
+void ODEJoint::SetHighStopDeg(int idx, float deg, long jointID)
{
- SetParameter(dParamHiStop + (idx * dParamGroup), gDegToRad(deg));
+ SetParameter(dParamHiStop + (idx * dParamGroup), gDegToRad(deg), jointID);
}
-float ODEJoint::GetHighStopDeg(EAxisIndex idx) const
+float ODEJoint::GetHighStopDeg(int idx, long jointID) const
{
- return gRadToDeg(GetParameter(dParamHiStop + (idx * dParamGroup)));
+ return gRadToDeg(GetParameter(dParamHiStop + (idx * dParamGroup), jointID));
}
-void ODEJoint::SetCFM(EAxisIndex idx, float cfm)
+void ODEJoint::SetCFM(int idx, float cfm, long jointID)
{
- SetParameter(dParamCFM + (idx * dParamGroup), cfm);
+ SetParameter(dParamCFM + (idx * dParamGroup), cfm, jointID);
}
-float ODEJoint::GetCFM(EAxisIndex idx) const
+float ODEJoint::GetCFM(int idx, long jointID) const
{
- return GetParameter(dParamCFM + (idx * dParamGroup));
+ return GetParameter(dParamCFM + (idx * dParamGroup), jointID);
}
-void ODEJoint::SetStopCFM(EAxisIndex idx, float cfm)
+void ODEJoint::SetStopCFM(int idx, float cfm, long jointID)
{
- SetParameter(dParamStopCFM + (idx * dParamGroup), cfm);
+ SetParameter(dParamStopCFM + (idx * dParamGroup), cfm, jointID);
}
-float ODEJoint::GetStopCFM(EAxisIndex idx) const
+float ODEJoint::GetStopCFM(int idx, long jointID) const
{
- return GetParameter(dParamStopCFM + (idx * dParamGroup));
+ return GetParameter(dParamStopCFM + (idx * dParamGroup), jointID);
}
-void ODEJoint::SetStopERP(EAxisIndex idx, float erp)
+void ODEJoint::SetStopERP(int idx, float erp, long jointID)
{
- SetParameter(dParamStopERP + (idx * dParamGroup), erp);
+ SetParameter(dParamStopERP + (idx * dParamGroup), erp, jointID);
}
-float ODEJoint::GetStopERP(EAxisIndex idx) const
+float ODEJoint::GetStopERP(int idx, long jointID) const
{
- return GetParameter(dParamStopERP + (idx * dParamGroup));
+ return GetParameter(dParamStopERP + (idx * dParamGroup), jointID);
}
-void ODEJoint::SetSuspensionERP(EAxisIndex idx, float erp)
+void ODEJoint::SetSuspensionERP(int idx, float erp, long jointID)
{
- SetParameter(dParamSuspensionERP + (idx * dParamGroup), erp);
+ SetParameter(dParamSuspensionERP + (idx * dParamGroup), erp, jointID);
}
-float ODEJoint::GetSuspensionERP(EAxisIndex idx) const
+float ODEJoint::GetSuspensionERP(int idx, long jointID) const
{
- return GetParameter(dParamSuspensionERP + (idx * dParamGroup));
+ return GetParameter(dParamSuspensionERP + (idx * dParamGroup), jointID);
}
-void ODEJoint::SetSuspensionCFM(EAxisIndex idx, float cfm)
+void ODEJoint::SetSuspensionCFM(int idx, float cfm, long jointID)
{
- SetParameter(dParamSuspensionCFM + (idx * dParamGroup), cfm);
+ SetParameter(dParamSuspensionCFM + (idx * dParamGroup), cfm, jointID);
}
-float ODEJoint::GetSuspensionCFM(EAxisIndex idx) const
+float ODEJoint::GetSuspensionCFM(int idx, long jointID) const
{
- return GetParameter(dParamSuspensionCFM + (idx * dParamGroup));
+ return GetParameter(dParamSuspensionCFM + (idx * dParamGroup), jointID);
}
-void ODEJoint::SetLinearMotorVelocity(EAxisIndex idx, float vel)
+void ODEJoint::SetLinearMotorVelocity(int idx, float vel, long jointID)
{
- SetParameter(dParamVel + (idx * dParamGroup), vel);
+ SetParameter(dParamVel + (idx * dParamGroup), vel, jointID);
}
-float ODEJoint::GetLinearMotorVelocity(EAxisIndex idx) const
+float ODEJoint::GetLinearMotorVelocity(int idx, long jointID) const
{
- return GetParameter(dParamVel + (idx * dParamGroup));
+ return GetParameter(dParamVel + (idx * dParamGroup), jointID);
}
-void ODEJoint::SetAngularMotorVelocity(EAxisIndex idx, float deg)
+void ODEJoint::SetAngularMotorVelocity(int idx, float deg, long jointID)
{
- SetParameter(dParamVel + (idx * dParamGroup), gDegToRad(deg));
+ SetParameter(dParamVel + (idx * dParamGroup), gDegToRad(deg), jointID);
}
-float ODEJoint::GetAngularMotorVelocity(EAxisIndex idx) const
+float ODEJoint::GetAngularMotorVelocity(int idx, long jointID) const
{
- return gRadToDeg(GetParameter(dParamVel + (idx * dParamGroup)));
+ return gRadToDeg(GetParameter(dParamVel + (idx * dParamGroup), jointID));
}
-void ODEJoint::SetMaxMotorForce(EAxisIndex idx, float f)
+void ODEJoint::SetMaxMotorForce(int idx, float f, long jointID)
{
- SetParameter(dParamFMax + (idx * dParamGroup), f);
+ SetParameter(dParamFMax + (idx * dParamGroup), f, jointID);
}
-float ODEJoint::GetMaxMotorForce(EAxisIndex idx) const
+float ODEJoint::GetMaxMotorForce(int idx, long jointID) const
{
- return GetParameter(dParamFMax + (idx * dParamGroup));
+ return GetParameter(dParamFMax + (idx * dParamGroup), jointID);
}
-void ODEJoint::DestroyJoint()
+void ODEJoint::DestroyJoint(long jointID)
{
- if (! mODEJoint)
- {
- return;
- }
-
- EnableFeedback(false);
- dJointDestroy(mODEJoint);
- mODEJoint = 0;
+ dJointID ODEJoint = (dJointID) jointID;
+ EnableFeedback(false, jointID);
+ dJointDestroy(ODEJoint);
}
-void ODEJoint::SetJointMaxSpeed1(float rad)
-{
- mJointMaxSpeed1 = fabs(rad);
- mIsLimitJointMaxSpeed1 = true;
+void ODEJoint::SetParameter(int parameter, float value, long jointID){
+ dJointID ODEJoint = (dJointID) jointID;
+ int jointType = dJointGetType(ODEJoint);
+ switch (jointType){
+ case dJointTypeHinge: dJointSetHingeParam(ODEJoint, parameter, value);
+ break;
+ case dJointTypeHinge2: dJointSetHinge2Param(ODEJoint, parameter, value);
+ break;
+ case dJointTypeSlider: dJointSetSliderParam(ODEJoint, parameter, value);
+ break;
+ case dJointTypeUniversal: dJointSetUniversalParam(ODEJoint, parameter, value);
+ break;
+ default: return;
+ }
}
-void ODEJoint::SetJointMaxSpeed2(float rad)
-{
- mJointMaxSpeed2 = fabs(rad);
- mIsLimitJointMaxSpeed2 = true;
+float ODEJoint::GetParameter(int parameter, long jointID) const{
+ dJointID ODEJoint = (dJointID) jointID;
+ int jointType = dJointGetType(ODEJoint);
+ switch (jointType){
+ case dJointTypeHinge: return dJointGetHingeParam(ODEJoint, parameter);
+ break;
+ case dJointTypeHinge2: return dJointGetHinge2Param(ODEJoint, parameter);
+ break;
+ case dJointTypeSlider: return dJointGetSliderParam(ODEJoint, parameter);
+ break;
+ case dJointTypeUniversal: return dJointGetUniversalParam(ODEJoint, parameter);
+ break;
+ default: return 0;
+ }
}
-
-float ODEJoint::GetJointMaxSpeed1() const
-{
- return mJointMaxSpeed1;
-}
-
-float ODEJoint::GetJointMaxSpeed2() const
-{
- return mJointMaxSpeed2;
-}
-
-bool ODEJoint::IsLimitJointMaxSpeed1() const
-{
- return mIsLimitJointMaxSpeed1;
-}
-
-bool ODEJoint::IsLimitJointMaxSpeed2() const
-{
- return mIsLimitJointMaxSpeed2;
-}
-
-float ODEJoint::GetParameter(int parameter) const
-{
- return 0.0;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -33,56 +33,50 @@
public:
ODEJoint();
- virtual void DestroyJoint();
- virtual void Attach(boost::shared_ptr<RigidBody> body1,
- boost::shared_ptr<RigidBody> body2);
- void Attach(const std::string& path1, const std::string& path2);
- int GetType() const;
- boost::shared_ptr<RigidBody> GetBody(EBodyIndex idx);
- void EnableFeedback(bool enable);
- bool FeedbackEnabled() const;
- salt::Vector3f GetFeedbackForce(EBodyIndex idx) const;
- salt::Vector3f GetFeedbackTorque(EBodyIndex idx) const;
- void SetFudgeFactor(EAxisIndex idx, float fudge_factor);
- float GetFudgeFactor(EAxisIndex idx) const;
- void SetBounce(EAxisIndex idx, float bounce);
- float GetBounce(EAxisIndex idx) const;
- void SetLowStopDeg(EAxisIndex idx, float deg);
- float GetLowStopDeg(EAxisIndex idx) const;
- void SetHighStopDeg(EAxisIndex idx, float deg);
- float GetHighStopDeg(EAxisIndex idx) const;
- void SetLowStopPos(EAxisIndex idx, float deg);
- float GetLowStopPos(EAxisIndex idx) const;
- void SetHighStopPos(EAxisIndex idx, float deg);
- float GetHighStopPos(EAxisIndex idx) const;
- void SetCFM(EAxisIndex idx, float cfm);
- float GetCFM(EAxisIndex idx) const;
- void SetStopCFM(EAxisIndex idx, float cfm);
- float GetStopCFM(EAxisIndex idx) const;
- void SetStopERP(EAxisIndex idx, float erp);
- float GetStopERP(EAxisIndex idx) const;
- void SetSuspensionERP(EAxisIndex idx, float erp);
- float GetSuspensionERP(EAxisIndex idx) const;
- void SetSuspensionCFM(EAxisIndex idx, float cfm);
- float GetSuspensionCFM(EAxisIndex idx) const;
- void SetLinearMotorVelocity(EAxisIndex idx, float vel);
- float GetLinearMotorVelocity(EAxisIndex idx) const;
- void SetAngularMotorVelocity(EAxisIndex idx, float deg);
- float GetAngularMotorVelocity(EAxisIndex idx) const;
- void SetMaxMotorForce(EAxisIndex idx, float f);
- float GetMaxMotorForce(EAxisIndex idx) const;
- virtual void SetParameter(int parameter, float value){};
- virtual float GetParameter(int parameter) const;
- virtual void SetJointMaxSpeed1(float rad);
- virtual void SetJointMaxSpeed2(float rad);
- virtual float GetJointMaxSpeed1() const;
- virtual float GetJointMaxSpeed2() const;
- bool IsLimitJointMaxSpeed1() const;
- bool IsLimitJointMaxSpeed2() const;
- void OnLink();
+ virtual void DestroyJoint(long jointID);
+ virtual void Attach(long bodyID1, long bodiID2, long jointID);
+ int GetType(long jointID) const;
+ long GetBodyID(int idx, long jointID);
+ void EnableFeedback(bool enable, long jointID);
+ bool FeedbackEnabled(long jointID) const;
+ salt::Vector3f GetFeedbackForce(int idx) const;
+ salt::Vector3f GetFeedbackTorque(int idx) const;
+ void SetFudgeFactor(int idx, float fudge_factor, long jointID);
+ float GetFudgeFactor(int idx, long jointID) const;
+ void SetBounce(int idx, float bounce, long jointID);
+ float GetBounce(int idx, long jointID) const;
+ void SetLowStopDeg(int idx, float deg, long jointID);
+ float GetLowStopDeg(int idx, long jointID) const;
+ void SetHighStopDeg(int idx, float deg, long jointID);
+ float GetHighStopDeg(int idx, long jointID) const;
+ void SetLowStopPos(int idx, float deg, long jointID);
+ float GetLowStopPos(int idx, long jointID) const;
+ void SetHighStopPos(int idx, float deg, long jointID);
+ float GetHighStopPos(int idx, long jointID) const;
+ void SetCFM(int idx, float cfm, long jointID);
+ float GetCFM(int idx, long jointID) const;
+ void SetStopCFM(int idx, float cfm, long jointID);
+ float GetStopCFM(int idx, long jointID) const;
+ void SetStopERP(int idx, float erp, long jointID);
+ float GetStopERP(int idx, long jointID) const;
+ void SetSuspensionERP(int idx, float erp, long jointID);
+ float GetSuspensionERP(int idx, long jointID) const;
+ void SetSuspensionCFM(int idx, float cfm, long jointID);
+ float GetSuspensionCFM(int idx, long jointID) const;
+ void SetLinearMotorVelocity(int idx, float vel, long jointID);
+ float GetLinearMotorVelocity(int idx, long jointID) const;
+ void SetAngularMotorVelocity(int idx, float deg, long jointID);
+ float GetAngularMotorVelocity(int idx, long jointID) const;
+ void SetMaxMotorForce(int idx, float f, long jointID);
+ float GetMaxMotorForce(int idx, long jointID) const;
+ virtual void SetParameter(int parameter, float value, long jointID);
+ virtual float GetParameter(int parameter, long jointID) const;
+ void OnLink(long jointID, Joint* joint);
protected:
- dJointID mODEJoint;
+ //It is encouraged to not store any member variables in the implementation.
+ //This can cause major problems. However, here, I found no way to avoid it.
+ boost::shared_ptr<dJointFeedback> mFeedback;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -51,15 +51,3 @@
dJointID ODEJoint = (dJointID) jointID;
return dJointGetSliderPositionRate(ODEJoint);
}
-
-void ODESliderJoint::SetParameter(int parameter, float value, long jointID)
-{
- dJointID ODEJoint = (dJointID) jointID;
- dJointSetSliderParam(ODEJoint, parameter, value);
-}
-
-float ODESliderJoint::GetParameter(int parameter, long jointID) const
-{
- dJointID ODEJoint = (dJointID) jointID;
- return dJointGetSliderParam(ODEJoint, parameter);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -38,8 +38,6 @@
float GetPosition(long jointID);
float GetPositionRate(long jointID);
void SetSliderAxis(salt::Vector3f& up, long jointID);
- void SetParameter(int parameter, float value, long jointID);
- float GetParameter(int parameter, long jointID) const;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp 2010-01-08 07:35:25 UTC (rev 138)
@@ -110,15 +110,3 @@
dJointID ODEJoint = (dJointID) jointID;
return gRadToDeg(dJointGetUniversalAngle2Rate(ODEJoint));
}
-
-void ODEUniversalJoint::SetParameter(int parameter, float value, long jointID)
-{
- dJointID ODEJoint = (dJointID) jointID;
- dJointSetUniversalParam(ODEJoint, parameter, value);
-}
-
-float ODEUniversalJoint::GetParameter(int parameter, long jointID) const
-{
- dJointID ODEJoint = (dJointID) jointID;
- return dJointGetUniversalParam(ODEJoint, parameter);
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h 2010-01-06 07:25:00 UTC (rev 137)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h 2010-01-08 07:35:25 UTC (rev 138)
@@ -46,8 +46,6 @@
float GetAngle2(long jointID) const;
float GetAngleRate1(long jointID) const;
float GetAngleRat...
[truncated message content] |
|
From: <a-...@us...> - 2010-01-06 07:25:08
|
Revision: 137
http://simspark.svn.sourceforge.net/simspark/?rev=137&view=rev
Author: a-held
Date: 2010-01-06 07:25:00 +0000 (Wed, 06 Jan 2010)
Log Message:
-----------
Don't store GeomIDs or JointIDs internally anymore
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -49,7 +49,7 @@
{
// calculate anchor position in world coordinates
Vector3f gAnchor = GetWorldTransform() * anchor;
- mBallJointImp->SetAnchor(gAnchor);
+ mBallJointImp->SetAnchor(gAnchor, mJointID);
}
Vector3f BallJoint::GetAnchor(EBodyIndex idx)
@@ -60,13 +60,13 @@
{
case BI_FIRST:
{
- pos = mBallJointImp->GetAnchor1();
+ pos = mBallJointImp->GetAnchor1(mJointID);
break;
}
case BI_SECOND:
{
- pos = mBallJointImp->GetAnchor2();
+ pos = mBallJointImp->GetAnchor2(mJointID);
break;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,7 +33,7 @@
void BoxCollider::SetBoxLengths(const Vector3f& extents)
{
- mBoxColliderImp->SetBoxLengths(extents);
+ mBoxColliderImp->SetBoxLengths(extents, mGeomID);
}
bool BoxCollider::ConstructInternal()
@@ -51,7 +51,7 @@
void BoxCollider::GetBoxLengths(Vector3f& extents)
{
- mBoxColliderImp->GetBoxLengths(extents);
+ mBoxColliderImp->GetBoxLengths(extents, mGeomID);
}
float BoxCollider::GetBoxLength(int axis)
@@ -72,5 +72,5 @@
float BoxCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return mBoxColliderImp->GetPointDepth(worldPos);
+ return mBoxColliderImp->GetPointDepth(worldPos, mGeomID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -32,32 +32,32 @@
void CapsuleCollider::SetParams(float radius, float length)
{
- mCapsuleColliderImp->SetParams(radius, length);
+ mCapsuleColliderImp->SetParams(radius, length, mGeomID);
}
void CapsuleCollider::SetRadius(float radius)
{
- mCapsuleColliderImp->SetRadius(radius);
+ mCapsuleColliderImp->SetRadius(radius, mGeomID);
}
void CapsuleCollider::SetLength(float length)
{
- mCapsuleColliderImp->SetLength(length);
+ mCapsuleColliderImp->SetLength(length, mGeomID);
}
void CapsuleCollider::GetParams(float& radius, float& length)
{
- mCapsuleColliderImp->GetParams(radius, length);
+ mCapsuleColliderImp->GetParams(radius, length, mGeomID);
}
float CapsuleCollider::GetRadius()
{
- return mCapsuleColliderImp->GetRadius();
+ return mCapsuleColliderImp->GetRadius(mGeomID);
}
float CapsuleCollider::GetLength()
{
- return mCapsuleColliderImp->GetLength();
+ return mCapsuleColliderImp->GetLength(mGeomID);
}
bool CapsuleCollider::ConstructInternal()
@@ -75,5 +75,5 @@
float CapsuleCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return mCapsuleColliderImp->GetPointDepth(worldPos);
+ return mCapsuleColliderImp->GetPointDepth(worldPos, mGeomID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -45,18 +45,18 @@
void FixedJoint::SetParameter(int /*parameter*/, float /*value*/)
{
- GetLog()->Error() <<
+ GetLog()->Warning() <<
"(FixedJoint) WARNING: SetParameter function undefined for FixedJoint, ignored\n";
}
float FixedJoint::GetParameter(int /*parameter*/) const
{
- GetLog()->Error() <<
+ GetLog()->Warning() <<
"(FixedJoint) WARNING: GetParameter function undefined for FixedJoint, returned zero\n";
return 0;
}
void FixedJoint::SetFixed()
{
- mFixedJointImp->SetFixed();
+ mFixedJointImp->SetFixed(mJointID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -56,7 +56,7 @@
// relative universal hinge2 axis 2 points right
Vector3f right(GetWorldTransform().Rotate(Vector3f(1,0,0)));
- mHinge2JointImp->SetAnchor(gAnchor, up, right);
+ mHinge2JointImp->SetAnchor(gAnchor, up, right, mJointID);
}
Vector3f Hinge2Joint::GetAnchor(EBodyIndex idx)
@@ -67,12 +67,12 @@
{
case BI_FIRST:
{
- pos = mHinge2JointImp->GetAnchor1();
+ pos = mHinge2JointImp->GetAnchor1(mJointID);
}
case BI_SECOND:
{
- pos = mHinge2JointImp->GetAnchor2();
+ pos = mHinge2JointImp->GetAnchor2(mJointID);
}
default:
@@ -87,10 +87,10 @@
switch (idx)
{
case AI_FIRST:
- return mHinge2JointImp->GetAngle();
+ return mHinge2JointImp->GetAngle(mJointID);
case AI_SECOND:
- GetLog()->Error() <<
+ GetLog()->Warning() <<
"(Hinge2Joint) WARNING: GetAngle is undefined for EAxisIndex::AI_SECOND, returned zero\n";
return 0;
@@ -104,10 +104,10 @@
switch (idx)
{
case AI_FIRST:
- return mHinge2JointImp->GetAngleRate1();
+ return mHinge2JointImp->GetAngleRate1(mJointID);
case AI_SECOND:
- return mHinge2JointImp->GetAngleRate2();
+ return mHinge2JointImp->GetAngleRate2(mJointID);
default:
return 0;
@@ -116,10 +116,10 @@
void Hinge2Joint::SetParameter(int parameter, float value)
{
- mHinge2JointImp->SetParameter(parameter, value);
+ mHinge2JointImp->SetParameter(parameter, value, mJointID);
}
float Hinge2Joint::GetParameter(int parameter) const
{
- return mHinge2JointImp->GetParameter(parameter);
+ return mHinge2JointImp->GetParameter(parameter, mJointID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -49,7 +49,7 @@
{
// calculate anchor position in world coordinates
Vector3f gAnchor(GetWorldTransform() * anchor);
- mHingeJointImp->SetAnchor(gAnchor);
+ mHingeJointImp->SetAnchor(gAnchor, mJointID);
}
Vector3f HingeJoint::GetAnchor(EBodyIndex idx)
@@ -60,13 +60,13 @@
{
case BI_FIRST:
{
- pos = mHingeJointImp->GetAnchor1();
+ pos = mHingeJointImp->GetAnchor1(mJointID);
break;
}
case BI_SECOND:
{
- pos = mHingeJointImp->GetAnchor2();
+ pos = mHingeJointImp->GetAnchor2(mJointID);
break;
}
@@ -107,30 +107,30 @@
void HingeJoint::SetAxis(const Vector3f& axis)
{
Vector3f absAxis(GetWorldTransform().Rotate(axis));
- mHingeJointImp->SetAxis(absAxis);
+ mHingeJointImp->SetAxis(absAxis, mJointID);
}
Vector3f HingeJoint::GetAxis()
{
- return mHingeJointImp->GetAxis();
+ return mHingeJointImp->GetAxis(mJointID);
}
float HingeJoint::GetAngle() const
{
- return mHingeJointImp->GetAngle();
+ return mHingeJointImp->GetAngle(mJointID);
}
float HingeJoint::GetAngleRate() const
{
- return mHingeJointImp->GetAngleRate();
+ return mHingeJointImp->GetAngleRate(mJointID);
}
void HingeJoint::SetParameter(int parameter, float value)
{
- mHingeJointImp->SetParameter(parameter, value);
+ mHingeJointImp->SetParameter(parameter, value, mJointID);
}
float HingeJoint::GetParameter(int parameter) const
{
- return mHingeJointImp->GetParameter(parameter);
+ return mHingeJointImp->GetParameter(parameter, mJointID);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,9 +34,9 @@
class OXYGEN_API BallJointInt
{
public:
- virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
- virtual salt::Vector3f GetAnchor1() = 0;
- virtual salt::Vector3f GetAnchor2() = 0;
+ virtual void SetAnchor(const salt::Vector3f& anchor, long jointID) = 0;
+ virtual salt::Vector3f GetAnchor1(long jointID) = 0;
+ virtual salt::Vector3f GetAnchor2(long jointID) = 0;
virtual long CreateBallJoint(long world) = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,9 +33,9 @@
{
public:
- virtual void SetBoxLengths(const salt::Vector3f& extents) = 0;
- virtual void GetBoxLengths(salt::Vector3f& extents) = 0;
- virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void SetBoxLengths(const salt::Vector3f& extents, long geomID) = 0;
+ virtual void GetBoxLengths(salt::Vector3f& extents, long geomID) = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos, long geomID) = 0;
virtual long CreateBox() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -32,13 +32,13 @@
class OXYGEN_API CapsuleColliderInt
{
public:
- virtual void SetParams(float radius, float length) = 0;
- virtual void SetRadius(float radius) = 0;
- virtual void SetLength(float length) = 0;
- virtual void GetParams(float& radius, float& length) = 0;
- virtual float GetRadius() = 0;
- virtual float GetLength() = 0;
- virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void SetParams(float radius, float length, long geomID) = 0;
+ virtual void SetRadius(float radius, long geomID) = 0;
+ virtual void SetLength(float length, long geomID) = 0;
+ virtual void GetParams(float& radius, float& length, long geomID) = 0;
+ virtual float GetRadius(long geomID) = 0;
+ virtual float GetLength(long geomID) = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos, long geomID) = 0;
virtual long CreateCapsule() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -28,7 +28,7 @@
public:
virtual long CreateFixedJoint(long world) = 0;
- virtual void SetFixed() = 0;
+ virtual void SetFixed(long jointID) = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,14 +31,15 @@
virtual long CreateHinge2Joint(long world) = 0;
virtual void SetAnchor(const salt::Vector3f& anchor,
const salt::Vector3f& up,
- const salt::Vector3f& right) = 0;
- virtual salt::Vector3f GetAnchor1() = 0;
- virtual salt::Vector3f GetAnchor2() = 0;
- virtual float GetAngle() = 0;
- virtual float GetAngleRate1() = 0;
- virtual float GetAngleRate2() = 0;
- virtual void SetParameter(int parameter, float value) = 0;
- virtual float GetParameter(int parameter) const = 0;
+ const salt::Vector3f& right,
+ long jointID) = 0;
+ virtual salt::Vector3f GetAnchor1(long jointID) = 0;
+ virtual salt::Vector3f GetAnchor2(long jointID) = 0;
+ virtual float GetAngle(long jointID) = 0;
+ virtual float GetAngleRate1(long jointID) = 0;
+ virtual float GetAngleRate2(long jointID) = 0;
+ virtual void SetParameter(int parameter, float value, long jointID) = 0;
+ virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -29,15 +29,15 @@
public:
virtual long CreateHingeJoint(long world) = 0;
- virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
- virtual salt::Vector3f GetAnchor1() = 0;
- virtual salt::Vector3f GetAnchor2() = 0;
- virtual void SetAxis(const salt::Vector3f& axis) = 0;
- virtual salt::Vector3f GetAxis() = 0;
- virtual float GetAngle() const = 0;
- virtual float GetAngleRate() const = 0;
- virtual void SetParameter(int parameter, float value) = 0;
- virtual float GetParameter(int parameter) const = 0;
+ virtual void SetAnchor(const salt::Vector3f& anchor, long jointID) = 0;
+ virtual salt::Vector3f GetAnchor1(long jointID) = 0;
+ virtual salt::Vector3f GetAnchor2(long jointID) = 0;
+ virtual void SetAxis(const salt::Vector3f& axis, long jointID) = 0;
+ virtual salt::Vector3f GetAxis(long jointID) = 0;
+ virtual float GetAngle(long jointID) const = 0;
+ virtual float GetAngleRate(long jointID) const = 0;
+ virtual void SetParameter(int parameter, float value, long jointID) = 0;
+ virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,9 +33,9 @@
class OXYGEN_API PlaneColliderInt
{
public:
- virtual void SetPlaneParams(float a, float b, float c, float d) = 0;
- virtual void SetParams(const salt::Vector3f& pos, salt::Vector3f normal) = 0;
- virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void SetPlaneParams(float a, float b, float c, float d, long geomID) = 0;
+ virtual void SetParams(const salt::Vector3f& pos, salt::Vector3f normal, long geomID) = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos, long geomID) = 0;
virtual long CreatePlane() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -32,7 +32,7 @@
class OXYGEN_API RayColliderInt
{
public:
- virtual void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length) = 0;
+ virtual void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length, long geomID) = 0;
virtual long CreateRay() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -42,21 +42,29 @@
virtual void SetMassParameters(const GenericMass& mass, long bodyID) = 0;
virtual float GetMass(long bodyID) const = 0;
virtual void SetSphere(float density, float radius, long bodyID) = 0;
- virtual salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetSphereTotal(float total_mass, float radius, long bodyID) = 0;
- virtual salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetBox(float density, const salt::Vector3f& size, long bodyID) = 0;
- virtual salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetBoxTotal(float total_mass, const salt::Vector3f& size, long bodyID) = 0;
- virtual salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetCylinder(float density, float radius, float length, long bodyID) = 0;
- virtual salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetCylinderTotal(float total_mass, float radius, float length, long bodyID) = 0;
- virtual salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetCapsule(float density, float radius, float length, long bodyID) = 0;
- virtual salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void SetCapsuleTotal(float total_mass, float radius, float length, long bodyID) = 0;
- virtual salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID) = 0;
virtual void TranslateMass(const salt::Vector3f& v, long bodyID) = 0;
virtual salt::Vector3f GetVelocity(long bodyID) const = 0;
virtual void SetVelocity(const salt::Vector3f& vel, long bodyID) = 0;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,11 +34,11 @@
{
public:
virtual long CreateSliderJoint(long world) = 0;
- virtual float GetPosition() = 0;
- virtual float GetPositionRate() = 0;
- virtual void SetSliderAxis(salt::Vector3f& up) = 0;
- virtual void SetParameter(int parameter, float value) = 0;
- virtual float GetParameter(int parameter) const = 0;
+ virtual float GetPosition(long jointID) = 0;
+ virtual float GetPositionRate(long jointID) = 0;
+ virtual void SetSliderAxis(salt::Vector3f& up, long jointID) = 0;
+ virtual void SetParameter(int parameter, float value, long jointID) = 0;
+ virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,9 +33,9 @@
{
public:
- virtual void SetRadius(float r) = 0;
- virtual float GetRadius() const = 0;
- virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void SetRadius(float r, long geomID) = 0;
+ virtual float GetRadius(long geomID) const = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos, long geomID) = 0;
virtual long CreateSphere() = 0;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -36,7 +36,7 @@
public:
virtual long CreateTransformCollider() = 0;
- virtual void SetColliderParameters(int cleanup, int info) = 0;
+ virtual void SetColliderParameters(int cleanup, int info, long geomID) = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,19 +34,19 @@
public:
virtual long CreateUniversalJoint(long world) = 0;
- virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
- virtual salt::Vector3f GetAnchor1() = 0;
- virtual salt::Vector3f GetAnchor2() = 0;
- virtual void SetAxis1(const salt::Vector3f& axis) = 0;
- virtual void SetAxis2(const salt::Vector3f& axis) = 0;
- virtual salt::Vector3f GetAxis1() const = 0;
- virtual salt::Vector3f GetAxis2() const = 0;
- virtual float GetAngle1() const = 0;
- virtual float GetAngle2() const = 0;
- virtual float GetAngleRate1() const = 0;
- virtual float GetAngleRate2() const = 0;
- virtual void SetParameter(int parameter, float value) = 0;
- virtual float GetParameter(int parameter) const = 0;
+ virtual void SetAnchor(const salt::Vector3f& anchor, long jointID) = 0;
+ virtual salt::Vector3f GetAnchor1(long jointID) = 0;
+ virtual salt::Vector3f GetAnchor2(long jointID) = 0;
+ virtual void SetAxis1(const salt::Vector3f& axis, long jointID) = 0;
+ virtual void SetAxis2(const salt::Vector3f& axis, long jointID) = 0;
+ virtual salt::Vector3f GetAxis1(long jointID) const = 0;
+ virtual salt::Vector3f GetAxis2(long jointID) const = 0;
+ virtual float GetAngle1(long jointID) const = 0;
+ virtual float GetAngle2(long jointID) const = 0;
+ virtual float GetAngleRate1(long jointID) const = 0;
+ virtual float GetAngleRate2(long jointID) const = 0;
+ virtual void SetParameter(int parameter, float value, long jointID) = 0;
+ virtual float GetParameter(int parameter, long jointID) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,28 +31,31 @@
long ODEBallJoint::CreateBallJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
- mODEJoint = dJointCreateBall(ODEWorld, 0);
- return (long) mODEJoint;
+ dJointID ODEJoint = dJointCreateBall(ODEWorld, 0);
+ return (long) ODEJoint;
}
-void ODEBallJoint::SetAnchor(const Vector3f& gAnchor)
+void ODEBallJoint::SetAnchor(const Vector3f& gAnchor, long jointID)
{
- dJointSetBallAnchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetBallAnchor (ODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
}
-Vector3f ODEBallJoint::GetAnchor1()
+Vector3f ODEBallJoint::GetAnchor1(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetBallAnchor (mODEJoint, anchor);
+ dJointGetBallAnchor (ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-Vector3f ODEBallJoint::GetAnchor2()
+Vector3f ODEBallJoint::GetAnchor2(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetBallAnchor2(mODEJoint, anchor);
+ dJointGetBallAnchor2(ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,9 +34,9 @@
{
public:
ODEBallJoint();
- void SetAnchor(const salt::Vector3f& anchor);
- salt::Vector3f GetAnchor1();
- salt::Vector3f GetAnchor2();
+ void SetAnchor(const salt::Vector3f& anchor, long jointID);
+ salt::Vector3f GetAnchor1(long jointID);
+ salt::Vector3f GetAnchor2(long jointID);
long CreateBallJoint(long world);
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -30,10 +30,11 @@
{
}
-void ODEBoxCollider::SetBoxLengths(const Vector3f& extents)
+void ODEBoxCollider::SetBoxLengths(const Vector3f& extents, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
dGeomBoxSetLengths(
- mODEGeom,
+ ODEGeom,
extents[0],
extents[1],
extents[2]
@@ -42,21 +43,23 @@
long ODEBoxCollider::CreateBox()
{
- mODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
- return (long) mODEGeom;
+ dGeomID ODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
+ return (long) ODEGeom;
}
-void ODEBoxCollider::GetBoxLengths(Vector3f& extents)
+void ODEBoxCollider::GetBoxLengths(Vector3f& extents, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
dVector3 lengths;
- dGeomBoxGetLengths(mODEGeom,lengths);
+ dGeomBoxGetLengths(ODEGeom,lengths);
extents[0] = lengths[0];
extents[1] = lengths[1];
extents[2] = lengths[2];
}
-float ODEBoxCollider::GetPointDepth(const Vector3f& pos)
+float ODEBoxCollider::GetPointDepth(const Vector3f& pos, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
return dGeomBoxPointDepth
- (mODEGeom,pos[0],pos[1],pos[2]);
+ (ODEGeom,pos[0],pos[1],pos[2]);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,9 +34,9 @@
{
public:
ODEBoxCollider();
- void SetBoxLengths(const salt::Vector3f& extents);
- void GetBoxLengths(salt::Vector3f& extents);
- float GetPointDepth(const salt::Vector3f& pos);
+ void SetBoxLengths(const salt::Vector3f& extents, long geomID);
+ void GetBoxLengths(salt::Vector3f& extents, long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
long CreateBox();
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -28,53 +28,56 @@
{
}
-void ODECapsuleCollider::SetParams(float radius, float length)
+void ODECapsuleCollider::SetParams(float radius, float length, long geomID)
{
- dGeomCapsuleSetParams (mODEGeom, radius, length);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomCapsuleSetParams (ODEGeom, radius, length);
}
-void ODECapsuleCollider::SetRadius(float radius)
+void ODECapsuleCollider::SetRadius(float radius, long geomID)
{
- SetParams(radius,GetLength());
+ SetParams(radius, GetLength(geomID), geomID);
}
-void ODECapsuleCollider::SetLength(float length)
+void ODECapsuleCollider::SetLength(float length, long geomID)
{
- SetParams(GetRadius(),length);
+ SetParams(GetRadius(geomID), length, geomID);
}
-void ODECapsuleCollider::GetParams(float& radius, float& length)
+void ODECapsuleCollider::GetParams(float& radius, float& length, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
dReal r,l;
- dGeomCapsuleGetParams(mODEGeom,&r,&l);
+ dGeomCapsuleGetParams(ODEGeom,&r,&l);
radius = r;
length = l;
}
-float ODECapsuleCollider::GetRadius()
+float ODECapsuleCollider::GetRadius(long geomID)
{
float length;
float radius;
- GetParams(radius,length);
+ GetParams(radius, length, geomID);
return radius;
}
-float ODECapsuleCollider::GetLength()
+float ODECapsuleCollider::GetLength(long geomID)
{
float radius;
float length;
- GetParams(radius,length);
+ GetParams(radius, length, geomID);
return length;
}
long ODECapsuleCollider::CreateCapsule()
{
- mODEGeom = dCreateCapsule(0, 1.0f, 1.0f);
- return (long) mODEGeom;
+ dGeomID ODEGeom = dCreateCapsule(0, 1.0f, 1.0f);
+ return (long) ODEGeom;
}
-float ODECapsuleCollider::GetPointDepth(const Vector3f& pos)
+float ODECapsuleCollider::GetPointDepth(const Vector3f& pos, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
return dGeomCapsulePointDepth
- (mODEGeom,pos[0],pos[1],pos[2]);
+ (ODEGeom,pos[0],pos[1],pos[2]);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -35,13 +35,13 @@
public:
ODECapsuleCollider();
- void SetParams(float radius, float length);
- void SetRadius(float radius);
- void SetLength(float length);
- void GetParams(float& radius, float& length);
- float GetRadius();
- float GetLength();
- float GetPointDepth(const salt::Vector3f& pos);
+ void SetParams(float radius, float length, long geomID);
+ void SetRadius(float radius, long geomID);
+ void SetLength(float length, long geomID);
+ void GetParams(float& radius, float& length, long geomID);
+ float GetRadius(long geomID);
+ float GetLength(long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
long CreateCapsule();
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -35,7 +35,7 @@
using namespace boost;
using namespace std;
-ODECollider::ODECollider() : ODEPhysicsObject(), mODEGeom(0)
+ODECollider::ODECollider() : ODEPhysicsObject()
{
}
@@ -95,7 +95,6 @@
{
dGeomID ODEGeom = (dGeomID) geomID;
dGeomDestroy(ODEGeom);
- mODEGeom = 0;
}
void ODECollider::TransformSetGeom(long parentGeomID, long geomID){
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -48,9 +48,6 @@
void SetSpace(long spaceID, long geomID, Collider* collider);
void SetBody(long bodyID, long geomID);
void RemoveFromSpace(long geomID, long spaceID);
-
-protected:
- dGeomID mODEGeom;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,7 +34,8 @@
return (long) mODEJoint;
}
-void ODEFixedJoint::SetFixed()
+void ODEFixedJoint::SetFixed(long jointID)
{
- dJointSetFixed(mODEJoint);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetFixed(ODEJoint);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,7 +31,7 @@
public:
ODEFixedJoint();
long CreateFixedJoint(long world);
- void SetFixed();
+ void SetFixed(long jointID);
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,56 +31,65 @@
long ODEHinge2Joint::CreateHinge2Joint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
- mODEJoint = dJointCreateHinge2(ODEWorld, 0);
- return (long) mODEJoint;
+ dJointID ODEJoint = dJointCreateHinge2(ODEWorld, 0);
+ return (long) ODEJoint;
}
void ODEHinge2Joint::SetAnchor(const Vector3f& gAnchor,
const Vector3f& up,
- const Vector3f& right)
+ const Vector3f& right,
+ long jointID)
{
- dJointSetHinge2Anchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
- dJointSetHinge2Axis1(mODEJoint,up[0],up[1],up[2]);
- dJointSetHinge2Axis2(mODEJoint,right[0],right[1],right[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHinge2Anchor (ODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+ dJointSetHinge2Axis1(ODEJoint,up[0],up[1],up[2]);
+ dJointSetHinge2Axis2(ODEJoint,right[0],right[1],right[2]);
}
-Vector3f ODEHinge2Joint::GetAnchor1()
+Vector3f ODEHinge2Joint::GetAnchor1(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetHinge2Anchor (mODEJoint, anchor);
+ dJointGetHinge2Anchor (ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-Vector3f ODEHinge2Joint::GetAnchor2()
+Vector3f ODEHinge2Joint::GetAnchor2(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetHinge2Anchor2(mODEJoint, anchor);
+ dJointGetHinge2Anchor2(ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-float ODEHinge2Joint::GetAngle()
+float ODEHinge2Joint::GetAngle(long jointID)
{
- return gRadToDeg(dJointGetHinge2Angle1(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHinge2Angle1(ODEJoint));
}
-float ODEHinge2Joint::GetAngleRate1()
+float ODEHinge2Joint::GetAngleRate1(long jointID)
{
- return gRadToDeg(dJointGetHinge2Angle1Rate(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHinge2Angle1Rate(ODEJoint));
}
-float ODEHinge2Joint::GetAngleRate2()
+float ODEHinge2Joint::GetAngleRate2(long jointID)
{
- return gRadToDeg(dJointGetHinge2Angle2Rate(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHinge2Angle2Rate(ODEJoint));
}
-void ODEHinge2Joint::SetParameter(int parameter, float value)
+void ODEHinge2Joint::SetParameter(int parameter, float value, long jointID)
{
- dJointSetHinge2Param(mODEJoint, parameter, value);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHinge2Param(ODEJoint, parameter, value);
}
-float ODEHinge2Joint::GetParameter(int parameter) const
+float ODEHinge2Joint::GetParameter(int parameter, long jointID) const
{
- return dJointGetHinge2Param(mODEJoint, parameter);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetHinge2Param(ODEJoint, parameter);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -33,14 +33,15 @@
long CreateHinge2Joint(long world);
void SetAnchor(const salt::Vector3f& gAnchor,
const salt::Vector3f& up,
- const salt::Vector3f& right);
- salt::Vector3f GetAnchor1();
- salt::Vector3f GetAnchor2();
- float GetAngle();
- float GetAngleRate1();
- float GetAngleRate2();
- void SetParameter(int parameter, float value);
- float GetParameter(int parameter) const;
+ const salt::Vector3f& right,
+ long jointID);
+ salt::Vector3f GetAnchor1(long jointID);
+ salt::Vector3f GetAnchor2(long jointID);
+ float GetAngle(long jointID);
+ float GetAngleRate1(long jointID);
+ float GetAngleRate2(long jointID);
+ void SetParameter(int parameter, float value, long jointID);
+ float GetParameter(int parameter, long jointID) const;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -30,61 +30,70 @@
long ODEHingeJoint::CreateHingeJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
- mODEJoint = dJointCreateHinge(ODEWorld, 0);
- return (long) mODEJoint;
+ dJointID ODEJoint = dJointCreateHinge(ODEWorld, 0);
+ return (long) ODEJoint;
}
-void ODEHingeJoint::SetAnchor(const Vector3f& anchor)
+void ODEHingeJoint::SetAnchor(const Vector3f& anchor, long jointID)
{
- dJointSetHingeAnchor (mODEJoint, anchor[0], anchor[1], anchor[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHingeAnchor (ODEJoint, anchor[0], anchor[1], anchor[2]);
}
-Vector3f ODEHingeJoint::GetAnchor1()
+Vector3f ODEHingeJoint::GetAnchor1(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetHingeAnchor (mODEJoint, anchor);
+ dJointGetHingeAnchor (ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-Vector3f ODEHingeJoint::GetAnchor2()
+Vector3f ODEHingeJoint::GetAnchor2(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal anchor[3];
- dJointGetHingeAnchor2(mODEJoint, anchor);
+ dJointGetHingeAnchor2(ODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
-void ODEHingeJoint::SetAxis(const Vector3f& axis)
+void ODEHingeJoint::SetAxis(const Vector3f& axis, long jointID)
{
- dJointSetHingeAxis(mODEJoint, axis[0], axis[1], axis[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHingeAxis(ODEJoint, axis[0], axis[1], axis[2]);
}
-Vector3f ODEHingeJoint::GetAxis()
+Vector3f ODEHingeJoint::GetAxis(long jointID)
{
+ dJointID ODEJoint = (dJointID) jointID;
dReal axis[3];
- dJointGetHingeAxis(mODEJoint, axis);
+ dJointGetHingeAxis(ODEJoint, axis);
return Vector3f (axis[0], axis[1], axis[2]);
}
-float ODEHingeJoint::GetAngle() const
+float ODEHingeJoint::GetAngle(long jointID) const
{
- return gRadToDeg(dJointGetHingeAngle(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHingeAngle(ODEJoint));
}
-float ODEHingeJoint::GetAngleRate() const
+float ODEHingeJoint::GetAngleRate(long jointID) const
{
- return gRadToDeg(dJointGetHingeAngleRate(mODEJoint));
+ dJointID ODEJoint = (dJointID) jointID;
+ return gRadToDeg(dJointGetHingeAngleRate(ODEJoint));
}
-void ODEHingeJoint::SetParameter(int parameter, float value)
+void ODEHingeJoint::SetParameter(int parameter, float value, long jointID)
{
- dJointSetHingeParam(mODEJoint, parameter, value);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetHingeParam(ODEJoint, parameter, value);
}
-float ODEHingeJoint::GetParameter(int parameter) const
+float ODEHingeJoint::GetParameter(int parameter, long jointID) const
{
- return dJointGetHingeParam(mODEJoint, parameter);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetHingeParam(ODEJoint, parameter);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -31,15 +31,15 @@
public:
ODEHingeJoint();
long CreateHingeJoint(long world);
- void SetAnchor(const salt::Vector3f& anchor);
- salt::Vector3f GetAnchor1();
- salt::Vector3f GetAnchor2();
- void SetAxis(const salt::Vector3f& axis);
- salt::Vector3f GetAxis();
- float GetAngle() const;
- float GetAngleRate() const;
- void SetParameter(int parameter, float value);
- float GetParameter(int parameter) const;
+ void SetAnchor(const salt::Vector3f& anchor, long jointID);
+ salt::Vector3f GetAnchor1(long jointID);
+ salt::Vector3f GetAnchor2(long jointID);
+ void SetAxis(const salt::Vector3f& axis, long jointID);
+ salt::Vector3f GetAxis(long jointID);
+ float GetAngle(long jointID) const;
+ float GetAngleRate(long jointID) const;
+ void SetParameter(int parameter, float value, long jointID);
+ float GetParameter(int parameter, long jointID) const;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -28,27 +28,30 @@
{
}
-void ODEPlaneCollider::SetPlaneParams(float a, float b, float c, float d)
+void ODEPlaneCollider::SetPlaneParams(float a, float b, float c, float d, long geomID)
{
- dGeomPlaneSetParams(mODEGeom, a, b, c, d);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomPlaneSetParams(ODEGeom, a, b, c, d);
}
long ODEPlaneCollider::CreatePlane()
{
// a plane with normal pointing up, going through the origin
- mODEGeom = dCreatePlane(0, 0, 1, 0, 0);
- return (long) mODEGeom;
+ dGeomID ODEGeom = dCreatePlane(0, 0, 1, 0, 0);
+ return (long) ODEGeom;
}
-void ODEPlaneCollider::SetParams(const salt::Vector3f& pos, salt::Vector3f normal)
+void ODEPlaneCollider::SetParams(const salt::Vector3f& pos, salt::Vector3f normal, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
normal.Normalize();
float d = pos.Dot(normal);
- dGeomPlaneSetParams(mODEGeom, normal.x(), normal.y(), normal.z(), d);
+ dGeomPlaneSetParams(ODEGeom, normal.x(), normal.y(), normal.z(), d);
}
-float ODEPlaneCollider::GetPointDepth(const Vector3f& pos)
+float ODEPlaneCollider::GetPointDepth(const Vector3f& pos, long geomID)
{
+ dGeomID ODEGeom = (dGeomID) geomID;
return dGeomPlanePointDepth
- (mODEGeom,pos[0],pos[1],pos[2]);
+ (ODEGeom,pos[0],pos[1],pos[2]);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,9 +34,9 @@
{
public:
ODEPlaneCollider();
- void SetPlaneParams(float a, float b, float c, float d);
- void SetParams(const salt::Vector3f& pos, salt::Vector3f normal);
- float GetPointDepth(const salt::Vector3f& pos);
+ void SetPlaneParams(float a, float b, float c, float d, long geomID);
+ void SetParams(const salt::Vector3f& pos, salt::Vector3f normal, long geomID);
+ float GetPointDepth(const salt::Vector3f& pos, long geomID);
long CreatePlane();
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -28,14 +28,15 @@
}
void ODERayCollider::SetParams(salt::Vector3f pos,
- salt::Vector3f dir, float length)
+ salt::Vector3f dir, float length, long geomID)
{
- dGeomRaySet(mODEGeom, pos[0], pos[1], pos[2], dir[0], dir[1], dir[2]);
- dGeomRaySetLength(mODEGeom, length);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomRaySet(ODEGeom, pos[0], pos[1], pos[2], dir[0], dir[1], dir[2]);
+ dGeomRaySetLength(ODEGeom, length);
}
long ODERayCollider::CreateRay()
{
- mODEGeom = dCreateRay(0, 1.0f);
- return (long) mODEGeom;
+ dGeomID ODEGeom = dCreateRay(0, 1.0f);
+ return (long) ODEGeom;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -34,7 +34,7 @@
{
public:
ODERayCollider();
- void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length);
+ void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length, long geomID);
long CreateRay();
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -43,21 +43,29 @@
void SetMassParameters(const GenericMass& mass, long bodyID);
float GetMass(long bodyID) const;
void SetSphere(float density, float radius, long bodyID);
- salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetSphereTotal(float total_mass, float radius, long bodyID);
- salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetBox(float density, const salt::Vector3f& size, long bodyID);
- salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetBoxTotal(float total_mass, const salt::Vector3f& size, long bodyID);
- salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetCylinder(float density, float radius, float length, long bodyID);
- salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetCylinderTotal(float total_mass, float radius, float length, long bodyID);
- salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetCapsule(float density, float radius, float length, long bodyID);
- salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void SetCapsuleTotal(float total_mass, float radius, float length, long bodyID);
- salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix,
+ salt::Vector3f massTrans, long bodyID);
void TranslateMass(const salt::Vector3f& v, long bodyID);
salt::Vector3f GetVelocity(long bodyID) const;
void SetVelocity(const salt::Vector3f& vel, long bodyID);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2010-01-06 07:25:00 UTC (rev 137)
@@ -30,31 +30,36 @@
long ODESliderJoint::CreateSliderJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
- mODEJoint = dJointCreateSlider(ODEWorld, 0);
- return (long) mODEJoint;
+ dJointID ODEJoint = dJointCreateSlider(ODEWorld, 0);
+ return (long) ODEJoint;
}
-void ODESliderJoint::SetSliderAxis(Vector3f& up)
+void ODESliderJoint::SetSliderAxis(Vector3f& up, long jointID)
{
- dJointSetSliderAxis(mODEJoint,up[0],up[1],up[2]);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetSliderAxis(ODEJoint,up[0],up[1],up[2]);
}
-float ODESliderJoint::GetPosition()
+float ODESliderJoint::GetPosition(long jointID)
{
- return dJointGetSliderPosition(mODEJoint);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetSliderPosition(ODEJoint);
}
-float ODESliderJoint::GetPositionRate()
+float ODESliderJoint::GetPositionRate(long jointID)
{
- return dJointGetSliderPositionRate(mODEJoint);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetSliderPositionRate(ODEJoint);
}
-void ODESliderJoint::SetParameter(int parameter, float value)
+void ODESliderJoint::SetParameter(int parameter, float value, long jointID)
{
- dJointSetSliderParam(mODEJoint, parameter, value);
+ dJointID ODEJoint = (dJointID) jointID;
+ dJointSetSliderParam(ODEJoint, parameter, value);
}
-float ODESliderJoint::GetParameter(int parameter) const
+float ODESliderJoint::GetParameter(int parameter, long jointID) const
{
- return dJointGetSliderParam(mODEJoint, parameter);
+ dJointID ODEJoint = (dJointID) jointID;
+ return dJointGetSliderParam(ODEJoint, parameter);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2010-01-05 07:22:17 UTC (rev 136)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2010-01-06 07:25:00 UTC (rev 137)
@@ -35,11 +35,11 @@
public:
O...
[truncated message content] |
|
From: <a-...@us...> - 2010-01-05 07:22:30
|
Revision: 136
http://simspark.svn.sourceforge.net/simspark/?rev=136&view=rev
Author: a-held
Date: 2010-01-05 07:22:17 +0000 (Tue, 05 Jan 2010)
Log Message:
-----------
Edited RigidBody class so that no variables are stored internally
Added documentation of accelerometer in branch
Modified Paths:
--------------
branches/multiphys/rcssserver3d/doc/users/simspark.tex
branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/body.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
Modified: branches/multiphys/rcssserver3d/doc/users/simspark.tex
===================================================================
--- branches/multiphys/rcssserver3d/doc/users/simspark.tex 2010-01-04 11:19:19 UTC (rev 135)
+++ branches/multiphys/rcssserver3d/doc/users/simspark.tex 2010-01-05 07:22:17 UTC (rev 136)
@@ -141,6 +141,17 @@
13.07))}
\end{itemize}
+\subsubsection{Accelerometer}
+This perceptor measures the proper acceleration it experiences
+relative to free fall. As a consequence an accelerometer at rest
+relative to the Earth's surface will indicate approximately 1 g
+upwards. To obtain the acceleration due to motion with respect to the
+earth, this ``gravity offset" should be subtracted.
+\begin{itemize}
+ \item[Message format:] \texttt{(ACC (n <name>) (a <x> <y> <z>))}
+ \item[Example message:] \texttt{(ACC (n torso) (a 0.00 0.00 9.81))}
+\end{itemize}
+
\subsection{Soccer Perceptors}
\label{sec:soccerperceptors}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2010-01-04 11:19:19 UTC (rev 135)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2010-01-05 07:22:17 UTC (rev 136)
@@ -24,7 +24,9 @@
using namespace oxygen;
-Body::Body() : PhysicsObject(), mBodyID(0){
+Body::Body() : PhysicsObject(), mBodyID(0), mMassTransformed(false),
+ mMassTrans(0,0,0)
+{
mBodyImp = boost::shared_ptr<ODEBody>(new ODEBody());
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2010-01-04 11:19:19 UTC (rev 135)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2010-01-05 07:22:17 UTC (rev 136)
@@ -42,6 +42,8 @@
protected:
long mBodyID;
+ bool mMassTransformed;
+ salt::Vector3f mMassTrans;
private:
boost::shared_ptr<BodyInt> mBodyImp;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-01-04 11:19:19 UTC (rev 135)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2010-01-05 07:22:17 UTC (rev 136)
@@ -33,52 +33,47 @@
{
public:
- virtual void Enable() = 0;
- virtual void Disable() = 0;
- virtual bool IsEnabled() const = 0;
- virtual void UseGravity(bool f) = 0;
- virtual bool UsesGravity() const = 0;
- virtual long CreateBody(long world) = 0;
- virtual void SetMass(float mass) = 0;
- virtual void SetMassParameters(const GenericMass& mass) = 0;
- virtual float GetMass() const = 0;
- virtual void SetSphere(float density, float radius) = 0;
- virtual void AddSphere(float density, float radius, const salt::Matrix& matrix) = 0;
- virtual void SetSphereTotal(float total_mass, float radius) = 0;
- virtual void AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix) = 0;
- virtual void SetBox(float density, const salt::Vector3f& size) = 0;
- virtual void AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix) = 0;
- virtual void SetBoxTotal(float total_mass, const salt::Vector3f& size) = 0;
- virtual void AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix) = 0;
- virtual void SetCylinder(float density, float radius, float length) = 0;
- virtual void AddCylinder(float density, float radius, float length, const salt::Matrix& matrix) = 0;
- virtual void SetCylinderTotal(float total_mass, float radius, float length) = 0;
- virtual void AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix) = 0;
- virtual void SetCapsule(float density, float radius, float length) = 0;
- virtual void AddCapsule(float density, float radius, float length, const salt::Matrix& matrix) = 0;
- virtual void SetCapsuleTotal(float total_mass, float radius, float length) = 0;
- virtual void AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix) = 0;
- virtual void TranslateMass(const salt::Vector3f& v) = 0;
- virtual salt::Vector3f GetVelocity() const = 0;
- virtual void SetVelocity(const salt::Vector3f& vel) = 0;
- virtual void SetRotation(const salt::Matrix& rot) = 0;
- virtual salt::Matrix GetRotation() const = 0;
- virtual salt::Vector3f GetLocalAngularVelocity() const = 0;
- virtual salt::Vector3f GetAngularVelocity() const = 0;
- virtual void SetAngularVelocity(const salt::Vector3f& vel) = 0;
- virtual void AddForce(const salt::Vector3f& force) = 0;
- virtual salt::Vector3f GetForce() const = 0;
- virtual void AddTorque(const salt::Vector3f& torque) = 0;
- virtual void SetPosition(const salt::Vector3f& pos) = 0;
- virtual salt::Vector3f GetPosition() const = 0;
- virtual void DestroyPhysicsObject() = 0;
- virtual salt::Matrix GetSynchronisationMatrix() = 0;
- virtual void BodySetData(RigidBody* rb) = 0;
+ virtual void Enable(long bodyID) = 0;
+ virtual void Disable(long bodyID) = 0;
+ virtual bool IsEnabled(long bodyID) const = 0;
+ virtual void UseGravity(bool f, long bodyID) = 0;
+ virtual bool UsesGravity(long bodyID) const = 0;
+ virtual void SetMass(float mass, long bodyID) = 0;
+ virtual void SetMassParameters(const GenericMass& mass, long bodyID) = 0;
+ virtual float GetMass(long bodyID) const = 0;
+ virtual void SetSphere(float density, float radius, long bodyID) = 0;
+ virtual salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual void SetSphereTotal(float total_mass, float radius, long bodyID) = 0;
+ virtual salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual void SetBox(float density, const salt::Vector3f& size, long bodyID) = 0;
+ virtual salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual void SetBoxTotal(float total_mass, const salt::Vector3f& size, long bodyID) = 0;
+ virtual salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual void SetCylinder(float density, float radius, float length, long bodyID) = 0;
+ virtual salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual void SetCylinderTotal(float total_mass, float radius, float length, long bodyID) = 0;
+ virtual salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual void SetCapsule(float density, float radius, float length, long bodyID) = 0;
+ virtual salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual void SetCapsuleTotal(float total_mass, float radius, float length, long bodyID) = 0;
+ virtual salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID) = 0;
+ virtual void TranslateMass(const salt::Vector3f& v, long bodyID) = 0;
+ virtual salt::Vector3f GetVelocity(long bodyID) const = 0;
+ virtual void SetVelocity(const salt::Vector3f& vel, long bodyID) = 0;
+ virtual void SetRotation(const salt::Matrix& rot, long bodyID) = 0;
+ virtual salt::Matrix GetRotation(long bodyID) const = 0;
+ virtual salt::Vector3f GetLocalAngularVelocity(long bodyID) const = 0;
+ virtual salt::Vector3f GetAngularVelocity(long bodyID) const = 0;
+ virtual void SetAngularVelocity(const salt::Vector3f& vel, long bodyID) = 0;
+ virtual void AddForce(const salt::Vector3f& force, long bodyID) = 0;
+ virtual salt::Vector3f GetForce(long bodyID) const = 0;
+ virtual void AddTorque(const salt::Vector3f& torque, long bodyID) = 0;
+ virtual void SetPosition(const salt::Vector3f& pos, long bodyID) = 0;
+ virtual salt::Vector3f GetPosition(long bodyID) const = 0;
+ virtual void DestroyPhysicsObject(long bodyID) = 0;
+ virtual salt::Matrix GetSynchronisationMatrix(long bodyID) = 0;
+ virtual void BodySetData(RigidBody* rb, long bodyID) = 0;
virtual RigidBody* BodyGetData(long bodyID) = 0;
- virtual salt::Vector3f GetMassTrans() = 0;
- virtual void SetMassTrans(salt::Vector3f massTrans) = 0;
- virtual bool GetMassTransformed() = 0;
- virtual void SetMassTransformed(bool f) = 0;
// Here, we have to cheat with the preprocessor, since a static method
// is required, and the bridge pattern requires member variables to
@@ -89,9 +84,7 @@
#endif
}
-protected:
- salt::Vector3f mMassTrans;
- bool mMassTransformed;
+ virtual long CreateBody(long world) = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2010-01-04 11:19:19 UTC (rev 135)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2010-01-05 07:22:17 UTC (rev 136)
@@ -23,6 +23,6 @@
using namespace oxygen;
-ODEBody::ODEBody() : ODEPhysicsObject(), mODEBody(0){
+ODEBody::ODEBody() : ODEPhysicsObject(){
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h 2010-01-04 11:19:19 UTC (rev 135)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h 2010-01-05 07:22:17 UTC (rev 136)
@@ -31,9 +31,6 @@
{
public:
ODEBody();
-
-protected:
- dBodyID mODEBody;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2010-01-04 11:19:19 UTC (rev 135)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2010-01-05 07:22:17 UTC (rev 136)
@@ -33,98 +33,85 @@
using namespace std;
ODERigidBody::ODERigidBody() : ODEBody(){
- mMassTrans = Vector3f(0,0,0);
- mMassTransformed = false;
}
-salt::Vector3f ODERigidBody::GetMassTrans(){
- return mMassTrans;
-}
-
-void ODERigidBody::SetMassTrans(Vector3f massTrans){
- mMassTrans = massTrans;
-}
-
-bool ODERigidBody::GetMassTransformed(){
- return mMassTransformed;
-}
-
-void ODERigidBody::SetMassTransformed(bool f){
- mMassTransformed = f;
-}
-
-void ODERigidBody::Enable()
+void ODERigidBody::Enable(long bodyID)
{
- dBodyEnable(mODEBody);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dBodyEnable(ODEBody);
}
-void ODERigidBody::Disable()
+void ODERigidBody::Disable(long bodyID)
{
- dBodyDisable(mODEBody);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dBodyDisable(ODEBody);
}
-bool ODERigidBody::IsEnabled() const
+bool ODERigidBody::IsEnabled(long bodyID) const
{
- return (dBodyIsEnabled(mODEBody) != 0);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ return (dBodyIsEnabled(ODEBody) != 0);
}
-void ODERigidBody::UseGravity(bool f)
+void ODERigidBody::UseGravity(bool f, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
if (f == true)
{
// body is affected by gravity
- dBodySetGravityMode(mODEBody, 1);
+ dBodySetGravityMode(ODEBody, 1);
}
else
{
// body is not affected by gravity
- dBodySetGravityMode(mODEBody, 0);
+ dBodySetGravityMode(ODEBody, 0);
}
}
-bool ODERigidBody::UsesGravity() const{
- return (dBodyGetGravityMode(mODEBody) != 0);
+bool ODERigidBody::UsesGravity(long bodyID) const{
+ dBodyID ODEBody = (dBodyID) bodyID;
+ return (dBodyGetGravityMode(ODEBody) != 0);
}
long ODERigidBody::CreateBody(long world)
{
// create the managed body
- mODEBody = dBodyCreate((dWorldID) world);
- return (long) mODEBody;
+ dBodyID ODEBody = dBodyCreate((dWorldID) world);
+ return (long) ODEBody;
}
-void ODERigidBody::DestroyPhysicsObject(){
- if (mODEBody == 0)
- {
- return;
- }
-
- dBodyDestroy(mODEBody);
- mODEBody = 0;
+void ODERigidBody::DestroyPhysicsObject(long bodyID)
+{
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dBodyDestroy(ODEBody);
}
-void ODERigidBody::BodySetData(RigidBody* rb)
+void ODERigidBody::BodySetData(RigidBody* rb, long bodyID)
{
- dBodySetData(mODEBody, rb);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dBodySetData(ODEBody, rb);
}
-void ODERigidBody::SetMass(float mass)
+void ODERigidBody::SetMass(float mass, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass ODEMass;
- dBodyGetMass(mODEBody, &ODEMass);
+ dBodyGetMass(ODEBody, &ODEMass);
dMassAdjust(&ODEMass, mass);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
-float ODERigidBody::GetMass() const
+float ODERigidBody::GetMass(long bodyID) const
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass m;
- dBodyGetMass(mODEBody, &m);
+ dBodyGetMass(ODEBody, &m);
return m.mass;
}
-void ODERigidBody::AddMass(const dMass& ODEMass, const Matrix& matrix)
+Vector3f ODERigidBody::AddMass(const dMass& ODEMass, const Matrix& matrix, Vector3f massTrans, const long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass transMass(ODEMass);
dMatrix3 ODEMatrix;
@@ -135,10 +122,10 @@
const Vector3f& trans(matrix.Pos());
dMassTranslate(&transMass,trans[0],trans[1],trans[2]);
- dMassTranslate(&transMass,mMassTrans[0],mMassTrans[1],mMassTrans[2]);
+ dMassTranslate(&transMass,massTrans[0],massTrans[1],massTrans[2]);
dMass bodyMass;
- dBodyGetMass(mODEBody, &bodyMass);
+ dBodyGetMass(ODEBody, &bodyMass);
dMassAdd(&bodyMass, &transMass);
/** ODE currently requires that the center mass is always in the
@@ -148,21 +135,20 @@
dMassTranslate(&bodyMass, -trans2[0], -trans2[1], -trans2[2]);
bodyMass.c[0] = bodyMass.c[1] = bodyMass.c[2] = 0.0f;
- dBodySetMass(mODEBody, (const dMass*)&bodyMass);
+ dBodySetMass(ODEBody, (const dMass*)&bodyMass);
// Move body so mass is at right position again
- SetPosition(GetPosition() + trans2);
+ SetPosition(GetPosition(bodyID) + trans2, bodyID);
// Keep track of total translation of mass
- mMassTrans = mMassTrans - trans2;
-
- mMassTransformed = true;
+ return massTrans - trans2;
}
-void ODERigidBody::SetMassParameters(const GenericMass& mass)
+void ODERigidBody::SetMassParameters(const GenericMass& mass, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass& ODEMass = (dMass&) mass;
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
void ODERigidBody::PrepareSphere(dMass& mass, float density, float radius) const
@@ -170,18 +156,19 @@
dMassSetSphere(&mass, density, radius);
}
-void ODERigidBody::SetSphere(float density, float radius)
+void ODERigidBody::SetSphere(float density, float radius, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass ODEMass;
PrepareSphere(ODEMass, density, radius);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
-void ODERigidBody::AddSphere(float density, float radius, const Matrix& matrix)
+salt::Vector3f ODERigidBody::AddSphere(float density, float radius, const Matrix& matrix, salt::Vector3f massTrans, long bodyID)
{
dMass ODEMass;
PrepareSphere(ODEMass, density, radius);
- AddMass(ODEMass, matrix);
+ return AddMass(ODEMass, matrix, massTrans, bodyID);
}
void ODERigidBody::PrepareSphereTotal(dMass& mass, float total_mass, float radius) const
@@ -189,18 +176,19 @@
dMassSetSphereTotal(&mass, total_mass, radius);
}
-void ODERigidBody::SetSphereTotal(float total_mass, float radius)
+void ODERigidBody::SetSphereTotal(float total_mass, float radius, long bodyID)
{
- dMass ODEMass;;
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dMass ODEMass;
PrepareSphereTotal(ODEMass, total_mass, radius);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
-void ODERigidBody::AddSphereTotal(float total_mass, float radius, const Matrix& matrix)
+salt::Vector3f ODERigidBody::AddSphereTotal(float total_mass, float radius, const Matrix& matrix, salt::Vector3f massTrans, long bodyID)
{
dMass ODEMass;
PrepareSphereTotal(ODEMass, total_mass, radius);
- AddMass(ODEMass, matrix);
+ return AddMass(ODEMass, matrix, massTrans, bodyID);
}
void ODERigidBody::PrepareBox(dMass& mass, float density, const Vector3f& size) const
@@ -208,18 +196,19 @@
dMassSetBox(&mass, density, size[0], size[1], size[2]);
}
-void ODERigidBody::SetBox(float density, const Vector3f& size)
+void ODERigidBody::SetBox(float density, const Vector3f& size, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass ODEMass;
PrepareBox(ODEMass, density, size);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
-void ODERigidBody::AddBox(float density, const Vector3f& size, const Matrix& matrix)
+salt::Vector3f ODERigidBody::AddBox(float density, const Vector3f& size, const Matrix& matrix, salt::Vector3f massTrans, long bodyID)
{
dMass ODEMass;
PrepareBox(ODEMass, density, size);
- AddMass(ODEMass, matrix);
+ return AddMass(ODEMass, matrix, massTrans, bodyID);
}
void ODERigidBody::PrepareBoxTotal(dMass& mass, float total_mass, const Vector3f& size) const
@@ -227,18 +216,19 @@
dMassSetBoxTotal(&mass, total_mass, size[0], size[1], size[2]);
}
-void ODERigidBody::SetBoxTotal(float total_mass, const Vector3f& size)
+void ODERigidBody::SetBoxTotal(float total_mass, const Vector3f& size, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass ODEMass;
PrepareBoxTotal(ODEMass, total_mass, size);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
-void ODERigidBody::AddBoxTotal(float total_mass, const Vector3f& size, const Matrix& matrix)
+salt::Vector3f ODERigidBody::AddBoxTotal(float total_mass, const Vector3f& size, const Matrix& matrix, salt::Vector3f massTrans, long bodyID)
{
dMass ODEMass;
PrepareBoxTotal(ODEMass, total_mass, size);
- AddMass(ODEMass, matrix);
+ return AddMass(ODEMass, matrix, massTrans, bodyID);
}
void ODERigidBody::PrepareCylinder (dMass& mass, float density, float radius, float length) const
@@ -249,18 +239,19 @@
dMassSetCylinder (&mass, density, direction, radius, length);
}
-void ODERigidBody::SetCylinder (float density, float radius, float length)
+void ODERigidBody::SetCylinder (float density, float radius, float length, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass ODEMass;
PrepareCylinder(ODEMass, density, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
-void ODERigidBody::AddCylinder (float density, float radius, float length, const Matrix& matrix)
+salt::Vector3f ODERigidBody::AddCylinder(float density, float radius, float length, const Matrix& matrix, salt::Vector3f massTrans, long bodyID)
{
dMass ODEMass;
PrepareCylinder(ODEMass, density, radius, length);
- AddMass(ODEMass, matrix);
+ return AddMass(ODEMass, matrix, massTrans, bodyID);
}
void ODERigidBody::PrepareCylinderTotal(dMass& mass, float total_mass, float radius, float length) const
@@ -271,18 +262,19 @@
dMassSetCylinderTotal(&mass, total_mass, direction, radius, length);
}
-void ODERigidBody::SetCylinderTotal(float total_mass, float radius, float length)
+void ODERigidBody::SetCylinderTotal(float total_mass, float radius, float length, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass ODEMass;
PrepareCylinderTotal(ODEMass, total_mass, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
-void ODERigidBody::AddCylinderTotal(float total_mass, float radius, float length, const Matrix& matrix)
+salt::Vector3f ODERigidBody::AddCylinderTotal(float total_mass, float radius, float length, const Matrix& matrix, salt::Vector3f massTrans, long bodyID)
{
dMass ODEMass;
PrepareCylinderTotal(ODEMass, total_mass, radius, length);
- AddMass(ODEMass, matrix);
+ return AddMass(ODEMass, matrix, massTrans, bodyID);
}
void ODERigidBody::PrepareCapsule (dMass& mass, float density, float radius, float length) const
@@ -293,18 +285,19 @@
dMassSetCapsule (&mass, density, direction, radius, length);
}
-void ODERigidBody::SetCapsule (float density, float radius, float length)
+void ODERigidBody::SetCapsule (float density, float radius, float length, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass ODEMass;
PrepareCapsule(ODEMass, density, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
-void ODERigidBody::AddCapsule (float density, float radius, float length, const Matrix& matrix)
+salt::Vector3f ODERigidBody::AddCapsule (float density, float radius, float length, const Matrix& matrix, salt::Vector3f massTrans, long bodyID)
{
dMass ODEMass;
PrepareCapsule(ODEMass, density, radius, length);
- AddMass(ODEMass, matrix);
+ return AddMass(ODEMass, matrix, massTrans, bodyID);
}
void ODERigidBody::PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const
@@ -315,71 +308,80 @@
dMassSetCapsuleTotal(&mass, total_mass, direction, radius, length);
}
-void ODERigidBody::SetCapsuleTotal(float total_mass, float radius, float length)
+void ODERigidBody::SetCapsuleTotal(float total_mass, float radius, float length, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass ODEMass;
PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
- dBodySetMass(mODEBody, &ODEMass);
+ dBodySetMass(ODEBody, &ODEMass);
}
-void ODERigidBody::AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
+salt::Vector3f ODERigidBody::AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID)
{
dMass ODEMass;
PrepareCapsuleTotal(ODEMass, total_mass, radius, length);
- AddMass(ODEMass, matrix);
+ return AddMass(ODEMass, matrix, massTrans, bodyID);
}
-Vector3f ODERigidBody::GetVelocity() const
+Vector3f ODERigidBody::GetVelocity(long bodyID) const
{
- const dReal* vel = dBodyGetLinearVel(mODEBody);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ const dReal* vel = dBodyGetLinearVel(ODEBody);
return Vector3f(vel[0], vel[1], vel[2]);
}
-void ODERigidBody::SetVelocity(const Vector3f& vel)
+void ODERigidBody::SetVelocity(const Vector3f& vel, long bodyID)
{
- dBodySetLinearVel(mODEBody, vel[0], vel[1], vel[2]);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dBodySetLinearVel(ODEBody, vel[0], vel[1], vel[2]);
}
-void ODERigidBody::SetRotation(const Matrix& rot)
+void ODERigidBody::SetRotation(const Matrix& rot, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMatrix3 ODEMatrix;
GenericPhysicsMatrix& matrixRef = (GenericPhysicsMatrix&) ODEMatrix;
ConvertRotationMatrix(rot, matrixRef);
- dBodySetRotation(mODEBody, ODEMatrix);
+ dBodySetRotation(ODEBody, ODEMatrix);
}
-salt::Matrix ODERigidBody::GetRotation() const
+salt::Matrix ODERigidBody::GetRotation(long bodyID) const
{
- const dReal* ODEMatrix = dBodyGetRotation(mODEBody);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ const dReal* ODEMatrix = dBodyGetRotation(ODEBody);
GenericPhysicsMatrix* matrixPtr = (GenericPhysicsMatrix*) ODEMatrix;
salt::Matrix rot;
ConvertRotationMatrix(matrixPtr,rot);
return rot;
}
-Vector3f ODERigidBody::GetLocalAngularVelocity() const
+Vector3f ODERigidBody::GetLocalAngularVelocity(long bodyID) const
{
- const dReal* vel = dBodyGetAngularVel(mODEBody);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ const dReal* vel = dBodyGetAngularVel(ODEBody);
dReal w[3];
- dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], w);
+ dBodyVectorFromWorld(ODEBody, vel[0], vel[1], vel[2], w);
return Vector3f(w[0], w[1], w[2]);
}
-Vector3f ODERigidBody::GetAngularVelocity() const
+Vector3f ODERigidBody::GetAngularVelocity(long bodyID) const
{
- const dReal* vel = dBodyGetAngularVel(mODEBody);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ const dReal* vel = dBodyGetAngularVel(ODEBody);
return Vector3f(vel[0], vel[1], vel[2]);
}
-void ODERigidBody::SetAngularVelocity(const Vector3f& vel)
+void ODERigidBody::SetAngularVelocity(const Vector3f& vel, long bodyID)
{
- dBodySetAngularVel(mODEBody, vel[0], vel[1], vel[2]);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dBodySetAngularVel(ODEBody, vel[0], vel[1], vel[2]);
}
-salt::Matrix ODERigidBody::GetSynchronisationMatrix()
+salt::Matrix ODERigidBody::GetSynchronisationMatrix(long bodyID)
{
- const dReal* pos = dBodyGetPosition(mODEBody);
- const dReal* rot = dBodyGetRotation(mODEBody);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ const dReal* pos = dBodyGetPosition(ODEBody);
+ const dReal* rot = dBodyGetRotation(ODEBody);
Matrix mat;
mat.m[0] = rot[0];
@@ -404,44 +406,50 @@
RigidBody* ODERigidBody::BodyGetData(long bodyID)
{
- dBodyID ODEBodyID = (dBodyID) bodyID;
+ dBodyID ODEBody = (dBodyID) bodyID;
RigidBody* bodyPtr =
- static_cast<RigidBody*>(dBodyGetData(ODEBodyID));
+ static_cast<RigidBody*>(dBodyGetData(ODEBody));
return bodyPtr;
}
-void ODERigidBody::AddForce(const Vector3f& force)
+void ODERigidBody::AddForce(const Vector3f& force, long bodyID)
{
- dBodyAddForce(mODEBody, force.x(), force.y(), force.z());
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dBodyAddForce(ODEBody, force.x(), force.y(), force.z());
}
-Vector3f ODERigidBody::GetForce() const
+Vector3f ODERigidBody::GetForce(long bodyID) const
{
- const dReal* f = dBodyGetForce(mODEBody);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ const dReal* f = dBodyGetForce(ODEBody);
return Vector3f(f[0], f[1], f[2]);
}
-void ODERigidBody::AddTorque(const Vector3f& torque)
+void ODERigidBody::AddTorque(const Vector3f& torque, long bodyID)
{
- dBodyAddTorque(mODEBody, torque.x(), torque.y(), torque.z());
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dBodyAddTorque(ODEBody, torque.x(), torque.y(), torque.z());
}
-void ODERigidBody::SetPosition(const Vector3f& pos)
+void ODERigidBody::SetPosition(const Vector3f& pos, long bodyID)
{
- dBodySetPosition(mODEBody, pos.x(), pos.y(), pos.z());
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dBodySetPosition(ODEBody, pos.x(), pos.y(), pos.z());
// the parent node will be updated in the next physics cycle
}
-Vector3f ODERigidBody::GetPosition() const
+Vector3f ODERigidBody::GetPosition(long bodyID) const
{
- const dReal* pos = dBodyGetPosition(mODEBody);
+ dBodyID ODEBody = (dBodyID) bodyID;
+ const dReal* pos = dBodyGetPosition(ODEBody);
return Vector3f(pos[0], pos[1], pos[2]);
}
-void ODERigidBody::TranslateMass(const Vector3f& v)
+void ODERigidBody::TranslateMass(const Vector3f& v, long bodyID)
{
+ dBodyID ODEBody = (dBodyID) bodyID;
dMass m;
- dBodyGetMass(mODEBody, &m);
+ dBodyGetMass(ODEBody, &m);
dMassTranslate(&m,v[0],v[1],v[2]);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2010-01-04 11:19:19 UTC (rev 135)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2010-01-05 07:22:17 UTC (rev 136)
@@ -34,63 +34,53 @@
public:
ODERigidBody();
- void Enable();
- void Disable();
- bool IsEnabled() const;
- void UseGravity(bool f);
- bool UsesGravity() const;
- void SetMass(float mass);
- void SetMassParameters(const GenericMass& mass);
- float GetMass() const;
- void SetSphere(float density, float radius);
- void AddSphere(float density, float radius, const salt::Matrix& matrix);
- void SetSphereTotal(float total_mass, float radius);
- void AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix);
- void SetBox(float density, const salt::Vector3f& size);
- void AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix);
- void SetBoxTotal(float total_mass, const salt::Vector3f& size);
- void AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix);
- void SetCylinder(float density, float radius, float length);
- void AddCylinder(float density, float radius, float length, const salt::Matrix& matrix);
- void SetCylinderTotal(float total_mass, float radius, float length);
- void AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
- void SetCapsule(float density, float radius, float length);
- void AddCapsule(float density, float radius, float length, const salt::Matrix& matrix);
- void SetCapsuleTotal(float total_mass, float radius, float length);
- void AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix);
- void TranslateMass(const salt::Vector3f& v);
- salt::Vector3f GetVelocity() const;
- void SetVelocity(const salt::Vector3f& vel);
- void SetRotation(const salt::Matrix& rot);
- salt::Matrix GetRotation() const;
- salt::Vector3f GetLocalAngularVelocity() const;
- salt::Vector3f GetAngularVelocity() const;
- void SetAngularVelocity(const salt::Vector3f& vel);
- void AddForce(const salt::Vector3f& force);
- salt::Vector3f GetForce() const;
- void AddTorque(const salt::Vector3f& torque);
- void SetPosition(const salt::Vector3f& pos);
- salt::Vector3f GetPosition() const;
- void DestroyPhysicsObject();
- salt::Matrix GetSynchronisationMatrix();
- void BodySetData(RigidBody* rb);
- RigidBody* BodyGetData(long bodyID);
+ void Enable(long bodyID);
+ void Disable(long bodyID);
+ bool IsEnabled(long bodyID) const;
+ void UseGravity(bool f, long bodyID);
+ bool UsesGravity(long bodyID) const;
+ void SetMass(float mass, long bodyID);
+ void SetMassParameters(const GenericMass& mass, long bodyID);
+ float GetMass(long bodyID) const;
+ void SetSphere(float density, float radius, long bodyID);
+ salt::Vector3f AddSphere(float density, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ void SetSphereTotal(float total_mass, float radius, long bodyID);
+ salt::Vector3f AddSphereTotal(float total_mass, float radius, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ void SetBox(float density, const salt::Vector3f& size, long bodyID);
+ salt::Vector3f AddBox(float density, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ void SetBoxTotal(float total_mass, const salt::Vector3f& size, long bodyID);
+ salt::Vector3f AddBoxTotal(float total_mass, const salt::Vector3f& size, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ void SetCylinder(float density, float radius, float length, long bodyID);
+ salt::Vector3f AddCylinder(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ void SetCylinderTotal(float total_mass, float radius, float length, long bodyID);
+ salt::Vector3f AddCylinderTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ void SetCapsule(float density, float radius, float length, long bodyID);
+ salt::Vector3f AddCapsule(float density, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ void SetCapsuleTotal(float total_mass, float radius, float length, long bodyID);
+ salt::Vector3f AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix, salt::Vector3f massTrans, long bodyID);
+ void TranslateMass(const salt::Vector3f& v, long bodyID);
+ salt::Vector3f GetVelocity(long bodyID) const;
+ void SetVelocity(const salt::Vector3f& vel, long bodyID);
+ void SetRotation(const salt::Matrix& rot, long bodyID);
+ salt::Matrix GetRotation(long bodyID) const;
+ salt::Vector3f GetLocalAngularVelocity(long bodyID) const;
+ salt::Vector3f GetAngularVelocity(long bodyID) const;
+ void SetAngularVelocity(const salt::Vector3f& vel, long bodyID);
+ void AddForce(const salt::Vector3f& force, long bodyID);
+ salt::Vector3f GetForce(long bodyID) const;
+ void AddTorque(const salt::Vector3f& torque, long bodyID);
+ void SetPosition(const salt::Vector3f& pos, long bodyID);
+ salt::Vector3f GetPosition(long bodyID) const;
+ void DestroyPhysicsObject(long bodyID);
+ salt::Matrix GetSynchronisationMatrix(long bodyID);
+ void BodySetData(RigidBody* rb, long bodyID);
+ RigidBody* BodyGetData(long bodyID);
+ long CreateBody(long world);
- long GetBodyID();
- salt::Vector3f GetMassTrans();
- void SetMassTrans(salt::Vector3f massTrans);
- bool GetMassTransformed();
- void SetMassTransformed(bool f);
-
protected:
- /**These methods are only called internally.
- */
- void AddMass(const dMass& mass, const salt::Matrix& matrix);
+ //These methods are only called internally and are not declared in the interface.
+ salt::Vector3f AddMass(const dMass& mass, const salt::Matrix& matrix, salt::Vector3f massTrans, const long ODEBody);
- /** creates an ODE body within the given world
- */
- long CreateBody(long world);
-
/** sets up an ode mass struct representing a box of the given
size and total_mass
*/
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2010-01-04 11:19:19 UTC (rev 135)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2010-01-05 07:22:17 UTC (rev 136)
@@ -46,27 +46,27 @@
void RigidBody::Enable()
{
- mRigidBodyImp->Enable();
+ mRigidBodyImp->Enable(mBodyID);
}
void RigidBody::Disable()
{
- mRigidBodyImp->Disable();
+ mRigidBodyImp->Disable(mBodyID);
}
bool RigidBody::IsEnabled() const
{
- return mRigidBodyImp->IsEnabled();
+ return mRigidBodyImp->IsEnabled(mBodyID);
}
void RigidBody::UseGravity(bool f)
{
- mRigidBodyImp->UseGravity(f);
+ mRigidBodyImp->UseGravity(f, mBodyID);
}
bool RigidBody::UsesGravity() const
{
- return mRigidBodyImp->UsesGravity();
+ return mRigidBodyImp->UsesGravity(mBodyID);
}
bool RigidBody::CreateBody()
@@ -96,7 +96,10 @@
void RigidBody::DestroyPhysicsObject()
{
- mRigidBodyImp->DestroyPhysicsObject();
+ if (mBodyID == 0) return;
+
+ mRigidBodyImp->DestroyPhysicsObject(mBodyID);
+ mBodyID = 0;
}
void RigidBody::OnLink()
@@ -109,143 +112,152 @@
}
// let the body, take on the world space position of the parent
- mRigidBodyImp->BodySetData(this);
+ mRigidBodyImp->BodySetData(this, mBodyID);
shared_ptr<BaseNode> baseNode = shared_static_cast<BaseNode>
(GetParent().lock());
const Matrix& mat = baseNode->GetWorldTransform();
- mRigidBodyImp->SetRotation(mat);
- mRigidBodyImp->SetPosition(mat.Pos());
+ mRigidBodyImp->SetRotation(mat, mBodyID);
+ mRigidBodyImp->SetPosition(mat.Pos(), mBodyID);
}
void RigidBody::SetMass(float mass)
{
- mRigidBodyImp->SetMass(mass);
+ mRigidBodyImp->SetMass(mass, mBodyID);
}
float RigidBody::GetMass() const
{
- return mRigidBodyImp->GetMass();
+ return mRigidBodyImp->GetMass(mBodyID);
}
-void RigidBody::SetMassParameters(const GenericMass& mass){
- mRigidBodyImp->SetMassParameters(mass);
+void RigidBody::SetMassParameters(const GenericMass& mass)
+{
+ mRigidBodyImp->SetMassParameters(mass, mBodyID);
}
void RigidBody::SetSphere(float density, float radius)
{
- mRigidBodyImp->SetSphere(density, radius);
+ mRigidBodyImp->SetSphere(density, radius, mBodyID);
}
void RigidBody::AddSphere(float density, float radius, const Matrix& matrix)
{
- mRigidBodyImp->AddSphere(density, radius, matrix);
+ mMassTrans = mRigidBodyImp->AddSphere(density, radius, matrix, mMassTrans, mBodyID);
+ mMassTransformed = true;
}
void RigidBody::SetSphereTotal(float total_mass, float radius)
{
- mRigidBodyImp->SetSphereTotal(total_mass, radius);
+ mRigidBodyImp->SetSphereTotal(total_mass, radius, mBodyID);
}
void RigidBody::AddSphereTotal(float total_mass, float radius, const Matrix& matrix)
{
- mRigidBodyImp->AddSphereTotal(total_mass, radius, matrix);
+ mMassTrans = mRigidBodyImp->AddSphereTotal(total_mass, radius, matrix, mMassTrans, mBodyID);
+ mMassTransformed = true;
}
void RigidBody::SetBox(float density, const Vector3f& size)
{
- mRigidBodyImp->SetBox(density, size);
+ mRigidBodyImp->SetBox(density, size, mBodyID);
}
void RigidBody::AddBox(float density, const Vector3f& size, const Matrix& matrix)
{
- mRigidBodyImp->AddBox(density, size, matrix);
+ mMassTrans = mRigidBodyImp->AddBox(density, size, matrix, mMassTrans, mBodyID);
+ mMassTransformed = true;
}
void RigidBody::SetBoxTotal(float total_mass, const Vector3f& size)
{
- mRigidBodyImp->SetBoxTotal(total_mass, size);
+ mRigidBodyImp->SetBoxTotal(total_mass, size, mBodyID);
}
void RigidBody::AddBoxTotal(float total_mass, const Vector3f& size, const Matrix& matrix)
{
- mRigidBodyImp->AddBoxTotal(total_mass, size, matrix);
+ mMassTrans = mRigidBodyImp->AddBoxTotal(total_mass, size, matrix, mMassTrans, mBodyID);
+ mMassTransformed = true;
}
void RigidBody::SetCylinder (float density, float radius, float length)
{
- mRigidBodyImp->SetCylinder(density, radius, length);
+ mRigidBodyImp->SetCylinder(density, radius, length, mBodyID);
}
void RigidBody::AddCylinder (float density, float radius, float length, const Matrix& matrix)
{
- mRigidBodyImp->AddCylinder(density, radius, length, matrix);
+ mMassTrans = mRigidBodyImp->AddCylinder(density, radius, length, matrix, mMassTrans, mBodyID);
+ mMassTransformed = true;
}
void RigidBody::SetCylinderTotal(float total_mass, float radius, float length)
{
- mRigidBodyImp->SetCylinderTotal(total_mass, radius, length);
+ mRigidBodyImp->SetCylinderTotal(total_mass, radius, length, mBodyID);
}
void RigidBody::AddCylinderTotal(float total_mass, float radius, float length, const Matrix& matrix)
{
- mRigidBodyImp->AddCylinderTotal(total_mass, radius, length, matrix);
+ mMassTrans = mRigidBodyImp->AddCylinderTotal(total_mass, radius, length, matrix, mMassTrans, mBodyID);
+ mMassTransformed = true;
}
void RigidBody::SetCapsule (float density, float radius, float length)
{
- mRigidBodyImp->SetCapsule(density, radius, length);
+ mRigidBodyImp->SetCapsule(density, radius, length, mBodyID);
}
void RigidBody::AddCapsule (float density, float radius, float length, const Matrix& matrix)
{
- mRigidBodyImp->AddCapsule(density, radius, length, matrix);
+ mMassTrans = mRigidBodyImp->AddCapsule(density, radius, length, matrix, mMassTrans, mBodyID);
+ mMassTransformed = true;
}
void RigidBody::SetCapsuleTotal(float total_mass, float radius, float length)
{
- mRigidBodyImp->SetCapsuleTotal(total_mass, radius, length);
+ mRigidBodyImp->SetCapsuleTotal(total_mass, radius, length, mBodyID);
}
void RigidBody::AddCapsuleTotal(float total_mass, float radius, float length, const salt::Matrix& matrix)
{
- mRigidBodyImp->AddCapsuleTotal(total_mass, radius, length, matrix);
+ mMassTrans = mRigidBodyImp->AddCapsuleTotal(total_mass, radius, length, matrix, mMassTrans, mBodyID);
+ mMassTransformed = true;
}
Vector3f RigidBody::GetVelocity() const
{
- return mRigidBodyImp->GetVelocity();
+ return mRigidBodyImp->GetVelocity(mBodyID);
}
void RigidBody::SetVelocity(const Vector3f& vel)
{
- mRigidBodyImp->SetVelocity(vel);
+ mRigidBodyImp->SetVelocity(vel, mBodyID);
}
void RigidBody::SetRotation(const Matrix& rot)
{
- mRigidBodyImp->SetRotation(rot);
+ mRigidBodyImp->SetRotation(rot, mBodyID);
}
salt::Matrix RigidBody::GetRotation() const
{
- return mRigidBodyImp->GetRotation();
+ return mRigidBodyImp->GetRotation(mBodyID);
}
Vector3f RigidBody::GetLocalAngularVelocity() const
{
- return mRigidBodyImp->GetLocalAngularVelocity();
+ return mRigidBodyImp->GetLocalAngularVelocity(mBodyID);
}
Vector3f RigidBody::GetAngularVelocity() const
{
- return mRigidBodyImp->GetAngularVelocity();
+ return mRigidBodyImp->GetAngularVelocity(mBodyID);
}
void RigidBody::SetAngularVelocity(const Vector3f& vel)
{
- mRigidBodyImp->SetAngularVelocity(vel);
+ mRigidBodyImp->SetAngularVelocity(vel, mBodyID);
}
void RigidBody::SynchronizeParent() const
@@ -253,7 +265,7 @@
shared_ptr<BaseNode> baseNode = shared_static_cast<BaseNode>
(GetParent().lock());
- Matrix mat = mRigidBodyImp->GetSynchronisationMatrix();
+ Matrix mat = mRigidBodyImp->GetSynchronisationMatrix(mBodyID);
baseNode->SetWorldTransform(mat);
}
@@ -261,9 +273,8 @@
void RigidBody::PrePhysicsUpdateInternal(float /*deltaTime*/)
{
// Check whether mass/body has been translated
- if (mRigidBodyImp->GetMassTransformed())
+ if (mMassTransformed)
{
- Vector3f massTrans = mRigidBodyImp->GetMassTrans();
weak_ptr<Node> parent = GetParent();
// Update colliders (only those encapsulated in transform colliders)
@@ -277,7 +288,7 @@
if (collider.get())
{
Vector3f pos = collider->GetPosition();
- pos = pos + massTrans;
+ pos = pos + mMassTrans;
collider->SetLocalPosition(pos);
}
}
@@ -289,12 +300,12 @@
{
shared_ptr<Transform> transform = shared_dynamic_cast<Transform>(*iter);
Matrix worldTransform = transform->GetWorldTransform();
- worldTransform.Pos() = worldTransform.Pos() + massTrans;
+ worldTransform.Pos() = worldTransform.Pos() + mMassTrans;
transform->SetWorldTransform(worldTransform);
}
- mRigidBodyImp->SetMassTrans(Vector3f(0,0,0));
- mRigidBodyImp->SetMassTransformed(false);
+ mMassTrans = Vector3f(0,0,0);
+ mMassTransformed = false;
}
}
@@ -337,30 +348,30 @@
void RigidBody::AddForce(const Vector3f& force)
{
- mRigidBodyImp->AddForce(force);
+ mRigidBodyImp->AddForce(force, mBodyID);
}
Vector3f RigidBody::GetForce() const
{
- return mRigidBodyImp->GetForce();
+ return mRigidBodyImp->GetForce(mBodyID);
}
void RigidBody::AddTorque(const Vector3f& torque)
{
- mRigidBodyImp->AddTorque(torque);
+ mRigidBodyImp->AddTorque(torque, mBodyID);
}
void RigidBody::SetPosition(const Vector3f& pos)
{
- mRigidBodyImp->SetPosition(pos);
+ mRigidBodyImp->SetPosition(pos, mBodyID);
}
Vector3f RigidBody::GetPosition() const
{
- return mRigidBodyImp->GetPosition();
+ return mRigidBodyImp->GetPosition(mBodyID);
}
void RigidBody::TranslateMass(const Vector3f& v)
{
- mRigidBodyImp->TranslateMass(v);
+ mRigidBodyImp->TranslateMass(v, mBodyID);
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <yx...@us...> - 2010-01-04 11:19:27
|
Revision: 135
http://simspark.svn.sourceforge.net/simspark/?rev=135&view=rev
Author: yxu
Date: 2010-01-04 11:19:19 +0000 (Mon, 04 Jan 2010)
Log Message:
-----------
document for accelerometer
Modified Paths:
--------------
trunk/rcssserver3d/doc/users/simspark.tex
Modified: trunk/rcssserver3d/doc/users/simspark.tex
===================================================================
--- trunk/rcssserver3d/doc/users/simspark.tex 2010-01-04 04:51:19 UTC (rev 134)
+++ trunk/rcssserver3d/doc/users/simspark.tex 2010-01-04 11:19:19 UTC (rev 135)
@@ -141,6 +141,17 @@
13.07))}
\end{itemize}
+\subsubsection{Accelerometer}
+This perceptor measures the proper acceleration it experiences
+relative to free fall. As a consequence an accelerometer at rest
+relative to the Earth's surface will indicate approximately 1 g
+upwards. To obtain the acceleration due to motion with respect to the
+earth, this ``gravity offset" should be subtracted.
+\begin{itemize}
+ \item[Message format:] \texttt{(ACC (n <name>) (a <x> <y> <z>))}
+ \item[Example message:] \texttt{(ACC (n torso) (a 0.00 0.00 9.81))}
+\end{itemize}
+
\subsection{Soccer Perceptors}
\label{sec:soccerperceptors}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <a-...@us...> - 2010-01-04 04:51:30
|
Revision: 134
http://simspark.svn.sourceforge.net/simspark/?rev=134&view=rev
Author: a-held
Date: 2010-01-04 04:51:19 +0000 (Mon, 04 Jan 2010)
Log Message:
-----------
Added changes from revisions 128 to 133 into branch (probably not changes to svn props)
commented out proxyserver from CMakeLists.txt because it causes a linker error on my computer
Modified Paths:
--------------
branches/multiphys/rcssserver3d/ChangeLog
branches/multiphys/rcssserver3d/data/models/leftgoal.obj
branches/multiphys/rcssserver3d/data/models/rightgoal.obj
branches/multiphys/rcssserver3d/data/rsg/agent/nao/goal.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg
branches/multiphys/rcssserver3d/rcssmonitor3d/main.cpp
branches/multiphys/rcssserver3d/simspark/naosoccersim.rb
branches/multiphys/spark/ChangeLog
branches/multiphys/spark/RELEASE
branches/multiphys/spark/lib/kerosin/renderserver/renderserver.cpp
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/agentaspect/agentaspect.cpp
branches/multiphys/spark/lib/oxygen/agentaspect/agentaspect.h
branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.h
branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol_c.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/netcontrol.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/netcontrol.h
branches/multiphys/spark/lib/oxygen/simulationserver/netmessage.cpp
branches/multiphys/spark/lib/oxygen/simulationserver/simcontrolnode.h
branches/multiphys/spark/lib/zeitgeist/fileserver/fileserver.cpp
branches/multiphys/spark/lib/zeitgeist/scriptserver/scriptserver.cpp
branches/multiphys/spark/lib/zeitgeist/scriptserver/scriptserver.h
branches/multiphys/spark/lib/zeitgeist/zeitgeist.cpp
branches/multiphys/spark/plugin/CMakeLists.txt
branches/multiphys/spark/spark/spark.rb
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/proxyserver/
branches/multiphys/spark/lib/oxygen/proxyserver/agentproxy.cpp
branches/multiphys/spark/lib/oxygen/proxyserver/agentproxy.h
branches/multiphys/spark/lib/oxygen/proxyserver/agentproxy_c.cpp
branches/multiphys/spark/lib/oxygen/proxyserver/proxyserver.cpp
branches/multiphys/spark/lib/oxygen/proxyserver/proxyserver.h
branches/multiphys/spark/lib/oxygen/proxyserver/proxyserver_c.cpp
branches/multiphys/spark/plugin/agentsynceffector/
branches/multiphys/spark/plugin/agentsynceffector/CMakeLists.txt
branches/multiphys/spark/plugin/agentsynceffector/agentsynceffector.cpp
branches/multiphys/spark/plugin/agentsynceffector/agentsynceffector.h
branches/multiphys/spark/plugin/agentsynceffector/agentsynceffector_c.cpp
branches/multiphys/spark/plugin/agentsynceffector/export.cpp
Modified: branches/multiphys/rcssserver3d/ChangeLog
===================================================================
--- branches/multiphys/rcssserver3d/ChangeLog 2010-01-03 17:34:56 UTC (rev 133)
+++ branches/multiphys/rcssserver3d/ChangeLog 2010-01-04 04:51:19 UTC (rev 134)
@@ -1,3 +1,31 @@
+2010-01-03 Hedayat Vatankhah <he...@gr...>
+
+ * data/models/leftgoal.obj:
+ * data/models/rightgoal.obj:
+ * data/rsg/agent/nao/goal.rsg:
+ - Fix visual goal object so that it'll follow server dimensions (GoalWidth,
+ GoalHeight and GoalDepth)
+
+2009-12-31 Hedayat Vatankhah <he...@gr...>
+
+ * rcssmonitor3d/main.cpp:
+ - changed the name printed on execution
+
+2009-12-29 Hedayat Vatankhah <he...@gr...>
+
+ * data/rsg/agent/nao/nao.rsg:
+ - added AgentSyncEffector
+
+ * rcssmonitor3d/main.cpp:
+ - some cleanup
+ - added a new option to specify the server address: --server
+
+2009-12-28 Hedayat Vatankhah <he...@gr...>
+
+ * simspark/naosoccersim.rb:
+ - added new field settings (field height/width, goal width/depth and penalty
+ area width/length multiplied by 1.5
+
2009-10-31 Hedayat Vatankhah <he...@gr...>
* RELEASE:
Modified: branches/multiphys/rcssserver3d/data/models/leftgoal.obj
===================================================================
--- branches/multiphys/rcssserver3d/data/models/leftgoal.obj 2010-01-03 17:34:56 UTC (rev 133)
+++ branches/multiphys/rcssserver3d/data/models/leftgoal.obj 2010-01-04 04:51:19 UTC (rev 134)
@@ -1,1964 +1,827 @@
-# Blender3D v245 OBJ File: leftgoal.blend
+# Blender3D v249 OBJ File:
# www.blender3d.org
mtllib leftgoal.mtl
-o Cylinder
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[truncated message content] |
|
From: <he...@us...> - 2010-01-03 17:35:07
|
Revision: 133
http://simspark.svn.sourceforge.net/simspark/?rev=133&view=rev
Author: hedayat
Date: 2010-01-03 17:34:56 +0000 (Sun, 03 Jan 2010)
Log Message:
-----------
Now visual goal object follows server goal parameters
Fixed rcssmonitor3d so that it prints correct name when run
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/data/models/leftgoal.obj
trunk/rcssserver3d/data/models/rightgoal.obj
trunk/rcssserver3d/data/rsg/agent/nao/goal.rsg
trunk/rcssserver3d/rcssmonitor3d/main.cpp
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2010-01-01 22:01:05 UTC (rev 132)
+++ trunk/rcssserver3d/ChangeLog 2010-01-03 17:34:56 UTC (rev 133)
@@ -1,3 +1,16 @@
+2010-01-03 Hedayat Vatankhah <he...@gr...>
+
+ * data/models/leftgoal.obj:
+ * data/models/rightgoal.obj:
+ * data/rsg/agent/nao/goal.rsg:
+ - Fix visual goal object so that it'll follow server dimensions (GoalWidth,
+ GoalHeight and GoalDepth)
+
+2009-12-31 Hedayat Vatankhah <he...@gr...>
+
+ * rcssmonitor3d/main.cpp:
+ - changed the name printed on execution
+
2009-12-29 Hedayat Vatankhah <he...@gr...>
* data/rsg/agent/nao/nao.rsg:
Modified: trunk/rcssserver3d/data/models/leftgoal.obj
===================================================================
--- trunk/rcssserver3d/data/models/leftgoal.obj 2010-01-01 22:01:05 UTC (rev 132)
+++ trunk/rcssserver3d/data/models/leftgoal.obj 2010-01-03 17:34:56 UTC (rev 133)
@@ -1,1964 +1,827 @@
-# Blender3D v245 OBJ File: leftgoal.blend
+# Blender3D v249 OBJ File:
# www.blender3d.org
mtllib leftgoal.mtl
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[truncated message content] |
|
From: <he...@us...> - 2010-01-01 22:01:12
|
Revision: 132
http://simspark.svn.sourceforge.net/simspark/?rev=132&view=rev
Author: hedayat
Date: 2010-01-01 22:01:05 +0000 (Fri, 01 Jan 2010)
Log Message:
-----------
Fixed 32bit-64bit compatibility issue. Message length is always transmitted in 4bytes.
Some code cleanup
Put ~/.simspark as the first resource location to be searched
Add ProxyServer classes (to be used as a syncronization proxy between agents and server)
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/lib/oxygen/CMakeLists.txt
trunk/spark/lib/oxygen/simulationserver/netmessage.cpp
trunk/spark/lib/oxygen/simulationserver/simcontrolnode.h
trunk/spark/lib/zeitgeist/fileserver/fileserver.cpp
trunk/spark/lib/zeitgeist/zeitgeist.cpp
Added Paths:
-----------
trunk/spark/lib/oxygen/proxyserver/
trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp
trunk/spark/lib/oxygen/proxyserver/agentproxy.h
trunk/spark/lib/oxygen/proxyserver/agentproxy_c.cpp
trunk/spark/lib/oxygen/proxyserver/proxyserver.cpp
trunk/spark/lib/oxygen/proxyserver/proxyserver.h
trunk/spark/lib/oxygen/proxyserver/proxyserver_c.cpp
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2009-12-29 19:52:44 UTC (rev 131)
+++ trunk/spark/ChangeLog 2010-01-01 22:01:05 UTC (rev 132)
@@ -1,3 +1,27 @@
+2010-01-01 Hedayat Vatankhah <he...@gr...>
+
+ * lib/oxygen/proxyserver/proxyserver.h:
+ * lib/oxygen/proxyserver/proxyserver.cpp:
+ * lib/oxygen/proxyserver/proxyserver_c.cpp:
+ * lib/oxygen/proxyserver/agentproxy.h:
+ * lib/oxygen/proxyserver/agentproxy.cpp:
+ * lib/oxygen/proxyserver/agentproxy_c.cpp:
+ - starting the proxy server implementation
+
+2009-12-31 Hedayat Vatankhah <he...@gr...>
+
+ * lib/oxygen/simulationserver/netmessage.cpp:
+ - payload length is now always 32bit on all platforms, to make the
+ protocol platform independent (fixed 32bit/64bit compatibility issue)
+
+ * lib/zeitgeist/fileserver/fileserver.cpp:
+ * lib/zeitgeist/zeitgeist.cpp (Zeitgeist::RunInitScript):
+ - add ~/.simspark as the first resource location, so that it is the first
+ address examined after the current directory
+
+ * lib/oxygen/simulationserver/simcontrolnode.h:
+ - remove unused mCond member variable
+
2009-12-29 Hedayat Vatankhah <he...@gr...>
* lib/zeitgeist/zeitgeist.cpp (Zeitgeist::RunInitScript):
Modified: trunk/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- trunk/spark/lib/oxygen/CMakeLists.txt 2009-12-29 19:52:44 UTC (rev 131)
+++ trunk/spark/lib/oxygen/CMakeLists.txt 2010-01-01 22:01:05 UTC (rev 132)
@@ -71,6 +71,8 @@
monitorserver/monitoritem.h
monitorserver/custommonitor.h
monitorserver/monitorcmdparser.h
+ proxyserver/agentproxy.h
+ proxyserver/proxyserver.h
)
if(SPADES_FOUND)
set(oxygen_LIB_HDRS
@@ -204,6 +206,10 @@
monitorserver/custommonitor_c.cpp
monitorserver/monitorcmdparser.cpp
monitorserver/monitorcmdparser_c.cpp
+ proxyserver/agentproxy.cpp
+ proxyserver/agentproxy_c.cpp
+ proxyserver/proxyserver.cpp
+ proxyserver/proxyserver_c.cpp
)
if(SPADES_FOUND)
set(oxygen_LIB_SRCS
Added: trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp
===================================================================
--- trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp (rev 0)
+++ trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp 2010-01-01 22:01:05 UTC (rev 132)
@@ -0,0 +1,189 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Thu Dec 31 2009
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2004-2009 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ 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 "agentproxy.h"
+#include <rcssnet/exception.hpp>
+#include <zeitgeist/logserver/logserver.h>
+#include <oxygen/simulationserver/netcontrol.h>
+
+#ifdef HAVE_SYS_SOCKET_H
+#include <sys/socket.h>
+#endif
+
+using namespace oxygen;
+using namespace zeitgeist;
+using namespace std;
+using namespace rcss::net;
+using boost::shared_ptr;
+
+AgentProxy::AgentProxy(int cycleMillisecs) : Node(),
+ mCycleMillisecs(cycleMillisecs), mFinished(false),
+ mAgentBuffer(new NetBuffer)
+{
+}
+
+AgentProxy::~AgentProxy()
+{
+}
+
+void AgentProxy::Start(boost::shared_ptr<rcss::net::Socket> agentSocket,
+ rcss::net::Addr serverAddress)
+{
+ try
+ {
+ mAgentSocket = agentSocket;
+ mServerSocket = NetControl::CreateSocket(NetControl::ST_TCP);
+ if (!mServerSocket)
+ {
+ mFinished = true;
+ return;
+ }
+ GetLog()->Normal() << "(AgentProxy) '" << GetName() << "'connecting to "
+ << serverAddress << "\n";
+ mServerSocket->connect(serverAddress);
+ if (mServerSocket->isConnected())
+ {
+ cout << "(AgentProxy) '" << GetName() << "' connected successfully"
+ << endl;
+ }
+
+ // assure that a NetMessage object is registered
+ mNetMessage = FindChildSupportingClass<NetMessage>();
+ if (mNetMessage.get() == 0)
+ {
+ mNetMessage = shared_ptr<NetMessage>(new NetMessage());
+ }
+
+ mAgentConnectionThread = boost::thread(
+ &AgentProxy::AgentConnectionHandler, this);
+ mServerConnectionThread = boost::thread(
+ &AgentProxy::ServerConnectionHandler, this);
+ return;
+ }
+ catch (BindErr error)
+ {
+ GetLog()->Error() << "(AgentProxy) '" << GetName()
+ << "' failed to bind socket with '" << error.what() << "'"
+ << endl;
+ }
+ catch (ConnectErr error)
+ {
+ GetLog()->Error() << "(AgentProxy) '" << GetName()
+ << "' connection failed with: '" << error.what() << "'" << endl;
+ }
+
+ // executed on error
+ mServerSocket->close();
+ mFinished = true;
+}
+
+void AgentProxy::Stop()
+{
+ mFinished = true;
+ mServerConnectionThread.join();
+}
+
+void AgentProxy::ServerConnectionHandler()
+{
+ string syncMsg("(sync)");
+ string servermsg, agentmsg;
+ boost::system_time cycleFinishTime = boost::get_system_time()
+ + boost::posix_time::milliseconds(mCycleMillisecs);
+ shared_ptr<NetBuffer> netbuf(new NetBuffer);
+ TRawBuffer recvbuf;
+
+ mNetMessage->PrepareToSend(syncMsg);
+ while (!mFinished)
+ {
+ try
+ {
+ servermsg.clear();
+ boost::thread::sleep(cycleFinishTime);
+
+ boost::mutex::scoped_lock agentBufLock(mAgentBufferMutex);
+ while (!mAgentBuffer->IsEmpty() &&
+ mNetMessage->Extract(mAgentBuffer, agentmsg))
+ {
+ mServerSocket->send(agentmsg.data(), agentmsg.size());
+ }
+ agentBufLock.unlock();
+
+ mServerSocket->send(syncMsg.data(), syncMsg.size());
+ do
+ {
+ int retval = mServerSocket->recv(mCycleMillisecs,
+ recvbuf.data(), recvbuf.size());
+ if (retval > 0)
+ netbuf->AddFragment(string(recvbuf.data(), recvbuf.size()));
+ else if (retval < 0 && errno == EAGAIN)
+ break;
+ else
+ {
+ GetLog()->Error()
+ << "(AgentProxy) ERROR: '" << GetName()
+ << "' recv returned error on a client socket '"
+ << strerror(errno) << "' " << endl;
+ mFinished = true;
+ break;
+ }
+ } while (!mNetMessage->Extract(netbuf, servermsg));
+
+ if (!servermsg.empty())
+ {
+ mNetMessage->PrepareToSend(servermsg);
+ mAgentSocket->send(servermsg.data(), servermsg.size(),
+ MSG_DONTWAIT, Socket::DONT_CHECK);
+
+ cycleFinishTime = boost::get_system_time()
+ + boost::posix_time::milliseconds(mCycleMillisecs);
+ }
+ }
+ catch (boost::thread_interrupted e)
+ {
+ }
+ }
+ mServerSocket->close();
+ mFinished = true;
+ mAgentConnectionThread.join();
+}
+
+void AgentProxy::AgentConnectionHandler()
+{
+ TRawBuffer recvbuf;
+
+ while (!mFinished)
+ {
+ int retval = mAgentSocket->recv(mCycleMillisecs * 4,
+ recvbuf.data(), recvbuf.size());
+ if (retval > 0)
+ {
+ boost::mutex::scoped_lock agentBufLock(mAgentBufferMutex);
+ mAgentBuffer->AddFragment(string(recvbuf.data(), recvbuf.size()));
+ }
+ else if (retval <= 0 && errno != EAGAIN)
+ {
+ GetLog()->Error() << "(AgentProxy) ERROR: '" << GetName()
+ << "' recv returned error on a client socket '"
+ << strerror(errno) << "' " << endl;
+ mFinished = true;
+ }
+ }
+}
Property changes on: trunk/spark/lib/oxygen/proxyserver/agentproxy.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Added: trunk/spark/lib/oxygen/proxyserver/agentproxy.h
===================================================================
--- trunk/spark/lib/oxygen/proxyserver/agentproxy.h (rev 0)
+++ trunk/spark/lib/oxygen/proxyserver/agentproxy.h 2010-01-01 22:01:05 UTC (rev 132)
@@ -0,0 +1,85 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Thu Dec 31 2009
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2004-2009 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ 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_AGENTPROXY_H
+#define OXYGEN_AGENTPROXY_H
+
+#include <boost/array.hpp>
+#include <boost/thread/thread.hpp>
+#include <boost/thread/mutex.hpp>
+#include <oxygen/oxygen_defines.h>
+#include <zeitgeist/class.h>
+#include <zeitgeist/node.h>
+#include <rcssnet/addr.hpp>
+#include <rcssnet/socket.hpp>
+#include <oxygen/simulationserver/netbuffer.h>
+#include <oxygen/simulationserver/netmessage.h>
+
+namespace oxygen
+{
+
+/** \class AgentProxy TODO: add description
+ */
+class OXYGEN_API AgentProxy: public zeitgeist::Node
+{
+private:
+ typedef boost::array<char, 32 * 1024> TRawBuffer;
+
+public:
+ AgentProxy(int cycleMillisecs = 0);
+ virtual ~AgentProxy();
+
+ /** starts the proxy for a single agent */
+ void Start(boost::shared_ptr<rcss::net::Socket> agentSocket,
+ rcss::net::Addr serverAddress);
+
+ /** does the agent connection terminated so not */
+ bool IsFinished() { return mFinished; }
+
+ /** stops the current running proxy (if running!) */
+ void Stop();
+
+private:
+ /** manages server connection */
+ void ServerConnectionHandler();
+
+ /** manages agent connection */
+ void AgentConnectionHandler();
+
+private:
+ const int mCycleMillisecs;
+
+ /** shows if the proxy execution is finished */
+ bool mFinished;
+ boost::shared_ptr<NetMessage> mNetMessage;
+ boost::shared_ptr<rcss::net::Socket> mServerSocket;
+ boost::shared_ptr<rcss::net::Socket> mAgentSocket;
+ boost::shared_ptr<NetBuffer> mAgentBuffer;
+ boost::thread mServerConnectionThread;
+ boost::thread mAgentConnectionThread;
+ boost::mutex mAgentBufferMutex;
+};
+
+DECLARE_CLASS(AgentProxy);
+
+} // namespace oxygen
+
+#endif // OXYGEN_AGENTPROXY_H
Property changes on: trunk/spark/lib/oxygen/proxyserver/agentproxy.h
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Added: trunk/spark/lib/oxygen/proxyserver/agentproxy_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/proxyserver/agentproxy_c.cpp (rev 0)
+++ trunk/spark/lib/oxygen/proxyserver/agentproxy_c.cpp 2010-01-01 22:01:05 UTC (rev 132)
@@ -0,0 +1,30 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Thu Dec 31 2009
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2004-2009 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ 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 "agentproxy.h"
+
+using namespace oxygen;
+using namespace std;
+
+void CLASS(AgentProxy)::DefineClass()
+{
+ DEFINE_BASECLASS(zeitgeist/Node);
+}
Property changes on: trunk/spark/lib/oxygen/proxyserver/agentproxy_c.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Added: trunk/spark/lib/oxygen/proxyserver/proxyserver.cpp
===================================================================
--- trunk/spark/lib/oxygen/proxyserver/proxyserver.cpp (rev 0)
+++ trunk/spark/lib/oxygen/proxyserver/proxyserver.cpp 2010-01-01 22:01:05 UTC (rev 132)
@@ -0,0 +1,146 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Thu Dec 31 2009
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2004-2009 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ 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 "proxyserver.h"
+#include <zeitgeist/logserver/logserver.h>
+#include <oxygen/simulationserver/netcontrol.h>
+#include <rcssnet/exception.hpp>
+#include "agentproxy.h"
+
+using namespace oxygen;
+using namespace zeitgeist;
+using namespace std;
+using namespace rcss::net;
+
+ProxyServer::ProxyServer() : Leaf(),
+ mRunning(false),
+ mCycleMillisecs(0),
+ mLocalAddr(0, Addr::ANY),
+ mServerAddr(0, Addr::ANY),
+ mSocket(NetControl::CreateSocket(NetControl::ST_TCP))
+{
+}
+
+ProxyServer::~ProxyServer()
+{
+}
+
+void ProxyServer::SetProxyPort(Addr::PortType port)
+{
+ mLocalAddr.setPort(port);
+}
+
+Addr::PortType ProxyServer::GetProxyPort() const
+{
+ return mLocalAddr.getPort();
+}
+
+void ProxyServer::SetServerAddress(const rcss::net::Addr &serverAddress)
+{
+ mServerAddr = serverAddress;
+}
+
+void ProxyServer::SetCycleLength(int millisecs)
+{
+ mCycleMillisecs = millisecs;
+}
+
+bool ProxyServer::Run()
+{
+ bool success = false;
+
+ if (mLocalAddr.getPort() == 0)
+ {
+ GetLog()->Error()
+ << "(ProxyServer) ERROR: local port has no been set in '"
+ << GetClass()->GetName() << "'\n";
+ return false;
+ }
+ if (mServerAddr.getPort() == 0)
+ {
+ GetLog()->Error()
+ << "(ProxyServer) ERROR: server address has no been set in '"
+ << GetClass()->GetName() << "'\n";
+ return false;
+ }
+ if (!mSocket)
+ {
+ GetLog()->Error()
+ << "(ProxyServer) ERROR: No valid socket has been created.\n";
+ return false;
+ }
+ if (mCycleMillisecs == 0)
+ {
+ GetLog()->Error()
+ << "(ProxyServer) ERROR: Cycle length not set.\n";
+ return false;
+ }
+
+ int ret = mSocket->setReuseAddr(true);
+ if (ret < 0)
+ {
+ GetLog()->Warning()
+ << "(ProxyServer) failed to enable reuse of server socket "
+ << "with '" << strerror(errno) << "'\n";
+ }
+
+ try
+ {
+ mSocket->bind(mLocalAddr);
+ mSocket->listen(50);
+ mRunning = true;
+
+ do
+ {
+ Addr addr;
+ boost::shared_ptr<Socket> socket(mSocket->accept(addr));
+ if (socket)
+ {
+ GetLog()->Normal() << "(ProxyServer) accepted a new connection"
+ << " from " << socket->getPeer() << '\n';
+
+ AgentProxy *agentProxy = new AgentProxy(mCycleMillisecs);
+ agentProxy->Start(socket, mServerAddr);
+ mClientProxyList.push_back(agentProxy);
+ }
+ } while (mRunning);
+ success = true;
+ }
+ catch (BindErr error)
+ {
+ GetLog()->Error() << "(ProxyServer) failed to bind socket with '"
+ << error.what() << "'" << endl;
+ }
+ catch (ListenErr error)
+ {
+ GetLog()->Error() << "(ProxyServer) failed to listen on socket with '"
+ << error.what() << "'" << endl;
+ }
+ catch (AcceptErr error)
+ {
+ GetLog()->Error() << "(ProxyServer) '" << GetName()
+ << "' failed to accept TCP connection with '" << error.what()
+ << endl;
+ }
+
+ mSocket->close();
+ return success;
+}
Property changes on: trunk/spark/lib/oxygen/proxyserver/proxyserver.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Added: trunk/spark/lib/oxygen/proxyserver/proxyserver.h
===================================================================
--- trunk/spark/lib/oxygen/proxyserver/proxyserver.h (rev 0)
+++ trunk/spark/lib/oxygen/proxyserver/proxyserver.h 2010-01-01 22:01:05 UTC (rev 132)
@@ -0,0 +1,81 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Thu Dec 31 2009
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2004-2009 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ 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_PROXYSERVER_H
+#define OXYGEN_PROXYSERVER_H
+
+#include <boost/ptr_container/ptr_list.hpp>
+#include <oxygen/oxygen_defines.h>
+#include <zeitgeist/class.h>
+#include <zeitgeist/leaf.h>
+#include <rcssnet/addr.hpp>
+#include <rcssnet/socket.hpp>
+
+namespace oxygen
+{
+
+class AgentProxy;
+
+/** \class ProxyServer TODO: Add description
+ */
+class OXYGEN_API ProxyServer: public zeitgeist::Leaf
+{
+public:
+ ProxyServer();
+ virtual ~ProxyServer();
+
+ /** sets the local port, on which connections are accepted */
+ void SetProxyPort(rcss::net::Addr::PortType port);
+
+ /** returns the local port, on which connections are accepted */
+ rcss::net::Addr::PortType GetProxyPort() const;
+
+ /** sets the server address to connect to */
+ void SetServerAddress(const rcss::net::Addr &serverAddress);
+
+ /** sets the length of a cycle in milli seconds */
+ void SetCycleLength(int millisecs);
+
+ /** starts the run loop of the proxy server, wait for incomming connection
+ * requests */
+ bool Run();
+
+private:
+ bool mRunning;
+ int mCycleMillisecs;
+
+ /** the local port, on which connections are accepted */
+ rcss::net::Addr mLocalAddr;
+
+ /** the server address to which we should connect */
+ rcss::net::Addr mServerAddr;
+
+ /** the socket used to accept connections */
+ boost::shared_ptr<rcss::net::Socket> mSocket;
+
+ boost::ptr_list<AgentProxy> mClientProxyList;
+};
+
+DECLARE_CLASS(ProxyServer);
+
+} // namespace oxygen
+
+#endif // OXYGEN_PROXYSERVER_H
Property changes on: trunk/spark/lib/oxygen/proxyserver/proxyserver.h
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Added: trunk/spark/lib/oxygen/proxyserver/proxyserver_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/proxyserver/proxyserver_c.cpp (rev 0)
+++ trunk/spark/lib/oxygen/proxyserver/proxyserver_c.cpp 2010-01-01 22:01:05 UTC (rev 132)
@@ -0,0 +1,47 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Thu Dec 31 2009
+ Copyright (C) 2002,2003 Koblenz University
+ Copyright (C) 2004-2009 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ 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 "proxyserver.h"
+
+using namespace oxygen;
+using namespace std;
+
+FUNCTION(ProxyServer, setCycleLength)
+{
+ unsigned int inMillisecs;
+
+ if (
+ (in.GetSize() != 1) ||
+ (! in.GetValue(in.begin(), inMillisecs))
+ )
+ {
+ return false;
+ }
+
+ obj->SetCycleLength(inMillisecs);
+ return true;
+}
+
+void CLASS(ProxyServer)::DefineClass()
+{
+ DEFINE_BASECLASS(zeitgeist/Leaf);
+ DEFINE_FUNCTION(setCycleLength);
+}
Property changes on: trunk/spark/lib/oxygen/proxyserver/proxyserver_c.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Modified: trunk/spark/lib/oxygen/simulationserver/netmessage.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/netmessage.cpp 2009-12-29 19:52:44 UTC (rev 131)
+++ trunk/spark/lib/oxygen/simulationserver/netmessage.cpp 2010-01-01 22:01:05 UTC (rev 132)
@@ -19,6 +19,7 @@
*/
#include "netmessage.h"
#include "netbuffer.h"
+#include <boost/cstdint.hpp>
#include <rcssnet/socket.hpp>
#ifndef WIN32
@@ -44,8 +45,8 @@
void NetMessage::PrepareToSend(std::string& msg)
{
// prefix the message with it's payload length
- unsigned int len = htonl(static_cast<u_long>(msg.size()));
- string prefix((const char*)&len,sizeof(unsigned int));
+ boost::uint32_t len = htonl(static_cast<u_long>(msg.size()));
+ string prefix((const char*) &len, sizeof(len));
msg = prefix + msg;
}
@@ -57,7 +58,7 @@
}
// a message is prefixed with it's payload length
- const unsigned int preSz = sizeof(unsigned int);
+ const unsigned int preSz = sizeof(boost::uint32_t);
string& data = buffer->GetData();
@@ -66,7 +67,8 @@
return false;
}
- unsigned int msgLen = ntohl((*(unsigned int*)data.data()));
+ unsigned int msgLen =
+ ntohl((*reinterpret_cast<const boost::uint32_t*>(data.data())));
if (data.size() < (msgLen + preSz))
{
Modified: trunk/spark/lib/oxygen/simulationserver/simcontrolnode.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/simcontrolnode.h 2009-12-29 19:52:44 UTC (rev 131)
+++ trunk/spark/lib/oxygen/simulationserver/simcontrolnode.h 2010-01-01 22:01:05 UTC (rev 132)
@@ -84,8 +84,6 @@
float mTime;
float mStep;
-
- boost::condition mCond;
};
DECLARE_CLASS(SimControlNode);
Modified: trunk/spark/lib/zeitgeist/fileserver/fileserver.cpp
===================================================================
--- trunk/spark/lib/zeitgeist/fileserver/fileserver.cpp 2009-12-29 19:52:44 UTC (rev 131)
+++ trunk/spark/lib/zeitgeist/fileserver/fileserver.cpp 2010-01-01 22:01:05 UTC (rev 132)
@@ -31,7 +31,6 @@
FileServer::FileServer() : Node(), mNextHandle(1)
{
- mResourceLocations.push_back(salt::RFile::BundlePath());
}
FileServer::~FileServer()
Modified: trunk/spark/lib/zeitgeist/zeitgeist.cpp
===================================================================
--- trunk/spark/lib/zeitgeist/zeitgeist.cpp 2009-12-29 19:52:44 UTC (rev 131)
+++ trunk/spark/lib/zeitgeist/zeitgeist.cpp 2010-01-01 22:01:05 UTC (rev 132)
@@ -21,6 +21,8 @@
#include "zeitgeist.h"
#include <iostream>
#include <sstream>
+#include <salt/fileclasses.h>
+#include "fileserver/fileserver.h"
using namespace std;
using namespace zeitgeist;
@@ -73,6 +75,7 @@
// setup the dot directory in the script server
mCore->GetScriptServer()->SetDotName(dotName);
mCore->GetScriptServer()->SetupDotDir();
+ mCore->GetFileServer()->AddResourceLocation(salt::RFile::BundlePath());
// run the zeitgeist init script
mCore->GetScriptServer()->RunInitScript
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2009-12-29 19:52:53
|
Revision: 131
http://simspark.svn.sourceforge.net/simspark/?rev=131&view=rev
Author: hedayat
Date: 2009-12-29 19:52:44 +0000 (Tue, 29 Dec 2009)
Log Message:
-----------
Set SVN properties for new files
Modified Paths:
--------------
trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp
Property Changed:
----------------
trunk/spark/plugin/accelerometer/CMakeLists.txt
trunk/spark/plugin/accelerometer/accelerometer.cpp
trunk/spark/plugin/accelerometer/accelerometer.h
trunk/spark/plugin/accelerometer/accelerometer_c.cpp
trunk/spark/plugin/accelerometer/export.cpp
trunk/spark/plugin/agentsynceffector/CMakeLists.txt
trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp
trunk/spark/plugin/agentsynceffector/agentsynceffector.h
trunk/spark/plugin/agentsynceffector/agentsynceffector_c.cpp
trunk/spark/plugin/agentsynceffector/export.cpp
Property changes on: trunk/spark/plugin/accelerometer/CMakeLists.txt
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/accelerometer/accelerometer.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/accelerometer/accelerometer.h
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/accelerometer/accelerometer_c.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/accelerometer/export.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/agentsynceffector/CMakeLists.txt
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Modified: trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp
===================================================================
--- trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp 2009-12-29 19:10:45 UTC (rev 130)
+++ trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp 2009-12-29 19:52:44 UTC (rev 131)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: forceeffector.cpp 19 2008-12-19 18:12:56Z hedayat $
+ $Id$
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
Property changes on: trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/agentsynceffector/agentsynceffector.h
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/agentsynceffector/agentsynceffector_c.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
Property changes on: trunk/spark/plugin/agentsynceffector/export.cpp
___________________________________________________________________
Added: svn:mime-type
+ text/plain
Added: svn:keywords
+ Id
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2009-12-29 19:10:52
|
Revision: 130
http://simspark.svn.sourceforge.net/simspark/?rev=130&view=rev
Author: hedayat
Date: 2009-12-29 19:10:45 +0000 (Tue, 29 Dec 2009)
Log Message:
-----------
New field dimensions
Added "--server" option to rcssmonitor3d to specify the server to connect to
Added AgentSyncEffector to NAO
Modified Paths:
--------------
trunk/rcssserver3d/ChangeLog
trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
trunk/rcssserver3d/rcssmonitor3d/main.cpp
trunk/rcssserver3d/simspark/naosoccersim.rb
Modified: trunk/rcssserver3d/ChangeLog
===================================================================
--- trunk/rcssserver3d/ChangeLog 2009-12-29 19:07:35 UTC (rev 129)
+++ trunk/rcssserver3d/ChangeLog 2009-12-29 19:10:45 UTC (rev 130)
@@ -1,3 +1,18 @@
+2009-12-29 Hedayat Vatankhah <he...@gr...>
+
+ * data/rsg/agent/nao/nao.rsg:
+ - added AgentSyncEffector
+
+ * rcssmonitor3d/main.cpp:
+ - some cleanup
+ - added a new option to specify the server address: --server
+
+2009-12-28 Hedayat Vatankhah <he...@gr...>
+
+ * simspark/naosoccersim.rb:
+ - added new field settings (field height/width, goal width/depth and penalty
+ area width/length multiplied by 1.5
+
2009-10-31 Hedayat Vatankhah <he...@gr...>
* RELEASE:
Modified: trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-29 19:07:35 UTC (rev 129)
+++ trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-29 19:10:45 UTC (rev 130)
@@ -85,6 +85,8 @@
; (setStaticSenseAxis false)
; (addNoise false))
+ (nd AgentSyncEffector)
+
);end of AgentAspect
Modified: trunk/rcssserver3d/rcssmonitor3d/main.cpp
===================================================================
--- trunk/rcssserver3d/rcssmonitor3d/main.cpp 2009-12-29 19:07:35 UTC (rev 129)
+++ trunk/rcssserver3d/rcssmonitor3d/main.cpp 2009-12-29 19:10:45 UTC (rev 130)
@@ -79,26 +79,51 @@
<< "\noptions:\n"
<< " --help\t print this message.\n"
<< " --logfile\t logfilename\t plays the log file.\n"
+ << " --server\t server_addr\t connects to the specified server.\n"
<< "\n";
}
bool MonitorSpark::ProcessCmdLine(int argc, char* argv[])
{
- for( int i = 0; i < argc; i++)
+ for (int i = 0; i < argc; i++)
{
- if( strcmp( argv[i], "--help" ) == 0 )
+ if (strcmp(argv[i], "--help") == 0)
{
- PrintHelp();
- return false;
+ PrintHelp();
+ return false;
}
- else if( strcmp( argv[i], "--logfile" ) == 0 && (i+1 == argc) )
+ else if (strcmp(argv[i], "--logfile") == 0)
{
- PrintHelp();
- return false;
+ if (i + 1 == argc)
+ {
+ PrintHelp();
+ return false;
+ }
+ else
+ {
+ string fileStr = string("$logPlayerFile = \"") + argv[i + 1]
+ + "\"";
+ GetScriptServer()->Eval("$logPlayerMode = true");
+ GetScriptServer()->Eval(fileStr);
+ }
}
+ else if (strcmp(argv[i], "--server") == 0)
+ {
+ if (i + 1 == argc)
+ {
+ PrintHelp();
+ return false;
+ }
+ else
+ {
+ string serverIPStr = string("$monitorServer = \"")
+ + argv[i + 1] + "\"";
+ GetScriptServer()->Eval(serverIPStr);
+ }
+ }
}
- return true;
+ return true;
}
bool MonitorSpark::InitApp(int argc, char** argv)
@@ -114,20 +139,8 @@
}
// run initialization scripts
+ GetScriptServer()->Run("rcssmonitor3d.rb");
- if(argc == 3 && strcmp( argv[1], "--logfile" ) == 0)
- {
- GetScriptServer()->Eval("$logPlayerMode = true");
-
- char fileStr[80];
- strcpy(fileStr, "$logPlayerFile = \"");
- strcat(fileStr, argv[2]);
- strcat(fileStr, "\"");
- GetScriptServer()->Eval(fileStr);
- }
-
- GetScriptServer()->Run("rcssmonitor3d.rb");
-
// tell the inputControl node the loaction of our camera
shared_ptr<InputControl> inputCtr = GetInputControl();
if (inputCtr.get() != 0)
Modified: trunk/rcssserver3d/simspark/naosoccersim.rb
===================================================================
--- trunk/rcssserver3d/simspark/naosoccersim.rb 2009-12-29 19:07:35 UTC (rev 129)
+++ trunk/rcssserver3d/simspark/naosoccersim.rb 2009-12-29 19:10:45 UTC (rev 130)
@@ -37,14 +37,14 @@
end
# the soccer field dimensions in meters
-addSoccerVar('FieldLength', 12.0)
-addSoccerVar('FieldWidth', 8.0)
+addSoccerVar('FieldLength', 18.0)
+addSoccerVar('FieldWidth', 12.0)
addSoccerVar('FieldHeight', 40.0)
-addSoccerVar('GoalWidth', 1.4)
-addSoccerVar('GoalDepth', 0.4)
+addSoccerVar('GoalWidth', 2.1)
+addSoccerVar('GoalDepth', 0.6)
addSoccerVar('GoalHeight', 0.8)
-addSoccerVar('PenaltyLength',1.2)
-addSoccerVar('PenaltyWidth',2.6)
+addSoccerVar('PenaltyLength',1.8)
+addSoccerVar('PenaltyWidth',3.9)
addSoccerVar('FreeKickDistance', 1.3)
addSoccerVar('FreeKickMoveDist', 1.5)
addSoccerVar('GoalKickDist', 1.0)
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <he...@us...> - 2009-12-29 19:07:44
|
Revision: 129
http://simspark.svn.sourceforge.net/simspark/?rev=129&view=rev
Author: hedayat
Date: 2009-12-29 19:07:35 +0000 (Tue, 29 Dec 2009)
Log Message:
-----------
Add ~/.simspark directory to resource search path
Added new effector: AgentSyncEffector (syn command)
Added Sync Mode to the simulator
Added an option to run the server in simulation time mode instead of real time mode
Modified Paths:
--------------
trunk/spark/ChangeLog
trunk/spark/RELEASE
trunk/spark/lib/oxygen/agentaspect/agentaspect.cpp
trunk/spark/lib/oxygen/agentaspect/agentaspect.h
trunk/spark/lib/oxygen/simulationserver/agentcontrol.cpp
trunk/spark/lib/oxygen/simulationserver/agentcontrol.h
trunk/spark/lib/oxygen/simulationserver/agentcontrol_c.cpp
trunk/spark/lib/oxygen/simulationserver/netcontrol.cpp
trunk/spark/lib/oxygen/simulationserver/netcontrol.h
trunk/spark/lib/zeitgeist/scriptserver/scriptserver.cpp
trunk/spark/lib/zeitgeist/scriptserver/scriptserver.h
trunk/spark/lib/zeitgeist/zeitgeist.cpp
trunk/spark/plugin/CMakeLists.txt
trunk/spark/spark/spark.rb
Added Paths:
-----------
trunk/spark/plugin/agentsynceffector/
trunk/spark/plugin/agentsynceffector/CMakeLists.txt
trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp
trunk/spark/plugin/agentsynceffector/agentsynceffector.h
trunk/spark/plugin/agentsynceffector/agentsynceffector_c.cpp
trunk/spark/plugin/agentsynceffector/export.cpp
Modified: trunk/spark/ChangeLog
===================================================================
--- trunk/spark/ChangeLog 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/ChangeLog 2009-12-29 19:07:35 UTC (rev 129)
@@ -1,3 +1,46 @@
+2009-12-29 Hedayat Vatankhah <he...@gr...>
+
+ * lib/zeitgeist/zeitgeist.cpp (Zeitgeist::RunInitScript):
+ - call SetupDotDir() so that ~/.simspark directory will be searched for
+ resource files (e.g. scripts)
+
+ * lib/zeitgeist/scriptserver/scriptserver.h:
+ * lib/zeitgeist/scriptserver/scriptserver.cpp:
+ - added SetupDotDir() function to create dot dir and add it to resource
+ search locations
+
+ * lib/oxygen/simulationserver/netcontrol.h:
+ * lib/oxygen/simulationserver/netcontrol.cpp:
+ - added the option to block for awhile (1 second) in ReadMessages if no
+ messages are available
+
+ * spark/spark.rb:
+ - added new option useRealTime to select between running in real time and
+ simulation time running modes
+ - added new option agentSyncMode which can be set to run in sync mode
+ - loading agentsynceffector module
+
+ * lib/oxygen/simulationserver/agentcontrol.h:
+ * lib/oxygen/simulationserver/agentcontrol.cpp:
+ * lib/oxygen/simulationserver/agentcontrol_c.cpp:
+ - added "Sync mode" in which agentcontrol will block until all connected
+ agents tell it to proceed
+
+ * plugin/agentsynceffector/CMakeLists.txt:
+ * plugin/agentsynceffector/export.cpp:
+ * plugin/agentsynceffector/agentsynceffector.h:
+ * plugin/agentsynceffector/agentsynceffector.cpp:
+ * plugin/agentsynceffector/agentsynceffector_c.cpp:
+ * plugin/CMakeLists.txt:
+ - a new effector: AgentSyncEffector
+
+ * lib/oxygen/agentaspect/agentaspect.h:
+ * lib/oxygen/agentaspect/agentaspect.cpp:
+ - added mIsSynced property to show if the agent is synced with the server
+
+ * RELEASE:
+ - some new release notes
+
2009-10-31 Hedayat Vatankhah <he...@gr...>
* lib/oxygen/simulationserver/simulationserver.h:
Modified: trunk/spark/RELEASE
===================================================================
--- trunk/spark/RELEASE 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/RELEASE 2009-12-29 19:07:35 UTC (rev 129)
@@ -11,7 +11,19 @@
sense data of the last cycle. So, any commands which is sent by agents
after receiving new sense data will be executed in the next cycle, not the
current one. This results in a more deterministic behavior, and agents'
- efficiency should not change between remote and local runs considerably.
+ efficiency should not change between remote and local runs considerably.
+ - An Accelerometer sensor
+ - Fixed some rendering bugs (agents not visible through goals)
+ - A "Sync Mode" operation is introduced. In this mode, the server will not
+ advance to the next cycle untill all connected agents send a "syn" command
+ to the server. You can use this mode by setting "agentSyncMode" to true in
+ simspark.rb (or spark.rb)
+ - Simulator will run in simulation time mode instead of real time
+ if "useRealTime" variable is set to false in simspark.rb (or spark.rb)
+ - To make changes to most of the resource files (e.g. simspark.rb), you can
+ create a copy in ~/.simspark directory and make desired changes there. The
+ directory structure of the original files should be preserved (e.g.
+ rsg/agent/nao/nao.rgs)
You can get the package on the Simspark page on SourceForge
at http://sourceforge.net/projects/simspark/
Modified: trunk/spark/lib/oxygen/agentaspect/agentaspect.cpp
===================================================================
--- trunk/spark/lib/oxygen/agentaspect/agentaspect.cpp 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/oxygen/agentaspect/agentaspect.cpp 2009-12-29 19:07:35 UTC (rev 129)
@@ -27,7 +27,7 @@
using namespace salt;
using namespace std;
-AgentAspect::AgentAspect() : Transform()
+AgentAspect::AgentAspect() : Transform(), mIsSynced(true)
{
SetName("agentAspect");
mID = -1;
@@ -168,3 +168,8 @@
return added;
}
+
+bool AgentAspect::IsSynced() const
+{
+ return mIsSynced || mPerceptorCycle < 5;
+}
Modified: trunk/spark/lib/oxygen/agentaspect/agentaspect.h
===================================================================
--- trunk/spark/lib/oxygen/agentaspect/agentaspect.h 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/oxygen/agentaspect/agentaspect.h 2009-12-29 19:07:35 UTC (rev 129)
@@ -68,6 +68,12 @@
//! @return the unique ID for the agent aspect
inline int ID() const { return mID; }
+ /** @return if the agent is in sync with the server in Sync mode*/
+ bool IsSynced() const;
+
+ /** sets the synchronization status of the agent */
+ void SetSynced(bool synced) { mIsSynced = synced; }
+
protected:
typedef std::map<std::string, boost::shared_ptr<Effector> > TEffectorMap;
@@ -76,9 +82,12 @@
private:
int mID;
+
/** indicates how many times the QueryPerceptors be called */
unsigned int mPerceptorCycle;
+ /** show if the agent is in sync with the server (in Sync mode) */
+ bool mIsSynced;
};
DECLARE_CLASS(AgentAspect);
Modified: trunk/spark/lib/oxygen/simulationserver/agentcontrol.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/agentcontrol.cpp 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/oxygen/simulationserver/agentcontrol.cpp 2009-12-29 19:07:35 UTC (rev 129)
@@ -20,6 +20,7 @@
#include "agentcontrol.h"
#include "simulationserver.h"
#include "netmessage.h"
+#include <set>
#include <zeitgeist/logserver/logserver.h>
#include <oxygen/agentaspect/agentaspect.h>
@@ -28,7 +29,7 @@
using namespace boost;
using namespace std;
-AgentControl::AgentControl() : NetControl()
+AgentControl::AgentControl() : NetControl(), mSyncMode(false)
{
mLocalAddr.setPort(3100);
}
@@ -77,57 +78,60 @@
void AgentControl::StartCycle()
{
- NetControl::StartCycle();
+ do
+ {
+ NetControl::StartCycle();
- if (
- (mGameControlServer.get() == 0) ||
- (mNetMessage.get() == 0)
- )
- {
- return;
- }
+ if (
+ (mGameControlServer.get() == 0) ||
+ (mNetMessage.get() == 0)
+ )
+ {
+ return;
+ }
- // pass all received messages on to the GameControlServer
- for (
- TBufferMap::iterator iter = mBuffers.begin();
- iter != mBuffers.end();
- ++iter
- )
- {
- shared_ptr<NetBuffer>& netBuff = (*iter).second;
- if (
- (netBuff.get() == 0) ||
- (netBuff->IsEmpty())
- )
- {
- continue;
- }
+ // pass all received messages on to the GameControlServer
+ for (
+ TBufferMap::iterator iter = mBuffers.begin();
+ iter != mBuffers.end();
+ ++iter
+ )
+ {
+ shared_ptr<NetBuffer>& netBuff = (*iter).second;
+ if (
+ (netBuff.get() == 0) ||
+ (netBuff->IsEmpty())
+ )
+ {
+ continue;
+ }
- // lookup the client entry corresponding for the buffer
- // entry
- TAddrMap::iterator clientIter = mClients.find(netBuff->GetAddr());
- if (clientIter == mClients.end())
- {
- continue;
- }
- shared_ptr<Client>& client = (*clientIter).second;
+ // lookup the client entry corresponding for the buffer
+ // entry
+ TAddrMap::iterator clientIter = mClients.find(netBuff->GetAddr());
+ if (clientIter == mClients.end())
+ {
+ continue;
+ }
+ shared_ptr<Client>& client = (*clientIter).second;
- // lookup the AgentAspect node correspoding to the client
- shared_ptr<AgentAspect> agent =
- mGameControlServer->GetAgentAspect(client->id);
- if (agent.get() == 0)
- {
- continue;
- }
+ // lookup the AgentAspect node correspoding to the client
+ shared_ptr<AgentAspect> agent =
+ mGameControlServer->GetAgentAspect(client->id);
+ if (agent.get() == 0)
+ {
+ continue;
+ }
- // parse and immediately realize the action
- string message;
- while (mNetMessage->Extract(netBuff,message))
- {
- agent->RealizeActions
- (mGameControlServer->Parse(client->id,message));
- }
- }
+ // parse and immediately realize the action
+ string message;
+ while (mNetMessage->Extract(netBuff,message))
+ {
+ agent->RealizeActions
+ (mGameControlServer->Parse(client->id,message));
+ }
+ }
+ } while (!AgentsAreSynced());
}
void AgentControl::SenseAgent()
@@ -184,6 +188,10 @@
{
continue;
}
+ if (mSyncMode)
+ {
+ agent->SetSynced(false);
+ }
shared_ptr<PredicateList> senseList = agent->QueryPerceptors();
mClientSenses[client->id] = parser->Generate(senseList);
@@ -195,3 +203,47 @@
mNetMessage->PrepareToSend(mClientSenses[client->id]);
}
}
+
+void AgentControl::SetSyncMode(bool syncMode)
+{
+ mSyncMode = syncMode;
+ if (mSyncMode)
+ {
+ BlockOnReadMessages(true);
+ GetLog()->Normal()
+ << "(AgentControl) Running in sync mode.\n";
+ }
+ else
+ {
+ BlockOnReadMessages(false);
+ GetLog()->Normal()
+ << "(AgentControl) Running in normal mode.\n";
+ }
+}
+
+bool AgentControl::AgentsAreSynced()
+{
+ if (mSyncMode)
+ {
+ set<rcss::net::Addr> closedClients(mCloseClients.begin(),
+ mCloseClients.end());
+
+ for (
+ TAddrMap::const_iterator iter = mClients.begin();
+ iter != mClients.end();
+ ++iter
+ )
+ {
+ if (closedClients.find(iter->first) != closedClients.end())
+ continue;
+
+ shared_ptr<AgentAspect> agent =
+ mGameControlServer->GetAgentAspect(iter->second->id);
+ if (agent && !agent->IsSynced())
+ {
+ return false;
+ }
+ }
+ }
+ return true;
+}
Modified: trunk/spark/lib/oxygen/simulationserver/agentcontrol.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/agentcontrol.h 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/oxygen/simulationserver/agentcontrol.h 2009-12-29 19:07:35 UTC (rev 129)
@@ -53,14 +53,28 @@
/** generates sense updates for all connected agents */
virtual void EndCycle();
+ /** sets the AgentControl's sync mode */
+ void SetSyncMode(bool syncMode);
+
protected:
virtual void OnLink();
+ /** returns if the agents are synced with the srever */
+ bool AgentsAreSynced();
+
protected:
/** cached reference to the GameControlServer */
CachedPath<GameControlServer> mGameControlServer;
+ /** stores sense information to be sent to the clients after receiving
+ * their commands
+ */
std::vector<std::string> mClientSenses;
+
+ /** indicates if we should wait for the agents to let the simulation
+ * proceed to the next cycle
+ */
+ bool mSyncMode;
};
DECLARE_CLASS(AgentControl);
Modified: trunk/spark/lib/oxygen/simulationserver/agentcontrol_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/agentcontrol_c.cpp 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/oxygen/simulationserver/agentcontrol_c.cpp 2009-12-29 19:07:35 UTC (rev 129)
@@ -22,7 +22,21 @@
using namespace oxygen;
using namespace std;
+FUNCTION(AgentControl, setSyncMode)
+{
+ bool inSet;
+
+ if ((in.GetSize() != 1) || (!in.GetValue(in[0], inSet)))
+ {
+ return false;
+ }
+
+ obj->SetSyncMode(inSet);
+ return true;
+}
+
void CLASS(AgentControl)::DefineClass()
{
DEFINE_BASECLASS(oxygen/NetControl);
+ DEFINE_FUNCTION(setSyncMode);
}
Modified: trunk/spark/lib/oxygen/simulationserver/netcontrol.cpp
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/netcontrol.cpp 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/oxygen/simulationserver/netcontrol.cpp 2009-12-29 19:07:35 UTC (rev 129)
@@ -43,6 +43,7 @@
mSocketType = ST_TCP;
mLocalAddr = Addr(INADDR_ANY, INADDR_ANY);
mClientId = 1;
+ mReadTimeout = 0;
}
NetControl::~NetControl()
@@ -512,7 +513,7 @@
FD_SET(fd,&readfds);
timeval time;
- time.tv_sec = 0;
+ time.tv_sec = mReadTimeout;
time.tv_usec = 0;
for(;;)
@@ -525,6 +526,7 @@
#endif
int ret = select(maxFd, &readfds, 0, 0, &time);
+ time.tv_sec = 0;
if (ret == 0)
{
@@ -596,14 +598,16 @@
}
// test for pending fragments
+ int timeout = mReadTimeout;
for(;;)
{
timeval time;
- time.tv_sec = 0;
+ time.tv_sec = timeout;
time.tv_usec = 0;
fd_set test_fds = client_fds;
int ret = select(maxFd+1, &test_fds, 0, 0, &time);
+ timeout = 0;
if (ret == 0)
{
@@ -660,3 +664,15 @@
}
}
}
+
+void NetControl::BlockOnReadMessages(bool block)
+{
+ if (block)
+ {
+ mReadTimeout = 1;
+ }
+ else
+ {
+ mReadTimeout = 0;
+ }
+}
Modified: trunk/spark/lib/oxygen/simulationserver/netcontrol.h
===================================================================
--- trunk/spark/lib/oxygen/simulationserver/netcontrol.h 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/oxygen/simulationserver/netcontrol.h 2009-12-29 19:07:35 UTC (rev 129)
@@ -124,6 +124,11 @@
static boost::shared_ptr<rcss::net::Socket>
CreateSocket(ESocketType type);
+ /** if set true, ReadMessages call will not return immediately if there
+ * is no messages to read and it'll wait a little for incomming messages
+ */
+ void BlockOnReadMessages(bool block);
+
protected:
/** returns a human readable description of the socket type and
port*/
@@ -198,6 +203,9 @@
/** the next available unique client id */
int mClientId;
+
+ /** indicates how much ReadMessages should wait for new messages */
+ int mReadTimeout;
};
DECLARE_CLASS(NetControl);
Modified: trunk/spark/lib/zeitgeist/scriptserver/scriptserver.cpp
===================================================================
--- trunk/spark/lib/zeitgeist/scriptserver/scriptserver.cpp 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/zeitgeist/scriptserver/scriptserver.cpp 2009-12-29 19:07:35 UTC (rev 129)
@@ -445,6 +445,18 @@
}
bool
+ScriptServer::SetupDotDir()
+{
+ string dotDir;
+ if (GetDotDirName(dotDir) && CreateDotDir(dotDir))
+ {
+ GetFile()->AddResourceLocation(dotDir);
+ return true;
+ }
+ return false;
+}
+
+bool
ScriptServer::ConstructInternal()
{
if (! Leaf::ConstructInternal())
Modified: trunk/spark/lib/zeitgeist/scriptserver/scriptserver.h
===================================================================
--- trunk/spark/lib/zeitgeist/scriptserver/scriptserver.h 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/zeitgeist/scriptserver/scriptserver.h 2009-12-29 19:07:35 UTC (rev 129)
@@ -144,6 +144,9 @@
/** returns the context, the ScriptServer operates in */
boost::shared_ptr<CoreContext> GetContext() const;
+ /** creates dot directory and adds it to resource search paths */
+ bool SetupDotDir();
+
/** constructs the ZeitgeistObject corresponding to a given
leaf */
static GCValue GetZeitgeistObject(boost::shared_ptr<Leaf> leaf);
Modified: trunk/spark/lib/zeitgeist/zeitgeist.cpp
===================================================================
--- trunk/spark/lib/zeitgeist/zeitgeist.cpp 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/lib/zeitgeist/zeitgeist.cpp 2009-12-29 19:07:35 UTC (rev 129)
@@ -72,6 +72,7 @@
// setup the dot directory in the script server
mCore->GetScriptServer()->SetDotName(dotName);
+ mCore->GetScriptServer()->SetupDotDir();
// run the zeitgeist init script
mCore->GetScriptServer()->RunInitScript
Modified: trunk/spark/plugin/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/CMakeLists.txt 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/plugin/CMakeLists.txt 2009-12-29 19:07:35 UTC (rev 129)
@@ -10,6 +10,7 @@
endif (APPLE AND USE_COREFOUNDATION)
add_subdirectory(accelerometer)
+add_subdirectory(agentsynceffector)
add_subdirectory(filesystemstd)
add_subdirectory(filesystemzip)
add_subdirectory(forceeffector)
Added: trunk/spark/plugin/agentsynceffector/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/agentsynceffector/CMakeLists.txt (rev 0)
+++ trunk/spark/plugin/agentsynceffector/CMakeLists.txt 2009-12-29 19:07:35 UTC (rev 129)
@@ -0,0 +1,19 @@
+
+########### next target ###############
+
+set(agentsynceffector_LIB_SRCS
+ export.cpp
+ agentsynceffector.cpp
+ agentsynceffector.h
+ agentsynceffector_c.cpp
+)
+
+add_library(agentsynceffector MODULE ${agentsynceffector_LIB_SRCS})
+
+target_link_libraries(agentsynceffector ${spark_libs})
+
+if (NOT APPLE)
+ set_target_properties(agentsynceffector PROPERTIES VERSION 0.0.0 SOVERSION 0)
+endif (NOT APPLE)
+
+install(TARGETS agentsynceffector DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
Added: trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp
===================================================================
--- trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp (rev 0)
+++ trunk/spark/plugin/agentsynceffector/agentsynceffector.cpp 2009-12-29 19:07:35 UTC (rev 129)
@@ -0,0 +1,87 @@
+/* -*- mode: c++; c-basic-indent: 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: forceeffector.cpp 19 2008-12-19 18:12:56Z hedayat $
+
+ 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 "agentsynceffector.h"
+#include <zeitgeist/logserver/logserver.h>
+#include <oxygen/gamecontrolserver/actionobject.h>
+#include <oxygen/agentaspect/agentaspect.h>
+
+using namespace boost;
+using namespace oxygen;
+
+AgentSyncEffector::AgentSyncEffector() : oxygen::Effector()
+{
+}
+
+AgentSyncEffector::~AgentSyncEffector()
+{
+}
+
+bool AgentSyncEffector::Realize(boost::shared_ptr<ActionObject> action)
+{
+ bool res = Effector::Realize(action);
+
+ if (mAgentAspect)
+ {
+ mAgentAspect->SetSynced(true);
+ }
+ return res;
+}
+
+shared_ptr<ActionObject>
+AgentSyncEffector::GetActionObject(const Predicate& predicate)
+{
+ if (predicate.name != GetPredicate())
+ {
+ GetLog()->Error() << "ERROR: (AgentSyncEffector) invalid predicate"
+ << predicate.name << "\n";
+ return shared_ptr<ActionObject>();
+ }
+
+ return shared_ptr<ActionObject>(new ActionObject(GetPredicate()));
+}
+
+void AgentSyncEffector::OnLink()
+{
+ mAgentAspect = GetAgentAspect();
+
+ if (mAgentAspect.get() == 0)
+ {
+ GetLog()->Error()
+ << "ERROR: (AgentSyncEffector) cannot get the AgentAspect object\n";
+ return;
+ }
+
+ mAgentAspect = mAgentAspect->FindParentSupportingClass<AgentAspect>().lock();
+ if (mAgentAspect.get() == 0)
+ {
+ GetLog()->Error()
+ << "ERROR: (AgentSyncEffector) cannot get the grand parent AgentAspect"
+ " object\n";
+ return;
+ }
+}
+
+void AgentSyncEffector::OnUnlink()
+{
+ mAgentAspect.reset();
+}
Added: trunk/spark/plugin/agentsynceffector/agentsynceffector.h
===================================================================
--- trunk/spark/plugin/agentsynceffector/agentsynceffector.h (rev 0)
+++ trunk/spark/plugin/agentsynceffector/agentsynceffector.h 2009-12-29 19:07:35 UTC (rev 129)
@@ -0,0 +1,55 @@
+/* -*- 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
+ $Id$
+
+ 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 AGENTSYNCEFFECTOR_H
+#define AGENTSYNCEFFECTOR_H
+
+#include <oxygen/agentaspect/effector.h>
+
+class AgentSyncEffector : public oxygen::Effector
+{
+public:
+ AgentSyncEffector();
+ virtual ~AgentSyncEffector();
+
+ /** realize the sync action asap */
+ virtual bool Realize(boost::shared_ptr<oxygen::ActionObject> action);
+
+ /** returns the name of the predicate this effector implements. */
+ virtual std::string GetPredicate() { return "syn"; }
+
+ /** constructs an Actionobject, describing a predicate */
+ virtual boost::shared_ptr<oxygen::ActionObject>
+ GetActionObject(const oxygen::Predicate& predicate);
+
+ /** setup the reference to the agent aspect node */
+ virtual void OnLink();
+
+ /** remove the reference to the agent aspect node */
+ virtual void OnUnlink();
+
+private:
+ boost::shared_ptr<oxygen::AgentAspect> mAgentAspect;
+};
+
+DECLARE_CLASS(AgentSyncEffector);
+
+#endif // AGENTSYNCEFFECTOR_H
Added: trunk/spark/plugin/agentsynceffector/agentsynceffector_c.cpp
===================================================================
--- trunk/spark/plugin/agentsynceffector/agentsynceffector_c.cpp (rev 0)
+++ trunk/spark/plugin/agentsynceffector/agentsynceffector_c.cpp 2009-12-29 19:07:35 UTC (rev 129)
@@ -0,0 +1,31 @@
+/* -*- mode: c++; c-basic-indent: 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
+ $Id$
+
+ 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 "agentsynceffector.h"
+
+using namespace boost;
+using namespace oxygen;
+
+void CLASS(AgentSyncEffector)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/Effector);
+}
Added: trunk/spark/plugin/agentsynceffector/export.cpp
===================================================================
--- trunk/spark/plugin/agentsynceffector/export.cpp (rev 0)
+++ trunk/spark/plugin/agentsynceffector/export.cpp 2009-12-29 19:07:35 UTC (rev 129)
@@ -0,0 +1,28 @@
+/* -*- 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
+ $Id$
+
+ 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 "agentsynceffector.h"
+#include <zeitgeist/zeitgeist.h>
+
+ZEITGEIST_EXPORT_BEGIN()
+ ZEITGEIST_EXPORT(AgentSyncEffector);
+ZEITGEIST_EXPORT_END()
Modified: trunk/spark/spark/spark.rb
===================================================================
--- trunk/spark/spark/spark.rb 2009-12-25 14:26:51 UTC (rev 128)
+++ trunk/spark/spark/spark.rb 2009-12-29 19:07:35 UTC (rev 129)
@@ -19,6 +19,9 @@
# the name of the default bundle that contains the default InputSystem
$defaultInputSystemBundle = 'inputsdl'
+# if simulator should run in real time rather than simulation time
+$useRealTime = true
+
# (OpenGL rendering)
#
@@ -34,6 +37,7 @@
$agentStep = 0.02
$agentType = 'tcp'
$agentPort = 3100
+$agentSyncMode = false
# (MonitorControl) constants
#
@@ -294,6 +298,7 @@
if (agentControl != nil)
agentControl.setServerPort($agentPort)
agentControl.setStep($agentStep)
+ agentControl.setSyncMode($agentSyncMode)
end
if ($agentType == 'udp')
@@ -402,6 +407,12 @@
# add the input control node
simulationServer.initControlNode('kerosin/InputControl','InputControl')
end
+
+ # set timing mode (real time vs simulation time)
+ inputControl = get($serverPath+'simulation/InputControl')
+ if (inputControl != nil)
+ inputControl.setAdvanceTime($useRealTime)
+ end
end
def sparkSetupTrain()
@@ -616,3 +627,5 @@
#
importBundle "accelerometer"
+
+importBundle "agentsynceffector"
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2009-12-25 14:27:19
|
Revision: 128
http://simspark.svn.sourceforge.net/simspark/?rev=128&view=rev
Author: sgvandijk
Date: 2009-12-25 14:26:51 +0000 (Fri, 25 Dec 2009)
Log Message:
-----------
- Enabe alpha test to prevent transparent pixels to write to z buffer
Modified Paths:
--------------
trunk/spark/lib/kerosin/renderserver/renderserver.cpp
Modified: trunk/spark/lib/kerosin/renderserver/renderserver.cpp
===================================================================
--- trunk/spark/lib/kerosin/renderserver/renderserver.cpp 2009-12-22 08:21:04 UTC (rev 127)
+++ trunk/spark/lib/kerosin/renderserver/renderserver.cpp 2009-12-25 14:26:51 UTC (rev 128)
@@ -98,6 +98,9 @@
glEnable(GL_CULL_FACE);
glCullFace(GL_BACK);
+ glAlphaFunc(GL_GREATER, 0.1);
+ glEnable(GL_ALPHA_TEST);
+
TLeafList lights;
mActiveScene->ListChildrenSupportingClass<Light>(lights,true);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <a-...@us...> - 2009-12-22 08:21:12
|
Revision: 127
http://simspark.svn.sourceforge.net/simspark/?rev=127&view=rev
Author: a-held
Date: 2009-12-22 08:21:04 +0000 (Tue, 22 Dec 2009)
Log Message:
-----------
Enabled accelerometer in branch
did some refactoring to make code simpler and more consistent
Modified Paths:
--------------
branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/body.h
branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp
branches/multiphys/spark/spark/spark.rb
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/int/angularmotorint.h
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-22 08:21:04 UTC (rev 127)
@@ -71,7 +71,7 @@
)
(nd GyroRatePerceptor (setName torso))
- ;(nd Accelerometer (setName torso))
+ (nd Accelerometer (setName torso))
;(nd HMDPPerceptor)
;(nd HMDPEffector)
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-22 08:21:04 UTC (rev 127)
@@ -55,6 +55,7 @@
physicsserver/angularmotor.h
#interfaces
+ physicsserver/int/angularmotorint.h
physicsserver/int/balljointint.h
physicsserver/int/bodyint.h
physicsserver/int/boxcolliderint.h
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/angularmotor.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -40,17 +40,17 @@
return;
}
- mODEJoint = dJointCreateAMotor((dWorldID) world, 0);
+ mJointID = (long) dJointCreateAMotor((dWorldID) world, 0);
}
void AngularMotor::SetMode(EMotorMode mode)
{
- dJointSetAMotorMode(mODEJoint,mode);
+ dJointSetAMotorMode( (dJointID) mJointID,mode);
}
AngularMotor::EMotorMode AngularMotor::GetMode()
{
- return static_cast<EMotorMode>(dJointGetAMotorMode(mODEJoint));
+ return static_cast<EMotorMode>(dJointGetAMotorMode( (dJointID) mJointID));
}
void AngularMotor::SetNumAxes(int num)
@@ -63,58 +63,55 @@
return;
}
- dJointSetAMotorNumAxes(mODEJoint, num);
+ dJointSetAMotorNumAxes( (dJointID) mJointID, num);
}
int AngularMotor::GetNumAxes()
{
- return dJointGetAMotorNumAxes(mODEJoint);
+ return dJointGetAMotorNumAxes( (dJointID) mJointID);
}
void AngularMotor::SetMotorAxis(EAxisIndex idx, EAxisAnchor anchor,
const salt::Vector3f& axis)
{
Vector3f globalAxis = GetWorldTransform() * axis;
- dJointSetAMotorAxis (mODEJoint, idx, anchor,
+ dJointSetAMotorAxis ( (dJointID) mJointID, idx, anchor,
globalAxis[0], globalAxis[1], globalAxis[2]);
}
AngularMotor::EAxisAnchor AngularMotor::GetAxisAnchor(EAxisIndex idx)
{
- return static_cast<EAxisAnchor>(dJointGetAMotorAxisRel (mODEJoint, idx));
+ return static_cast<EAxisAnchor>(dJointGetAMotorAxisRel ( (dJointID) mJointID, idx));
}
Vector3f AngularMotor::GetMotorAxis(EAxisIndex idx)
{
dVector3 dAxis;
- dJointGetAMotorAxis(mODEJoint,idx,dAxis);
+ dJointGetAMotorAxis( (dJointID) mJointID,idx,dAxis);
return Vector3f(dAxis[0],dAxis[1],dAxis[2]);
}
void AngularMotor::SetAxisAngle(EAxisIndex idx, float degAngle)
{
- dJointSetAMotorAngle(mODEJoint, idx, gDegToRad(degAngle));
+ dJointSetAMotorAngle( (dJointID) mJointID, idx, gDegToRad(degAngle));
}
float AngularMotor::GetAxisAngle(EAxisIndex idx)
{
- return gRadToDeg(dJointGetAMotorAngle(mODEJoint, idx));
+ return gRadToDeg(dJointGetAMotorAngle((dJointID) mJointID, idx));
}
float AngularMotor::GetAxisAngleRate(EAxisIndex idx)
{
- return gRadToDeg(dJointGetAMotorAngleRate(mODEJoint,idx));
+ return gRadToDeg(dJointGetAMotorAngleRate((dJointID) mJointID,idx));
}
void AngularMotor::SetParameter(int parameter, float value)
{
- dJointSetAMotorParam(mODEJoint, parameter, value);
+ dJointSetAMotorParam((dJointID) mJointID, parameter, value);
}
float AngularMotor::GetParameter(int parameter) const
{
- return dJointGetAMotorParam(mODEJoint, parameter);
+ return dJointGetAMotorParam((dJointID) mJointID, parameter);
}
-
-
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -42,8 +42,7 @@
return;
}
- mBallJointImp->CreateBallJoint(world);
- mODEJoint = dJointCreateBall((dWorldID) world, 0);
+ mJointID = mBallJointImp->CreateBallJoint(world);
}
void BallJoint::SetAnchor(const Vector3f& anchor)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -24,7 +24,7 @@
using namespace oxygen;
-Body::Body() : PhysicsObject(){
+Body::Body() : PhysicsObject(), mBodyID(0){
mBodyImp = boost::shared_ptr<ODEBody>(new ODEBody());
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -39,7 +39,11 @@
public:
Body();
virtual ~Body();
-
+
+protected:
+ long mBodyID;
+
+private:
boost::shared_ptr<BodyInt> mBodyImp;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -44,8 +44,7 @@
}
// create a unit box
- mBoxColliderImp->CreateBox();
- mGeomID = mBoxColliderImp->GetGeomID();
+ mGeomID = mBoxColliderImp->CreateBox();
return (mGeomID != 0);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -67,8 +67,7 @@
return false;
}
- mCapsuleColliderImp->CreateCapsule();
- mGeomID = mCapsuleColliderImp->GetGeomID();
+ mGeomID = mCapsuleColliderImp->CreateCapsule();
return (mGeomID != 0);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -40,8 +40,7 @@
return;
}
- mFixedJointImp->CreateFixedJoint(world);
- mODEJoint = (dJointID) mFixedJointImp->GetJointID();
+ mJointID = mFixedJointImp->CreateFixedJoint(world);
}
void FixedJoint::SetParameter(int /*parameter*/, float /*value*/)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -36,6 +36,7 @@
class OXYGEN_API GenericPhysicsMatrix{};
class OXYGEN_API GenericContact{};
+class OXYGEN_API GenericMass{};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -42,8 +42,7 @@
return;
}
- mHinge2JointImp->CreateHinge2Joint(world);
- mODEJoint = (dJointID) mHinge2JointImp->GetJointID();
+ mJointID = mHinge2JointImp->CreateHinge2Joint(world);
}
void Hinge2Joint::SetAnchor(const Vector3f& anchor)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -42,8 +42,7 @@
return;
}
- mHingeJointImp->CreateHingeJoint(world);
- mODEJoint = (dJointID) mHingeJointImp->GetJointID();
+ mJointID = mHingeJointImp->CreateHingeJoint(world);
}
void HingeJoint::SetAnchor(const Vector3f& anchor)
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/angularmotorint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/angularmotorint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/angularmotorint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -0,0 +1,42 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_ANGULARMOTORINT_H
+#define OXYGEN_ANGULARMOTORINT_H
+
+#include <salt/vector.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+class RigidBody;
+class Joint;
+
+class OXYGEN_API AngularMotorInt
+{
+public:
+ virtual long CreateAngularMotor() = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ANGULARMOTORINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -37,8 +37,7 @@
virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
virtual salt::Vector3f GetAnchor1() = 0;
virtual salt::Vector3f GetAnchor2() = 0;
- virtual void CreateBallJoint(long world) = 0;
- virtual long GetJointID() = 0;
+ virtual long CreateBallJoint(long world) = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -36,9 +36,7 @@
virtual void SetBoxLengths(const salt::Vector3f& extents) = 0;
virtual void GetBoxLengths(salt::Vector3f& extents) = 0;
virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
- virtual void CreateBox() = 0;
-
- virtual long GetGeomID() = 0;
+ virtual long CreateBox() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -39,9 +39,7 @@
virtual float GetRadius() = 0;
virtual float GetLength() = 0;
virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
-
- virtual long GetGeomID() = 0;
- virtual void CreateCapsule() = 0;
+ virtual long CreateCapsule() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -44,7 +44,6 @@
virtual bool Intersect(boost::shared_ptr<Collider> collider, long geomID) = 0;
virtual long GetParentSpaceID(long geomID) = 0;
virtual void DestroyGeom(long geomID) = 0;
- virtual long GetGeomID() = 0;
virtual void TransformSetGeom(long parentGeomID, long geomID) = 0;
virtual void SetSpace(long spaceID, long geomID, Collider* collider) = 0;
virtual void SetBody(long bodyID, long geomID) = 0;
@@ -58,9 +57,6 @@
return static_cast<Collider*>(dGeomGetData( (dGeomID) geomID));
#endif
}
-
-protected:
- long mGeomID;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -27,9 +27,8 @@
class OXYGEN_API FixedJointInt{
public:
- virtual void CreateFixedJoint(long world) = 0;
+ virtual long CreateFixedJoint(long world) = 0;
virtual void SetFixed() = 0;
- virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -28,7 +28,7 @@
class OXYGEN_API Hinge2JointInt{
public:
- virtual void CreateHinge2Joint(long world) = 0;
+ virtual long CreateHinge2Joint(long world) = 0;
virtual void SetAnchor(const salt::Vector3f& anchor,
const salt::Vector3f& up,
const salt::Vector3f& right) = 0;
@@ -39,7 +39,6 @@
virtual float GetAngleRate2() = 0;
virtual void SetParameter(int parameter, float value) = 0;
virtual float GetParameter(int parameter) const = 0;
- virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -28,7 +28,7 @@
class OXYGEN_API HingeJointInt{
public:
- virtual void CreateHingeJoint(long world) = 0;
+ virtual long CreateHingeJoint(long world) = 0;
virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
virtual salt::Vector3f GetAnchor1() = 0;
virtual salt::Vector3f GetAnchor2() = 0;
@@ -38,7 +38,6 @@
virtual float GetAngleRate() const = 0;
virtual void SetParameter(int parameter, float value) = 0;
virtual float GetParameter(int parameter) const = 0;
- virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -114,7 +114,6 @@
virtual void OnLink() = 0;
protected:
- long mJointID;
boost::shared_ptr<dJointFeedback> mFeedback;
float mJointMaxSpeed1;
bool mIsLimitJointMaxSpeed1;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -36,9 +36,7 @@
virtual void SetPlaneParams(float a, float b, float c, float d) = 0;
virtual void SetParams(const salt::Vector3f& pos, salt::Vector3f normal) = 0;
virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
-
- virtual long GetGeomID() = 0;
- virtual void CreatePlane() = 0;
+ virtual long CreatePlane() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -33,8 +33,7 @@
{
public:
virtual void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length) = 0;
- virtual void CreateRay() = 0;
- virtual long GetGeomID() = 0;
+ virtual long CreateRay() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -24,6 +24,7 @@
#define OXYGEN_RIGIDBODYINT_H
#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/genericphysicsobjects.h>
namespace oxygen
{
@@ -37,9 +38,9 @@
virtual bool IsEnabled() const = 0;
virtual void UseGravity(bool f) = 0;
virtual bool UsesGravity() const = 0;
- virtual void CreateBody(long world) = 0;
+ virtual long CreateBody(long world) = 0;
virtual void SetMass(float mass) = 0;
- virtual void SetMassParameters(const float& mass) = 0;
+ virtual void SetMassParameters(const GenericMass& mass) = 0;
virtual float GetMass() const = 0;
virtual void SetSphere(float density, float radius) = 0;
virtual void AddSphere(float density, float radius, const salt::Matrix& matrix) = 0;
@@ -74,8 +75,6 @@
virtual salt::Matrix GetSynchronisationMatrix() = 0;
virtual void BodySetData(RigidBody* rb) = 0;
virtual RigidBody* BodyGetData(long bodyID) = 0;
-
- virtual long GetBodyID() = 0;
virtual salt::Vector3f GetMassTrans() = 0;
virtual void SetMassTrans(salt::Vector3f massTrans) = 0;
virtual bool GetMassTransformed() = 0;
@@ -90,12 +89,7 @@
#endif
}
-protected:
- /** The ID of the managed body. This must be unique within the simulation.
- It is used externally to reference this particular body.
- */
- long mBodyID;
-
+protected:
salt::Vector3f mMassTrans;
bool mMassTransformed;
};
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -33,13 +33,12 @@
class OXYGEN_API SliderJointInt
{
public:
- virtual void CreateSliderJoint(long world) = 0;
+ virtual long CreateSliderJoint(long world) = 0;
virtual float GetPosition() = 0;
virtual float GetPositionRate() = 0;
virtual void SetSliderAxis(salt::Vector3f& up) = 0;
virtual void SetParameter(int parameter, float value) = 0;
virtual float GetParameter(int parameter) const = 0;
- virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -36,9 +36,7 @@
virtual void SetRadius(float r) = 0;
virtual float GetRadius() const = 0;
virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
- virtual void CreateSphere() = 0;
-
- virtual long GetGeomID() = 0;
+ virtual long CreateSphere() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -35,9 +35,8 @@
{
public:
- virtual void CreateTransformCollider() = 0;
+ virtual long CreateTransformCollider() = 0;
virtual void SetColliderParameters(int cleanup, int info) = 0;
- virtual long GetGeomID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -33,7 +33,7 @@
{
public:
- virtual void CreateUniversalJoint(long world) = 0;
+ virtual long CreateUniversalJoint(long world) = 0;
virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
virtual salt::Vector3f GetAnchor1() = 0;
virtual salt::Vector3f GetAnchor2() = 0;
@@ -47,7 +47,6 @@
virtual float GetAngleRate2() const = 0;
virtual void SetParameter(int parameter, float value) = 0;
virtual float GetParameter(int parameter) const = 0;
- virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -28,7 +28,7 @@
using namespace salt;
Joint::Joint() :
-PhysicsObject(), mODEJoint(0),
+PhysicsObject(), mJointID(0),
mJointMaxSpeed1(0), mJointMaxSpeed2(0),
mIsLimitJointMaxSpeed1(false), mIsLimitJointMaxSpeed2(false)
{
@@ -41,12 +41,12 @@
void Joint::OnLink()
{
- if (mODEJoint == 0)
+ if (mJointID == 0)
{
return;
}
- dJointSetData(mODEJoint, this);
+ dJointSetData( (dJointID) mJointID, this);
}
shared_ptr<Joint> Joint::GetJoint(long jointID)
@@ -82,7 +82,7 @@
void Joint::Attach(shared_ptr<RigidBody> body1, shared_ptr<RigidBody> body2)
{
- if (mODEJoint == 0)
+ if (mJointID == 0)
{
GetLog()->Error()
<< "(Joint) ERROR: Attach called with uninitialized ODE joint\n";
@@ -117,7 +117,7 @@
GetLog()->Debug() << "(Joint) Attaching '" << path1 << "' to '"
<< path2 << '\n';
- dJointAttach(mODEJoint, (dBodyID) id1, (dBodyID) id2);
+ dJointAttach( (dJointID) mJointID, (dBodyID) id1, (dBodyID) id2);
}
shared_ptr<RigidBody> Joint::GetBody(const std::string& path)
@@ -162,12 +162,12 @@
int Joint::GetType() const
{
- return dJointGetType(mODEJoint);
+ return dJointGetType( (dJointID) mJointID);
}
boost::shared_ptr<RigidBody> Joint::GetBody(EBodyIndex idx)
{
- long bodyID = (long) dJointGetBody(mODEJoint, idx);
+ long bodyID = (long) dJointGetBody( (dJointID) mJointID, idx);
return RigidBody::GetBody(bodyID);
}
@@ -227,12 +227,12 @@
}
}
- dJointSetFeedback(mODEJoint,mFeedback.get());
+ dJointSetFeedback( (dJointID) mJointID,mFeedback.get());
}
bool Joint::FeedBackEnabled() const
{
- return (dJointGetFeedback(mODEJoint) != 0);
+ return (dJointGetFeedback( (dJointID) mJointID) != 0);
}
Vector3f Joint::GetFeedbackForce(EBodyIndex idx) const
@@ -436,14 +436,14 @@
void Joint::DestroyPhysicsObject()
{
- if (! mODEJoint)
+ if (!mJointID)
{
return;
}
EnableFeedback(false);
- dJointDestroy(mODEJoint);
- mODEJoint = 0;
+ dJointDestroy( (dJointID) mJointID);
+ mJointID = 0;
}
void Joint::SetJointMaxSpeed1(float rad)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -286,7 +286,7 @@
protected:
/** the ID of the managed joint */
- dJointID mODEJoint;
+ long mJointID;
/** the allocated joint feedback structure */
boost::shared_ptr<dJointFeedback> mFeedback;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -28,11 +28,11 @@
{
}
-void ODEBallJoint::CreateBallJoint(long world)
+long ODEBallJoint::CreateBallJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
mODEJoint = dJointCreateBall(ODEWorld, 0);
- mJointID = (long) mODEJoint;
+ return (long) mODEJoint;
}
void ODEBallJoint::SetAnchor(const Vector3f& gAnchor)
@@ -57,7 +57,3 @@
return pos;
}
-
-long ODEBallJoint::GetJointID(){
- return mJointID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -37,8 +37,7 @@
void SetAnchor(const salt::Vector3f& anchor);
salt::Vector3f GetAnchor1();
salt::Vector3f GetAnchor2();
- void CreateBallJoint(long world);
- long GetJointID();
+ long CreateBallJoint(long world);
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -23,6 +23,6 @@
using namespace oxygen;
-ODEBody::ODEBody() : ODEPhysicsObject(){
+ODEBody::ODEBody() : ODEPhysicsObject(), mODEBody(0){
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -31,6 +31,9 @@
{
public:
ODEBody();
+
+protected:
+ dBodyID mODEBody;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -28,7 +28,6 @@
ODEBoxCollider::ODEBoxCollider() : ODEConvexCollider()
{
-
}
void ODEBoxCollider::SetBoxLengths(const Vector3f& extents)
@@ -41,10 +40,10 @@
);
}
-void ODEBoxCollider::CreateBox()
+long ODEBoxCollider::CreateBox()
{
mODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
- mGeomID = (long) mODEGeom;
+ return (long) mODEGeom;
}
void ODEBoxCollider::GetBoxLengths(Vector3f& extents)
@@ -61,7 +60,3 @@
return dGeomBoxPointDepth
(mODEGeom,pos[0],pos[1],pos[2]);
}
-
-long ODEBoxCollider::GetGeomID(){
- return mGeomID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -37,9 +37,7 @@
void SetBoxLengths(const salt::Vector3f& extents);
void GetBoxLengths(salt::Vector3f& extents);
float GetPointDepth(const salt::Vector3f& pos);
- void CreateBox();
-
- long GetGeomID();
+ long CreateBox();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -67,10 +67,10 @@
return length;
}
-void ODECapsuleCollider::CreateCapsule()
+long ODECapsuleCollider::CreateCapsule()
{
mODEGeom = dCreateCapsule(0, 1.0f, 1.0f);
- mGeomID = (long) mODEGeom;
+ return (long) mODEGeom;
}
float ODECapsuleCollider::GetPointDepth(const Vector3f& pos)
@@ -78,7 +78,3 @@
return dGeomCapsulePointDepth
(mODEGeom,pos[0],pos[1],pos[2]);
}
-
-long ODECapsuleCollider::GetGeomID(){
- return mGeomID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -42,9 +42,7 @@
float GetRadius();
float GetLength();
float GetPointDepth(const salt::Vector3f& pos);
-
- long GetGeomID();
- void CreateCapsule();
+ long CreateCapsule();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -37,7 +37,6 @@
ODECollider::ODECollider() : ODEPhysicsObject(), mODEGeom(0)
{
- mGeomID = 0;
}
ODECollider::~ODECollider()
@@ -97,13 +96,8 @@
dGeomID ODEGeom = (dGeomID) geomID;
dGeomDestroy(ODEGeom);
mODEGeom = 0;
- mGeomID = 0;
}
-long ODECollider::GetGeomID(){
- return mGeomID;
-}
-
void ODECollider::TransformSetGeom(long parentGeomID, long geomID){
dGeomID parentODEGeom = (dGeomID) parentGeomID;
dGeomID ODEGeom = (dGeomID) geomID;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -44,7 +44,6 @@
bool Intersect(boost::shared_ptr<Collider> collider, long geomID);
long GetParentSpaceID(long geomID);
void DestroyGeom(long GeomID);
- long GetGeomID();
void TransformSetGeom(long parentGeomID, long geomID);
void SetSpace(long spaceID, long geomID, Collider* collider);
void SetBody(long bodyID, long geomID);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -27,18 +27,14 @@
{
}
-void ODEFixedJoint::CreateFixedJoint(long world)
+long ODEFixedJoint::CreateFixedJoint(long world)
{
dWorldID ODEworld = (dWorldID) world;
mODEJoint = dJointCreateFixed(ODEworld, 0);
- mJointID = (long) mODEJoint;
+ return (long) mODEJoint;
}
void ODEFixedJoint::SetFixed()
{
dJointSetFixed(mODEJoint);
}
-
-long ODEFixedJoint::GetJointID(){
- return mJointID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -30,9 +30,8 @@
public:
ODEFixedJoint();
- void CreateFixedJoint(long world);
+ long CreateFixedJoint(long world);
void SetFixed();
- long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -28,11 +28,11 @@
{
}
-void ODEHinge2Joint::CreateHinge2Joint(long world)
+long ODEHinge2Joint::CreateHinge2Joint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
mODEJoint = dJointCreateHinge2(ODEWorld, 0);
- mJointID = (long) mODEJoint;
+ return (long) mODEJoint;
}
void ODEHinge2Joint::SetAnchor(const Vector3f& gAnchor,
@@ -84,7 +84,3 @@
{
return dJointGetHinge2Param(mODEJoint, parameter);
}
-
-long ODEHinge2Joint::GetJointID(){
- return mJointID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -30,7 +30,7 @@
public:
ODEHinge2Joint();
- void CreateHinge2Joint(long world);
+ long CreateHinge2Joint(long world);
void SetAnchor(const salt::Vector3f& gAnchor,
const salt::Vector3f& up,
const salt::Vector3f& right);
@@ -41,7 +41,6 @@
float GetAngleRate2();
void SetParameter(int parameter, float value);
float GetParameter(int parameter) const;
- long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -27,11 +27,11 @@
{
}
-void ODEHingeJoint::CreateHingeJoint(long world)
+long ODEHingeJoint::CreateHingeJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
mODEJoint = dJointCreateHinge(ODEWorld, 0);
- mJointID = (long) mODEJoint;
+ return (long) mODEJoint;
}
void ODEHingeJoint::SetAnchor(const Vector3f& anchor)
@@ -88,7 +88,3 @@
{
return dJointGetHingeParam(mODEJoint, parameter);
}
-
-long ODEHingeJoint::GetJointID(){
- return mJointID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -30,7 +30,7 @@
public:
ODEHingeJoint();
- void CreateHingeJoint(long world);
+ long CreateHingeJoint(long world);
void SetAnchor(const salt::Vector3f& anchor);
salt::Vector3f GetAnchor1();
salt::Vector3f GetAnchor2();
@@ -40,7 +40,6 @@
float GetAngleRate() const;
void SetParameter(int parameter, float value);
float GetParameter(int parameter) const;
- long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -28,7 +28,6 @@
ODEJoint::ODEJoint() : ODEPhysicsObject(), mODEJoint(0)
{
- mJointID = 0;
mJointMaxSpeed1 = mJointMaxSpeed2 = 0.0;
mIsLimitJointMaxSpeed1 = mIsLimitJointMaxSpeed2 = false;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -33,11 +33,11 @@
dGeomPlaneSetParams(mODEGeom, a, b, c, d);
}
-void ODEPlaneCollider::CreatePlane()
+long ODEPlaneCollider::CreatePlane()
{
// a plane with normal pointing up, going through the origin
mODEGeom = dCreatePlane(0, 0, 1, 0, 0);
- mGeomID = (long) mODEGeom;
+ return (long) mODEGeom;
}
void ODEPlaneCollider::SetParams(const salt::Vector3f& pos, salt::Vector3f normal)
@@ -52,7 +52,3 @@
return dGeomPlanePointDepth
(mODEGeom,pos[0],pos[1],pos[2]);
}
-
-long ODEPlaneCollider::GetGeomID(){
- return mGeomID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -37,9 +37,7 @@
void SetPlaneParams(float a, float b, float c, float d);
void SetParams(const salt::Vector3f& pos, salt::Vector3f normal);
float GetPointDepth(const salt::Vector3f& pos);
-
- long GetGeomID();
- void CreatePlane();
+ long CreatePlane();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -25,7 +25,6 @@
ODERayCollider::ODERayCollider() : ODECollider()
{
-
}
void ODERayCollider::SetParams(salt::Vector3f pos,
@@ -35,12 +34,8 @@
dGeomRaySetLength(mODEGeom, length);
}
-void ODERayCollider::CreateRay()
+long ODERayCollider::CreateRay()
{
mODEGeom = dCreateRay(0, 1.0f);
- mGeomID = (long) mODEGeom;
+ return (long) mODEGeom;
}
-
-long ODERayCollider::GetGeomID(){
- return mGeomID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -35,8 +35,7 @@
public:
ODERayCollider();
void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length);
- void CreateRay();
- long GetGeomID();
+ long CreateRay();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -32,16 +32,11 @@
using namespace salt;
using namespace std;
-ODERigidBody::ODERigidBody() : ODEBody(), mODEBody(0){
- mBodyID = 0;
+ODERigidBody::ODERigidBody() : ODEBody(){
mMassTrans = Vector3f(0,0,0);
mMassTransformed = false;
}
-long ODERigidBody::GetBodyID(){
- return mBodyID;
-}
-
salt::Vector3f ODERigidBody::GetMassTrans(){
return mMassTrans;
}
@@ -91,21 +86,21 @@
return (dBodyGetGravityMode(mODEBody) != 0);
}
-void ODERigidBody::CreateBody(long world)
+long ODERigidBody::CreateBody(long world)
{
// create the managed body
mODEBody = dBodyCreate((dWorldID) world);
- mBodyID = (long) mODEBody;
+ return (long) mODEBody;
}
void ODERigidBody::DestroyPhysicsObject(){
- if (mBodyID == 0)
+ if (mODEBody == 0)
{
return;
}
dBodyDestroy(mODEBody);
- mBodyID = 0;
+ mODEBody = 0;
}
void ODERigidBody::BodySetData(RigidBody* rb)
@@ -164,7 +159,7 @@
mMassTransformed = true;
}
-void ODERigidBody::SetMassParameters(const float& mass)
+void ODERigidBody::SetMassParameters(const GenericMass& mass)
{
dMass& ODEMass = (dMass&) mass;
dBodySetMass(mODEBody, &ODEMass);
@@ -365,10 +360,9 @@
Vector3f ODERigidBody::GetLocalAngularVelocity() const
{
const dReal* vel = dBodyGetAngularVel(mODEBody);
- Vector3f w;
- dReal* wData = (dReal*) w.GetData();
- dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], wData);
- return w;
+ dReal w[3];
+ dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], w);
+ return Vector3f(w[0], w[1], w[2]);
}
Vector3f ODERigidBody::GetAngularVelocity() const
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -40,7 +40,7 @@
void UseGravity(bool f);
bool UsesGravity() const;
void SetMass(float mass);
- void SetMassParameters(const float& mass);
+ void SetMassParameters(const GenericMass& mass);
float GetMass() const;
void SetSphere(float density, float radius);
void AddSphere(float density, float radius, const salt::Matrix& matrix);
@@ -83,11 +83,13 @@
void SetMassTransformed(bool f);
protected:
+ /**These methods are only called internally.
+ */
void AddMass(const dMass& mass, const salt::Matrix& matrix);
/** creates an ODE body within the given world
*/
- void CreateBody(long world);
+ long CreateBody(long world);
/** sets up an ode mass struct representing a box of the given
size and total_mass
@@ -142,12 +144,6 @@
is oriented along the body's z axis.
*/
void PrepareCapsuleTotal(dMass& mass, float total_mass, float radius, float length) const;
-
-private:
- /** An ODE-specific body ID. This is used internally to call ODE-
- specific methods that manipulate this body.
- */
- dBodyID mODEBody;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -27,11 +27,11 @@
{
}
-void ODESliderJoint::CreateSliderJoint(long world)
+long ODESliderJoint::CreateSliderJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
mODEJoint = dJointCreateSlider(ODEWorld, 0);
- mJointID = (long) mODEJoint;
+ return (long) mODEJoint;
}
void ODESliderJoint::SetSliderAxis(Vector3f& up)
@@ -58,7 +58,3 @@
{
return dJointGetSliderParam(mODEJoint, parameter);
}
-
-long ODESliderJoint::GetJointID(){
- return mJointID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -34,13 +34,12 @@
public:
ODESliderJoint();
- void CreateSliderJoint(long world);
+ long CreateSliderJoint(long world);
float GetPosition();
float GetPositionRate();
void SetSliderAxis(salt::Vector3f& up);
void SetParameter(int parameter, float value);
float GetParameter(int parameter) const;
- long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -26,8 +26,6 @@
ODESphereCollider::ODESphereCollider() : ODEConvexCollider()
{
- mODEGeom = 0;
- mGeomID = 0;
}
void ODESphereCollider::SetRadius(float r)
@@ -40,10 +38,10 @@
return dGeomSphereGetRadius(mODEGeom);
}
-void ODESphereCollider::CreateSphere()
+long ODESphereCollider::CreateSphere()
{
mODEGeom = dCreateSphere(0, 1.0f);
- mGeomID = (long) mODEGeom;
+ return (long) mODEGeom;
}
float ODESphereCollider::GetPointDepth(const Vector3f& pos)
@@ -51,7 +49,3 @@
return dGeomSpherePointDepth
(mODEGeom,pos[0],pos[1],pos[2]);
}
-
-long ODESphereCollider::GetGeomID(){
- return mGeomID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -36,9 +36,7 @@
void SetRadius(float r);
float GetRadius() const;
float GetPointDepth(const salt::Vector3f& pos);
- void CreateSphere();
-
- long GetGeomID();
+ long CreateSphere();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -24,20 +24,16 @@
using namespace oxygen;
-ODETransformCollider::ODETransformCollider() : ODECollider(){
-
+ODETransformCollider::ODETransformCollider() : ODECollider()
+{
}
-void ODETransformCollider::CreateTransformCollider(){
+long ODETransformCollider::CreateTransformCollider(){
mODEGeom = dCreateGeomTransform(0);
- mGeomID = (long) mODEGeom;
+ return (long) mODEGeom;
}
void ODETransformCollider::SetColliderParameters(int cleanup, int info){
dGeomTransformSetCleanup(mODEGeom, cleanup);
dGeomTransformSetInfo(mODEGeom, info);
}
-
-long ODETransformCollider::GetGeomID(){
- return mGeomID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -34,9 +34,8 @@
public:
ODETransformCollider();
- void CreateTransformCollider();
void SetColliderParameters(int cleanup, int info);
- long GetGeomID();
+ long CreateTransformCollider();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -26,11 +26,11 @@
{
}
-void ODEUniversalJoint::CreateUniversalJoint(long world)
+long ODEUniversalJoint::CreateUniversalJoint(long world)
{
dWorldID ODEWorld = (dWorldID) world;
mODEJoint = dJointCreateUniversal(ODEWorld, 0);
- mJointID = (long) mODEJoint;
+ return (long) mODEJoint;
}
void ODEUniversalJoint::SetAnchor(const Vector3f& anchor)
@@ -109,7 +109,3 @@
{
return dJointGetUniversalParam(mODEJoint, parameter);
}
-
-long ODEUniversalJoint::GetJointID(){
- return mJointID;
-}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h 2009-12-22 08:21:04 UTC (rev 127)
@@ -34,7 +34,7 @@
public:
ODEUniversalJoint();
- void CreateUniversalJoint(long world);
+ long CreateUniversalJoint(long world);
void SetAnchor(const salt::Vector3f& anchor);
salt::Vector3f GetAnchor1();
salt::Vector3f GetAnchor2();
@@ -48,7 +48,6 @@
float GetAngleRate2() const;
void SetParameter(int parameter, float value);
float GetParameter(int parameter) const;
- long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -54,10 +54,9 @@
}
//create default plane
- mPlaneColliderImp->CreatePlane();
- mGeomID = mPlaneColliderImp->GetGeomID();
+ mGeomID = mPlaneColliderImp->CreatePlane();
- return (mPlaneColliderImp->GetGeomID() != 0);
+ return (mGeomID != 0);
}
void PlaneCollider::SetParams(const salt::Vector3f& pos, salt::Vector3f normal)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -43,8 +43,7 @@
}
// create a unit ray
- mRayColliderImp->CreateRay();
- mGeomID = mRayColliderImp->GetGeomID();
+ mGeomID = mRayColliderImp->CreateRay();
- return (mRayColliderImp->GetGeomID() != 0);
+ return (mGeomID != 0);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-12-22 08:21:04 UTC (rev 127)
@@ -41,7 +41,7 @@
long RigidBody::GetBodyID() const
{
- return mRigidBodyImp->GetBodyID();
+ return mBodyID;
}
void RigidBody::Enable()
@@ -71,9 +71,7 @@
bool RigidBody::CreateBody()
{
- long bodyID = mRigidBodyImp->GetBodyID();
-
- if (bodyID != 0)
+ if (mBodyID != 0)
{
return true;
}
@@ -84,9 +82,9 @@
return false;
}
- mRigidBodyImp->CreateBody(world);
+ mBodyID = mRigidBodyImp->CreateBody(world);
- if (mRigidBodyImp->GetBodyID() == 0)
+ if (mBodyID == 0)
{
GetLog()->Error()
<< "(Body) ERROR: could not create new ODE body\n";
@@ -131,7 +129,7 @@
return mRigidBodyImp->GetMass();
}
-void RigidBody::SetMassParameters(const float& mass){
+void RigidBody::SetMassParameters(const GenericMass& mass){
mRigidBodyImp->SetMassParameters(mass);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-12-18 13:01:31 UTC (rev 126)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbo...
[truncated message content] |
|
From: <yx...@us...> - 2009-12-18 13:01:43
|
Revision: 126
http://simspark.svn.sourceforge.net/simspark/?rev=126&view=rev
Author: yxu
Date: 2009-12-18 13:01:31 +0000 (Fri, 18 Dec 2009)
Log Message:
-----------
* fix for double precision in spark/lib/oxygen/physicsserver/body.cpp
* fix for Accelerometer in spark/spark/spark.rb
* enable Accelerometer in rcssserver3d/data/rsg/agent/nao/nao.rsg again ;)
Modified Paths:
--------------
trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
trunk/spark/lib/oxygen/physicsserver/body.cpp
trunk/spark/spark/spark.rb
Modified: trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-18 06:24:13 UTC (rev 125)
+++ trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-18 13:01:31 UTC (rev 126)
@@ -71,7 +71,7 @@
)
(nd GyroRatePerceptor (setName torso))
- ;(nd Accelerometer (setName torso))
+ (nd Accelerometer (setName torso))
;(nd HMDPPerceptor)
;(nd HMDPEffector)
Modified: trunk/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/body.cpp 2009-12-18 06:24:13 UTC (rev 125)
+++ trunk/spark/lib/oxygen/physicsserver/body.cpp 2009-12-18 13:01:31 UTC (rev 126)
@@ -420,9 +420,9 @@
Body::GetLocalAngularVelocity() const
{
const dReal* vel = dBodyGetAngularVel(mODEBody);
- Vector3f w;
- dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], w.GetData());
- return w;
+ dReal w[3];
+ dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], w);
+ return Vector3f(w[0],w[1],w[2]);
}
void
Modified: trunk/spark/spark/spark.rb
===================================================================
--- trunk/spark/spark/spark.rb 2009-12-18 06:24:13 UTC (rev 125)
+++ trunk/spark/spark/spark.rb 2009-12-18 13:01:31 UTC (rev 126)
@@ -613,3 +613,6 @@
#
importBundle "collisionperceptor"
+
+#
+importBundle "accelerometer"
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <a-...@us...> - 2009-12-18 07:27:42
|
Revision: 125
http://simspark.svn.sourceforge.net/simspark/?rev=125&view=rev
Author: a-held
Date: 2009-12-18 06:24:13 +0000 (Fri, 18 Dec 2009)
Log Message:
-----------
integrated changes made in R121 and R124 into the branch
Modified Paths:
--------------
branches/multiphys/rcssserver3d/data/rsg/agent/nao/goal.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg
branches/multiphys/spark/lib/kerosin/renderserver/rendernode.cpp
branches/multiphys/spark/lib/kerosin/renderserver/rendernode.h
branches/multiphys/spark/lib/kerosin/renderserver/rendernode_c.cpp
branches/multiphys/spark/lib/kerosin/renderserver/renderserver.cpp
branches/multiphys/spark/lib/kerosin/renderserver/renderserver.h
branches/multiphys/spark/lib/kerosin/sceneserver/staticmesh_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
branches/multiphys/spark/lib/oxygen/sceneserver/basenode.cpp
branches/multiphys/spark/lib/oxygen/sceneserver/basenode.h
branches/multiphys/spark/plugin/CMakeLists.txt
branches/multiphys/spark/plugin/sparkmonitor/sparkmonitor.cpp
Added Paths:
-----------
branches/multiphys/spark/plugin/accelerometer/
branches/multiphys/spark/plugin/accelerometer/CMakeLists.txt
branches/multiphys/spark/plugin/accelerometer/accelerometer.cpp
branches/multiphys/spark/plugin/accelerometer/accelerometer.h
branches/multiphys/spark/plugin/accelerometer/accelerometer_c.cpp
branches/multiphys/spark/plugin/accelerometer/export.cpp
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/goal.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/goal.rsg 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/goal.rsg 2009-12-18 06:24:13 UTC (rev 125)
@@ -46,8 +46,9 @@
(setLocalPos $GoalHalfDepth 0.0 (eval -1 * $GoalHalfHeight))
(setLocalRotation 90 90 0)
(nd StaticMesh
- (load $GoalObj)
- (setScale $ObjWidth $ObjWidth $ObjWidth)
+ (load $GoalObj)
+ (setScale $ObjWidth $ObjWidth $ObjWidth)
+ (setTransparent)
)
)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-18 06:24:13 UTC (rev 125)
@@ -71,6 +71,7 @@
)
(nd GyroRatePerceptor (setName torso))
+ ;(nd Accelerometer (setName torso))
;(nd HMDPPerceptor)
;(nd HMDPEffector)
Modified: branches/multiphys/spark/lib/kerosin/renderserver/rendernode.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/rendernode.cpp 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/rendernode.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -26,10 +26,16 @@
using namespace kerosin;
RenderNode::RenderNode()
- : BaseNode()
+ : BaseNode(),
+ mTransparent(false)
{
}
RenderNode::~RenderNode()
{
}
+
+void RenderNode::SetTransparent()
+{
+ mTransparent = true;
+}
Modified: branches/multiphys/spark/lib/kerosin/renderserver/rendernode.h
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/rendernode.h 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/rendernode.h 2009-12-18 06:24:13 UTC (rev 125)
@@ -42,6 +42,11 @@
/** renders the node */
virtual void RenderInternal() = 0;
+
+ bool IsTransparent() { return mTransparent; }
+ void SetTransparent();
+private:
+ bool mTransparent;
};
DECLARE_ABSTRACTCLASS(RenderNode);
Modified: branches/multiphys/spark/lib/kerosin/renderserver/rendernode_c.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/rendernode_c.cpp 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/rendernode_c.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -23,7 +23,14 @@
using namespace kerosin;
+FUNCTION(RenderNode,setTransparent)
+{
+ obj->SetTransparent();
+ return true;
+}
+
void CLASS(RenderNode)::DefineClass()
{
DEFINE_BASECLASS(oxygen/BaseNode);
+ DEFINE_FUNCTION(setTransparent);
}
Modified: branches/multiphys/spark/lib/kerosin/renderserver/renderserver.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/renderserver.cpp 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/renderserver.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -123,7 +123,8 @@
}
// standard rendering
- RenderScene(mActiveScene);
+ RenderScene(mActiveScene, 0);
+ RenderScene(mActiveScene, 1);
// reset GL lights
glDisable(GL_LIGHTING);
@@ -244,7 +245,7 @@
}
void
-RenderServer::RenderScene(boost::shared_ptr<BaseNode> node)
+RenderServer::RenderScene(boost::shared_ptr<BaseNode> node, unsigned pass)
{
#if 0
shared_ptr<SphereCollider> collider = shared_dynamic_cast<SphereCollider>(node);
@@ -254,7 +255,9 @@
}
#endif
shared_ptr<RenderNode> renderNode = shared_dynamic_cast<RenderNode>(node);
- if (renderNode.get() != 0)
+ if (renderNode.get() != 0 &&
+ ((pass == 0 && !renderNode->IsTransparent()) || (pass == 1 && renderNode->IsTransparent()))
+ )
{
glPushMatrix();
@@ -268,7 +271,7 @@
glMultMatrixf(node->GetWorldTransform().m);
- renderNode->RenderInternal();
+ renderNode->RenderInternal();
if (mEnablePicking)
{
@@ -294,7 +297,7 @@
continue;
}
- RenderScene(node);
+ RenderScene(node, pass);
}
}
Modified: branches/multiphys/spark/lib/kerosin/renderserver/renderserver.h
===================================================================
--- branches/multiphys/spark/lib/kerosin/renderserver/renderserver.h 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/renderserver/renderserver.h 2009-12-18 06:24:13 UTC (rev 125)
@@ -105,7 +105,7 @@
/** render a scene recursively.
\param node the scene base node
*/
- void RenderScene(boost::shared_ptr<oxygen::BaseNode> node);
+ void RenderScene(boost::shared_ptr<oxygen::BaseNode> node, unsigned pass);
/** sets the OpenGl view parameters for a camera
*/
Modified: branches/multiphys/spark/lib/kerosin/sceneserver/staticmesh_c.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/sceneserver/staticmesh_c.cpp 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/kerosin/sceneserver/staticmesh_c.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -144,6 +144,12 @@
return true;
}
+FUNCTION(RenderNode,setTransparent)
+{
+ obj->SetTransparent();
+ return true;
+}
+
void CLASS(StaticMesh)::DefineClass()
{
DEFINE_BASECLASS(oxygen/BaseNode);
@@ -154,4 +160,5 @@
DEFINE_FUNCTION(setExternalMeshName)
DEFINE_FUNCTION(setExternalMeshScale)
DEFINE_FUNCTION(resetMaterials)
+ DEFINE_FUNCTION(setTransparent);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-18 06:24:13 UTC (rev 125)
@@ -62,9 +62,11 @@
virtual void SetVelocity(const salt::Vector3f& vel) = 0;
virtual void SetRotation(const salt::Matrix& rot) = 0;
virtual salt::Matrix GetRotation() const = 0;
+ virtual salt::Vector3f GetLocalAngularVelocity() const = 0;
virtual salt::Vector3f GetAngularVelocity() const = 0;
virtual void SetAngularVelocity(const salt::Vector3f& vel) = 0;
virtual void AddForce(const salt::Vector3f& force) = 0;
+ virtual salt::Vector3f GetForce() const = 0;
virtual void AddTorque(const salt::Vector3f& torque) = 0;
virtual void SetPosition(const salt::Vector3f& pos) = 0;
virtual salt::Vector3f GetPosition() const = 0;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -362,6 +362,15 @@
return rot;
}
+Vector3f ODERigidBody::GetLocalAngularVelocity() const
+{
+ const dReal* vel = dBodyGetAngularVel(mODEBody);
+ Vector3f w;
+ dReal* wData = (dReal*) w.GetData();
+ dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], wData);
+ return w;
+}
+
Vector3f ODERigidBody::GetAngularVelocity() const
{
const dReal* vel = dBodyGetAngularVel(mODEBody);
@@ -413,6 +422,12 @@
dBodyAddForce(mODEBody, force.x(), force.y(), force.z());
}
+Vector3f ODERigidBody::GetForce() const
+{
+ const dReal* f = dBodyGetForce(mODEBody);
+ return Vector3f(f[0], f[1], f[2]);
+}
+
void ODERigidBody::AddTorque(const Vector3f& torque)
{
dBodyAddTorque(mODEBody, torque.x(), torque.y(), torque.z());
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h 2009-12-18 06:24:13 UTC (rev 125)
@@ -63,9 +63,11 @@
void SetVelocity(const salt::Vector3f& vel);
void SetRotation(const salt::Matrix& rot);
salt::Matrix GetRotation() const;
+ salt::Vector3f GetLocalAngularVelocity() const;
salt::Vector3f GetAngularVelocity() const;
void SetAngularVelocity(const salt::Vector3f& vel);
void AddForce(const salt::Vector3f& force);
+ salt::Vector3f GetForce() const;
void AddTorque(const salt::Vector3f& torque);
void SetPosition(const salt::Vector3f& pos);
salt::Vector3f GetPosition() const;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -46,7 +46,7 @@
}
/** returns the world node */
-shared_ptr<World> PhysicsObject::GetWorld()
+shared_ptr<World> PhysicsObject::GetWorld() const
{
shared_ptr<Scene> scene = GetScene();
if (scene.get() == 0)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-12-18 06:24:13 UTC (rev 125)
@@ -66,10 +66,10 @@
colliders and joints have to be treated in one go).*/
virtual void DestroyPhysicsObject(){};
-protected:
/** returns the world node */
- boost::shared_ptr<World> GetWorld();
+ boost::shared_ptr<World> GetWorld() const;
+protected:
/** finds the nearest parent space node */
boost::shared_ptr<Space> GetSpace();
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -235,6 +235,11 @@
return mRigidBodyImp->GetRotation();
}
+Vector3f RigidBody::GetLocalAngularVelocity() const
+{
+ return mRigidBodyImp->GetLocalAngularVelocity();
+}
+
Vector3f RigidBody::GetAngularVelocity() const
{
return mRigidBodyImp->GetAngularVelocity();
@@ -337,6 +342,11 @@
mRigidBodyImp->AddForce(force);
}
+Vector3f RigidBody::GetForce() const
+{
+ return mRigidBodyImp->GetForce();
+}
+
void RigidBody::AddTorque(const Vector3f& torque)
{
mRigidBodyImp->AddTorque(torque);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h 2009-12-18 06:24:13 UTC (rev 125)
@@ -202,6 +202,9 @@
/** gets the rotation of this body */
salt::Matrix GetRotation() const;
+
+ /** returns the current angular velocity of this body in local coordinates */
+ salt::Vector3f GetLocalAngularVelocity() const;
/** returns the current angular velocity of this body */
salt::Vector3f GetAngularVelocity() const;
@@ -214,6 +217,9 @@
/** applies a force to the managed body */
void AddForce(const salt::Vector3f& force);
+
+ /** returns the total force applied to this body */
+ salt::Vector3f GetForce() const;
/** aplies a force to the managed body */
void AddTorque(const salt::Vector3f& torque);
Modified: branches/multiphys/spark/lib/oxygen/sceneserver/basenode.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/sceneserver/basenode.cpp 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/sceneserver/basenode.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -141,7 +141,7 @@
}
}
-shared_ptr<Scene> BaseNode::GetScene()
+shared_ptr<Scene> BaseNode::GetScene() const
{
// is this node the scene node ?
shared_ptr<Scene> self =
Modified: branches/multiphys/spark/lib/oxygen/sceneserver/basenode.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/sceneserver/basenode.h 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/lib/oxygen/sceneserver/basenode.h 2009-12-18 06:24:13 UTC (rev 125)
@@ -96,7 +96,7 @@
void UpdateHierarchy();
/** moves up the hierarchy, until it finds a scene */
- boost::shared_ptr<Scene> GetScene();
+ boost::shared_ptr<Scene> GetScene() const;
/** enables debug mode controls */
void EnableDebugMode();
Modified: branches/multiphys/spark/plugin/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/plugin/CMakeLists.txt 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/plugin/CMakeLists.txt 2009-12-18 06:24:13 UTC (rev 125)
@@ -9,6 +9,7 @@
set(spark_libs ${spark_libs} /System/Library/Frameworks/CoreFoundation.framework)
endif (APPLE AND USE_COREFOUNDATION)
+add_subdirectory(accelerometer)
add_subdirectory(filesystemstd)
add_subdirectory(filesystemzip)
add_subdirectory(forceeffector)
Added: branches/multiphys/spark/plugin/accelerometer/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/CMakeLists.txt (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/CMakeLists.txt 2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,16 @@
+
+set(accelerometer_LIB_SRCS
+ export.cpp
+ accelerometer.h
+ accelerometer.cpp
+ accelerometer_c.cpp
+)
+
+add_library(accelerometer MODULE ${accelerometer_LIB_SRCS})
+
+target_link_libraries(accelerometer ${spark_libs} ${Boost_LIBRARIES})
+
+set_target_properties(accelerometer PROPERTIES VERSION 0.0.0 SOVERSION 0)
+if (NOT APPLE)
+ install(TARGETS accelerometer DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
+endif (NOT APPLE)
Added: branches/multiphys/spark/plugin/accelerometer/accelerometer.cpp
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/accelerometer.cpp (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/accelerometer.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,89 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ 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/physicsserver/world.h"
+#include "oxygen/physicsserver/rigidbody.h"
+#include "accelerometer.h"
+#include <oxygen/sceneserver/transform.h>
+
+// using namespace kerosin;
+using namespace oxygen;
+using namespace boost;
+using namespace zeitgeist;
+using namespace salt;
+using namespace std;
+
+Accelerometer::Accelerometer() : oxygen::Perceptor()
+{
+}
+
+Accelerometer::~Accelerometer()
+{
+}
+
+void Accelerometer::OnLink()
+{
+ shared_ptr<Transform> transformParent = shared_static_cast<Transform>
+ (FindParentSupportingClass<Transform>().lock());
+
+ mBody = shared_static_cast<const RigidBody>
+ (transformParent->GetChildOfClass("RigidBody"));
+
+ mGravity = mBody->GetWorld()->GetGravity();
+ mLastVel = mBody->GetVelocity();
+}
+
+bool Accelerometer::Percept(boost::shared_ptr<PredicateList> predList)
+{
+ Predicate &predicate = predList->AddPredicate();
+ predicate.name = "ACC";
+ predicate.parameter.Clear();
+
+ ParameterList &nameElement = predicate.parameter.AddList();
+ nameElement.AddValue(std::string("n"));
+ nameElement.AddValue(GetName());
+
+ ParameterList &ratesElement = predicate.parameter.AddList();
+ ratesElement.AddValue(std::string("a"));
+ ratesElement.AddValue(mAcc.x());
+ ratesElement.AddValue(mAcc.y());
+ ratesElement.AddValue(mAcc.z());
+
+ return true;
+}
+
+void Accelerometer::PrePhysicsUpdateInternal(float deltaTime)
+{
+// Vector3f F = mBody->GetForce();
+// float mass = mBody->GetMass();
+// mAcc = F / mass - mGravity;
+
+ Vector3f vel = mBody->GetVelocity();
+ Vector3f acc = (vel - mLastVel) / deltaTime;
+ acc -= mGravity;
+
+ Matrix invRot = mBody->GetRotation();
+ invRot.InvertRotationMatrix();
+ acc = invRot * acc;
+
+ float k = 0.9;
+ mAcc = k*mAcc + (1-k)*acc;
+ mLastVel = vel;
+}
Added: branches/multiphys/spark/plugin/accelerometer/accelerometer.h
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/accelerometer.h (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/accelerometer.h 2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,49 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ 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 ACCELEROMETER_H
+#define ACCELEROMETER_H
+
+#include <oxygen/agentaspect/perceptor.h>
+#include <oxygen/physicsserver/rigidbody.h>
+
+class Accelerometer : public oxygen::Perceptor {
+public:
+ Accelerometer();
+ virtual ~Accelerometer();
+
+ //! \return true, if valid data is available and false otherwise.
+ bool Percept(boost::shared_ptr<oxygen::PredicateList> predList);
+
+ virtual void OnLink();
+
+protected:
+ virtual void PrePhysicsUpdateInternal(float deltaTime);
+
+private:
+ boost::shared_ptr<const oxygen::RigidBody> mBody;
+ salt::Vector3f mAcc;
+ salt::Vector3f mGravity;
+ salt::Vector3f mLastVel;
+};
+
+DECLARE_CLASS(Accelerometer);
+
+#endif //ACCELEROMETER_H
Added: branches/multiphys/spark/plugin/accelerometer/accelerometer_c.cpp
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/accelerometer_c.cpp (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/accelerometer_c.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ 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 "accelerometer.h"
+
+using namespace boost;
+using namespace oxygen;
+
+void CLASS(Accelerometer)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/Perceptor);
+}
Added: branches/multiphys/spark/plugin/accelerometer/export.cpp
===================================================================
--- branches/multiphys/spark/plugin/accelerometer/export.cpp (rev 0)
+++ branches/multiphys/spark/plugin/accelerometer/export.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -0,0 +1,26 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ 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 "accelerometer.h"
+#include <zeitgeist/zeitgeist.h>
+
+ZEITGEIST_EXPORT_BEGIN()
+ ZEITGEIST_EXPORT(Accelerometer);
+ZEITGEIST_EXPORT_END()
Modified: branches/multiphys/spark/plugin/sparkmonitor/sparkmonitor.cpp
===================================================================
--- branches/multiphys/spark/plugin/sparkmonitor/sparkmonitor.cpp 2009-12-17 22:21:49 UTC (rev 124)
+++ branches/multiphys/spark/plugin/sparkmonitor/sparkmonitor.cpp 2009-12-18 06:24:13 UTC (rev 125)
@@ -249,6 +249,11 @@
ss << "(nd StaticMesh";
}
+ if (mesh->IsTransparent())
+ {
+ ss << " (setTransparent)";
+ }
+
ss << " (load " << mesh->GetMeshName();
const ParameterList& params = mesh->GetMeshParameter();
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <sgv...@us...> - 2009-12-17 22:21:57
|
Revision: 124
http://simspark.svn.sourceforge.net/simspark/?rev=124&view=rev
Author: sgvandijk
Date: 2009-12-17 22:21:49 +0000 (Thu, 17 Dec 2009)
Log Message:
-----------
- Render transparent objects after solid objects
- Comment out Accelerometer for now
Modified Paths:
--------------
trunk/rcssserver3d/data/rsg/agent/nao/goal.rsg
trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
trunk/spark/lib/kerosin/renderserver/rendernode.cpp
trunk/spark/lib/kerosin/renderserver/rendernode.h
trunk/spark/lib/kerosin/renderserver/rendernode_c.cpp
trunk/spark/lib/kerosin/renderserver/renderserver.cpp
trunk/spark/lib/kerosin/renderserver/renderserver.h
trunk/spark/lib/kerosin/sceneserver/staticmesh_c.cpp
trunk/spark/plugin/sparkmonitor/sparkmonitor.cpp
Modified: trunk/rcssserver3d/data/rsg/agent/nao/goal.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/goal.rsg 2009-12-17 08:11:25 UTC (rev 123)
+++ trunk/rcssserver3d/data/rsg/agent/nao/goal.rsg 2009-12-17 22:21:49 UTC (rev 124)
@@ -46,9 +46,10 @@
(setLocalPos $GoalHalfDepth 0.0 (eval -1 * $GoalHalfHeight))
(setLocalRotation 90 90 0)
(nd StaticMesh
- (load $GoalObj)
- (setScale $ObjWidth $ObjWidth $ObjWidth)
- )
+ (load $GoalObj)
+ (setScale $ObjWidth $ObjWidth $ObjWidth)
+ (setTransparent)
+ )
)
;; create the left goal post
Modified: trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-17 08:11:25 UTC (rev 123)
+++ trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-17 22:21:49 UTC (rev 124)
@@ -71,7 +71,7 @@
)
(nd GyroRatePerceptor (setName torso))
- (nd Accelerometer (setName torso))
+ ;(nd Accelerometer (setName torso))
;(nd HMDPPerceptor)
;(nd HMDPEffector)
Modified: trunk/spark/lib/kerosin/renderserver/rendernode.cpp
===================================================================
--- trunk/spark/lib/kerosin/renderserver/rendernode.cpp 2009-12-17 08:11:25 UTC (rev 123)
+++ trunk/spark/lib/kerosin/renderserver/rendernode.cpp 2009-12-17 22:21:49 UTC (rev 124)
@@ -26,10 +26,16 @@
using namespace kerosin;
RenderNode::RenderNode()
- : BaseNode()
+ : BaseNode(),
+ mTransparent(false)
{
}
RenderNode::~RenderNode()
{
}
+
+void RenderNode::SetTransparent()
+{
+ mTransparent = true;
+}
Modified: trunk/spark/lib/kerosin/renderserver/rendernode.h
===================================================================
--- trunk/spark/lib/kerosin/renderserver/rendernode.h 2009-12-17 08:11:25 UTC (rev 123)
+++ trunk/spark/lib/kerosin/renderserver/rendernode.h 2009-12-17 22:21:49 UTC (rev 124)
@@ -42,6 +42,11 @@
/** renders the node */
virtual void RenderInternal() = 0;
+
+ bool IsTransparent() { return mTransparent; }
+ void SetTransparent();
+private:
+ bool mTransparent;
};
DECLARE_ABSTRACTCLASS(RenderNode);
Modified: trunk/spark/lib/kerosin/renderserver/rendernode_c.cpp
===================================================================
--- trunk/spark/lib/kerosin/renderserver/rendernode_c.cpp 2009-12-17 08:11:25 UTC (rev 123)
+++ trunk/spark/lib/kerosin/renderserver/rendernode_c.cpp 2009-12-17 22:21:49 UTC (rev 124)
@@ -23,7 +23,14 @@
using namespace kerosin;
+FUNCTION(RenderNode,setTransparent)
+{
+ obj->SetTransparent();
+ return true;
+}
+
void CLASS(RenderNode)::DefineClass()
{
DEFINE_BASECLASS(oxygen/BaseNode);
+ DEFINE_FUNCTION(setTransparent);
}
Modified: trunk/spark/lib/kerosin/renderserver/renderserver.cpp
===================================================================
--- trunk/spark/lib/kerosin/renderserver/renderserver.cpp 2009-12-17 08:11:25 UTC (rev 123)
+++ trunk/spark/lib/kerosin/renderserver/renderserver.cpp 2009-12-17 22:21:49 UTC (rev 124)
@@ -123,7 +123,8 @@
}
// standard rendering
- RenderScene(mActiveScene);
+ RenderScene(mActiveScene, 0);
+ RenderScene(mActiveScene, 1);
// reset GL lights
glDisable(GL_LIGHTING);
@@ -244,7 +245,7 @@
}
void
-RenderServer::RenderScene(boost::shared_ptr<BaseNode> node)
+RenderServer::RenderScene(boost::shared_ptr<BaseNode> node, unsigned pass)
{
#if 0
shared_ptr<SphereCollider> collider = shared_dynamic_cast<SphereCollider>(node);
@@ -254,7 +255,9 @@
}
#endif
shared_ptr<RenderNode> renderNode = shared_dynamic_cast<RenderNode>(node);
- if (renderNode.get() != 0)
+ if (renderNode.get() != 0 &&
+ ((pass == 0 && !renderNode->IsTransparent()) || (pass == 1 && renderNode->IsTransparent()))
+ )
{
glPushMatrix();
@@ -268,7 +271,7 @@
glMultMatrixf(node->GetWorldTransform().m);
- renderNode->RenderInternal();
+ renderNode->RenderInternal();
if (mEnablePicking)
{
@@ -294,7 +297,7 @@
continue;
}
- RenderScene(node);
+ RenderScene(node, pass);
}
}
Modified: trunk/spark/lib/kerosin/renderserver/renderserver.h
===================================================================
--- trunk/spark/lib/kerosin/renderserver/renderserver.h 2009-12-17 08:11:25 UTC (rev 123)
+++ trunk/spark/lib/kerosin/renderserver/renderserver.h 2009-12-17 22:21:49 UTC (rev 124)
@@ -105,7 +105,7 @@
/** render a scene recursively.
\param node the scene base node
*/
- void RenderScene(boost::shared_ptr<oxygen::BaseNode> node);
+ void RenderScene(boost::shared_ptr<oxygen::BaseNode> node, unsigned pass);
/** sets the OpenGl view parameters for a camera
*/
Modified: trunk/spark/lib/kerosin/sceneserver/staticmesh_c.cpp
===================================================================
--- trunk/spark/lib/kerosin/sceneserver/staticmesh_c.cpp 2009-12-17 08:11:25 UTC (rev 123)
+++ trunk/spark/lib/kerosin/sceneserver/staticmesh_c.cpp 2009-12-17 22:21:49 UTC (rev 124)
@@ -144,6 +144,12 @@
return true;
}
+FUNCTION(RenderNode,setTransparent)
+{
+ obj->SetTransparent();
+ return true;
+}
+
void CLASS(StaticMesh)::DefineClass()
{
DEFINE_BASECLASS(oxygen/BaseNode);
@@ -154,4 +160,5 @@
DEFINE_FUNCTION(setExternalMeshName)
DEFINE_FUNCTION(setExternalMeshScale)
DEFINE_FUNCTION(resetMaterials)
+ DEFINE_FUNCTION(setTransparent);
}
Modified: trunk/spark/plugin/sparkmonitor/sparkmonitor.cpp
===================================================================
--- trunk/spark/plugin/sparkmonitor/sparkmonitor.cpp 2009-12-17 08:11:25 UTC (rev 123)
+++ trunk/spark/plugin/sparkmonitor/sparkmonitor.cpp 2009-12-17 22:21:49 UTC (rev 124)
@@ -249,6 +249,11 @@
ss << "(nd StaticMesh";
}
+ if (mesh->IsTransparent())
+ {
+ ss << " (setTransparent)";
+ }
+
ss << " (load " << mesh->GetMeshName();
const ParameterList& params = mesh->GetMeshParameter();
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <a-...@us...> - 2009-12-17 08:11:36
|
Revision: 123
http://simspark.svn.sourceforge.net/simspark/?rev=123&view=rev
Author: a-held
Date: 2009-12-17 08:11:25 +0000 (Thu, 17 Dec 2009)
Log Message:
-----------
implemented bridge pattern for all six base classes of Joint
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -19,6 +19,7 @@
*/
#include <oxygen/physicsserver/ode/odeballjoint.h>
#include <oxygen/physicsserver/balljoint.h>
+#include <zeitgeist/logserver/logserver.h>
using namespace oxygen;
using namespace boost;
@@ -41,6 +42,7 @@
return;
}
+ mBallJointImp->CreateBallJoint(world);
mODEJoint = dJointCreateBall((dWorldID) world, 0);
}
@@ -48,7 +50,7 @@
{
// calculate anchor position in world coordinates
Vector3f gAnchor = GetWorldTransform() * anchor;
- dJointSetBallAnchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+ mBallJointImp->SetAnchor(gAnchor);
}
Vector3f BallJoint::GetAnchor(EBodyIndex idx)
@@ -59,17 +61,13 @@
{
case BI_FIRST:
{
- dReal anchor[3];
- dJointGetBallAnchor (mODEJoint, anchor);
- pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+ pos = mBallJointImp->GetAnchor1();
break;
}
case BI_SECOND:
{
- dReal anchor[3];
- dJointGetBallAnchor2(mODEJoint, anchor);
- pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+ pos = mBallJointImp->GetAnchor2();
break;
}
@@ -82,11 +80,13 @@
void BallJoint::SetParameter(int /*parameter*/, float /*value*/)
{
- // no ode set param fkt. defined
+ GetLog()->Error() <<
+ "(BallJoint) WARNING: SetParameter function undefined for BallJoint, ignored\n";
}
float BallJoint::GetParameter(int /*parameter*/) const
{
- // no ode get param fkt. defined
+ GetLog()->Error() <<
+ "(BallJoint) WARNING: GetParameter function undefined for BallJoint, returned zero\n";
return 0;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -40,21 +40,24 @@
return;
}
- mODEJoint = dJointCreateFixed((dWorldID) world, 0);
+ mFixedJointImp->CreateFixedJoint(world);
+ mODEJoint = (dJointID) mFixedJointImp->GetJointID();
}
void FixedJoint::SetParameter(int /*parameter*/, float /*value*/)
{
- // no ode set param fkt. defined
+ GetLog()->Error() <<
+ "(FixedJoint) WARNING: SetParameter function undefined for FixedJoint, ignored\n";
}
float FixedJoint::GetParameter(int /*parameter*/) const
{
- // no ode get param fkt. defined
+ GetLog()->Error() <<
+ "(FixedJoint) WARNING: GetParameter function undefined for FixedJoint, returned zero\n";
return 0;
}
void FixedJoint::SetFixed()
{
- dJointSetFixed(mODEJoint);
+ mFixedJointImp->SetFixed();
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -41,23 +41,23 @@
{
return;
}
-
- mODEJoint = dJointCreateHinge2((dWorldID) world, 0);
+
+ mHinge2JointImp->CreateHinge2Joint(world);
+ mODEJoint = (dJointID) mHinge2JointImp->GetJointID();
}
void Hinge2Joint::SetAnchor(const Vector3f& anchor)
{
// calculate anchor position in world coordinates
Vector3f gAnchor(GetWorldTransform() * anchor);
- dJointSetHinge2Anchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
// relative universal hinge2 axis 1 points up
Vector3f up(GetWorldTransform().Rotate(Vector3f(0,0,1)));
- dJointSetHinge2Axis1(mODEJoint,up[0],up[1],up[2]);
// relative universal hinge2 axis 2 points right
Vector3f right(GetWorldTransform().Rotate(Vector3f(1,0,0)));
- dJointSetHinge2Axis2(mODEJoint,right[0],right[1],right[2]);
+
+ mHinge2JointImp->SetAnchor(gAnchor, up, right);
}
Vector3f Hinge2Joint::GetAnchor(EBodyIndex idx)
@@ -68,18 +68,12 @@
{
case BI_FIRST:
{
- dReal anchor[3];
- dJointGetHinge2Anchor (mODEJoint, anchor);
- pos = Vector3f(anchor[0],anchor[1],anchor[2]);
- break;
+ pos = mHinge2JointImp->GetAnchor1();
}
case BI_SECOND:
{
- dReal anchor[3];
- dJointGetHinge2Anchor2(mODEJoint, anchor);
- pos = Vector3f(anchor[0],anchor[1],anchor[2]);
- break;
+ pos = mHinge2JointImp->GetAnchor2();
}
default:
@@ -94,11 +88,11 @@
switch (idx)
{
case AI_FIRST:
- return gRadToDeg(dJointGetHinge2Angle1(mODEJoint));
+ return mHinge2JointImp->GetAngle();
case AI_SECOND:
- // dJointGetHinge2Angle2 is undeclared in ODE 0.039
- // return dJointGetHinge2Angle2(mODEJoint);
+ GetLog()->Error() <<
+ "(Hinge2Joint) WARNING: GetAngle is undefined for EAxisIndex::AI_SECOND, returned zero\n";
return 0;
default:
@@ -111,10 +105,10 @@
switch (idx)
{
case AI_FIRST:
- return gRadToDeg(dJointGetHinge2Angle1Rate(mODEJoint));
+ return mHinge2JointImp->GetAngleRate1();
case AI_SECOND:
- return gRadToDeg(dJointGetHinge2Angle2Rate(mODEJoint));
+ return mHinge2JointImp->GetAngleRate2();
default:
return 0;
@@ -123,10 +117,10 @@
void Hinge2Joint::SetParameter(int parameter, float value)
{
- dJointSetHinge2Param(mODEJoint, parameter, value);
+ mHinge2JointImp->SetParameter(parameter, value);
}
float Hinge2Joint::GetParameter(int parameter) const
{
- return dJointGetHinge2Param(mODEJoint, parameter);
+ return mHinge2JointImp->GetParameter(parameter);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -42,14 +42,15 @@
return;
}
- mODEJoint = dJointCreateHinge((dWorldID) world, 0);
+ mHingeJointImp->CreateHingeJoint(world);
+ mODEJoint = (dJointID) mHingeJointImp->GetJointID();
}
void HingeJoint::SetAnchor(const Vector3f& anchor)
{
// calculate anchor position in world coordinates
Vector3f gAnchor(GetWorldTransform() * anchor);
- dJointSetHingeAnchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+ mHingeJointImp->SetAnchor(gAnchor);
}
Vector3f HingeJoint::GetAnchor(EBodyIndex idx)
@@ -60,17 +61,13 @@
{
case BI_FIRST:
{
- dReal anchor[3];
- dJointGetHingeAnchor (mODEJoint, anchor);
- pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+ pos = mHingeJointImp->GetAnchor1();
break;
}
case BI_SECOND:
{
- dReal anchor[3];
- dJointGetHingeAnchor2(mODEJoint, anchor);
- pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+ pos = mHingeJointImp->GetAnchor2();
break;
}
@@ -111,32 +108,30 @@
void HingeJoint::SetAxis(const Vector3f& axis)
{
Vector3f absAxis(GetWorldTransform().Rotate(axis));
- dJointSetHingeAxis(mODEJoint, absAxis[0], absAxis[1], absAxis[2]);
+ mHingeJointImp->SetAxis(absAxis);
}
Vector3f HingeJoint::GetAxis()
{
- dReal axis[3];
- dJointGetHingeAxis(mODEJoint, axis);
- return Vector3f (axis[0], axis[1], axis[2]);
+ return mHingeJointImp->GetAxis();
}
float HingeJoint::GetAngle() const
{
- return gRadToDeg(dJointGetHingeAngle(mODEJoint));
+ return mHingeJointImp->GetAngle();
}
float HingeJoint::GetAngleRate() const
{
- return gRadToDeg(dJointGetHingeAngleRate(mODEJoint));
+ return mHingeJointImp->GetAngleRate();
}
void HingeJoint::SetParameter(int parameter, float value)
{
- dJointSetHingeParam(mODEJoint, parameter, value);
+ mHingeJointImp->SetParameter(parameter, value);
}
float HingeJoint::GetParameter(int parameter) const
{
- return dJointGetHingeParam(mODEJoint, parameter);
+ return mHingeJointImp->GetParameter(parameter);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -38,6 +38,7 @@
virtual salt::Vector3f GetAnchor1() = 0;
virtual salt::Vector3f GetAnchor2() = 0;
virtual void CreateBallJoint(long world) = 0;
+ virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -29,6 +29,7 @@
public:
virtual void CreateFixedJoint(long world) = 0;
virtual void SetFixed() = 0;
+ virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -39,6 +39,7 @@
virtual float GetAngleRate2() = 0;
virtual void SetParameter(int parameter, float value) = 0;
virtual float GetParameter(int parameter) const = 0;
+ virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -38,6 +38,7 @@
virtual float GetAngleRate() const = 0;
virtual void SetParameter(int parameter, float value) = 0;
virtual float GetParameter(int parameter) const = 0;
+ virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -114,7 +114,7 @@
virtual void OnLink() = 0;
protected:
- dJointID mODEJoint;
+ long mJointID;
boost::shared_ptr<dJointFeedback> mFeedback;
float mJointMaxSpeed1;
bool mIsLimitJointMaxSpeed1;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -39,6 +39,7 @@
virtual void SetSliderAxis(salt::Vector3f& up) = 0;
virtual void SetParameter(int parameter, float value) = 0;
virtual float GetParameter(int parameter) const = 0;
+ virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -47,6 +47,7 @@
virtual float GetAngleRate2() const = 0;
virtual void SetParameter(int parameter, float value) = 0;
virtual float GetParameter(int parameter) const = 0;
+ virtual long GetJointID() = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -30,7 +30,9 @@
void ODEBallJoint::CreateBallJoint(long world)
{
- mODEJoint = dJointCreateBall((dWorldID) world, 0);
+ dWorldID ODEWorld = (dWorldID) world;
+ mODEJoint = dJointCreateBall(ODEWorld, 0);
+ mJointID = (long) mODEJoint;
}
void ODEBallJoint::SetAnchor(const Vector3f& gAnchor)
@@ -55,3 +57,7 @@
return pos;
}
+
+long ODEBallJoint::GetJointID(){
+ return mJointID;
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -38,6 +38,7 @@
salt::Vector3f GetAnchor1();
salt::Vector3f GetAnchor2();
void CreateBallJoint(long world);
+ long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -29,10 +29,16 @@
void ODEFixedJoint::CreateFixedJoint(long world)
{
- mODEJoint = dJointCreateFixed((dWorldID) world, 0);
+ dWorldID ODEworld = (dWorldID) world;
+ mODEJoint = dJointCreateFixed(ODEworld, 0);
+ mJointID = (long) mODEJoint;
}
void ODEFixedJoint::SetFixed()
{
dJointSetFixed(mODEJoint);
}
+
+long ODEFixedJoint::GetJointID(){
+ return mJointID;
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -32,6 +32,7 @@
ODEFixedJoint();
void CreateFixedJoint(long world);
void SetFixed();
+ long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -30,7 +30,9 @@
void ODEHinge2Joint::CreateHinge2Joint(long world)
{
- mODEJoint = dJointCreateHinge2((dWorldID) world, 0);
+ dWorldID ODEWorld = (dWorldID) world;
+ mODEJoint = dJointCreateHinge2(ODEWorld, 0);
+ mJointID = (long) mODEJoint;
}
void ODEHinge2Joint::SetAnchor(const Vector3f& gAnchor,
@@ -82,3 +84,7 @@
{
return dJointGetHinge2Param(mODEJoint, parameter);
}
+
+long ODEHinge2Joint::GetJointID(){
+ return mJointID;
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -41,6 +41,7 @@
float GetAngleRate2();
void SetParameter(int parameter, float value);
float GetParameter(int parameter) const;
+ long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -29,7 +29,9 @@
void ODEHingeJoint::CreateHingeJoint(long world)
{
- mODEJoint = dJointCreateHinge((dWorldID) world, 0);
+ dWorldID ODEWorld = (dWorldID) world;
+ mODEJoint = dJointCreateHinge(ODEWorld, 0);
+ mJointID = (long) mODEJoint;
}
void ODEHingeJoint::SetAnchor(const Vector3f& anchor)
@@ -86,3 +88,7 @@
{
return dJointGetHingeParam(mODEJoint, parameter);
}
+
+long ODEHingeJoint::GetJointID(){
+ return mJointID;
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -40,6 +40,7 @@
float GetAngleRate() const;
void SetParameter(int parameter, float value);
float GetParameter(int parameter) const;
+ long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -26,8 +26,11 @@
using namespace std;
using namespace salt;
-ODEJoint::ODEJoint() : ODEPhysicsObject()
+ODEJoint::ODEJoint() : ODEPhysicsObject(), mODEJoint(0)
{
+ mJointID = 0;
+ mJointMaxSpeed1 = mJointMaxSpeed2 = 0.0;
+ mIsLimitJointMaxSpeed1 = mIsLimitJointMaxSpeed2 = false;
}
void ODEJoint::OnLink()
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -80,6 +80,9 @@
bool IsLimitJointMaxSpeed1() const;
bool IsLimitJointMaxSpeed2() const;
void OnLink();
+
+protected:
+ dJointID mODEJoint;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -29,7 +29,9 @@
void ODESliderJoint::CreateSliderJoint(long world)
{
- mODEJoint = dJointCreateSlider((dWorldID) world, 0);
+ dWorldID ODEWorld = (dWorldID) world;
+ mODEJoint = dJointCreateSlider(ODEWorld, 0);
+ mJointID = (long) mODEJoint;
}
void ODESliderJoint::SetSliderAxis(Vector3f& up)
@@ -56,3 +58,7 @@
{
return dJointGetSliderParam(mODEJoint, parameter);
}
+
+long ODESliderJoint::GetJointID(){
+ return mJointID;
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -40,6 +40,7 @@
void SetSliderAxis(salt::Vector3f& up);
void SetParameter(int parameter, float value);
float GetParameter(int parameter) const;
+ long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -28,7 +28,9 @@
void ODEUniversalJoint::CreateUniversalJoint(long world)
{
- mODEJoint = dJointCreateUniversal((dWorldID) world, 0);
+ dWorldID ODEWorld = (dWorldID) world;
+ mODEJoint = dJointCreateUniversal(ODEWorld, 0);
+ mJointID = (long) mODEJoint;
}
void ODEUniversalJoint::SetAnchor(const Vector3f& anchor)
@@ -39,7 +41,7 @@
Vector3f ODEUniversalJoint::GetAnchor1()
{
dReal anchor[3];
- dJointGetUniversalAnchor (mODEJoint, anchor);
+ dJointGetUniversalAnchor(mODEJoint, anchor);
Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
return pos;
}
@@ -107,3 +109,7 @@
{
return dJointGetUniversalParam(mODEJoint, parameter);
}
+
+long ODEUniversalJoint::GetJointID(){
+ return mJointID;
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h 2009-12-17 08:11:25 UTC (rev 123)
@@ -48,6 +48,7 @@
float GetAngleRate2() const;
void SetParameter(int parameter, float value);
float GetParameter(int parameter) const;
+ long GetJointID();
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -42,34 +42,34 @@
return;
}
- mODEJoint = dJointCreateSlider((dWorldID) world, 0);
+ mSliderJointImp->CreateSliderJoint(world);
+ mODEJoint = (dJointID) mSliderJointImp->GetJointID();
}
void SliderJoint::Attach(shared_ptr<RigidBody> body1, shared_ptr<RigidBody> body2)
{
Joint::Attach(body1,body2);
- // relative slider axis points up
Vector3f up(GetWorldTransform().Rotate(Vector3f(0,0,1)));
- dJointSetSliderAxis(mODEJoint,up[0],up[1],up[2]);
+ mSliderJointImp->SetSliderAxis(up);
}
float SliderJoint::GetPosition()
{
- return dJointGetSliderPosition(mODEJoint);
+ return mSliderJointImp->GetPosition();
}
float SliderJoint::GetPositionRate()
{
- return dJointGetSliderPositionRate(mODEJoint);
+ return mSliderJointImp->GetPositionRate();
}
void SliderJoint::SetParameter(int parameter, float value)
{
- dJointSetSliderParam(mODEJoint, parameter, value);
+ mSliderJointImp->SetParameter(parameter, value);
}
float SliderJoint::GetParameter(int parameter) const
{
- return dJointGetSliderParam(mODEJoint, parameter);
+ return mSliderJointImp->GetParameter(parameter);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp 2009-12-17 08:11:25 UTC (rev 123)
@@ -43,14 +43,15 @@
return;
}
- mODEJoint = dJointCreateUniversal((dWorldID) world, 0);
+ mUniversalJointImp->CreateUniversalJoint(world);
+ mODEJoint = (dJointID) mUniversalJointImp->GetJointID();
}
void UniversalJoint::SetAnchor(const Vector3f& anchor)
{
// calculate anchor position in world coordinates
Vector3f gAnchor(GetWorldTransform() * anchor);
- dJointSetUniversalAnchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+ mUniversalJointImp->SetAnchor(gAnchor);
}
Vector3f UniversalJoint::GetAnchor(EBodyIndex idx)
@@ -61,17 +62,13 @@
{
case BI_FIRST:
{
- dReal anchor[3];
- dJointGetUniversalAnchor (mODEJoint, anchor);
- pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+ pos = mUniversalJointImp->GetAnchor1();
break;
}
case BI_SECOND:
{
- dReal anchor[3];
- dJointGetUniversalAnchor2(mODEJoint, anchor);
- pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+ pos = mUniversalJointImp->GetAnchor2();
break;
}
@@ -85,13 +82,13 @@
void UniversalJoint::SetAxis1(const Vector3f & axis)
{
Vector3f first(GetWorldTransform().Rotate(axis));
- dJointSetUniversalAxis1(mODEJoint,first[0],first[1],first[2]);
+ mUniversalJointImp->SetAxis1(first);
}
void UniversalJoint::SetAxis2(const Vector3f & axis)
{
Vector3f second(GetWorldTransform().Rotate(axis));
- dJointSetUniversalAxis2(mODEJoint,second[0],second[1],second[2]);
+ mUniversalJointImp->SetAxis2(second);
}
Vector3f UniversalJoint::GetAxis(EAxisIndex idx) const
@@ -102,17 +99,13 @@
{
case AI_FIRST:
{
- dReal axis[3];
- dJointGetUniversalAxis1(mODEJoint, axis);
- vec = Vector3f(axis[0],axis[1],axis[2]);
+ vec = mUniversalJointImp->GetAxis1();
break;
}
case AI_SECOND:
{
- dReal axis[3];
- dJointGetUniversalAxis2(mODEJoint, axis);
- vec = Vector3f(axis[0],axis[1],axis[2]);
+ vec = mUniversalJointImp->GetAxis2();
break;
}
@@ -128,10 +121,10 @@
switch (idx)
{
case AI_FIRST:
- return gRadToDeg(dJointGetUniversalAngle1(mODEJoint));
+ return mUniversalJointImp->GetAngle1();
case AI_SECOND:
- return gRadToDeg(dJointGetUniversalAngle2(mODEJoint));
+ return mUniversalJointImp->GetAngle2();
default:
return 0;
@@ -143,10 +136,10 @@
switch (idx)
{
case AI_FIRST:
- return gRadToDeg(dJointGetUniversalAngle1Rate(mODEJoint));
+ return mUniversalJointImp->GetAngleRate1();
case AI_SECOND:
- return gRadToDeg(dJointGetUniversalAngle2Rate(mODEJoint));
+ return mUniversalJointImp->GetAngleRate2();
default:
return 0;
@@ -155,10 +148,10 @@
void UniversalJoint::SetParameter(int parameter, float value)
{
- dJointSetUniversalParam(mODEJoint, parameter, value);
+ mUniversalJointImp->SetParameter(parameter, value);
}
float UniversalJoint::GetParameter(int parameter) const
{
- return dJointGetUniversalParam(mODEJoint, parameter);
+ return mUniversalJointImp->GetParameter(parameter);
}
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <a-...@us...> - 2009-12-16 10:43:58
|
Revision: 122
http://simspark.svn.sourceforge.net/simspark/?rev=122&view=rev
Author: a-held
Date: 2009-12-16 10:43:50 +0000 (Wed, 16 Dec 2009)
Log Message:
-----------
Prepared bridge pattern for all joint classes
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/conetwistjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/generic6dofjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/sliderjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/universaljoint.h
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/conetwistjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/generic6dofjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/conetwistjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/generic6dofjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconetwistjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconetwistjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odegeneric6dofjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odegeneric6dofjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehingejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odejoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesliderjoint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeuniversaljoint.h
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-16 10:43:50 UTC (rev 122)
@@ -55,6 +55,7 @@
physicsserver/angularmotor.h
#interfaces
+ physicsserver/int/balljointint.h
physicsserver/int/bodyint.h
physicsserver/int/boxcolliderint.h
physicsserver/int/capsulecolliderint.h
@@ -62,23 +63,32 @@
physicsserver/int/compoundcolliderint.h
physicsserver/int/concavecolliderint.h
physicsserver/int/conecolliderint.h
+ physicsserver/int/conetwistjointint.h
physicsserver/int/convexcolliderint.h
physicsserver/int/cylindercolliderint.h
physicsserver/int/dynamicbodyint.h
physicsserver/int/emptycolliderint.h
+ physicsserver/int/fixedjointint.h
+ physicsserver/int/generic6dofjointint.h
+ physicsserver/int/hingejointint.h
+ physicsserver/int/hinge2jointint.h
+ physicsserver/int/jointint.h
physicsserver/int/physicsobjectint.h
physicsserver/int/physicsserverint.h
physicsserver/int/planecolliderint.h
physicsserver/int/raycolliderint.h
physicsserver/int/rigidbodyint.h
+ physicsserver/int/sliderjointint.h
physicsserver/int/softbodyint.h
physicsserver/int/spaceint.h
physicsserver/int/spherecolliderint.h
physicsserver/int/staticbodyint.h
physicsserver/int/transformcolliderint.h
+ physicsserver/int/universaljointint.h
physicsserver/int/worldint.h
#ode-specific files
+ physicsserver/ode/odeballjoint.h
physicsserver/ode/odebody.h
physicsserver/ode/odeboxcollider.h
physicsserver/ode/odedynamicbody.h
@@ -87,19 +97,27 @@
physicsserver/ode/odecompoundcollider.h
physicsserver/ode/odeconcavecollider.h
physicsserver/ode/odeconecollider.h
+ physicsserver/ode/odeconetwistjoint.h
physicsserver/ode/odeconvexcollider.h
physicsserver/ode/odecylindercollider.h
physicsserver/ode/odeemptycollider.h
+ physicsserver/ode/odefixedjoint.h
+ physicsserver/ode/odegeneric6dofjoint.h
+ physicsserver/ode/odehingejoint.h
+ physicsserver/ode/odehinge2joint.h
+ physicsserver/ode/odejoint.h
physicsserver/ode/odephysicsobject.h
physicsserver/ode/odephysicsserver.h
physicsserver/ode/odeplanecollider.h
physicsserver/ode/oderaycollider.h
physicsserver/ode/oderigidbody.h
+ physicsserver/ode/odesliderjoint.h
physicsserver/ode/odesoftbody.h
physicsserver/ode/odespace.h
physicsserver/ode/odespherecollider.h
physicsserver/ode/odestaticbody.h
physicsserver/ode/odetransformcollider.h
+ physicsserver/ode/odeuniversaljoint.h
physicsserver/ode/odeworld.h
physicsserver/ode/odewrapper.h
@@ -220,9 +238,11 @@
physicsserver/velocitycontroller_c.cpp
physicsserver/joint.cpp
physicsserver/joint_c.cpp
+ physicsserver/generic6dofjoint.cpp
physicsserver/generic6dofjoint_c.cpp
physicsserver/balljoint.cpp
physicsserver/balljoint_c.cpp
+ physicsserver/conetwistjoint.cpp
physicsserver/conetwistjoint_c.cpp
physicsserver/hingejoint.cpp
physicsserver/hingejoint_c.cpp
@@ -238,6 +258,7 @@
physicsserver/angularmotor_c.cpp
#ODE-specific files
+ physicsserver/ode/odeballjoint.cpp
physicsserver/ode/odebody.cpp
physicsserver/ode/odeboxcollider.cpp
physicsserver/ode/odecapsulecollider.cpp
@@ -245,20 +266,28 @@
physicsserver/ode/odecompoundcollider.cpp
physicsserver/ode/odeconcavecollider.cpp
physicsserver/ode/odeconecollider.cpp
+ physicsserver/ode/odeconetwistjoint.cpp
physicsserver/ode/odeconvexcollider.cpp
physicsserver/ode/odecylindercollider.cpp
physicsserver/ode/odedynamicbody.cpp
physicsserver/ode/odeemptycollider.cpp
+ physicsserver/ode/odefixedjoint.cpp
+ physicsserver/ode/odegeneric6dofjoint.cpp
+ physicsserver/ode/odehingejoint.cpp
+ physicsserver/ode/odehinge2joint.cpp
+ physicsserver/ode/odejoint.cpp
physicsserver/ode/odephysicsobject.cpp
physicsserver/ode/odephysicsserver.cpp
physicsserver/ode/odeplanecollider.cpp
physicsserver/ode/oderaycollider.cpp
physicsserver/ode/oderigidbody.cpp
+ physicsserver/ode/odesliderjoint.cpp
physicsserver/ode/odesoftbody.cpp
physicsserver/ode/odespace.cpp
physicsserver/ode/odespherecollider.cpp
physicsserver/ode/odestaticbody.cpp
physicsserver/ode/odetransformcollider.cpp
+ physicsserver/ode/odeuniversaljoint.cpp
physicsserver/ode/odeworld.cpp
sceneserver/basenode.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -17,6 +17,7 @@
along with this program; if not, write to the Free Software
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
+#include <oxygen/physicsserver/ode/odeballjoint.h>
#include <oxygen/physicsserver/balljoint.h>
using namespace oxygen;
@@ -25,6 +26,7 @@
BallJoint::BallJoint() : Generic6DOFJoint()
{
+ mBallJointImp = boost::shared_ptr<ODEBallJoint>(new ODEBallJoint());
}
BallJoint::~BallJoint()
@@ -88,6 +90,3 @@
// no ode get param fkt. defined
return 0;
}
-
-
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/balljoint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -25,6 +25,7 @@
namespace oxygen
{
+class BallJointInt;
class OXYGEN_API BallJoint : public Generic6DOFJoint
{
@@ -42,7 +43,7 @@
the two bodies. If the joint is perfectly satisfied, the joint
anchor point will be the same for both bodies.
*/
- salt::Vector3f GetAnchor (EBodyIndex idx);
+ salt::Vector3f GetAnchor(EBodyIndex idx);
protected:
/** creates a new contact joint */
@@ -53,6 +54,9 @@
/** returns a joint parameter value */
virtual float GetParameter(int parameter) const;
+
+private:
+ boost::shared_ptr<BallJointInt> mBallJointImp;
};
DECLARE_CLASS(BallJoint);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -22,7 +22,6 @@
#ifndef OXYGEN_COLLIDER_H
#define OXYGEN_COLLIDER_H
-//#include <oxygen/physicsserver/ode/odewrapper.h>
#include <oxygen/physicsserver/physicsobject.h>
#include <oxygen/oxygen_defines.h>
#include <string>
Added: branches/multiphys/spark/lib/oxygen/physicsserver/conetwistjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/conetwistjoint.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/conetwistjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,42 @@
+/* -*- 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: joint.h 107 2009-11-25 06:09:10Z a-held $
+
+ 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/physicsserver/conetwistjoint.h>
+#include <oxygen/physicsserver/ode/odeconetwistjoint.h>
+
+using namespace oxygen;
+
+ConeTwistJoint::ConeTwistJoint() : Generic6DOFJoint(){
+ mConeTwistJointImp = boost::shared_ptr<ODEConeTwistJoint>(new ODEConeTwistJoint());
+}
+
+ConeTwistJoint::~ConeTwistJoint(){
+
+}
+
+void ConeTwistJoint::SetParameter(int parameter, float value){
+
+}
+
+float ConeTwistJoint::GetParameter(int parameter) const{
+ return 0.0;
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/conetwistjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/conetwistjoint.h 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/conetwistjoint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -27,6 +27,8 @@
namespace oxygen
{
+class ConeTwistJointInt;
+
/**
ConeTwistJoint is not yet implemented.
*/
@@ -35,13 +37,16 @@
{
public:
- ConeTwistJoint() : Generic6DOFJoint(){};
- virtual ~ConeTwistJoint(){};
+ ConeTwistJoint();
+ virtual ~ConeTwistJoint();
//overwrite pure virtual methods inherited from Joint
//to shut the compiler up
- void SetParameter(int parameter, float value){};
- float GetParameter(int parameter) const {};
+ void SetParameter(int parameter, float value);
+ float GetParameter(int parameter) const;
+
+private:
+ boost::shared_ptr<ConeTwistJointInt> mConeTwistJointImp;
};
DECLARE_CLASS(ConeTwistJoint);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -18,14 +18,14 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include <oxygen/physicsserver/fixedjoint.h>
+#include <oxygen/physicsserver/ode/odefixedjoint.h>
#include <zeitgeist/logserver/logserver.h>
using namespace oxygen;
-using namespace boost;
-using namespace salt;
FixedJoint::FixedJoint() : Generic6DOFJoint()
{
+ mFixedJointImp = boost::shared_ptr<ODEFixedJoint>(new ODEFixedJoint());
}
FixedJoint::~FixedJoint()
@@ -58,4 +58,3 @@
{
dJointSetFixed(mODEJoint);
}
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.h 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/fixedjoint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -25,12 +25,15 @@
namespace oxygen
{
+class FixedJointInt;
+
/** The fixed joint maintains a fixed relative position and
orientation between two bodies, or between a body and the static
environment.
*/
class OXYGEN_API FixedJoint : public Generic6DOFJoint
{
+
public:
FixedJoint();
virtual ~FixedJoint();
@@ -49,6 +52,9 @@
/** returns a joint parameter value */
virtual float GetParameter(int parameter) const;
+
+private:
+ boost::shared_ptr<FixedJointInt> mFixedJointImp;
};
DECLARE_CLASS(FixedJoint);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/generic6dofjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/generic6dofjoint.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/generic6dofjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,34 @@
+/* -*- 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: joint.h 107 2009-11-25 06:09:10Z a-held $
+
+ 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/physicsserver/generic6dofjoint.h>
+#include <oxygen/physicsserver/ode/odegeneric6dofjoint.h>
+
+using namespace oxygen;
+
+Generic6DOFJoint::Generic6DOFJoint() : Joint(){
+ mGeneric6DOFJointImp = boost::shared_ptr<ODEGeneric6DOFJoint>(new ODEGeneric6DOFJoint());
+}
+
+Generic6DOFJoint::~Generic6DOFJoint(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/generic6dofjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/generic6dofjoint.h 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/generic6dofjoint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -27,6 +27,8 @@
namespace oxygen
{
+class Generic6DOFJointInt;
+
/** Generic6DOFJoint is a placeholder class for "six degrees of
freedom" - joints. They are supported by some 3D modelling tools
and simspark shall eventually be able to import models created
@@ -36,8 +38,11 @@
class OXYGEN_API Generic6DOFJoint : public Joint
{
public:
- Generic6DOFJoint() : Joint(){};
- virtual ~Generic6DOFJoint(){};
+ Generic6DOFJoint();
+ virtual ~Generic6DOFJoint();
+
+private:
+ boost::shared_ptr<Generic6DOFJointInt> mGeneric6DOFJointImp;
};
DECLARE_ABSTRACTCLASS(Generic6DOFJoint);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -18,6 +18,7 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include <oxygen/physicsserver/hinge2joint.h>
+#include <oxygen/physicsserver/ode/odehinge2joint.h>
#include <zeitgeist/logserver/logserver.h>
using namespace oxygen;
@@ -26,6 +27,7 @@
Hinge2Joint::Hinge2Joint() : Generic6DOFJoint()
{
+ mHinge2JointImp = boost::shared_ptr<ODEHinge2Joint>(new ODEHinge2Joint());
}
Hinge2Joint::~Hinge2Joint()
@@ -128,8 +130,3 @@
{
return dJointGetHinge2Param(mODEJoint, parameter);
}
-
-
-
-
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.h 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hinge2joint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -25,6 +25,7 @@
namespace oxygen
{
+class Hinge2JointInt;
class OXYGEN_API Hinge2Joint : public Generic6DOFJoint
{
@@ -62,6 +63,9 @@
/** returns a joint parameter value */
virtual float GetParameter(int parameter) const;
+
+private:
+ boost::shared_ptr<Hinge2JointInt> mHinge2JointImp;
};
DECLARE_CLASS(Hinge2Joint);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -18,6 +18,7 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include <oxygen/physicsserver/hingejoint.h>
+#include <oxygen/physicsserver/ode/odehingejoint.h>
#include <zeitgeist/logserver/logserver.h>
using namespace oxygen;
@@ -26,6 +27,7 @@
HingeJoint::HingeJoint() : Generic6DOFJoint()
{
+ mHingeJointImp = boost::shared_ptr<ODEHingeJoint>(new ODEHingeJoint());
}
HingeJoint::~HingeJoint()
@@ -138,9 +140,3 @@
{
return dJointGetHingeParam(mODEJoint, parameter);
}
-
-
-
-
-
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.h 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/hingejoint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -26,6 +26,7 @@
namespace oxygen
{
class RigidBody;
+class HingeJointInt;
class OXYGEN_API HingeJoint : public Generic6DOFJoint
{
@@ -77,6 +78,9 @@
protected:
/** creates a new hingejoint joint */
virtual void OnLink();
+
+private:
+ boost::shared_ptr<HingeJointInt> mHingeJointImp;
};
DECLARE_CLASS(HingeJoint);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/balljointint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,45 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_BALLJOINTINT_H
+#define OXYGEN_BALLJOINTINT_H
+
+#include <salt/vector.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+class RigidBody;
+class Joint;
+
+class OXYGEN_API BallJointInt
+{
+public:
+ virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
+ virtual salt::Vector3f GetAnchor1() = 0;
+ virtual salt::Vector3f GetAnchor2() = 0;
+ virtual void CreateBallJoint(long world) = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_BALLJOINTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/conetwistjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/conetwistjointint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/conetwistjointint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,38 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_CONETWISTJOINTINT_H
+#define OXYGEN_CONETWISTJOINTINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ConeTwistJointInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_CONETWISTJOINTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/fixedjointint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,36 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: fixedjoint.h 108 2009-11-25 10:20:10Z a-held $
+
+ 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_FIXEDJOINTINT_H
+#define OXYGEN_FIXEDJOINTINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen{
+
+class OXYGEN_API FixedJointInt{
+
+public:
+ virtual void CreateFixedJoint(long world) = 0;
+ virtual void SetFixed() = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_FIXEDJOINTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/generic6dofjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/generic6dofjointint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/generic6dofjointint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,38 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_GENERIC6DOFJOINTINT_H
+#define OXYGEN_GENERIC6DOFJOINTINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API Generic6DOFJointInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_GENERIC6DOFJOINTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hinge2jointint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,46 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: hingejoint.h 108 2009-11-25 10:20:10Z a-held $
+
+ 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_HINGE2JOINTINT_H
+#define OXYGEN_HINGE2JOINTINT_H
+
+#include <salt/vector.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen{
+
+class OXYGEN_API Hinge2JointInt{
+
+public:
+ virtual void CreateHinge2Joint(long world) = 0;
+ virtual void SetAnchor(const salt::Vector3f& anchor,
+ const salt::Vector3f& up,
+ const salt::Vector3f& right) = 0;
+ virtual salt::Vector3f GetAnchor1() = 0;
+ virtual salt::Vector3f GetAnchor2() = 0;
+ virtual float GetAngle() = 0;
+ virtual float GetAngleRate1() = 0;
+ virtual float GetAngleRate2() = 0;
+ virtual void SetParameter(int parameter, float value) = 0;
+ virtual float GetParameter(int parameter) const = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_HINGE2JOINTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/hingejointint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,45 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: hingejoint.h 108 2009-11-25 10:20:10Z a-held $
+
+ 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_HINGEJOINTINT_H
+#define OXYGEN_HINGEJOINTINT_H
+
+#include <salt/vector.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen{
+
+class OXYGEN_API HingeJointInt{
+
+public:
+ virtual void CreateHingeJoint(long world) = 0;
+ virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
+ virtual salt::Vector3f GetAnchor1() = 0;
+ virtual salt::Vector3f GetAnchor2() = 0;
+ virtual void SetAxis(const salt::Vector3f& axis) = 0;
+ virtual salt::Vector3f GetAxis() = 0;
+ virtual float GetAngle() const = 0;
+ virtual float GetAngleRate() const = 0;
+ virtual void SetParameter(int parameter, float value) = 0;
+ virtual float GetParameter(int parameter) const = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_HINGEJOINTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/jointint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,127 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_JOINTINT_H
+#define OXYGEN_JOINTINT_H
+
+#include <oxygen/physicsserver/ode/odewrapper.h>
+#include <boost/smart_ptr/shared_ptr.hpp>
+#include <salt/vector.h>
+#include <oxygen/oxygen_defines.h>
+#include <string>
+
+namespace oxygen
+{
+class RigidBody;
+class Joint;
+
+class OXYGEN_API JointInt
+{
+public:
+ enum EBodyIndex
+ {
+ BI_FIRST = 0,
+ BI_SECOND = 1
+ };
+
+ enum EAxisIndex
+ {
+ AI_FIRST = 0,
+ AI_SECOND = 1,
+ AI_THIRD = 2
+ };
+
+ static Joint* GetJoint(long jointID){
+
+ }
+
+ static bool AreConnected(boost::shared_ptr<RigidBody> body1,
+ boost::shared_ptr<RigidBody> body2){
+
+ }
+
+ static bool AreConnectedExcluding(boost::shared_ptr<RigidBody> body1,
+ boost::shared_ptr<RigidBody> body2,
+ int joint_type){
+
+ }
+
+ virtual void DestroyJoint() = 0;
+ virtual void Attach(boost::shared_ptr<RigidBody> body1,
+ boost::shared_ptr<RigidBody> body2) = 0;
+ virtual void Attach(const std::string& path1, const std::string& path2) = 0;
+ virtual int GetType() const = 0;
+ virtual boost::shared_ptr<RigidBody> GetBody(EBodyIndex idx) = 0;
+ virtual void EnableFeedback(bool enable) = 0;
+ virtual bool FeedbackEnabled() const = 0;
+ virtual salt::Vector3f GetFeedbackForce(EBodyIndex idx) const = 0;
+ virtual salt::Vector3f GetFeedbackTorque(EBodyIndex idx) const = 0;
+ virtual void SetFudgeFactor(EAxisIndex idx, float fudge_factor) = 0;
+ virtual float GetFudgeFactor(EAxisIndex idx) const = 0;
+ virtual void SetBounce(EAxisIndex idx, float bounce) = 0;
+ virtual float GetBounce(EAxisIndex idx) const = 0;
+ virtual void SetLowStopDeg(EAxisIndex idx, float deg) = 0;
+ virtual float GetLowStopDeg(EAxisIndex idx) const = 0;
+ virtual void SetHighStopDeg(EAxisIndex idx, float deg) = 0;
+ virtual float GetHighStopDeg(EAxisIndex idx) const = 0;
+ virtual void SetLowStopPos(EAxisIndex idx, float deg) = 0;
+ virtual float GetLowStopPos(EAxisIndex idx) const = 0;
+ virtual void SetHighStopPos(EAxisIndex idx, float deg) = 0;
+ virtual float GetHighStopPos(EAxisIndex idx) const = 0;
+ virtual void SetCFM(EAxisIndex idx, float cfm) = 0;
+ virtual float GetCFM(EAxisIndex idx) const = 0;
+ virtual void SetStopCFM(EAxisIndex idx, float cfm) = 0;
+ virtual float GetStopCFM(EAxisIndex idx) const = 0;
+ virtual void SetStopERP(EAxisIndex idx, float erp) = 0;
+ virtual float GetStopERP(EAxisIndex idx) const = 0;
+ virtual void SetSuspensionERP(EAxisIndex idx, float erp) = 0;
+ virtual float GetSuspensionERP(EAxisIndex idx) const = 0;
+ virtual void SetSuspensionCFM(EAxisIndex idx, float cfm) = 0;
+ virtual float GetSuspensionCFM(EAxisIndex idx) const = 0;
+ virtual void SetLinearMotorVelocity(EAxisIndex idx, float vel) = 0;
+ virtual float GetLinearMotorVelocity(EAxisIndex idx) const = 0;
+ virtual void SetAngularMotorVelocity(EAxisIndex idx, float deg) = 0;
+ virtual float GetAngularMotorVelocity(EAxisIndex idx) const = 0;
+ virtual void SetMaxMotorForce(EAxisIndex idx, float f) = 0;
+ virtual float GetMaxMotorForce(EAxisIndex idx) const = 0;
+ virtual void SetParameter(int parameter, float value) = 0;
+ virtual float GetParameter(int parameter) const = 0;
+ virtual void SetJointMaxSpeed1(float rad) = 0;
+ virtual void SetJointMaxSpeed2(float rad) = 0;
+ virtual float GetJointMaxSpeed1() const = 0;
+ virtual float GetJointMaxSpeed2() const = 0;
+ virtual bool IsLimitJointMaxSpeed1() const = 0;
+ virtual bool IsLimitJointMaxSpeed2() const = 0;
+ virtual void OnLink() = 0;
+
+protected:
+ dJointID mODEJoint;
+ boost::shared_ptr<dJointFeedback> mFeedback;
+ float mJointMaxSpeed1;
+ bool mIsLimitJointMaxSpeed1;
+ float mJointMaxSpeed2;
+ bool mIsLimitJointMaxSpeed2;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_JOINTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/sliderjointint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,46 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_SLIDERJOINTINT_H
+#define OXYGEN_SLIDERJOINTINT_H
+
+#include <boost/smart_ptr/shared_ptr.hpp>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+class RigidBody;
+
+class OXYGEN_API SliderJointInt
+{
+public:
+ virtual void CreateSliderJoint(long world) = 0;
+ virtual float GetPosition() = 0;
+ virtual float GetPositionRate() = 0;
+ virtual void SetSliderAxis(salt::Vector3f& up) = 0;
+ virtual void SetParameter(int parameter, float value) = 0;
+ virtual float GetParameter(int parameter) const = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_SLIDERJOINTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/universaljointint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,54 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_UNIVERSALJOINTINT_H
+#define OXYGEN_UNIVERSALJOINTINT_H
+
+#include <salt/vector.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API UniversalJointInt
+{
+
+public:
+ virtual void CreateUniversalJoint(long world) = 0;
+ virtual void SetAnchor(const salt::Vector3f& anchor) = 0;
+ virtual salt::Vector3f GetAnchor1() = 0;
+ virtual salt::Vector3f GetAnchor2() = 0;
+ virtual void SetAxis1(const salt::Vector3f& axis) = 0;
+ virtual void SetAxis2(const salt::Vector3f& axis) = 0;
+ virtual salt::Vector3f GetAxis1() const = 0;
+ virtual salt::Vector3f GetAxis2() const = 0;
+ virtual float GetAngle1() const = 0;
+ virtual float GetAngle2() const = 0;
+ virtual float GetAngleRate1() const = 0;
+ virtual float GetAngleRate2() const = 0;
+ virtual void SetParameter(int parameter, float value) = 0;
+ virtual float GetParameter(int parameter) const = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_UNIVERSALJOINTINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -19,6 +19,7 @@
*/
#include <oxygen/physicsserver/joint.h>
#include <oxygen/physicsserver/rigidbody.h>
+#include <oxygen/physicsserver/ode/odejoint.h>
#include <zeitgeist/logserver/logserver.h>
using namespace oxygen;
@@ -31,6 +32,7 @@
mJointMaxSpeed1(0), mJointMaxSpeed2(0),
mIsLimitJointMaxSpeed1(false), mIsLimitJointMaxSpeed2(false)
{
+ mJointImp = boost::shared_ptr<ODEJoint>(new ODEJoint());
}
Joint::~Joint()
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-12-15 11:29:57 UTC (rev 121)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -29,8 +29,9 @@
namespace oxygen
{
class RigidBody;
+class JointInt;
-/** \class Joint encapsulates an ODE joint object. A joint is a
+/** \class Joint encapsulates a joint object. A joint is a
relationship (a constraint) that is enforced between two bodies so
that they can only have certain positions and orientations
relative to each other.
@@ -67,7 +68,7 @@
Joint();
virtual ~Joint();
- /** destroy the managed ODE object */
+ /** destroy the managed physics object */
virtual void DestroyPhysicsObject();
/** attaches the joint to some new bodies. If the joint is already
@@ -94,8 +95,8 @@
/** returns the Joint node corresponding to the given joint */
static boost::shared_ptr<Joint> GetJoint(long jointID);
- /** returns the type of the managed ODE joint, possible return
- values are dJointTypeNone, dJointTypeBall, dJointTypeHinge,
+ /** returns the type of the managed joint, possible return
+ values from ODE are dJointTypeNone, dJointTypeBall, dJointTypeHinge,
dJointTypeSlider, dJointTypeContact, dJointTypeUniversal,
dJointTypeHinge2, dJointTypeFixed or dJointTypeAMotor.
*/
@@ -243,7 +244,7 @@
/** sets the maximum force or torque that the motor will use to
achieve the desired velocity. This must always be greater than
or equal to zero. Setting this to zero (the default value)
- turns off the motor
+ turns off the motor.
*/
void SetMaxMotorForce(EAxisIndex idx, float f);
@@ -277,14 +278,14 @@
bool IsLimitJointMaxSpeed2() const;
protected:
- /** associated the created ODE joint with this node */
+ /** associates the created joint with this node */
virtual void OnLink();
- /** get the node at 'path' and tries a cast to Body */
+ /** gets the node at 'path' and tries a cast to Body */
boost::shared_ptr<RigidBody> GetBody(const std::string& path);
protected:
- /** the managed ODE joint */
+ /** the ID of the managed joint */
dJointID mODEJoint;
/** the allocated joint feedback structure */
@@ -298,6 +299,9 @@
/** The maximum joint speed in rad, valid only for universaljoint */
float mJointMaxSpeed2;
bool mIsLimitJointMaxSpeed2;
+
+private:
+ boost::shared_ptr<JointInt> mJointImp;
};
DECLARE_ABSTRACTCLASS(Joint);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,57 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: balljoint.cpp 112 2009-12-02 10:06:02Z a-held $
+
+ 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/physicsserver/ode/odeballjoint.h>
+#include <oxygen/physicsserver/balljoint.h>
+
+using namespace oxygen;
+using namespace boost;
+using namespace salt;
+
+ODEBallJoint::ODEBallJoint() : ODEGeneric6DOFJoint()
+{
+}
+
+void ODEBallJoint::CreateBallJoint(long world)
+{
+ mODEJoint = dJointCreateBall((dWorldID) world, 0);
+}
+
+void ODEBallJoint::SetAnchor(const Vector3f& gAnchor)
+{
+ dJointSetBallAnchor (mODEJoint, gAnchor[0], gAnchor[1], gAnchor[2]);
+}
+
+Vector3f ODEBallJoint::GetAnchor1()
+{
+ dReal anchor[3];
+ dJointGetBallAnchor (mODEJoint, anchor);
+ Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+
+ return pos;
+}
+
+Vector3f ODEBallJoint::GetAnchor2()
+{
+ dReal anchor[3];
+ dJointGetBallAnchor2(mODEJoint, anchor);
+ Vector3f pos = Vector3f(anchor[0],anchor[1],anchor[2]);
+
+ return pos;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeballjoint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,45 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_ODEBALLJOINT_H
+#define OXYGEN_ODEBALLJOINT_H
+
+#include <oxygen/physicsserver/int/balljointint.h>
+#include <oxygen/physicsserver/ode/odegeneric6dofjoint.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEBallJoint : public BallJointInt, public ODEGeneric6DOFJoint
+{
+public:
+ ODEBallJoint();
+ void SetAnchor(const salt::Vector3f& anchor);
+ salt::Vector3f GetAnchor1();
+ salt::Vector3f GetAnchor2();
+ void CreateBallJoint(long world);
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_BALLJOINTINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconetwistjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconetwistjoint.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconetwistjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,28 @@
+/* -*- 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: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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/physicsserver/ode/odeconetwistjoint.h>
+
+using namespace oxygen;
+
+ODEConeTwistJoint::ODEConeTwistJoint() : ODEGeneric6DOFJoint(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconetwistjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconetwistjoint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconetwistjoint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,40 @@
+/* -*- 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: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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_ODECONETWISTJOINT_H
+#define OXYGEN_ODECONETWISTJOINT_H
+
+#include <oxygen/physicsserver/ode/odegeneric6dofjoint.h>
+#include <oxygen/physicsserver/int/conetwistjointint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEConeTwistJoint : public ConeTwistJointInt, public ODEGeneric6DOFJoint
+{
+
+public:
+ ODEConeTwistJoint();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECONETWISTJOINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,38 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: fixedjoint.cpp 112 2009-12-02 10:06:02Z a-held $
+
+ 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/physicsserver/ode/odefixedjoint.h>
+
+using namespace oxygen;
+using namespace boost;
+
+ODEFixedJoint::ODEFixedJoint() : ODEGeneric6DOFJoint()
+{
+}
+
+void ODEFixedJoint::CreateFixedJoint(long world)
+{
+ mODEJoint = dJointCreateFixed((dWorldID) world, 0);
+}
+
+void ODEFixedJoint::SetFixed()
+{
+ dJointSetFixed(mODEJoint);
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odefixedjoint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,39 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: fixedjoint.h 108 2009-11-25 10:20:10Z a-held $
+
+ 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_ODEFIXEDJOINT_H
+#define OXYGEN_ODEFIXEDJOINT_H
+
+#include <oxygen/physicsserver/ode/odegeneric6dofjoint.h>
+#include <oxygen/physicsserver/int/fixedjointint.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen{
+
+class OXYGEN_API ODEFixedJoint : public FixedJointInt, public ODEGeneric6DOFJoint{
+
+public:
+ ODEFixedJoint();
+ void CreateFixedJoint(long world);
+ void SetFixed();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEFIXEDJOINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odegeneric6dofjoint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odegeneric6dofjoint.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odegeneric6dofjoint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,28 @@
+/* -*- 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: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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/physicsserver/ode/odegeneric6dofjoint.h>
+
+using namespace oxygen;
+
+ODEGeneric6DOFJoint::ODEGeneric6DOFJoint() : ODEJoint(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odegeneric6dofjoint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odegeneric6dofjoint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odegeneric6dofjoint.h 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,39 @@
+/* -*- 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: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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_ODEGENERIC6DOFJOINT_H
+#define OXYGEN_ODEGENERIC6DOFJOINT_H
+
+#include <oxygen/physicsserver/ode/odejoint.h>
+#include <oxygen/physicsserver/int/generic6dofjointint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEGeneric6DOFJoint : public Generic6DOFJointInt, public ODEJoint
+{
+public:
+ ODEGeneric6DOFJoint();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEGENERIC6DOFJOINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odehinge2joint.cpp 2009-12-16 10:43:50 UTC (rev 122)
@@ -0,0 +1,84 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: hinge2joint.cpp 112 2009-12-02 10:06:02Z a-held $
+
+ 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/physicsserver/ode/odehinge2joint.h>
+
+using namespace oxygen;
+using namespace boost;
+using namespace salt;
+
+ODEHinge2Joint::ODEHinge2Joint() : ODEGeneric6DOFJoint()
+{
+}
+
+void ODEHinge2Joint::CreateHinge2Joint(long world)
+{
+ mODEJoint = dJointCreateHinge2((dWorldID) world, 0);
+...
[truncated message content] |
|
From: <yx...@us...> - 2009-12-15 11:30:07
|
Revision: 121
http://simspark.svn.sourceforge.net/simspark/?rev=121&view=rev
Author: yxu
Date: 2009-12-15 11:29:57 +0000 (Tue, 15 Dec 2009)
Log Message:
-----------
* add accelerometer in the chest of NAO
* make some functions const
Modified Paths:
--------------
trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
trunk/spark/lib/oxygen/physicsserver/body.cpp
trunk/spark/lib/oxygen/physicsserver/body.h
trunk/spark/lib/oxygen/physicsserver/odeobject.cpp
trunk/spark/lib/oxygen/physicsserver/odeobject.h
trunk/spark/lib/oxygen/sceneserver/basenode.cpp
trunk/spark/lib/oxygen/sceneserver/basenode.h
trunk/spark/plugin/CMakeLists.txt
Added Paths:
-----------
trunk/spark/plugin/accelerometer/
trunk/spark/plugin/accelerometer/CMakeLists.txt
trunk/spark/plugin/accelerometer/accelerometer.cpp
trunk/spark/plugin/accelerometer/accelerometer.h
trunk/spark/plugin/accelerometer/accelerometer_c.cpp
trunk/spark/plugin/accelerometer/export.cpp
Modified: trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg
===================================================================
--- trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-14 11:14:38 UTC (rev 120)
+++ trunk/rcssserver3d/data/rsg/agent/nao/nao.rsg 2009-12-15 11:29:57 UTC (rev 121)
@@ -71,6 +71,7 @@
)
(nd GyroRatePerceptor (setName torso))
+ (nd Accelerometer (setName torso))
;(nd HMDPPerceptor)
;(nd HMDPEffector)
Modified: trunk/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/body.cpp 2009-12-14 11:14:38 UTC (rev 120)
+++ trunk/spark/lib/oxygen/physicsserver/body.cpp 2009-12-15 11:29:57 UTC (rev 121)
@@ -18,6 +18,9 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
+#include "salt/tvector.h"
+
+
#include "body.h"
#include "world.h"
#include "../sceneserver/scene.h"
@@ -413,6 +416,15 @@
return Vector3f(vel[0], vel[1], vel[2]);
}
+Vector3f
+Body::GetLocalAngularVelocity() const
+{
+ const dReal* vel = dBodyGetAngularVel(mODEBody);
+ Vector3f w;
+ dBodyVectorFromWorld(mODEBody, vel[0], vel[1], vel[2], w.GetData());
+ return w;
+}
+
void
Body::SetAngularVelocity(const Vector3f& vel)
{
@@ -531,6 +543,12 @@
dBodyAddForce(mODEBody, force.x(), force.y(), force.z());
}
+Vector3f Body::GetForce() const
+{
+ const dReal* f = dBodyGetForce(mODEBody);
+ return Vector3f(f[0], f[1], f[2]);
+}
+
void
Body::AddTorque(const Vector3f& torque)
{
Modified: trunk/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/body.h 2009-12-14 11:14:38 UTC (rev 120)
+++ trunk/spark/lib/oxygen/physicsserver/body.h 2009-12-15 11:29:57 UTC (rev 121)
@@ -205,6 +205,9 @@
/** gets the rotation of this body */
salt::Matrix GetRotation() const;
+ /** returns the current angular velocity of this body in local coordination */
+ salt::Vector3f GetLocalAngularVelocity() const;
+
/** returns the current angular velocity of this body */
salt::Vector3f GetAngularVelocity() const;
@@ -217,6 +220,9 @@
/** applies a force to the managed ODE body */
void AddForce(const salt::Vector3f& force);
+ /** returns the total force applied to this body */
+ salt::Vector3f GetForce() const;
+
/** aplies a force to the managed ODE body */
void AddTorque(const salt::Vector3f& torque);
Modified: trunk/spark/lib/oxygen/physicsserver/odeobject.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject.cpp 2009-12-14 11:14:38 UTC (rev 120)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject.cpp 2009-12-15 11:29:57 UTC (rev 121)
@@ -42,7 +42,7 @@
}
/** returns the world node */
-shared_ptr<World> ODEObject::GetWorld()
+shared_ptr<World> ODEObject::GetWorld() const
{
shared_ptr<Scene> scene = GetScene();
if (scene.get() == 0)
Modified: trunk/spark/lib/oxygen/physicsserver/odeobject.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/odeobject.h 2009-12-14 11:14:38 UTC (rev 120)
+++ trunk/spark/lib/oxygen/physicsserver/odeobject.h 2009-12-15 11:29:57 UTC (rev 121)
@@ -61,10 +61,10 @@
/** destroy the managed ODE object */
virtual void DestroyODEObject() = 0;
-protected:
/** returns the world node */
- boost::shared_ptr<World> GetWorld();
+ boost::shared_ptr<World> GetWorld() const;
+protected:
/** finds the nearest parent space node */
boost::shared_ptr<Space> GetSpace();
Modified: trunk/spark/lib/oxygen/sceneserver/basenode.cpp
===================================================================
--- trunk/spark/lib/oxygen/sceneserver/basenode.cpp 2009-12-14 11:14:38 UTC (rev 120)
+++ trunk/spark/lib/oxygen/sceneserver/basenode.cpp 2009-12-15 11:29:57 UTC (rev 121)
@@ -141,7 +141,7 @@
}
}
-shared_ptr<Scene> BaseNode::GetScene()
+shared_ptr<Scene> BaseNode::GetScene() const
{
// is this node the scene node ?
shared_ptr<Scene> self =
Modified: trunk/spark/lib/oxygen/sceneserver/basenode.h
===================================================================
--- trunk/spark/lib/oxygen/sceneserver/basenode.h 2009-12-14 11:14:38 UTC (rev 120)
+++ trunk/spark/lib/oxygen/sceneserver/basenode.h 2009-12-15 11:29:57 UTC (rev 121)
@@ -96,7 +96,7 @@
void UpdateHierarchy();
/** moves up the hierarchy, until it finds a scene */
- boost::shared_ptr<Scene> GetScene();
+ boost::shared_ptr<Scene> GetScene() const;
/** enables debug mode controls */
void EnableDebugMode();
Modified: trunk/spark/plugin/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/CMakeLists.txt 2009-12-14 11:14:38 UTC (rev 120)
+++ trunk/spark/plugin/CMakeLists.txt 2009-12-15 11:29:57 UTC (rev 121)
@@ -9,6 +9,7 @@
set(spark_libs ${spark_libs} /System/Library/Frameworks/CoreFoundation.framework)
endif (APPLE AND USE_COREFOUNDATION)
+add_subdirectory(accelerometer)
add_subdirectory(filesystemstd)
add_subdirectory(filesystemzip)
add_subdirectory(forceeffector)
Added: trunk/spark/plugin/accelerometer/CMakeLists.txt
===================================================================
--- trunk/spark/plugin/accelerometer/CMakeLists.txt (rev 0)
+++ trunk/spark/plugin/accelerometer/CMakeLists.txt 2009-12-15 11:29:57 UTC (rev 121)
@@ -0,0 +1,16 @@
+
+set(accelerometer_LIB_SRCS
+ export.cpp
+ accelerometer.h
+ accelerometer.cpp
+ accelerometer_c.cpp
+)
+
+add_library(accelerometer MODULE ${accelerometer_LIB_SRCS})
+
+target_link_libraries(accelerometer ${spark_libs} ${Boost_LIBRARIES})
+
+set_target_properties(accelerometer PROPERTIES VERSION 0.0.0 SOVERSION 0)
+if (NOT APPLE)
+ install(TARGETS accelerometer DESTINATION ${LIBDIR}/${CMAKE_PROJECT_NAME})
+endif (NOT APPLE)
Added: trunk/spark/plugin/accelerometer/accelerometer.cpp
===================================================================
--- trunk/spark/plugin/accelerometer/accelerometer.cpp (rev 0)
+++ trunk/spark/plugin/accelerometer/accelerometer.cpp 2009-12-15 11:29:57 UTC (rev 121)
@@ -0,0 +1,93 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id$
+
+ 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/physicsserver/world.h"
+
+
+#include "oxygen/physicsserver/body.h"
+
+
+#include "accelerometer.h"
+#include <oxygen/sceneserver/transform.h>
+
+// using namespace kerosin;
+using namespace oxygen;
+using namespace boost;
+using namespace zeitgeist;
+using namespace salt;
+using namespace std;
+
+Accelerometer::Accelerometer() : oxygen::Perceptor()
+{
+}
+
+Accelerometer::~Accelerometer()
+{
+}
+
+void Accelerometer::OnLink()
+{
+ shared_ptr<Transform> transformParent = shared_static_cast<Transform>
+ (FindParentSupportingClass<Transform>().lock());
+
+ mBody = shared_static_cast<const Body>
+ (transformParent->GetChildOfClass("Body"));
+
+ mGravity = mBody->GetWorld()->GetGravity();
+ mLastVel = mBody->GetVelocity();
+}
+
+bool Accelerometer::Percept(boost::shared_ptr<PredicateList> predList)
+{
+ Predicate &predicate = predList->AddPredicate();
+ predicate.name = "ACC";
+ predicate.parameter.Clear();
+
+ ParameterList &nameElement = predicate.parameter.AddList();
+ nameElement.AddValue(std::string("n"));
+ nameElement.AddValue(GetName());
+
+ ParameterList &ratesElement = predicate.parameter.AddList();
+ ratesElement.AddValue(std::string("a"));
+ ratesElement.AddValue(mAcc.x());
+ ratesElement.AddValue(mAcc.y());
+ ratesElement.AddValue(mAcc.z());
+
+ return true;
+}
+
+void Accelerometer::PrePhysicsUpdateInternal(float deltaTime)
+{
+// Vector3f F = mBody->GetForce();
+// float mass = mBody->GetMass();
+// mAcc = F / mass - mGravity;
+
+ Vector3f vel = mBody->GetVelocity();
+ Vector3f acc = (vel - mLastVel) / deltaTime;
+ acc -= mGravity;
+
+ Matrix invRot = mBody->GetRotation();
+ invRot.InvertRotationMatrix();
+ acc = invRot * acc;
+
+ float k = 0.9;
+ mAcc = k*mAcc + (1-k)*acc;
+ mLastVel = vel;
+}
Added: trunk/spark/plugin/accelerometer/accelerometer.h
===================================================================
--- trunk/spark/plugin/accelerometer/accelerometer.h (rev 0)
+++ trunk/spark/plugin/accelerometer/accelerometer.h 2009-12-15 11:29:57 UTC (rev 121)
@@ -0,0 +1,49 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ 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 ACCELEROMETER_H
+#define ACCELEROMETER_H
+
+#include <oxygen/agentaspect/perceptor.h>
+#include <oxygen/physicsserver/body.h>
+
+class Accelerometer : public oxygen::Perceptor {
+public:
+ Accelerometer();
+ virtual ~Accelerometer();
+
+ //! \return true, if valid data is available and false otherwise.
+ bool Percept(boost::shared_ptr<oxygen::PredicateList> predList);
+
+ virtual void OnLink();
+
+protected:
+ virtual void PrePhysicsUpdateInternal(float deltaTime);
+
+private:
+ boost::shared_ptr<const oxygen::Body> mBody;
+ salt::Vector3f mAcc;
+ salt::Vector3f mGravity;
+ salt::Vector3f mLastVel;
+};
+
+DECLARE_CLASS(Accelerometer);
+
+#endif //ACCELEROMETER_H
Added: trunk/spark/plugin/accelerometer/accelerometer_c.cpp
===================================================================
--- trunk/spark/plugin/accelerometer/accelerometer_c.cpp (rev 0)
+++ trunk/spark/plugin/accelerometer/accelerometer_c.cpp 2009-12-15 11:29:57 UTC (rev 121)
@@ -0,0 +1,29 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ 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 "accelerometer.h"
+
+using namespace boost;
+using namespace oxygen;
+
+void CLASS(Accelerometer)::DefineClass()
+{
+ DEFINE_BASECLASS(oxygen/Perceptor);
+}
Added: trunk/spark/plugin/accelerometer/export.cpp
===================================================================
--- trunk/spark/plugin/accelerometer/export.cpp (rev 0)
+++ trunk/spark/plugin/accelerometer/export.cpp 2009-12-15 11:29:57 UTC (rev 121)
@@ -0,0 +1,26 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Copyright (C) 2008 RoboCup Soccer Server 3D Maintenance Group
+ $Id:$
+
+ 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 "accelerometer.h"
+#include <zeitgeist/zeitgeist.h>
+
+ZEITGEIST_EXPORT_BEGIN()
+ ZEITGEIST_EXPORT(Accelerometer);
+ZEITGEIST_EXPORT_END()
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <a-...@us...> - 2009-12-14 11:14:54
|
Revision: 120
http://simspark.svn.sourceforge.net/simspark/?rev=120&view=rev
Author: a-held
Date: 2009-12-14 11:14:38 +0000 (Mon, 14 Dec 2009)
Log Message:
-----------
implemented bridge pattern for TransformCollider
implemented bridge pattern for Collider superclass
declare several classes in genericphysicsobjects.h so you can tell what a pointer should be pointing to
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h
branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/recorderhandler.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/recorderhandler.h
branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.h
branches/multiphys/spark/plugin/collisionperceptor/perceptorhandler.cpp
branches/multiphys/spark/plugin/collisionperceptor/perceptorhandler.h
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h
Removed Paths:
-------------
branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobject.h
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-14 11:14:38 UTC (rev 120)
@@ -14,7 +14,7 @@
gamecontrolserver/behavior.h
oxygen.h
oxygen_defines.h
- physicsserver/genericphysicsobject.h
+ physicsserver/genericphysicsobjects.h
physicsserver/physicsobject.h
physicsserver/body.h
physicsserver/rigidbody.h
@@ -75,6 +75,7 @@
physicsserver/int/spaceint.h
physicsserver/int/spherecolliderint.h
physicsserver/int/staticbodyint.h
+ physicsserver/int/transformcolliderint.h
physicsserver/int/worldint.h
#ode-specific files
@@ -98,6 +99,7 @@
physicsserver/ode/odespace.h
physicsserver/ode/odespherecollider.h
physicsserver/ode/odestaticbody.h
+ physicsserver/ode/odetransformcollider.h
physicsserver/ode/odeworld.h
physicsserver/ode/odewrapper.h
@@ -256,6 +258,7 @@
physicsserver/ode/odespace.cpp
physicsserver/ode/odespherecollider.cpp
physicsserver/ode/odestaticbody.cpp
+ physicsserver/ode/odetransformcollider.cpp
physicsserver/ode/odeworld.cpp
sceneserver/basenode.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -45,9 +45,9 @@
// create a unit box
mBoxColliderImp->CreateBox();
- mODEGeom = (dGeomID) mBoxColliderImp->GetGeomID();
+ mGeomID = mBoxColliderImp->GetGeomID();
- return (mBoxColliderImp->GetGeomID() != 0);
+ return (mGeomID != 0);
}
void BoxCollider::GetBoxLengths(Vector3f& extents)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -68,9 +68,9 @@
}
mCapsuleColliderImp->CreateCapsule();
- mODEGeom = (dGeomID) mCapsuleColliderImp->GetGeomID();
+ mGeomID = mCapsuleColliderImp->GetGeomID();
- return (mCapsuleColliderImp->GetGeomID() != 0);
+ return (mGeomID != 0);
}
float CapsuleCollider::GetPointDepth(const Vector3f& pos)
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -18,6 +18,7 @@
along with this program; if not, write to the Free Software
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
+#include <oxygen/physicsserver/genericphysicsobjects.h>
#include <oxygen/physicsserver/collider.h>
#include <oxygen/physicsserver/ode/odecollider.h>
#include <oxygen/physicsserver/collisionhandler.h>
@@ -33,7 +34,7 @@
using namespace boost;
using namespace std;
-Collider::Collider() : PhysicsObject(), mODEGeom(0)
+Collider::Collider() : PhysicsObject(), mGeomID(0)
{
mColliderImp = boost::shared_ptr<ODECollider>(new ODECollider());
}
@@ -45,15 +46,10 @@
void Collider::OnLink()
{
PhysicsObject::OnLink();
-
+ if (mGeomID == 0) return;
+
weak_ptr<Node> parent = GetParent();
- if (
- (mODEGeom == 0) ||
- (parent.expired())
- )
- {
- return;
- }
+ if (parent.expired()) return;
shared_ptr<TransformCollider> tcParent =
shared_dynamic_cast<TransformCollider>(parent.lock());
@@ -63,30 +59,23 @@
// our parent is an ODE transform geom that encapsulates
// this geom, so register ourself to it. This geom must
// not directly register to a space or a body.
- dGeomTransformSetGeom((dGeomID) tcParent->GetGeomID(), mODEGeom);
+ mColliderImp->TransformSetGeom(tcParent->GetGeomID(), mGeomID);
+
return;
}
// this geom is independent, so register to space and body
// if we have a space add the geom to it
long spaceID = FindSpaceID();
- if (
- (spaceID) &&
- (! dSpaceQuery((dSpaceID) spaceID, mODEGeom))
- )
- {
- dGeomSetData(mODEGeom, this);
- dSpaceAdd((dSpaceID) spaceID, mODEGeom);
- }
+ mColliderImp->SetSpace(spaceID, mGeomID, this);
+
// if there is a Body below our parent, link to it
shared_ptr<RigidBody> body = shared_static_cast<RigidBody>
(parent.lock()->GetChildOfClass("RigidBody"));
- if (body.get() != 0)
- {
- dGeomSetBody (mODEGeom, (dBodyID) body->GetBodyID());
- } else
- {
+ if (body.get() != 0)
+ mColliderImp->SetBody(body->GetBodyID(), mGeomID);
+ else{
// no body node found, setup initial position and
// orientation identical to the parent node
SetRotation(GetWorldTransform());
@@ -97,21 +86,12 @@
void Collider::OnUnlink()
{
PhysicsObject::OnUnlink();
-
- // remove collision geometry from space
long space = GetParentSpaceID();
- if (
- (mODEGeom == 0) ||
- (space == 0)
- )
- {
- return;
- }
-
- if (space)
+ if (space && mGeomID)
{
- dSpaceRemove((dSpaceID) space, mODEGeom);
+ // remove collision geometry from space
+ mColliderImp->RemoveFromSpace(mGeomID, space);
}
}
@@ -129,7 +109,7 @@
long Collider::GetGeomID()
{
- return (long) mODEGeom;
+ return mGeomID;
}
bool Collider::AddCollisionHandler(const std::string& handlerName)
@@ -149,12 +129,8 @@
}
void Collider::OnCollision (boost::shared_ptr<Collider> collidee,
- void* contact, ECollisionType type)
-
-{
- dContact* helpContact = (dContact*) contact;
- dContact& ODEContact = (dContact&) *helpContact;
-
+ GenericContact& contact, ECollisionType type)
+{
TLeafList handlers;
ListChildrenSupportingClass<CollisionHandler>(handlers);
@@ -175,7 +151,7 @@
continue;
}
- handler->HandleCollision(collidee, ODEContact);
+ handler->HandleCollision(collidee, contact);
}
}
@@ -187,7 +163,7 @@
}
Collider* collPtr =
- static_cast<Collider*>(dGeomGetData((dGeomID) geomID));
+ ColliderInt::GetColliderPointer(geomID);
if (collPtr == 0)
{
@@ -212,73 +188,60 @@
void Collider::SetRotation(const Matrix& rot)
{
- dMatrix3 ODEMatrix;
- GenericPhysicsObject& matrixRef = (GenericPhysicsObject&) ODEMatrix;
- ConvertRotationMatrix(rot, matrixRef);
- dGeomSetRotation(mODEGeom, ODEMatrix);
+ mColliderImp->SetRotation(rot, mGeomID);
}
void Collider::SetPosition(const Vector3f& pos)
{
Vector3f globalPos(GetWorldTransform() * pos);
- dGeomSetPosition (mODEGeom, globalPos[0], globalPos[1], globalPos[2]);
+ mColliderImp->SetPosition(globalPos, mGeomID);
}
void Collider::SetLocalPosition(const Vector3f& pos)
{
- dGeomSetPosition (mODEGeom, pos[0], pos[1], pos[2]);
+ mColliderImp->SetLocalPosition(pos, mGeomID);
}
Vector3f Collider::GetPosition() const
{
- const dReal* pos = dGeomGetPosition(mODEGeom);
- return Vector3f(pos[0],pos[1],pos[2]);
+ return mColliderImp->GetPosition(mGeomID);
}
long Collider::GetParentSpaceID()
{
- if (mODEGeom == 0)
+ if (mGeomID == 0)
{
return 0;
}
- return (long) dGeomGetSpace(mODEGeom);
+ return mColliderImp->GetParentSpaceID(mGeomID);
}
bool Collider::Intersects(boost::shared_ptr<Collider> collider)
{
if (
- (mODEGeom == 0) ||
+ (mGeomID == 0) ||
(collider.get() == 0)
)
{
return false;
}
- dContactGeom contact;
-
- return dCollide
- (
- mODEGeom,
- (dGeomID) collider->GetGeomID(),
- 1, /* ask for at most one collision point */
- &contact,
- sizeof(contact)
- ) > 0;
+ return mColliderImp->Intersect(collider, mGeomID);
}
void Collider::DestroyPhysicsObject()
{
- if (! mODEGeom)
+ if (! mGeomID)
{
return;
}
- dGeomDestroy(mODEGeom);
- mODEGeom = 0;
+ mColliderImp->DestroyGeom(mGeomID);
+ mGeomID = 0;
}
-void Collider::AddNotCollideWithColliderName(const std::string & colliderName, bool isAdd)
+void Collider::AddNotCollideWithColliderName(const std::string& colliderName, bool isAdd)
{
TColliderNameSet::iterator it = mNotCollideWithSet.find(colliderName);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -22,7 +22,7 @@
#ifndef OXYGEN_COLLIDER_H
#define OXYGEN_COLLIDER_H
-#include <oxygen/physicsserver/ode/odewrapper.h>
+//#include <oxygen/physicsserver/ode/odewrapper.h>
#include <oxygen/physicsserver/physicsobject.h>
#include <oxygen/oxygen_defines.h>
#include <string>
@@ -31,6 +31,7 @@
namespace oxygen
{
class ColliderInt;
+class GenericContact;
/** \class Collider encapsulates a geometry object- geom for
short. Geoms are the fundamental objects in the collision
@@ -87,7 +88,7 @@
symmetric case
*/
virtual void OnCollision (boost::shared_ptr<Collider> collidee,
- void* contact, ECollisionType type);
+ GenericContact& contact, ECollisionType type);
/** registers a new collision handler to this collider. If no
collision handler is registered until the first call to
@@ -160,8 +161,8 @@
// Members
//
protected:
- /** the ode collision geometry */
- dGeomID mODEGeom;
+ /** the ID of the managed collision geometry */
+ long mGeomID;
private:
boost::shared_ptr<ColliderInt> mColliderImp;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -21,6 +21,7 @@
*/
#include <oxygen/physicsserver/collisionhandler.h>
#include <oxygen/physicsserver/collider.h>
+#include <oxygen/physicsserver/genericphysicsobjects.h>
#include <oxygen/physicsserver/world.h>
#include <oxygen/physicsserver/space.h>
#include <oxygen/sceneserver/scene.h>
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -31,6 +31,7 @@
class Collider;
class World;
class Space;
+class GenericContact;
/** \class CollisionHandler defines an interface for handlers that
take action in response to a collision. To each Collider instance
@@ -64,7 +65,7 @@
as returned from the ODE dCollide function
*/
virtual void HandleCollision
- (boost::shared_ptr<Collider> collidee, dContact& contact) = 0;
+ (boost::shared_ptr<Collider> collidee, GenericContact& contact) = 0;
/** returns true if a class of CollisionHandlers wants to handle
both- a collision and it's symmetric counterpart.
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -150,8 +150,10 @@
}
void
-ContactJointHandler::HandleCollision(shared_ptr<Collider> collidee, dContact& contact)
+ContactJointHandler::HandleCollision(shared_ptr<Collider> collidee, GenericContact& contact)
{
+ dContact& ODEContact = (dContact&) contact;
+
if (
(mCollider.get() == 0) ||
(mWorld.get() == 0) ||
@@ -184,11 +186,11 @@
}
// calculate the resulting surface parameters
- CalcSurfaceParam(contact.surface,handler->mSurfaceParameter);
+ CalcSurfaceParam(ODEContact.surface,handler->mSurfaceParameter);
// create the contact joint and attach it to the body
dJointID joint = dJointCreateContact
- ((dWorldID) mWorld->GetWorldID(), mSpace->GetODEJointGroup(), &contact);
+ ((dWorldID) mWorld->GetWorldID(), mSpace->GetODEJointGroup(), &ODEContact);
dJointAttach (joint, myBody, collideeBody);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/contactjointhandler.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -51,7 +51,7 @@
as returned from the ODE dCollide function
*/
virtual void HandleCollision
- (boost::shared_ptr<Collider> collidee, dContact& contact);
+ (boost::shared_ptr<Collider> collidee, GenericContact& contact);
/** the ContactJointHandler is not a symmetric handler. See
CollisionHandler::IsSymmetricHandler for an explanation
Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobject.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobject.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -1,50 +0,0 @@
-/* -*- 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: joint.h 107 2009-11-25 06:09:10Z a-held $
-
- 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_GENERICPHYSICSOBJECT_H
-#define OXYGEN_GENERICPHYSICSOBJECT_H
-
-#include <oxygen/oxygen_defines.h>
-
-namespace oxygen
-{
-/** GenericPhysicsObject is an empty class that has only supportive
- purposes. In many cases, it is required to pass a pointer or a
- reference to an engine-specific object on to the abstract layer,
- usually when a method of a different class is called. In that case,
- the pointer or reference must first be cast to a pointer or reference
- to this generic class. After the method call has been delegated by
- the abstract layer, the callee can then re-cast the pointer or
- reference type to the expected engine-specific type.
-
- This is done optimistically, i.e. callees trust that callers
- will not cast a pointer or reference to a wrong engine-specific type
- to a GenericPhysicsObject pointer and then commit a prank call.
-*/
-
-class OXYGEN_API GenericPhysicsObject
-{
-
-};
-
-} //namespace oxygen
-
-#endif //OXYGEN_GENERICPHYSICSOBJECT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobjects.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -0,0 +1,42 @@
+/* -*- 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: joint.h 107 2009-11-25 06:09:10Z a-held $
+
+ 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_GENERICPHYSICSOBJECTS_H
+#define OXYGEN_GENERICPHYSICSOBJECTS_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+/** GenericPhysicsObjects declares empty classes that have supportive
+ purposes. In many cases, it is required to pass a pointer or a
+ reference to an engine-specific object on to the abstract layer,
+ usually when a method of a different class is called. In that case,
+ the pointer or reference must first be cast to a pointer or reference
+ to one of the generic classes defined here.
+*/
+
+class OXYGEN_API GenericPhysicsMatrix{};
+class OXYGEN_API GenericContact{};
+
+} //namespace oxygen
+
+#endif //OXYGEN_GENERICPHYSICSOBJECTS_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -35,36 +35,32 @@
class OXYGEN_API ColliderInt
{
-public:
- enum ECollisionType
- {
- CT_DIRECT,
- CT_SYMMETRIC
- };
-
- typedef std::set<std::string> TColliderNameSet;
-
- static boost::shared_ptr<Collider> GetCollider(long GeomID){};
-
- virtual void OnCollision(boost::shared_ptr<Collider> collidee, dContact& contact, ECollisionType type) = 0;
- virtual bool AddCollisionHandler(const std::string& handlerName) = 0;
+public:
+
+ virtual void SetPosition(const salt::Vector3f& globalPos, long geomID) = 0;
+ virtual void SetLocalPosition(const salt::Vector3f& pos, long geomID) = 0;
+ virtual salt::Vector3f GetPosition(long geomID) const = 0;
+ virtual void SetRotation(const salt::Matrix& rot, long geomID) = 0;
+ virtual bool Intersect(boost::shared_ptr<Collider> collider, long geomID) = 0;
+ virtual long GetParentSpaceID(long geomID) = 0;
+ virtual void DestroyGeom(long geomID) = 0;
virtual long GetGeomID() = 0;
- virtual void SetPosition(const salt::Vector3f& pos) = 0;
- virtual void SetLocalPosition(const salt::Vector3f& pos) = 0;
- virtual salt::Vector3f GetPosition() const = 0;
- virtual void SetRotation(const salt::Matrix& rot) = 0;
- virtual bool Intersects(boost::shared_ptr<Collider> collider) = 0;
- virtual long GetParentSpaceID() = 0;
- virtual void AddNotCollideWithColliderName(const std::string& colliderName, bool isAdd) = 0;
- virtual const TColliderNameSet& GetNotCollideWithSet() const = 0;
- virtual void OnLink() = 0;
- virtual void OnUnlink() = 0;
- virtual void PrePhysicsUpdateInternal(float deltaTime) = 0;
- virtual void DestroyPhysicsObject() = 0;
+ virtual void TransformSetGeom(long parentGeomID, long geomID) = 0;
+ virtual void SetSpace(long spaceID, long geomID, Collider* collider) = 0;
+ virtual void SetBody(long bodyID, long geomID) = 0;
+ virtual void RemoveFromSpace(long geomID, long spaceID) = 0;
+ // Here, we have to cheat with the preprocessor, since a static method
+ // is required, and the bridge pattern requires member variables to
+ // be used (so we cannot use the bridge pattern)
+ static Collider* GetColliderPointer(long geomID){
+ #ifdef OXYGEN_ODEWRAPPER_H
+ return static_cast<Collider*>(dGeomGetData( (dGeomID) geomID));
+ #endif
+ }
+
protected:
long mGeomID;
- TColliderNameSet mNotCollideWithSet;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -26,7 +26,7 @@
#include <boost/smart_ptr/shared_ptr.hpp>
#include <salt/matrix.h>
#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/genericphysicsobject.h>
+#include <oxygen/physicsserver/genericphysicsobjects.h>
namespace oxygen
{
@@ -35,8 +35,8 @@
{
public:
- virtual void ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsObject& matrix) = 0;
- virtual void ConvertRotationMatrix(const GenericPhysicsObject* matrix, salt::Matrix& rot) const = 0;
+ virtual void ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsMatrix& matrix) = 0;
+ virtual void ConvertRotationMatrix(const GenericPhysicsMatrix* matrix, salt::Matrix& rot) const = 0;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -90,7 +90,7 @@
protected:
/** The ID of the managed body. This must be unique within the simulation.
- It is used externally to reference this partcular body.
+ It is used externally to reference this particular body.
*/
long mBodyID;
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/transformcolliderint.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -0,0 +1,45 @@
+/* -*- 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: transformcolliderint.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_TRANSFORMCOLLIDERINT_H
+#define OXYGEN_TRANSFORMCOLLIDERINT_H
+
+#include <oxygen/physicsserver/ode/odewrapper.h>
+#include <oxygen/oxygen_defines.h>
+#include <set>
+#include <string>
+
+namespace oxygen
+{
+
+class OXYGEN_API TransformColliderInt
+{
+
+public:
+ virtual void CreateTransformCollider() = 0;
+ virtual void SetColliderParameters(int cleanup, int info) = 0;
+ virtual long GetGeomID() = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_COLLIDERINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -44,222 +44,47 @@
{
}
-void ODECollider::OnLink()
-{/*
- //PhysicsObject::OnLink();
-
-
- //weak_ptr<Node> parent = GetParent();
- if (
- (mODEGeom == 0) //||
- //(parent.expired())
- )
- {
- return;
- }
-
- // shared_ptr<TransformCollider> tcParent =
- // shared_dynamic_cast<TransformCollider>(parent.lock());
-
- if (tcParent.get() != 0)
- {
- // our parent is an ODE transform geom that encapsulates
- // this geom, so register ourself to it. This geom must
- // not directly register to a space or a body.
- dGeomTransformSetGeom((dGeomID) tcParent->GetGeomID(), mODEGeom);
- return;
- }
-
- // this geom is independent, so register to space and body
- // if we have a space add the geom to it
- //long spaceID = FindSpaceID();
- if (
- (spaceID) &&
- (! dSpaceQuery((dSpaceID) spaceID, mODEGeom))
- )
- {
- dGeomSetData(mODEGeom, this);
- dSpaceAdd((dSpaceID) spaceID, mODEGeom);
- }
- // if there is a Body below our parent, link to it
- shared_ptr<RigidBody> body = shared_static_cast<RigidBody>
- (parent.lock()->GetChildOfClass("RigidBody"));
-
- if (body.get() != 0)
- {
- dGeomSetBody (mODEGeom, (dBodyID) body->GetBodyID());
- } else
- {
- // no body node found, setup initial position and
- // orientation identical to the parent node
- SetRotation(GetWorldTransform());
- SetPosition(Vector3f(0,0,0));
- }
-*/}
-
-void ODECollider::OnUnlink()
+void ODECollider::SetRotation(const Matrix& rot, long geomID)
{
- //PhysicsObject::OnUnlink();
-
- // remove collision geometry from space
- long space = GetParentSpaceID();
-
- if (
- (mODEGeom == 0) ||
- (space == 0)
- )
- {
- return;
- }
-
- if (space)
- {
- dSpaceRemove((dSpaceID) space, mODEGeom);
- }
-}
-
-void ODECollider::PrePhysicsUpdateInternal(float /*deltaTime*/)
-{
- // if (FindChildSupportingClass<CollisionHandler>(false).get() == 0)
- // {
- // for convenience we add a ContactJointHandler if no
- // other handler is registered. This behaviour covers the
- // majority of all use cases and eases the creation of
- // Colliders.
- AddCollisionHandler("oxygen/ContactJointHandler");
- // }
-}
-
-long ODECollider::GetGeomID()
-{
- return (long) mODEGeom;
-}
-
-bool ODECollider::AddCollisionHandler(const std::string& handlerName)
-{/*
- shared_ptr<CollisionHandler> handler =
- shared_dynamic_cast<CollisionHandler>(GetCore()->New(handlerName));
-
- if (handler.get() == 0)
- {
- GetLog()->Error()
- << "ERROR: (Collider) Cannot create CollisionHandler "
- << handlerName << "\n";
- return false;
- }
-
- return AddChildReference(handler);
-*/}
-
-void ODECollider::OnCollision (boost::shared_ptr<Collider> collidee,
- dContact& contact, ECollisionType type)
-
-{/*
- TLeafList handlers;
- ListChildrenSupportingClass<CollisionHandler>(handlers);
-
- for (
- TLeafList::iterator iter = handlers.begin();
- iter != handlers.end();
- ++iter
- )
- {
- shared_ptr<CollisionHandler> handler =
- shared_static_cast<CollisionHandler>(*iter);
-
- if (
- (type == CT_SYMMETRIC) &&
- (! handler->IsSymmetricHandler())
- )
- {
- continue;
- }
-
- handler->HandleCollision(collidee, contact);
- }
-*/}
-
-/*shared_ptr<Collider> ODECollider::GetCollider(long geomID)
-{
- if (geomID == 0)
- {
- return shared_ptr<Collider>();
- }
-
- Collider* collPtr =
- static_cast<Collider*>(dGeomGetData((dGeomID) geomID));
-
- if (collPtr == 0)
- {
- // we cannot use the logserver here
- cerr << "ERROR: (Collider) no Collider found for GeomID "
- << geomID << "\n";
- return shared_ptr<Collider>();
- }
-
- shared_ptr<Collider> collider = shared_static_cast<Collider>
- (collPtr->GetSelf().lock());
-
- if (collider.get() == 0)
- {
- // we cannot use the logserver here
- cerr << "ERROR: (Collider) got no shared_ptr for GeomID "
- << geomID << "\n";
- }
-
- return collider;
-}*/
-
-void ODECollider::SetRotation(const Matrix& rot)
-{
+ dGeomID ODEGeom = (dGeomID) geomID;
dMatrix3 ODEMatrix;
- GenericPhysicsObject& matrixRef = (GenericPhysicsObject&) ODEMatrix;
+ GenericPhysicsMatrix& matrixRef = (GenericPhysicsMatrix&) ODEMatrix;
ConvertRotationMatrix(rot, matrixRef);
- dGeomSetRotation(mODEGeom, ODEMatrix);
+ dGeomSetRotation(ODEGeom, ODEMatrix);
}
-void ODECollider::SetPosition(const Vector3f& pos)
+void ODECollider::SetPosition(const Vector3f& globalPos, long geomID)
{
- //Vector3f globalPos(GetWorldTransform() * pos);
- //dGeomSetPosition (mODEGeom, globalPos[0], globalPos[1], globalPos[2]);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomSetPosition (ODEGeom, globalPos[0], globalPos[1], globalPos[2]);
}
-void ODECollider::SetLocalPosition(const Vector3f& pos)
+void ODECollider::SetLocalPosition(const Vector3f& pos, long geomID)
{
- dGeomSetPosition (mODEGeom, pos[0], pos[1], pos[2]);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomSetPosition (ODEGeom, pos[0], pos[1], pos[2]);
}
-Vector3f ODECollider::GetPosition() const
+Vector3f ODECollider::GetPosition(long geomID) const
{
- const dReal* pos = dGeomGetPosition(mODEGeom);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ const dReal* pos = dGeomGetPosition(ODEGeom);
return Vector3f(pos[0],pos[1],pos[2]);
}
-long ODECollider::GetParentSpaceID()
+long ODECollider::GetParentSpaceID(long geomID)
{
- if (mODEGeom == 0)
- {
- return 0;
- }
-
- return (long) dGeomGetSpace(mODEGeom);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ return (long) dGeomGetSpace(ODEGeom);
}
-bool ODECollider::Intersects(boost::shared_ptr<Collider> collider)
+bool ODECollider::Intersect(boost::shared_ptr<Collider> collider, long geomID)
{
- if (
- (mODEGeom == 0) ||
- (collider.get() == 0)
- )
- {
- return false;
- }
-
+ dGeomID ODEGeom = (dGeomID) geomID;
dContactGeom contact;
return dCollide
- (
- mODEGeom,
+ (ODEGeom,
(dGeomID) collider->GetGeomID(),
1, /* ask for at most one collision point */
&contact,
@@ -267,40 +92,43 @@
) > 0;
}
-void ODECollider::DestroyPhysicsObject()
+void ODECollider::DestroyGeom(long geomID)
{
- if (! mODEGeom)
- {
- return;
- }
-
- dGeomDestroy(mODEGeom);
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomDestroy(ODEGeom);
mODEGeom = 0;
+ mGeomID = 0;
}
-void ODECollider::AddNotCollideWithColliderName(const std::string & colliderName, bool isAdd)
-{
- TColliderNameSet::iterator it = mNotCollideWithSet.find(colliderName);
+long ODECollider::GetGeomID(){
+ return mGeomID;
+}
- if (isAdd)
- {
- if (it == mNotCollideWithSet.end())
- {
- //I'm not have this one
- mNotCollideWithSet.insert(colliderName);
- }
- }
- else
- {
- if (it != mNotCollideWithSet.end())
- {
- //Remove
- mNotCollideWithSet.erase(it);
- }
- }
+void ODECollider::TransformSetGeom(long parentGeomID, long geomID){
+ dGeomID parentODEGeom = (dGeomID) parentGeomID;
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomTransformSetGeom(parentODEGeom, ODEGeom);
}
-const ODECollider::TColliderNameSet& ODECollider::GetNotCollideWithSet() const
-{
- return mNotCollideWithSet;
+void ODECollider::SetSpace(long spaceID, long geomID, Collider* collider){
+ dSpaceID ODESpace = (dSpaceID) spaceID;
+ dGeomID ODEGeom = (dGeomID) geomID;
+
+ if (!spaceID) return;
+ if (dSpaceQuery(ODESpace, ODEGeom)) return;
+
+ dGeomSetData(ODEGeom, collider);
+ dSpaceAdd(ODESpace, ODEGeom);
}
+
+void ODECollider::SetBody(long bodyID, long geomID){
+ dBodyID ODEBody = (dBodyID) bodyID;
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dGeomSetBody(ODEGeom, ODEBody);
+}
+
+void ODECollider::RemoveFromSpace(long geomID, long spaceID){
+ dGeomID ODEGeom = (dGeomID) geomID;
+ dSpaceID ODESpace = (dSpaceID) spaceID;
+ dSpaceRemove(ODESpace, ODEGeom);
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -28,6 +28,7 @@
namespace oxygen
{
+class Collider;
class OXYGEN_API ODECollider : public ColliderInt, public ODEPhysicsObject
{
@@ -36,25 +37,21 @@
ODECollider();
virtual ~ODECollider();
- void OnCollision(boost::shared_ptr<Collider> collidee, dContact& contact, ECollisionType type);
- bool AddCollisionHandler(const std::string& handlerName);
+ void SetPosition(const salt::Vector3f& globalPos, long geomID);
+ void SetLocalPosition(const salt::Vector3f& pos, long GeomID);
+ salt::Vector3f GetPosition(long geomID) const;
+ void SetRotation(const salt::Matrix& rot, long GeomID);
+ bool Intersect(boost::shared_ptr<Collider> collider, long geomID);
+ long GetParentSpaceID(long geomID);
+ void DestroyGeom(long GeomID);
long GetGeomID();
- void SetPosition(const salt::Vector3f& pos);
- void SetLocalPosition(const salt::Vector3f& pos);
- salt::Vector3f GetPosition() const;
- void SetRotation(const salt::Matrix& rot);
- bool Intersects(boost::shared_ptr<Collider> collider);
- long GetParentSpaceID();
- void AddNotCollideWithColliderName(const std::string& colliderName, bool isAdd);
- const TColliderNameSet& GetNotCollideWithSet() const;
- void OnLink();
- void OnUnlink();
- void PrePhysicsUpdateInternal(float deltaTime);
- void DestroyPhysicsObject();
+ void TransformSetGeom(long parentGeomID, long geomID);
+ void SetSpace(long spaceID, long geomID, Collider* collider);
+ void SetBody(long bodyID, long geomID);
+ void RemoveFromSpace(long geomID, long spaceID);
protected:
dGeomID mODEGeom;
- TColliderNameSet mNotCollideWithSet;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -32,7 +32,7 @@
ODEPhysicsObject::ODEPhysicsObject(){
}
-void ODEPhysicsObject::ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsObject& matrix)
+void ODEPhysicsObject::ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsMatrix& matrix)
{
dMatrix3& odeMatrix = (dMatrix3&) matrix;
@@ -50,7 +50,7 @@
odeMatrix[11] = 0;
}
-void ODEPhysicsObject::ConvertRotationMatrix(const GenericPhysicsObject* matrix, salt::Matrix& rot) const
+void ODEPhysicsObject::ConvertRotationMatrix(const GenericPhysicsMatrix* matrix, salt::Matrix& rot) const
{
dReal* odeMatrix = (dReal*) matrix;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -35,8 +35,8 @@
public:
ODEPhysicsObject();
- void ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsObject& matrix);
- void ConvertRotationMatrix(const GenericPhysicsObject* matrix, salt::Matrix& rot) const;
+ void ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsMatrix& matrix);
+ void ConvertRotationMatrix(const GenericPhysicsMatrix* matrix, salt::Matrix& rot) const;
};
} //namespace oxygen
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -133,7 +133,7 @@
dMass transMass(ODEMass);
dMatrix3 ODEMatrix;
- GenericPhysicsObject& matrixRef = (GenericPhysicsObject&) ODEMatrix;
+ GenericPhysicsMatrix& matrixRef = (GenericPhysicsMatrix&) ODEMatrix;
ConvertRotationMatrix(matrix, matrixRef);
dMassRotate(&transMass, ODEMatrix);
@@ -348,7 +348,7 @@
void ODERigidBody::SetRotation(const Matrix& rot)
{
dMatrix3 ODEMatrix;
- GenericPhysicsObject& matrixRef = (GenericPhysicsObject&) ODEMatrix;
+ GenericPhysicsMatrix& matrixRef = (GenericPhysicsMatrix&) ODEMatrix;
ConvertRotationMatrix(rot, matrixRef);
dBodySetRotation(mODEBody, ODEMatrix);
}
@@ -356,7 +356,7 @@
salt::Matrix ODERigidBody::GetRotation() const
{
const dReal* ODEMatrix = dBodyGetRotation(mODEBody);
- GenericPhysicsObject* matrixPtr = (GenericPhysicsObject*) ODEMatrix;
+ GenericPhysicsMatrix* matrixPtr = (GenericPhysicsMatrix*) ODEMatrix;
salt::Matrix rot;
ConvertRotationMatrix(matrixPtr,rot);
return rot;
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -0,0 +1,43 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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/physicsserver/ode/odetransformcollider.h>
+
+using namespace oxygen;
+
+ODETransformCollider::ODETransformCollider() : ODECollider(){
+
+}
+
+void ODETransformCollider::CreateTransformCollider(){
+ mODEGeom = dCreateGeomTransform(0);
+ mGeomID = (long) mODEGeom;
+}
+
+void ODETransformCollider::SetColliderParameters(int cleanup, int info){
+ dGeomTransformSetCleanup(mODEGeom, cleanup);
+ dGeomTransformSetInfo(mODEGeom, info);
+}
+
+long ODETransformCollider::GetGeomID(){
+ return mGeomID;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odetransformcollider.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -0,0 +1,44 @@
+/* -*- 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: odetransformcollider.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_ODETRANSFORMCOLLIDER_H
+#define OXYGEN_ODETRANSFORMCOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odecollider.h>
+#include <oxygen/physicsserver/int/transformcolliderint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODETransformCollider : public TransformColliderInt, public ODECollider
+{
+
+public:
+ ODETransformCollider();
+ void CreateTransformCollider();
+ void SetColliderParameters(int cleanup, int info);
+ long GetGeomID();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECOLLIDER_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -20,7 +20,7 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
-#include <oxygen/physicsserver/genericphysicsobject.h>
+#include <oxygen/physicsserver/genericphysicsobjects.h>
#include <oxygen/physicsserver/physicsobject.h>
#include <oxygen/physicsserver/space.h>
#include <oxygen/physicsserver/world.h>
@@ -136,12 +136,12 @@
return 0;
}
-void PhysicsObject::ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsObject& matrix)
+void PhysicsObject::ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsMatrix& matrix)
{
mPhysicsObjectImp->ConvertRotationMatrix(rot, matrix);
}
-void PhysicsObject::ConvertRotationMatrix(const GenericPhysicsObject* matrix, salt::Matrix& rot) const
+void PhysicsObject::ConvertRotationMatrix(const GenericPhysicsMatrix* matrix, salt::Matrix& rot) const
{
mPhysicsObjectImp->ConvertRotationMatrix(matrix, rot);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -31,7 +31,7 @@
class Space;
class World;
class PhysicsObjectInt;
-class GenericPhysicsObject;
+class GenericPhysicsMatrix;
/** ODEObject is the base of all classes encapsulating ODE concepts
*/
@@ -76,12 +76,12 @@
/** converts the rotation part of a salt::Matrix to an
engine-specific matrix, currently used for ODE's dMatrix3
*/
- void ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsObject& matrix);
+ void ConvertRotationMatrix(const salt::Matrix& rot, GenericPhysicsMatrix& matrix);
/** coverts an engine-specific to the rotation part of a salt::Matrix,
currently used for ODE's dMatrix3
*/
- void ConvertRotationMatrix(const GenericPhysicsObject* matrix, salt::Matrix& rot) const;
+ void ConvertRotationMatrix(const GenericPhysicsMatrix* matrix, salt::Matrix& rot) const;
private:
boost::shared_ptr<PhysicsObjectInt> mPhysicsObjectImp;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -55,7 +55,7 @@
//create default plane
mPlaneColliderImp->CreatePlane();
- mODEGeom = (dGeomID) mPlaneColliderImp->GetGeomID();
+ mGeomID = mPlaneColliderImp->GetGeomID();
return (mPlaneColliderImp->GetGeomID() != 0);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -44,7 +44,7 @@
// create a unit ray
mRayColliderImp->CreateRay();
- mODEGeom = (dGeomID) mRayColliderImp->GetGeomID();
+ mGeomID = mRayColliderImp->GetGeomID();
return (mRayColliderImp->GetGeomID() != 0);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/recorderhandler.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/recorderhandler.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/recorderhandler.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -26,7 +26,7 @@
void
RecorderHandler::HandleCollision
-(boost::shared_ptr<Collider> collidee, dContact& /*contact*/)
+(boost::shared_ptr<Collider> collidee, GenericContact& /*contact*/)
{
mCollisionSet.insert(weak_ptr<Collider>(collidee));
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/recorderhandler.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/recorderhandler.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/recorderhandler.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -52,7 +52,7 @@
as returned from the ODE dCollide function
*/
virtual void HandleCollision
- (boost::shared_ptr<Collider> collidee, dContact& contact);
+ (boost::shared_ptr<Collider> collidee, GenericContact& contact);
/** removes all stored collisions from the recorder */
void Clear();
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -170,8 +170,8 @@
for (int i=0;i<n;++i)
{
// notify the collider nodes
- collider->OnCollision(collidee,(void*) &contacts[i],Collider::CT_DIRECT);
- collidee->OnCollision(collider,(void*) &contacts[i],Collider::CT_SYMMETRIC);
+ collider->OnCollision(collidee,(GenericContact&) contacts[i],Collider::CT_DIRECT);
+ collidee->OnCollision(collider,(GenericContact&) contacts[i],Collider::CT_SYMMETRIC);
}
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -51,7 +51,7 @@
// create a unit sphere
mSphereColliderImp->CreateSphere();
- mODEGeom = (dGeomID) mSphereColliderImp->GetGeomID();
+ mGeomID = mSphereColliderImp->GetGeomID();
return (mSphereColliderImp->GetGeomID() != 0);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -20,6 +20,7 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
+#include <oxygen/physicsserver/ode/odetransformcollider.h>
#include <oxygen/physicsserver/transformcollider.h>
using namespace oxygen;
@@ -27,6 +28,7 @@
TransformCollider::TransformCollider() : Collider()
{
+ mTransformColliderImp = boost::shared_ptr<ODETransformCollider>(new ODETransformCollider());
}
bool TransformCollider::ConstructInternal()
@@ -36,20 +38,23 @@
return false;
}
- mODEGeom = dCreateGeomTransform(0);
+ mTransformColliderImp->CreateTransformCollider();
+ mGeomID = mTransformColliderImp->GetGeomID();
- if (mODEGeom == 0)
+ if (mGeomID == 0)
{
return false;
}
//! do not automatically destroy encapsulated geoms
- dGeomTransformSetCleanup(mODEGeom, 0);
+ int cleanupSetting = 0;
/** report the transform geom in collisions instead of the
encapsulated geoms
*/
- dGeomTransformSetInfo(mODEGeom, 1);
+ int infoSetting = 1;
+
+ mTransformColliderImp->SetColliderParameters(cleanupSetting, infoSetting);
return true;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/transformcollider.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -27,8 +27,9 @@
namespace oxygen
{
+class TransformColliderInt;
-/** TransformCollider encapsulates an ODE transform geometry object
+/** TransformCollider encapsulates a transform geometry object
that encapsulates another geom. It allows the encapsulated geom to
be positioned and rotated arbitrarily with respect to its point of
reference.
@@ -54,6 +55,9 @@
protected:
virtual bool ConstructInternal();
+
+private:
+ boost::shared_ptr<TransformColliderInt> mTransformColliderImp;
};
DECLARE_CLASS(TransformCollider);
Modified: branches/multiphys/spark/plugin/collisionperceptor/perceptorhandler.cpp
===================================================================
--- branches/multiphys/spark/plugin/collisionperceptor/perceptorhandler.cpp 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/plugin/collisionperceptor/perceptorhandler.cpp 2009-12-14 11:14:38 UTC (rev 120)
@@ -61,7 +61,7 @@
void
PerceptorHandler::HandleCollision
-(boost::shared_ptr<Collider> collidee, dContact& /*contact*/)
+(boost::shared_ptr<Collider> collidee, GenericContact& /*contact*/)
{
if (mColPercept.get() == 0)
return;
Modified: branches/multiphys/spark/plugin/collisionperceptor/perceptorhandler.h
===================================================================
--- branches/multiphys/spark/plugin/collisionperceptor/perceptorhandler.h 2009-12-11 08:54:01 UTC (rev 119)
+++ branches/multiphys/spark/plugin/collisionperceptor/perceptorhandler.h 2009-12-14 11:14:38 UTC (rev 120)
@@ -23,6 +23,7 @@
#define PERCEPTORHANDLER_H
#include <oxygen/physicsserver/collisionhandler.h>
+#include <oxygen/physicsserver/genericphysicsobjects.h>
class CollisionPerceptor;
@@ -46,7 +47,7 @@
as returned from the ODE dCollide function
*/
virtual void HandleCollision
- (boost::shared_ptr<oxygen::Collider> collidee, dContact& contact);
+ (boost::shared_ptr<oxygen::Collider> collidee, oxygen::GenericContact& contact);
protected:
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <a-...@us...> - 2009-12-11 08:54:08
|
Revision: 119
http://simspark.svn.sourceforge.net/simspark/?rev=119&view=rev
Author: a-held
Date: 2009-12-11 08:54:01 +0000 (Fri, 11 Dec 2009)
Log Message:
-----------
Implemented bridge pattern for RayCollider and PlaneCollider
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.h
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-10 08:34:56 UTC (rev 118)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-11 08:54:01 UTC (rev 119)
@@ -68,6 +68,8 @@
physicsserver/int/emptycolliderint.h
physicsserver/int/physicsobjectint.h
physicsserver/int/physicsserverint.h
+ physicsserver/int/planecolliderint.h
+ physicsserver/int/raycolliderint.h
physicsserver/int/rigidbodyint.h
physicsserver/int/softbodyint.h
physicsserver/int/spaceint.h
@@ -89,6 +91,8 @@
physicsserver/ode/odeemptycollider.h
physicsserver/ode/odephysicsobject.h
physicsserver/ode/odephysicsserver.h
+ physicsserver/ode/odeplanecollider.h
+ physicsserver/ode/oderaycollider.h
physicsserver/ode/oderigidbody.h
physicsserver/ode/odesoftbody.h
physicsserver/ode/odespace.h
@@ -245,6 +249,8 @@
physicsserver/ode/odeemptycollider.cpp
physicsserver/ode/odephysicsobject.cpp
physicsserver/ode/odephysicsserver.cpp
+ physicsserver/ode/odeplanecollider.cpp
+ physicsserver/ode/oderaycollider.cpp
physicsserver/ode/oderigidbody.cpp
physicsserver/ode/odesoftbody.cpp
physicsserver/ode/odespace.cpp
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/planecolliderint.h 2009-12-11 08:54:01 UTC (rev 119)
@@ -0,0 +1,46 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_PLANECOLLIDERINT_H
+#define OXYGEN_PLANECOLLIDERINT_H
+
+#include <salt/matrix.h>
+#include <salt/vector.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API PlaneColliderInt
+{
+public:
+ virtual void SetPlaneParams(float a, float b, float c, float d) = 0;
+ virtual void SetParams(const salt::Vector3f& pos, salt::Vector3f normal) = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+
+ virtual long GetGeomID() = 0;
+ virtual void CreatePlane() = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_PLANECOLLIDERINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/raycolliderint.h 2009-12-11 08:54:01 UTC (rev 119)
@@ -0,0 +1,42 @@
+/* -*- 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: raycolliderint.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_RAYCOLLIDERINT_H
+#define OXYGEN_RAYCOLLIDERINT_H
+
+#include <salt/vector.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API RayColliderInt
+{
+public:
+ virtual void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length) = 0;
+ virtual void CreateRay() = 0;
+ virtual long GetGeomID() = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_RAYCOLLIDERINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
@@ -0,0 +1,58 @@
+/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: planecollider.cpp 108 2009-11-25 10:20:10Z a-held $
+
+ 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/physicsserver/ode/odeplanecollider.h>
+
+using namespace oxygen;
+using namespace salt;
+
+ODEPlaneCollider::ODEPlaneCollider() : ODECollider()
+{
+}
+
+void ODEPlaneCollider::SetPlaneParams(float a, float b, float c, float d)
+{
+ dGeomPlaneSetParams(mODEGeom, a, b, c, d);
+}
+
+void ODEPlaneCollider::CreatePlane()
+{
+ // a plane with normal pointing up, going through the origin
+ mODEGeom = dCreatePlane(0, 0, 1, 0, 0);
+ mGeomID = (long) mODEGeom;
+}
+
+void ODEPlaneCollider::SetParams(const salt::Vector3f& pos, salt::Vector3f normal)
+{
+ normal.Normalize();
+ float d = pos.Dot(normal);
+ dGeomPlaneSetParams(mODEGeom, normal.x(), normal.y(), normal.z(), d);
+}
+
+float ODEPlaneCollider::GetPointDepth(const Vector3f& pos)
+{
+ return dGeomPlanePointDepth
+ (mODEGeom,pos[0],pos[1],pos[2]);
+}
+
+long ODEPlaneCollider::GetGeomID(){
+ return mGeomID;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeplanecollider.h 2009-12-11 08:54:01 UTC (rev 119)
@@ -0,0 +1,47 @@
+/* -*- 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: odeplanecollider.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_ODEPLANECOLLIDER_H
+#define OXYGEN_ODEPLANECOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odecollider.h>
+#include <oxygen/physicsserver/int/planecolliderint.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEPlaneCollider : public PlaneColliderInt, public ODECollider
+{
+public:
+ ODEPlaneCollider();
+ void SetPlaneParams(float a, float b, float c, float d);
+ void SetParams(const salt::Vector3f& pos, salt::Vector3f normal);
+ float GetPointDepth(const salt::Vector3f& pos);
+
+ long GetGeomID();
+ void CreatePlane();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEPLANECOLLIDER_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
@@ -0,0 +1,46 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: raycollider.cpp 108 2009-11-25 10:20:10Z a-held $
+
+ 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/physicsserver/ode/oderaycollider.h>
+
+using namespace oxygen;
+
+ODERayCollider::ODERayCollider() : ODECollider()
+{
+
+}
+
+void ODERayCollider::SetParams(salt::Vector3f pos,
+ salt::Vector3f dir, float length)
+{
+ dGeomRaySet(mODEGeom, pos[0], pos[1], pos[2], dir[0], dir[1], dir[2]);
+ dGeomRaySetLength(mODEGeom, length);
+}
+
+void ODERayCollider::CreateRay()
+{
+ mODEGeom = dCreateRay(0, 1.0f);
+ mGeomID = (long) mODEGeom;
+}
+
+long ODERayCollider::GetGeomID(){
+ return mGeomID;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderaycollider.h 2009-12-11 08:54:01 UTC (rev 119)
@@ -0,0 +1,44 @@
+/* -*- 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: oderaycollider.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_ODERAYCOLLIDER_H
+#define OXYGEN_ODERAYCOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odecollider.h>
+#include <oxygen/physicsserver/int/raycolliderint.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODERayCollider : public RayColliderInt, public ODECollider
+{
+public:
+ ODERayCollider();
+ void SetParams(salt::Vector3f pos, salt::Vector3f dir, float length);
+ void CreateRay();
+ long GetGeomID();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODERAYCOLLIDER_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp 2009-12-10 08:34:56 UTC (rev 118)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
@@ -20,12 +20,15 @@
*/
#include <oxygen/physicsserver/planecollider.h>
+#include <oxygen/physicsserver/ode/odeplanecollider.h>
+#include <zeitgeist/logserver/logserver.h>
using namespace oxygen;
using namespace salt;
PlaneCollider::PlaneCollider() : Collider()
{
+ mPlaneColliderImp = boost::shared_ptr<ODEPlaneCollider>(new ODEPlaneCollider());
}
void PlaneCollider::SetParams(float a, float b, float c, float d)
@@ -40,7 +43,7 @@
d /= l;
}
- dGeomPlaneSetParams(mODEGeom, a, b, c, d);
+ mPlaneColliderImp->SetPlaneParams(a, b, c, d);
}
bool PlaneCollider::ConstructInternal()
@@ -50,39 +53,35 @@
return false;
}
- // a plane with normal pointing up, going through the origin
- mODEGeom = dCreatePlane(0, 0, 1, 0, 0);
+ //create default plane
+ mPlaneColliderImp->CreatePlane();
+ mODEGeom = (dGeomID) mPlaneColliderImp->GetGeomID();
- return (mODEGeom != 0);
+ return (mPlaneColliderImp->GetGeomID() != 0);
}
-void
-PlaneCollider::SetParams(const salt::Vector3f& pos, salt::Vector3f normal)
+void PlaneCollider::SetParams(const salt::Vector3f& pos, salt::Vector3f normal)
{
normal.Normalize();
float d = pos.Dot(normal);
- dGeomPlaneSetParams(mODEGeom, normal.x(), normal.y(), normal.z(), d);
+ mPlaneColliderImp->SetPlaneParams(normal.x(), normal.y(), normal.z(), d);
+ //dGeomPlaneSetParams(mODEGeom, normal.x(), normal.y(), normal.z(), d);
}
-void
-PlaneCollider::SetPosition(const salt::Vector3f& /*pos*/)
+void PlaneCollider::SetPosition(const salt::Vector3f& /*pos*/)
{
- // planes are non placeable geoms
+ GetLog()->Error()
+ << "(PlaneCollider) WARNING: tried to set the position of a non-placeable geom, ignored\n";
}
-void
-PlaneCollider::SetRotation(const Matrix& /*rot*/)
+void PlaneCollider::SetRotation(const Matrix& /*rot*/)
{
- // planes are non placeable geoms
+ GetLog()->Error()
+ << "(PlaneCollider) WARNING: tried to set the rotation of a non-placeable geom, ignored\n";
}
-float
-PlaneCollider::GetPointDepth(const Vector3f& pos)
+float PlaneCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return dGeomPlanePointDepth
- (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
+ return mPlaneColliderImp->GetPointDepth(worldPos);
}
-
-
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.h 2009-12-10 08:34:56 UTC (rev 118)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/planecollider.h 2009-12-11 08:54:01 UTC (rev 119)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class PlaneColliderInt;
/** PlaneCollider encapsulates an ODE plane geometry object. Planes
are non-placeable geoms, i.e. unlike placeable geoms, planes do
@@ -74,6 +75,9 @@
/** constructs a default plane with normal pointing up, going
through the origin */
virtual bool ConstructInternal();
+
+private:
+ boost::shared_ptr<PlaneColliderInt> mPlaneColliderImp;
};
DECLARE_CLASS(PlaneCollider);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp 2009-12-10 08:34:56 UTC (rev 118)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.cpp 2009-12-11 08:54:01 UTC (rev 119)
@@ -19,24 +19,23 @@
Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
+#include <oxygen/physicsserver/ode/oderaycollider.h>
#include <oxygen/physicsserver/raycollider.h>
using namespace oxygen;
RayCollider::RayCollider() : Collider()
{
+ mRayColliderImp = boost::shared_ptr<ODERayCollider>(new ODERayCollider());
}
-void
-RayCollider::SetParams(salt::Vector3f pos,
+void RayCollider::SetParams(salt::Vector3f pos,
salt::Vector3f dir, float length)
{
- dGeomRaySet(mODEGeom, pos[0], pos[1], pos[2], dir[0], dir[1], dir[2]);
- dGeomRaySetLength(mODEGeom, length);
+ mRayColliderImp->SetParams(pos, dir, length);
}
-bool
-RayCollider::ConstructInternal()
+bool RayCollider::ConstructInternal()
{
if (! Collider::ConstructInternal())
{
@@ -44,7 +43,8 @@
}
// create a unit ray
- mODEGeom = dCreateRay(0, 1.0f);
+ mRayColliderImp->CreateRay();
+ mODEGeom = (dGeomID) mRayColliderImp->GetGeomID();
- return (mODEGeom != 0);
+ return (mRayColliderImp->GetGeomID() != 0);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.h 2009-12-10 08:34:56 UTC (rev 118)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/raycollider.h 2009-12-11 08:54:01 UTC (rev 119)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class RayColliderInt;
/** RayCollider encapsulates an ODE ray geometry "object".
*
@@ -54,6 +55,9 @@
protected:
/** constructs a default ray with a length of 1 */
virtual bool ConstructInternal();
+
+private:
+ boost::shared_ptr<RayColliderInt> mRayColliderImp;
};
DECLARE_CLASS(RayCollider);
This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.
|
|
From: <a-...@us...> - 2009-12-10 08:35:03
|
Revision: 118
http://simspark.svn.sourceforge.net/simspark/?rev=118&view=rev
Author: a-held
Date: 2009-12-10 08:34:56 +0000 (Thu, 10 Dec 2009)
Log Message:
-----------
Searched and renamed all CCylinders, CappedCylinders and Capped Cylinders to Capsule
Implemented bridge pattern for CapsuleCollider
Provided bridge pattern for ConeCollider
Declared GenericPhysicsObject class that can be cast to in order to pass pointers
to engine-specific objects on to the abstract layer (like void*, but cleaner)
Modified Paths:
--------------
branches/multiphys/rcssserver3d/data/rsg/agent/hoap2.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot055.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot056.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbot.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotcomp.rsg
branches/multiphys/rcssserver3d/doc/users/robots.tex
branches/multiphys/spark/data/ros/aibo.rsi
branches/multiphys/spark/data/ros/blockworld.ros
branches/multiphys/spark/data/rsg/boxspheres/simspark.rsg
branches/multiphys/spark/lib/kerosin/CMakeLists.txt
branches/multiphys/spark/lib/kerosin/kerosin.cpp
branches/multiphys/spark/lib/kerosin/kerosin.h
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.cpp
branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.h
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/conecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odephysicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/physicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody.h
branches/multiphys/spark/lib/oxygen/physicsserver/rigidbody_c.cpp
branches/multiphys/spark/plugin/rosimporter/roselements.cpp
branches/multiphys/spark/plugin/rosimporter/roselements.h
branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp
branches/multiphys/spark/plugin/rosimporter/rosimporter.h
Added Paths:
-----------
branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_appearance.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics_nocollider.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg
branches/multiphys/spark/data/rsg/boxspheres/capsule.rsg
branches/multiphys/spark/data/rsg/boxspheres/staticcapsule.rsg
branches/multiphys/spark/lib/kerosin/sceneserver/capsule.cpp
branches/multiphys/spark/lib/kerosin/sceneserver/capsule.h
branches/multiphys/spark/lib/kerosin/sceneserver/capsule_c.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/conecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/genericphysicsobject.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/capsulecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/conecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecapsulecollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconecollider.h
Removed Paths:
-------------
branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_appearance.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg
branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg
branches/multiphys/spark/data/rsg/boxspheres/staticccylinder.rsg
branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.cpp
branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.h
branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder_c.cpp
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/hoap2.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/hoap2.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/hoap2.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -142,7 +142,7 @@
(nd Transform
(setLocalPos $offsetLeftShoulderCylX $offsetLeftShoulderCylY $offsetLeftShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
)
@@ -151,7 +151,7 @@
(nd Transform
(setLocalPos $offsetRightShoulderCylX $offsetRightShoulderCylY $offsetRightShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
)
@@ -373,7 +373,7 @@
(nd Transform
(setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $ElbowRadius $ElbowLength)
)
@@ -410,7 +410,7 @@
(nd Transform
(setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $ElbowRadius $ElbowLength)
)
Added: branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_appearance.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_appearance.rsg (rev 0)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_appearance.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -0,0 +1,11 @@
+; -*- mode: lisp; -*-
+
+(RSG 0 1)
+(
+ (templ $radius $length $material)
+
+ (nd Capsule
+ (setParams $radius $length)
+ (setMaterial $material)
+ )
+)
Added: branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics.rsg (rev 0)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -0,0 +1,19 @@
+; -*- mode: lisp; -*-
+
+(RSG 0 1)
+(
+ (templ $radius $length $totalMass)
+
+ (nd RigidBody
+ (setName capsuleBody)
+ (setCapsuleTotal $totalMass $radius $length)
+
+ (importScene rsg/agent/nao/dragcontroller.rsg)
+ )
+
+ (nd CapsuleCollider
+ (setParams $radius $length)
+
+ (importScene rsg/agent/nao/contactjointhandler.rsg)
+ )
+ )
Added: branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics_nocollider.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics_nocollider.rsg (rev 0)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/capsule_physics_nocollider.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -0,0 +1,13 @@
+; -*- mode: lisp; -*-
+
+(RSG 0 1)
+(
+ (templ $radius $length $totalMass)
+
+ (nd RigidBody
+ (setName capsuleBody)
+ (setCapsuleTotal $totalMass $radius)
+
+ (importScene rsg/agent/nao/dragcontroller.rsg)
+ )
+)
Deleted: branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_appearance.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_appearance.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_appearance.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -1,11 +0,0 @@
-; -*- mode: lisp; -*-
-
-(RSG 0 1)
-(
- (templ $radius $length $material)
-
- (nd CCylinder
- (setParams $radius $length)
- (setMaterial $material)
- )
-)
Deleted: branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -1,19 +0,0 @@
-; -*- mode: lisp; -*-
-
-(RSG 0 1)
-(
- (templ $radius $length $totalMass)
-
- (nd RigidBody
- (setName ccylinderBody)
- (setCappedCylinderTotal $totalMass $radius $length)
-
- (importScene rsg/agent/nao/dragcontroller.rsg)
- )
-
- (nd CCylinderCollider
- (setParams $radius $length)
-
- (importScene rsg/agent/nao/contactjointhandler.rsg)
- )
- )
Deleted: branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/ccylinder_physics_nocollider.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -1,13 +0,0 @@
-; -*- mode: lisp; -*-
-
-(RSG 0 1)
-(
- (templ $radius $length $totalMass)
-
- (nd RigidBody
- (setName ccylinderBody)
- (setCappedCylinderTotal $totalMass $radius)
-
- (importScene rsg/agent/nao/dragcontroller.rsg)
- )
-)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/nao/naoneckhead.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -43,12 +43,12 @@
(setName neck)
(setLocalPos $Neck_X $Neck_Y $Neck_Z)
- (importScene rsg/agent/nao/ccylinder_appearance.rsg $Neck_Radius $Neck_Length matDarkGrey)
- (importScene rsg/agent/nao/ccylinder_physics.rsg $Neck_Radius $Neck_Length $Neck_Mass)
+ (importScene rsg/agent/nao/capsule_appearance.rsg $Neck_Radius $Neck_Length matDarkGrey)
+ (importScene rsg/agent/nao/capsule_physics.rsg $Neck_Radius $Neck_Length $Neck_Mass)
(importScene rsg/agent/nao/hingejoint.rsg
hj1 he1
- ../ccylinderBody ../../body/boxBody
+ ../capsuleBody ../../body/boxBody
0 0 0
0 0 1
$he1_min $he1_max)
@@ -80,7 +80,7 @@
(importScene rsg/agent/nao/hingejoint.rsg
hj2 he2
- ../sphereBody ../../neck/ccylinderBody
+ ../sphereBody ../../neck/capsuleBody
;../boxBody ../../body/boxBody
0 0 -0.005
1 0 0
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot055.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot055.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot055.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -168,7 +168,7 @@
(nd Transform
(setLocalPos $offsetLeftShoulderCylX $offsetLeftShoulderCylY $offsetLeftShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setName leftshoulderpin)
(setMaterial matDarkGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
@@ -178,7 +178,7 @@
(nd Transform
(setLocalPos $offsetRightShoulderCylX $offsetRightShoulderCylY $offsetRightShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setName rightshoulderpin)
(setMaterial matDarkGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
@@ -336,7 +336,7 @@
(nd Transform
(setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $ElbowRadius $ElbowLength)
)
@@ -374,7 +374,7 @@
(nd Transform
(setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $ElbowRadius $ElbowLength)
)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot056.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot056.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot056.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -204,7 +204,7 @@
(nd Transform
(setLocalPos $offsetLeftShoulderCylX $offsetLeftShoulderCylY $offsetLeftShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setName leftshoulderpin)
(setMaterial matDarkGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
@@ -214,7 +214,7 @@
(nd Transform
(setLocalPos $offsetRightShoulderCylX $offsetRightShoulderCylY $offsetRightShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setName rightshoulderpin)
(setMaterial matDarkGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
@@ -409,7 +409,7 @@
(nd Transform
(setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $ElbowRadius $ElbowLength)
)
@@ -455,7 +455,7 @@
(nd Transform
(setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $ElbowRadius $ElbowLength)
)
@@ -771,7 +771,7 @@
(nd Transform
(setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matRed)
(setParams 0.1 (eval $ThighLength - 0.2))
)
@@ -812,7 +812,7 @@
(nd Transform
(setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matRed)
(setParams 0.1 (eval $ThighLength - 0.2))
)
Added: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg (rev 0)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -0,0 +1,37 @@
+;; -*- mode: lisp; -*-
+
+(RSG 0 1)
+(
+ (templ $name $perceptorName $effectorName $attach
+ $x $y $z
+ $lenX $lenY $lenZ
+ $anchorX $anchorY $anchorZ
+ $axisX $axisY $axisZ $minDeg $maxDeg
+ $totalMass $material $ElbowRadius $ElbowLen)
+
+ (nd Transform
+ (setName $name)
+ (setLocalPos $x $y $z)
+ (importScene rsg/agent/soccerbot058/box.rsg
+ $lenX $lenY $lenZ
+ $totalMass $material)
+
+ ;; install hinge joint
+ (importScene rsg/agent/nao/hingejoint.rsg
+ $perceptorName $effectorName
+ ../boxBody $attach
+ $anchorX $anchorY $anchorZ
+ $axisX $axisY $axisZ
+ $minDeg $maxDeg)
+
+ ;; static cylinder for the elbow
+ (nd Transform
+ (setLocalPos $anchorX $anchorY $anchorZ)
+ (setLocalRotation 0 90 0)
+ (nd Capsule
+ (setMaterial matGrey)
+ (setParams $ElbowRadius $ElbowLen)
+ )
+ )
+ )
+ )
Deleted: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -1,37 +0,0 @@
-;; -*- mode: lisp; -*-
-
-(RSG 0 1)
-(
- (templ $name $perceptorName $effectorName $attach
- $x $y $z
- $lenX $lenY $lenZ
- $anchorX $anchorY $anchorZ
- $axisX $axisY $axisZ $minDeg $maxDeg
- $totalMass $material $ElbowRadius $ElbowLen)
-
- (nd Transform
- (setName $name)
- (setLocalPos $x $y $z)
- (importScene rsg/agent/soccerbot058/box.rsg
- $lenX $lenY $lenZ
- $totalMass $material)
-
- ;; install hinge joint
- (importScene rsg/agent/nao/hingejoint.rsg
- $perceptorName $effectorName
- ../boxBody $attach
- $anchorX $anchorY $anchorZ
- $axisX $axisY $axisZ
- $minDeg $maxDeg)
-
- ;; static cylinder for the elbow
- (nd Transform
- (setLocalPos $anchorX $anchorY $anchorZ)
- (setLocalRotation 0 90 0)
- (nd CCylinder
- (setMaterial matGrey)
- (setParams $ElbowRadius $ElbowLen)
- )
- )
- )
- )
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/lowerarm.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -38,7 +38,7 @@
(nd Transform
(setLocalPos $anchorX $anchorY $anchorZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $ElbowRadius $ElbowLen)
)
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbot.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbot.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbot058/soccerbot.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -216,7 +216,7 @@
$offsetLeftShoulderCylY
$offsetLeftShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setName leftshoulderpin)
(setMaterial matDarkGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
@@ -228,7 +228,7 @@
$offsetRightShoulderCylY
$offsetRightShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setName rightshoulderpin)
(setMaterial matDarkGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
@@ -434,7 +434,7 @@
- (eval $ShankHeight / 2.0)
- (eval 0.05 * $scale)))
(def $ShankAnchorZ (eval $ShankHeight * 0.5))
- (importScene rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
+ (importScene rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg
leftshank llj4 lle4 ../../leftthigh/boxBody
$LeftShankPosX $LeftShankPosY $LeftShankPosZ
$ShankLength $ShankWidth $ShankHeight
@@ -447,7 +447,7 @@
(def $RightShankPosX $RightThighPosX)
(def $RightShankPosY $RightThighPosY)
(def $RightShankPosZ $LeftShankPosZ)
- (importScene rsg/agent/soccerbot058/box_with_hj_with_ccylinder.rsg
+ (importScene rsg/agent/soccerbot058/box_with_hj_with_capsule.rsg
rightshank rlj4 rle4 ../../rightthigh/boxBody
$RightShankPosX $RightShankPosY $RightShankPosZ
$ShankLength $ShankWidth $ShankHeight
Modified: branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotcomp.rsg
===================================================================
--- branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotcomp.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/data/rsg/agent/soccerbotcomp.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -203,7 +203,7 @@
(nd Transform
(setLocalPos $offsetLeftShoulderCylX $offsetLeftShoulderCylY $offsetLeftShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setName leftshoulderpin)
(setMaterial matDarkGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
@@ -213,7 +213,7 @@
(nd Transform
(setLocalPos $offsetRightShoulderCylX $offsetRightShoulderCylY $offsetRightShoulderCylZ)
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setName rightshoulderpin)
(setMaterial matDarkGrey)
(setParams $TorsoCylinderRadius $TorsoCylinderLength)
@@ -369,7 +369,7 @@
(nd Transform
(setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $ElbowRadius $ElbowLength)
)
@@ -415,7 +415,7 @@
(nd Transform
(setLocalPos 0 0 (eval -1 * (eval (eval $UpperarmHeight / 2.0) + (eval $ElbowRadius / 2.0))))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matGrey)
(setParams $ElbowRadius $ElbowLength)
)
@@ -621,7 +621,7 @@
(nd Transform
(setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matRed)
(setParams 0.1 (eval $ThighLength - 0.2))
)
@@ -662,7 +662,7 @@
(nd Transform
(setLocalPos 0 0 (eval (eval $ThighHeight * -0.5) - 0.025))
(setLocalRotation 0 90 0)
- (nd CCylinder
+ (nd Capsule
(setMaterial matRed)
(setParams 0.1 (eval $ThighLength - 0.2))
)
Modified: branches/multiphys/rcssserver3d/doc/users/robots.tex
===================================================================
--- branches/multiphys/rcssserver3d/doc/users/robots.tex 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/rcssserver3d/doc/users/robots.tex 2009-12-10 08:34:56 UTC (rev 118)
@@ -237,11 +237,11 @@
box\_physics\_with\_handler.rsg & Not only do the job as file
“box\_physics.rsg”, but also install a touchperceptorhandler under
the BoxCollider Node. \\
- ccylinder\_appearance.rsg & Install a capped cylinder which is
+ capsule\_appearance.rsg & Install a capsule which is
for the GL render. \\
- ccylinder\_physics.rsg & Install a capped cylinder that has
+ capsule\_physics.rsg & Install a capsule that has
physics effect(ODE related) \\
- ccylinder\_physics\_nocollider.rsg & Install a capped cylinder that
+ capsule\_physics\_nocollider.rsg & Install a capsule that
only has dynamics effect (mass, linear velocity, etc). But it can
never collide to the others. \\
contactjointhandler.rsg & Install a contactjointhandler to
Modified: branches/multiphys/spark/data/ros/aibo.rsi
===================================================================
--- branches/multiphys/spark/data/ros/aibo.rsi 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/data/ros/aibo.rsi 2009-12-10 08:34:56 UTC (rev 118)
@@ -12184,13 +12184,13 @@
</PhysicalAttributes>
</SimpleBox>
<!--
- <SimpleCappedCylinder name="larm3Capped" radius="0.016" height="0.03">
+ <SimpleCapsule name="larm3Capped" radius="0.016" height="0.03">
<Translation x="-0.003" y="-0.028" z="0.0"/>
<Rotation x="-90.0" y="0.0" z="-25.0"/>
<PhysicalAttributes>
<Mass value="0.05"/>
</PhysicalAttributes>
- </SimpleCappedCylinder>
+ </SimpleCapsule>
-->
</PhysicalRepresentation>
</ComplexShape>
@@ -15442,13 +15442,13 @@
</PhysicalAttributes>
</SimpleBox>
<!--
- <SimpleCappedCylinder name="rarm3Capped" radius="0.016" height="0.03">
+ <SimpleCapsule name="rarm3Capped" radius="0.016" height="0.03">
<Translation x="-0.003" y="-0.028" z="0.0"/>
<Rotation x="-90.0" y="0.0" z="-25.0"/>
<PhysicalAttributes>
<Mass value="0.05"/>
</PhysicalAttributes>
- </SimpleCappedCylinder>
+ </SimpleCapsule>
-->
</PhysicalRepresentation>
</ComplexShape>
@@ -24870,13 +24870,13 @@
</Polygon>
</GraphicalRepresentation>
<PhysicalRepresentation>
- <SimpleCappedCylinder name="headCCylinder" radius="0.026" height="0.075">
+ <SimpleCapsule name="headCapsule" radius="0.026" height="0.075">
<Translation x="-0.023" y="0.005" z="0.0"/>
<Rotation x="0.0" y="90.0" z="20.0"/>
<PhysicalAttributes>
<Mass value="0.25"/>
</PhysicalAttributes>
- </SimpleCappedCylinder>
+ </SimpleCapsule>
<SimpleSphere name="headSphere" radius="0.032">
<Translation x="0.012" y="0.012" z="0.0"/>
<PhysicalAttributes>
@@ -25191,13 +25191,13 @@
</Polygon>
</GraphicalRepresentation>
<PhysicalRepresentation>
- <SimpleCappedCylinder name="neckCCylinder" radius="0.013" height="0.034">
+ <SimpleCapsule name="neckCapsule" radius="0.013" height="0.034">
<Translation x="0.0" y="0.038" z="0.0"/>
<Rotation x="90.0" y="0.0" z="0.0"/>
<PhysicalAttributes>
<Mass value="0.05"/>
</PhysicalAttributes>
- </SimpleCappedCylinder>
+ </SimpleCapsule>
<SimpleSphere name="neckSphere" radius="0.032">
<Translation x="0.0" y="0.08" z="0.0"/>
<PhysicalAttributes>
@@ -27630,13 +27630,13 @@
<Mass value="1.0"/>
</PhysicalAttributes>
</SimpleSphere>
- <SimpleCappedCylinder name="bodyCCylinder" radius="0.04" height="0.05">
+ <SimpleCapsule name="bodyCapsule" radius="0.04" height="0.05">
<Translation x="0.0" y="-0.005" z="0.0"/>
<Rotation x="0.0" y="90.0" z="0.0"/>
<PhysicalAttributes>
<Mass value="2.5"/>
</PhysicalAttributes>
- </SimpleCappedCylinder>
+ </SimpleCapsule>
<SimpleSphere name="bodySphere2" radius="0.055">
<Translation x="0.06" y="0.004" z="0.0"/>
<PhysicalAttributes>
@@ -27764,4 +27764,4 @@
</Elements>
</Movable>
</Macro>
-</RoSiIncludeFile>
\ No newline at end of file
+</RoSiIncludeFile>
Modified: branches/multiphys/spark/data/ros/blockworld.ros
===================================================================
--- branches/multiphys/spark/data/ros/blockworld.ros 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/data/ros/blockworld.ros 2009-12-10 08:34:56 UTC (rev 118)
@@ -273,16 +273,16 @@
</Box>
</Elements>
</Movable>
- <Movable name="cappedcylinder">
+ <Movable name="capsule">
<Elements>
- <CappedCylinder name="CappedCylinder" radius="0.05" height="0.15">
+ <Capsule name="Capsule" radius="0.05" height="0.15">
<Translation x="0.3" y="-0.5" z="0.5"/>
<Rotation x="0" y="80" z="0"/>
<Appearance ref="green"/>
<PhysicalAttributes>
<Mass value="1"/>
</PhysicalAttributes>
- </CappedCylinder>
+ </Capsule>
</Elements>
</Movable>
</Elements>
Added: branches/multiphys/spark/data/rsg/boxspheres/capsule.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/capsule.rsg (rev 0)
+++ branches/multiphys/spark/data/rsg/boxspheres/capsule.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -0,0 +1,35 @@
+; -*- mode: lisp; -*-
+
+(RSG 0 1)
+(
+ (templ $radius $length $totalMass $material)
+
+ (nd Capsule
+ (setParams $radius $length)
+ (setMaterial $material)
+ )
+
+ (nd RigidBody
+ (setName capsuleBody)
+ ;(setCapsuleTotal $totalMass $radius $length)
+ (setCapsule $totalMass $radius $length)
+ )
+
+ (nd CapsuleCollider
+ (setParams $radius $length)
+ (nd ContactJointHandler
+ (setContactBounceMode false)
+
+ (setContactSlipMode true)
+ (setContactSlip 0.1 0.1)
+
+ (setContactSoftERPMode true)
+ (setContactSoftERP 0.2)
+
+ (setContactSoftCFM true)
+ (setContactSoftCFM 0.01)
+ )
+ )
+ )
+
+
Deleted: branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/data/rsg/boxspheres/ccylinder.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -1,35 +0,0 @@
-; -*- mode: lisp; -*-
-
-(RSG 0 1)
-(
- (templ $radius $length $totalMass $material)
-
- (nd CCylinder
- (setParams $radius $length)
- (setMaterial $material)
- )
-
- (nd RigidBody
- (setName ccylinderBody)
- ;(setCappedCylinderTotal $totalMass $radius $length)
- (setCappedCylinder $totalMass $radius $length)
- )
-
- (nd CCylinderCollider
- (setParams $radius $length)
- (nd ContactJointHandler
- (setContactBounceMode false)
-
- (setContactSlipMode true)
- (setContactSlip 0.1 0.1)
-
- (setContactSoftERPMode true)
- (setContactSoftERP 0.2)
-
- (setContactSoftCFM true)
- (setContactSoftCFM 0.01)
- )
- )
- )
-
-
Modified: branches/multiphys/spark/data/rsg/boxspheres/simspark.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/simspark.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/data/rsg/boxspheres/simspark.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -35,15 +35,15 @@
)
)
-; add capped cylinder
+; add capsule
(nd Transform
(setLocalPos -4 0 20)
- (importScene rsg/boxspheres/ccylinder.rsg 1 3 2 matBlue)
+ (importScene rsg/boxspheres/capsule.rsg 1 3 2 matBlue)
)
(nd Transform
(setLocalPos -6 3 20)
- (importScene rsg/boxspheres/ccylinder.rsg 1 10 2 matWhite)
+ (importScene rsg/boxspheres/capsule.rsg 1 10 2 matWhite)
)
; add two layer of spheres
@@ -58,4 +58,4 @@
(importScene rsg/boxspheres/layer.rsg 1 1)
)
-)
\ No newline at end of file
+)
Added: branches/multiphys/spark/data/rsg/boxspheres/staticcapsule.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/staticcapsule.rsg (rev 0)
+++ branches/multiphys/spark/data/rsg/boxspheres/staticcapsule.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -0,0 +1,17 @@
+; -*- mode: lisp; -*-
+
+(RSG 0 1)
+(
+ (templ $radius $length $density $material)
+
+ (nd Capsule
+ (setParams $radius $length)
+ (setMaterial $material)
+ )
+
+ (nd CapsuleCollider
+ (setParams $radius $length)
+ )
+ )
+
+
Deleted: branches/multiphys/spark/data/rsg/boxspheres/staticccylinder.rsg
===================================================================
--- branches/multiphys/spark/data/rsg/boxspheres/staticccylinder.rsg 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/data/rsg/boxspheres/staticccylinder.rsg 2009-12-10 08:34:56 UTC (rev 118)
@@ -1,17 +0,0 @@
-; -*- mode: lisp; -*-
-
-(RSG 0 1)
-(
- (templ $radius $length $density $material)
-
- (nd CCylinder
- (setParams $radius $length)
- (setMaterial $material)
- )
-
- (nd CCylinderCollider
- (setParams $radius $length)
- )
- )
-
-
Modified: branches/multiphys/spark/lib/kerosin/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/kerosin/CMakeLists.txt 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/kerosin/CMakeLists.txt 2009-12-10 08:34:56 UTC (rev 118)
@@ -25,7 +25,7 @@
sceneserver/light.h
sceneserver/sphere.h
sceneserver/box.h
- sceneserver/ccylinder.h
+ sceneserver/capsule.h
sceneserver/cylinder.h
sceneserver/staticmesh.h
soundserver/soundeffect.h
@@ -90,8 +90,8 @@
sceneserver/box_c.cpp
sceneserver/sphere.cpp
sceneserver/sphere_c.cpp
- sceneserver/ccylinder.cpp
- sceneserver/ccylinder_c.cpp
+ sceneserver/capsule.cpp
+ sceneserver/capsule_c.cpp
sceneserver/cylinder.cpp
sceneserver/cylinder_c.cpp
sceneserver/staticmesh.cpp
Modified: branches/multiphys/spark/lib/kerosin/kerosin.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/kerosin.cpp 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/kerosin/kerosin.cpp 2009-12-10 08:34:56 UTC (rev 118)
@@ -58,7 +58,7 @@
zg.GetCore()->RegisterClassObject(new CLASS(Light), "kerosin/");
zg.GetCore()->RegisterClassObject(new CLASS(StaticMesh), "kerosin/");
zg.GetCore()->RegisterClassObject(new CLASS(Box), "kerosin/");
- zg.GetCore()->RegisterClassObject(new CLASS(CCylinder), "kerosin/");
+ zg.GetCore()->RegisterClassObject(new CLASS(Capsule), "kerosin/");
zg.GetCore()->RegisterClassObject(new CLASS(Cylinder), "kerosin/");
zg.GetCore()->RegisterClassObject(new CLASS(Sphere), "kerosin/");
Modified: branches/multiphys/spark/lib/kerosin/kerosin.h
===================================================================
--- branches/multiphys/spark/lib/kerosin/kerosin.h 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/kerosin/kerosin.h 2009-12-10 08:34:56 UTC (rev 118)
@@ -61,7 +61,7 @@
#include "sceneserver/axis.h"
#include "sceneserver/light.h"
#include "sceneserver/sphere.h"
-#include "sceneserver/ccylinder.h"
+#include "sceneserver/capsule.h"
#include "sceneserver/cylinder.h"
#include "sceneserver/staticmesh.h"
Added: branches/multiphys/spark/lib/kerosin/sceneserver/capsule.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/sceneserver/capsule.cpp (rev 0)
+++ branches/multiphys/spark/lib/kerosin/sceneserver/capsule.cpp 2009-12-10 08:34:56 UTC (rev 118)
@@ -0,0 +1,65 @@
+/* -*- 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: capsule.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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 "capsule.h"
+#include <kerosin/openglserver/openglserver.h>
+#include <kerosin/materialserver/material.h>
+
+using namespace boost;
+using namespace kerosin;
+using namespace zeitgeist;
+using namespace salt;
+
+Capsule::Capsule() : SingleMatNode()
+{
+}
+
+Capsule::~Capsule()
+{
+}
+
+void Capsule::SetParams(float radius, float length)
+{
+ ParameterList parameter;
+ parameter.AddValue(radius);
+ parameter.AddValue(length);
+
+ Load("StdCapsule",parameter);
+
+ mRadius = radius;
+ mLength = length;
+}
+
+void Capsule::GetParams(float& radius, float& length) const
+{
+ radius = mRadius;
+ length = mLength;
+}
+
+float Capsule::GetRadius()
+{
+ return mRadius;
+}
+
+float Capsule::GetLength()
+{
+ return mLength;
+}
Added: branches/multiphys/spark/lib/kerosin/sceneserver/capsule.h
===================================================================
--- branches/multiphys/spark/lib/kerosin/sceneserver/capsule.h (rev 0)
+++ branches/multiphys/spark/lib/kerosin/sceneserver/capsule.h 2009-12-10 08:34:56 UTC (rev 118)
@@ -0,0 +1,78 @@
+/* -*- 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: capsule.h 57 2009-03-18 07:26:56Z hedayat $
+
+ 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 KEROSIN_CAPSULE_H
+#define KEROSIN_CAPSULE_H
+
+#include <kerosin/kerosin_defines.h>
+#include "singlematnode.h"
+
+namespace kerosin
+{
+class Material;
+
+/** Capsule is a SingleMatNode that creates and renders a capsule
+ mesh with the given length and radius
+ */
+class KEROSIN_API Capsule : public SingleMatNode
+{
+ //
+ // Function
+ //
+public:
+ Capsule();
+ virtual ~Capsule();
+
+ /** sets the parameters of the capsule.
+
+ \param radius is the radius of the caps, and of the cylinder
+ itself
+
+ \param length is the height of the cylinder, not counting the
+ caps
+ */
+ void SetParams(float radius, float length);
+
+ /** returns the parameters of the capsule */
+ void GetParams(float& radius, float& length) const;
+
+ /** returns the radius of the capsule */
+ float GetRadius();
+
+ /** returns the length of the capsule */
+ float GetLength();
+
+ //
+ // Members
+ //
+protected:
+ /** the radius of the caps and the cylinder */
+ float mRadius;
+
+ /** the height of the clinder, not counting the caps */
+ float mLength;
+};
+
+DECLARE_CLASS(Capsule);
+
+} //namespace kerosin
+
+#endif //KEROSIN_CAPSULE_H
Added: branches/multiphys/spark/lib/kerosin/sceneserver/capsule_c.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/sceneserver/capsule_c.cpp (rev 0)
+++ branches/multiphys/spark/lib/kerosin/sceneserver/capsule_c.cpp 2009-12-10 08:34:56 UTC (rev 118)
@@ -0,0 +1,62 @@
+/* -*- 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: capsule_c.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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 "capsule.h"
+
+using namespace boost;
+using namespace kerosin;
+using namespace salt;
+
+FUNCTION(Capsule,setParams)
+{
+ float inRadius;
+ float inLength;
+
+ if (
+ (in.GetSize() != 2) ||
+ (! in.GetValue(in[0], inRadius)) ||
+ (! in.GetValue(in[1], inLength))
+ )
+ {
+ return false;
+ }
+
+ obj->SetParams(inRadius,inLength);
+ return true;
+}
+
+FUNCTION(Capsule,getRadius)
+{
+ return obj->GetRadius();
+}
+
+FUNCTION(Capsule,getLength)
+{
+ return obj->GetLength();
+}
+
+void CLASS(Capsule)::DefineClass()
+{
+ DEFINE_BASECLASS(kerosin/SingleMatNode);
+ DEFINE_FUNCTION(setParams);
+ DEFINE_FUNCTION(getRadius);
+ DEFINE_FUNCTION(getLength);
+}
Deleted: branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.cpp 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.cpp 2009-12-10 08:34:56 UTC (rev 118)
@@ -1,65 +0,0 @@
-/* -*- 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
- $Id$
-
- 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 "ccylinder.h"
-#include <kerosin/openglserver/openglserver.h>
-#include <kerosin/materialserver/material.h>
-
-using namespace boost;
-using namespace kerosin;
-using namespace zeitgeist;
-using namespace salt;
-
-CCylinder::CCylinder() : SingleMatNode()
-{
-}
-
-CCylinder::~CCylinder()
-{
-}
-
-void CCylinder::SetParams(float radius, float length)
-{
- ParameterList parameter;
- parameter.AddValue(radius);
- parameter.AddValue(length);
-
- Load("StdCCylinder",parameter);
-
- mRadius = radius;
- mLength = length;
-}
-
-void CCylinder::GetParams(float& radius, float& length) const
-{
- radius = mRadius;
- length = mLength;
-}
-
-float CCylinder::GetRadius()
-{
- return mRadius;
-}
-
-float CCylinder::GetLength()
-{
- return mLength;
-}
Deleted: branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.h
===================================================================
--- branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.h 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder.h 2009-12-10 08:34:56 UTC (rev 118)
@@ -1,78 +0,0 @@
-/* -*- 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
- $Id$
-
- 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 KEROSIN_CCYLINDER_H
-#define KEROSIN_CCYLINDER_H
-
-#include <kerosin/kerosin_defines.h>
-#include "singlematnode.h"
-
-namespace kerosin
-{
-class Material;
-
-/** CCylinder is a SingleMatNode that creates and renders a capped
- cylinder mesh with the given length and radius
- */
-class KEROSIN_API CCylinder : public SingleMatNode
-{
- //
- // Function
- //
-public:
- CCylinder();
- virtual ~CCylinder();
-
- /** sets the parameters of the capped cylinder.
-
- \param radius is the radius of the caps, and of the cylinder
- itself
-
- \param length is the height of the cylinder, not counting the
- caps
- */
- void SetParams(float radius, float length);
-
- /** returns the parameters of the capped cylinder */
- void GetParams(float& radius, float& length) const;
-
- /** returns the radius of the capped cylinder */
- float GetRadius();
-
- /** returns the length of the capped cylinder */
- float GetLength();
-
- //
- // Members
- //
-protected:
- /** the radius of the caps and the cylinder */
- float mRadius;
-
- /** the height of the clinder, not counting the caps */
- float mLength;
-};
-
-DECLARE_CLASS(CCylinder);
-
-} //namespace kerosin
-
-#endif //KEROSIN_CCYLINDER_H
Deleted: branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder_c.cpp
===================================================================
--- branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder_c.cpp 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/kerosin/sceneserver/ccylinder_c.cpp 2009-12-10 08:34:56 UTC (rev 118)
@@ -1,62 +0,0 @@
-/* -*- 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
- $Id$
-
- 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 "ccylinder.h"
-
-using namespace boost;
-using namespace kerosin;
-using namespace salt;
-
-FUNCTION(CCylinder,setParams)
-{
- float inRadius;
- float inLength;
-
- if (
- (in.GetSize() != 2) ||
- (! in.GetValue(in[0], inRadius)) ||
- (! in.GetValue(in[1], inLength))
- )
- {
- return false;
- }
-
- obj->SetParams(inRadius,inLength);
- return true;
-}
-
-FUNCTION(CCylinder,getRadius)
-{
- return obj->GetRadius();
-}
-
-FUNCTION(CCylinder,getLength)
-{
- return obj->GetLength();
-}
-
-void CLASS(CCylinder)::DefineClass()
-{
- DEFINE_BASECLASS(kerosin/SingleMatNode);
- DEFINE_FUNCTION(setParams);
- DEFINE_FUNCTION(getRadius);
- DEFINE_FUNCTION(getLength);
-}
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-10 08:34:56 UTC (rev 118)
@@ -14,6 +14,7 @@
gamecontrolserver/behavior.h
oxygen.h
oxygen_defines.h
+ physicsserver/genericphysicsobject.h
physicsserver/physicsobject.h
physicsserver/body.h
physicsserver/rigidbody.h
@@ -56,9 +57,11 @@
#interfaces
physicsserver/int/bodyint.h
physicsserver/int/boxcolliderint.h
+ physicsserver/int/capsulecolliderint.h
physicsserver/int/colliderint.h
physicsserver/int/compoundcolliderint.h
physicsserver/int/concavecolliderint.h
+ physicsserver/int/conecolliderint.h
physicsserver/int/convexcolliderint.h
physicsserver/int/cylindercolliderint.h
physicsserver/int/dynamicbodyint.h
@@ -76,9 +79,11 @@
physicsserver/ode/odebody.h
physicsserver/ode/odeboxcollider.h
physicsserver/ode/odedynamicbody.h
+ physicsserver/ode/odecapsulecollider.h
physicsserver/ode/odecollider.h
physicsserver/ode/odecompoundcollider.h
physicsserver/ode/odeconcavecollider.h
+ physicsserver/ode/odeconecollider.h
physicsserver/ode/odeconvexcollider.h
physicsserver/ode/odecylindercollider.h
physicsserver/ode/odeemptycollider.h
@@ -177,6 +182,7 @@
physicsserver/compoundcollider_c.cpp
physicsserver/concavecollider.cpp
physicsserver/concavecollider_c.cpp
+ physicsserver/conecollider.cpp
physicsserver/conecollider_c.cpp
physicsserver/convexcollider.cpp
physicsserver/convexcollider_c.cpp
@@ -228,9 +234,11 @@
#ODE-specific files
physicsserver/ode/odebody.cpp
physicsserver/ode/odeboxcollider.cpp
+ physicsserver/ode/odecapsulecollider.cpp
physicsserver/ode/odecollider.cpp
physicsserver/ode/odecompoundcollider.cpp
physicsserver/ode/odeconcavecollider.cpp
+ physicsserver/ode/odeconecollider.cpp
physicsserver/ode/odeconvexcollider.cpp
physicsserver/ode/odecylindercollider.cpp
physicsserver/ode/odedynamicbody.cpp
Modified: branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.cpp 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.cpp 2009-12-10 08:34:56 UTC (rev 118)
@@ -40,7 +40,7 @@
static const string gSphereStr = "StdUnitSphere";
static const string gBoxStr = "StdUnitBox";
-static const string gCCylinderStr = "StdCCylinder";
+static const string gCapsuleStr = "StdCapsule";
static const string gCylinderStr = "StdUnitCylinder";
shared_ptr<TriMesh>
@@ -56,9 +56,9 @@
return UnitBoxMesh();
}
- if (name == gCCylinderStr)
+ if (name == gCapsuleStr)
{
- return UnitCCylinder(parameter);
+ return UnitCapsule(parameter);
}
if (name == gCylinderStr)
@@ -253,7 +253,7 @@
}
//
-// unit capped cylinder
+// unit capsule
//
static void AddVertex(float** at, float x, float y, float z)
{
@@ -265,7 +265,7 @@
std::string StdMeshImporter::MangleName (const string& name, const ParameterList& parameter)
{
if (
- (name != gCCylinderStr) ||
+ (name != gCapsuleStr) ||
(parameter.GetSize() < 2)
)
{
@@ -273,7 +273,7 @@
}
stringstream ss;
- ss << gCCylinderStr;
+ ss << gCapsuleStr;
float radius;
if (parameter.GetValue(parameter[0],radius))
@@ -290,18 +290,18 @@
return ss.str();
}
-shared_ptr<TriMesh> StdMeshImporter::UnitCCylinder(const ParameterList& parameter)
+shared_ptr<TriMesh> StdMeshImporter::UnitCapsule(const ParameterList& parameter)
{
//
// code adapted from ODE's drawstuff lib
//
- // generated capped clinder with r=1 and l=1
+ // generated capsule with r=1 and l=1
float ccRadius = 1;
float ccLength = 1;
GetLog()->Debug()
- << "(StdMeshImporter::UnitCCylinder) paramSize="
+ << "(StdMeshImporter::UnitCapsule) paramSize="
<< parameter.GetSize() << "\n";
if (parameter.GetSize() >= 2)
{
@@ -310,8 +310,8 @@
}
// number of sides to the cylinder (divisible by 4):
- const int capped_cylinder_quality = 3;
- const int n = capped_cylinder_quality*4;
+ const int capsule_quality = 3;
+ const int n = capsule_quality*4;
int innerLoop = (n+1);
int numVertices = innerLoop * 2;
@@ -447,7 +447,7 @@
mesh->SetPos(pos,numVertices);
mesh->SetNormals(normals);
mesh->AddFace(idx);
- mesh->SetName(MangleName(gCCylinderStr,parameter));
+ mesh->SetName(MangleName(gCapsuleStr,parameter));
return mesh;
}
Modified: branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.h 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/oxygen/geometryserver/stdmeshimporter.h 2009-12-10 08:34:56 UTC (rev 118)
@@ -28,7 +28,7 @@
namespace oxygen
{
/** \class StdMeshImporter is a MeshImporter that generates a standard
- set of meshes. These are spheres, boxes and capped cylinders.
+ set of meshes. These are spheres, boxes and capsule.
*/
class OXYGEN_API StdMeshImporter : public MeshImporter
{
@@ -41,7 +41,7 @@
virtual boost::shared_ptr<TriMesh> ImportMesh
(const std::string& name,const zeitgeist::ParameterList& parameter);
- /** returns a unique name for each parameterized capped cylinder
+ /** returns a unique name for each parameterized capsule
mesh, and \param name otherwise
*/
virtual std::string MangleName
@@ -54,8 +54,8 @@
/** constructs a unit box */
boost::shared_ptr<TriMesh> UnitBoxMesh();
- /** constructs a unit capped cylinder */
- boost::shared_ptr<TriMesh> UnitCCylinder
+ /** constructs a unit capsule */
+ boost::shared_ptr<TriMesh> UnitCapsule
(const zeitgeist::ParameterList& parameter);
/** constructs a flat unit cylinder */
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp 2009-12-10 08:34:56 UTC (rev 118)
@@ -3,7 +3,7 @@
this file is part of rcssserver3D
Fri May 9 2003
Copyright (C) 2003 Koblenz University
- $Id: ccylindercollider.cpp 108 2009-11-25 10:20:10Z a-held $
+ $Id: capsulecollider.cpp 108 2009-11-25 10:20:10Z a-held $
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
@@ -20,51 +20,44 @@
*/
#include <oxygen/physicsserver/capsulecollider.h>
+#include <oxygen/physicsserver/ode/odecapsulecollider.h>
using namespace oxygen;
using namespace salt;
CapsuleCollider::CapsuleCollider() : ConvexCollider()
{
+ mCapsuleColliderImp = boost::shared_ptr<ODECapsuleCollider>(new ODECapsuleCollider());
}
void CapsuleCollider::SetParams(float radius, float length)
{
- dGeomCCylinderSetParams (mODEGeom, radius, length);
+ mCapsuleColliderImp->SetParams(radius, length);
}
void CapsuleCollider::SetRadius(float radius)
{
- SetParams(radius,GetLength());
+ mCapsuleColliderImp->SetRadius(radius);
}
void CapsuleCollider::SetLength(float length)
{
- SetParams(GetRadius(),length);
+ mCapsuleColliderImp->SetLength(length);
}
void CapsuleCollider::GetParams(float& radius, float& length)
{
- dReal r,l;
- dGeomCCylinderGetParams(mODEGeom,&r,&l);
- radius = r;
- length = l;
+ mCapsuleColliderImp->GetParams(radius, length);
}
float CapsuleCollider::GetRadius()
{
- float length;
- float radius;
- GetParams(radius,length);
- return radius;
+ return mCapsuleColliderImp->GetRadius();
}
float CapsuleCollider::GetLength()
{
- float radius;
- float length;
- GetParams(radius,length);
- return length;
+ return mCapsuleColliderImp->GetLength();
}
bool CapsuleCollider::ConstructInternal()
@@ -74,16 +67,14 @@
return false;
}
- // create a unit capped cylinder
- mODEGeom = dCreateCCylinder(0, 1.0f, 1.0f);
+ mCapsuleColliderImp->CreateCapsule();
+ mODEGeom = (dGeomID) mCapsuleColliderImp->GetGeomID();
- return (mODEGeom != 0);
+ return (mCapsuleColliderImp->GetGeomID() != 0);
}
float CapsuleCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return dGeomCCylinderPointDepth
- (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
+ return mCapsuleColliderImp->GetPointDepth(worldPos);
}
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h 2009-12-10 08:34:56 UTC (rev 118)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: ccylindercollider.h 108 2009-11-25 10:20:10Z a-held $
+ $Id: capsulecollider.h 108 2009-11-25 10:20:10Z a-held $
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
@@ -27,8 +27,9 @@
namespace oxygen
{
+class CapsuleColliderInt;
-/** CapsuleCollider encapsulates an ODE capsule geometry
+/** CapsuleCollider encapsulates a capsule geometry
object. A capsule is like a cylinder except it has
half-sphere caps at its ends. This feature makes the internal
collision detection code particularly fast and accurate.
@@ -74,6 +75,9 @@
/** constructs a default capsule with an radius of 1 and a
length of 1 */
virtual bool ConstructInternal();
+
+private:
+ boost::shared_ptr<CapsuleColliderInt> mCapsuleColliderImp;
};
DECLARE_CLASS(CapsuleCollider);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp 2009-12-10 08:34:56 UTC (rev 118)
@@ -3,7 +3,7 @@
this file is part of rcssserver3D
Fri May 9 2003
Copyright (C) 2003 Koblenz University
- $Id: ccylindercollider_c.cpp 108 2009-11-25 10:20:10Z a-held $
+ $Id: capsulecollider_c.cpp 108 2009-11-25 10:20:10Z a-held $
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
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-09 08:42:42 UTC (rev 117)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-10 08:34:56 UTC (rev 118)
@@ -213,8 +213,8 @@
void Collider::SetRotation(const Matrix& rot)
{
dMatrix3 ODEMatrix;
- void* matrixPtr = (void*) &ODEMatrix;
- ConvertRotationMatrix(rot, matrixPtr);
+ GenericPhysicsObject& matrixRef = ...
[truncated message content] |
|
From: <a-...@us...> - 2009-12-09 08:42:53
|
Revision: 117
http://simspark.svn.sourceforge.net/simspark/?rev=117&view=rev
Author: a-held
Date: 2009-12-09 08:42:42 +0000 (Wed, 09 Dec 2009)
Log Message:
-----------
provided bridge pattern for ConvexCollider and CylinderCollider
implemented bridge pattern for BoxCollider and SphereCollider
Modified Paths:
--------------
branches/multiphys/spark/lib/oxygen/CMakeLists.txt
branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.h
Added Paths:
-----------
branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/convexcolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/cylindercolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.h
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp
branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h
Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt 2009-12-09 08:42:42 UTC (rev 117)
@@ -55,9 +55,12 @@
#interfaces
physicsserver/int/bodyint.h
+ physicsserver/int/boxcolliderint.h
physicsserver/int/colliderint.h
physicsserver/int/compoundcolliderint.h
physicsserver/int/concavecolliderint.h
+ physicsserver/int/convexcolliderint.h
+ physicsserver/int/cylindercolliderint.h
physicsserver/int/dynamicbodyint.h
physicsserver/int/emptycolliderint.h
physicsserver/int/physicsobjectint.h
@@ -65,21 +68,26 @@
physicsserver/int/rigidbodyint.h
physicsserver/int/softbodyint.h
physicsserver/int/spaceint.h
+ physicsserver/int/spherecolliderint.h
physicsserver/int/staticbodyint.h
physicsserver/int/worldint.h
#ode-specific files
physicsserver/ode/odebody.h
+ physicsserver/ode/odeboxcollider.h
physicsserver/ode/odedynamicbody.h
physicsserver/ode/odecollider.h
physicsserver/ode/odecompoundcollider.h
physicsserver/ode/odeconcavecollider.h
+ physicsserver/ode/odeconvexcollider.h
+ physicsserver/ode/odecylindercollider.h
physicsserver/ode/odeemptycollider.h
physicsserver/ode/odephysicsobject.h
physicsserver/ode/odephysicsserver.h
physicsserver/ode/oderigidbody.h
physicsserver/ode/odesoftbody.h
physicsserver/ode/odespace.h
+ physicsserver/ode/odespherecollider.h
physicsserver/ode/odestaticbody.h
physicsserver/ode/odeworld.h
physicsserver/ode/odewrapper.h
@@ -163,7 +171,6 @@
physicsserver/boxcollider_c.cpp
physicsserver/capsulecollider.cpp
physicsserver/capsulecollider_c.cpp
- physicsserver/cylindercollider_c.cpp
physicsserver/collider.cpp
physicsserver/collider_c.cpp
physicsserver/compoundcollider.cpp
@@ -171,11 +178,14 @@
physicsserver/concavecollider.cpp
physicsserver/concavecollider_c.cpp
physicsserver/conecollider_c.cpp
+ physicsserver/convexcollider.cpp
physicsserver/convexcollider_c.cpp
physicsserver/collisionhandler.cpp
physicsserver/collisionhandler_c.cpp
physicsserver/contactjointhandler.cpp
physicsserver/contactjointhandler_c.cpp
+ physicsserver/cylindercollider.cpp
+ physicsserver/cylindercollider_c.cpp
physicsserver/emptycollider.cpp
physicsserver/emptycollider_c.cpp
physicsserver/physicsserver.cpp
@@ -217,9 +227,12 @@
#ODE-specific files
physicsserver/ode/odebody.cpp
+ physicsserver/ode/odeboxcollider.cpp
+ physicsserver/ode/odecollider.cpp
physicsserver/ode/odecompoundcollider.cpp
physicsserver/ode/odeconcavecollider.cpp
- physicsserver/ode/odecollider.cpp
+ physicsserver/ode/odeconvexcollider.cpp
+ physicsserver/ode/odecylindercollider.cpp
physicsserver/ode/odedynamicbody.cpp
physicsserver/ode/odeemptycollider.cpp
physicsserver/ode/odephysicsobject.cpp
@@ -227,6 +240,7 @@
physicsserver/ode/oderigidbody.cpp
physicsserver/ode/odesoftbody.cpp
physicsserver/ode/odespace.cpp
+ physicsserver/ode/odespherecollider.cpp
physicsserver/ode/odestaticbody.cpp
physicsserver/ode/odeworld.cpp
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -21,27 +21,22 @@
*/
#include <oxygen/physicsserver/boxcollider.h>
+#include <oxygen/physicsserver/ode/odeboxcollider.h>
using namespace oxygen;
using namespace salt;
BoxCollider::BoxCollider() : ConvexCollider()
{
+ mBoxColliderImp = boost::shared_ptr<ODEBoxCollider>(new ODEBoxCollider());
}
-void
-BoxCollider::SetBoxLengths(const Vector3f& extents)
+void BoxCollider::SetBoxLengths(const Vector3f& extents)
{
- dGeomBoxSetLengths(
- mODEGeom,
- extents[0],
- extents[1],
- extents[2]
- );
+ mBoxColliderImp->SetBoxLengths(extents);
}
-bool
-BoxCollider::ConstructInternal()
+bool BoxCollider::ConstructInternal()
{
if (! Collider::ConstructInternal())
{
@@ -49,23 +44,18 @@
}
// create a unit box
- mODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
+ mBoxColliderImp->CreateBox();
+ mODEGeom = (dGeomID) mBoxColliderImp->GetGeomID();
- return (mODEGeom != 0);
+ return (mBoxColliderImp->GetGeomID() != 0);
}
-void
-BoxCollider::GetBoxLengths(Vector3f& extents)
+void BoxCollider::GetBoxLengths(Vector3f& extents)
{
- dVector3 lengths;
- dGeomBoxGetLengths(mODEGeom,lengths);
- extents[0] = lengths[0];
- extents[1] = lengths[1];
- extents[2] = lengths[2];
+ mBoxColliderImp->GetBoxLengths(extents);
}
-float
-BoxCollider::GetBoxLength(int axis)
+float BoxCollider::GetBoxLength(int axis)
{
if (
(axis<0) ||
@@ -80,12 +70,8 @@
return extents[axis];
}
-float
-BoxCollider::GetPointDepth(const Vector3f& pos)
+float BoxCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return dGeomBoxPointDepth
- (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
+ return mBoxColliderImp->GetPointDepth(worldPos);
}
-
-
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -27,6 +27,7 @@
namespace oxygen
{
+class BoxColliderInt;
/** BoxCollider encapsulates an ODE box geometry object.
*/
@@ -60,6 +61,9 @@
protected:
/** constructs a default box with side lengths of 1 */
virtual bool ConstructInternal();
+
+private:
+ boost::shared_ptr<BoxColliderInt> mBoxColliderImp;
};
DECLARE_CLASS(BoxCollider);
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -46,7 +46,6 @@
{
PhysicsObject::OnLink();
-
weak_ptr<Node> parent = GetParent();
if (
(mODEGeom == 0) ||
@@ -150,9 +149,12 @@
}
void Collider::OnCollision (boost::shared_ptr<Collider> collidee,
- dContact& contact, ECollisionType type)
+ void* contact, ECollisionType type)
{
+ dContact* helpContact = (dContact*) contact;
+ dContact& ODEContact = (dContact&) *helpContact;
+
TLeafList handlers;
ListChildrenSupportingClass<CollisionHandler>(handlers);
@@ -173,7 +175,7 @@
continue;
}
- handler->HandleCollision(collidee, contact);
+ handler->HandleCollision(collidee, ODEContact);
}
}
@@ -298,7 +300,7 @@
}
}
-const Collider::TColliderNameSet & Collider::GetNotCollideWithSet() const
+const Collider::TColliderNameSet& Collider::GetNotCollideWithSet() const
{
return mNotCollideWithSet;
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -32,7 +32,7 @@
{
class ColliderInt;
-/** \class Collider encapsulates an ODE geometry object- geom for
+/** \class Collider encapsulates a geometry object- geom for
short. Geoms are the fundamental objects in the collision
system. They represent a single rigid shape as for example a
sphere or a box. A special kind of geom called 'space' can
@@ -49,14 +49,17 @@
//
public:
/** enumerates the two different collision instances reported to
- the OnCollision member for each collision reported from ODE.
+ the OnCollision member for each collision reported from the
+ physics engine.
*/
enum ECollisionType
{
- /** the collision pair as reported from ODE */
+ /** the collision pair as reported from the physics engine */
CT_DIRECT,
- /** the symmetric pair to the pair reported from ODE */
+ /** the symmetric pair to the pair reported from the
+ physics engine
+ */
CT_SYMMETRIC
};
@@ -80,11 +83,11 @@
\param holds the contact points between the two affected geoms
as returned from ODE dCollide function
- \param symmetric indicates tha this collision indicates a
+ \param symmetric indicates that this collision indicates a
symmetric case
*/
virtual void OnCollision (boost::shared_ptr<Collider> collidee,
- dContact& contact, ECollisionType type);
+ void* contact, ECollisionType type);
/** registers a new collision handler to this collider. If no
collision handler is registered until the first call to
@@ -94,10 +97,10 @@
*/
bool AddCollisionHandler(const std::string& handlerName);
- /** returns the Collider corresponding to the given ODE geom */
+ /** returns the Collider corresponding to the given geom */
static boost::shared_ptr<Collider> GetCollider(long geomID);
- /** returns the ID of managed ODE geom */
+ /** returns the ID of managed geom */
long GetGeomID();
/** sets the relative position of the managed geom directly. If
@@ -120,23 +123,23 @@
*/
virtual void SetRotation(const salt::Matrix& rot);
- /** returns true if the ODE geom managed by this
+ /** returns true if the geom managed by this
Collider intersects with the geom managed by the given collider
*/
bool Intersects(boost::shared_ptr<Collider> collider);
- /** returns the ODE handle ID of the containing parent space */
+ /** returns the handle ID of the containing parent space */
virtual long GetParentSpaceID();
/** Add/Reomve a collider name that not collide with */
- void AddNotCollideWithColliderName(const std::string & colliderName, bool isAdd);
+ void AddNotCollideWithColliderName(const std::string& colliderName, bool isAdd);
/** Get the not collide with collider set */
- const TColliderNameSet & GetNotCollideWithSet() const;
+ const TColliderNameSet& GetNotCollideWithSet() const;
protected:
/** registers the managed geom to the Space of the Scene and to
- the associated ODE body
+ the associated body
*/
virtual void OnLink();
@@ -165,7 +168,7 @@
protected:
/** a set that store the colliders that I never collide with
- Note: they are should in the same space, orelse this is ignored
+ Note: they should be in the same space, or else this is ignored
*/
TColliderNameSet mNotCollideWithSet;
};
Added: branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,33 @@
+/* -*- 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: body.h 106 2009-11-19 10:10:50Z a-held $
+
+ 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/physicsserver/convexcollider.h>
+#include <oxygen/physicsserver/ode/odeconvexcollider.h>
+
+using namespace oxygen;
+
+ConvexCollider::ConvexCollider() : Collider(){
+ mConvexColliderImp = boost::shared_ptr<ODEConvexCollider>(new ODEConvexCollider());
+}
+
+ConvexCollider::~ConvexCollider(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/convexcollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -27,15 +27,21 @@
namespace oxygen
{
+class ConvexColliderInt;
+
/** ConvexCollider is the common base class of all convex
geometry objects, such as spheres and boxes.
*/
class OXYGEN_API ConvexCollider : public Collider
{
+
public:
- ConvexCollider() : Collider(){};
- virtual ~ConvexCollider(){};
+ ConvexCollider();
+ virtual ~ConvexCollider();
+
+private:
+ boost::shared_ptr<ConvexColliderInt> mConvexColliderImp;
};
DECLARE_ABSTRACTCLASS(ConvexCollider);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,33 @@
+/* -*- 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: body.h 106 2009-11-19 10:10:50Z a-held $
+
+ 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/physicsserver/cylindercollider.h>
+#include <oxygen/physicsserver/ode/odecylindercollider.h>
+
+using namespace oxygen;
+
+CylinderCollider::CylinderCollider() : ConvexCollider(){
+ mCylinderColliderImp = boost::shared_ptr<ODECylinderCollider>(new ODECylinderCollider());
+}
+
+CylinderCollider::~CylinderCollider(){
+
+}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/cylindercollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -27,6 +27,8 @@
namespace oxygen
{
+class CylinderColliderInt;
+
/**
CylinderCollider is not yet implemented.
*/
@@ -37,8 +39,11 @@
// Functions
//
public:
- CylinderCollider() : ConvexCollider(){};
- virtual ~CylinderCollider(){};
+ CylinderCollider();
+ virtual ~CylinderCollider();
+
+private:
+ boost::shared_ptr<CylinderColliderInt> mCylinderColliderImp;
};
DECLARE_CLASS(CylinderCollider);
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/boxcolliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,46 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_BOXCOLLIDERINT_H
+#define OXYGEN_BOXCOLLIDERINT_H
+
+#include <salt/salt.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API BoxColliderInt
+{
+
+public:
+ virtual void SetBoxLengths(const salt::Vector3f& extents) = 0;
+ virtual void GetBoxLengths(salt::Vector3f& extents) = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void CreateBox() = 0;
+
+ virtual long GetGeomID() = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_BOXCOLLIDERINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -63,7 +63,7 @@
virtual void DestroyPhysicsObject() = 0;
protected:
- dGeomID mODEGeom;
+ long mGeomID;
TColliderNameSet mNotCollideWithSet;
};
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/convexcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/convexcolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/convexcolliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,38 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_CONVEXCOLLIDERINT_H
+#define OXYGEN_CONVEXCOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ConvexColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_CONVEXCOLLIDERINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/cylindercolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/cylindercolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/cylindercolliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,38 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_CYLINDERCOLLIDERINT_H
+#define OXYGEN_CYLINDERCOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API CylinderColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_CYLINDERCOLLIDERINT_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spherecolliderint.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,46 @@
+/* -*- 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: space.h 102 2009-11-18 07:24:29Z a-held $
+
+ 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_SPHERECOLLIDERINT_H
+#define OXYGEN_SPHERECOLLIDERINT_H
+
+#include <salt/salt.h>
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API SphereColliderInt
+{
+
+public:
+ virtual void SetRadius(float r) = 0;
+ virtual float GetRadius() const = 0;
+ virtual float GetPointDepth(const salt::Vector3f& pos) = 0;
+ virtual void CreateSphere() = 0;
+
+ virtual long GetGeomID() = 0;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_SPHERECOLLIDERINT_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odebody.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -4,7 +4,7 @@
Fri May 9 2003
Copyright (C) 2002,2003 Koblenz University
Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
- $Id: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+ $Id: odebody.cpp 3 2008-11-21 02:38:08Z hedayat $
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
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,67 @@
+/* -*- 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: boxcollider.cpp 108 2009-11-25 10:20:10Z a-held $
+
+ 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/physicsserver/collider.h>
+#include <oxygen/physicsserver/ode/odeboxcollider.h>
+
+using namespace oxygen;
+using namespace salt;
+
+ODEBoxCollider::ODEBoxCollider() : ODEConvexCollider()
+{
+
+}
+
+void ODEBoxCollider::SetBoxLengths(const Vector3f& extents)
+{
+ dGeomBoxSetLengths(
+ mODEGeom,
+ extents[0],
+ extents[1],
+ extents[2]
+ );
+}
+
+void ODEBoxCollider::CreateBox()
+{
+ mODEGeom = dCreateBox (0, 1.0f, 1.0f, 1.0f);
+ mGeomID = (long) mODEGeom;
+}
+
+void ODEBoxCollider::GetBoxLengths(Vector3f& extents)
+{
+ dVector3 lengths;
+ dGeomBoxGetLengths(mODEGeom,lengths);
+ extents[0] = lengths[0];
+ extents[1] = lengths[1];
+ extents[2] = lengths[2];
+}
+
+float ODEBoxCollider::GetPointDepth(const Vector3f& pos)
+{
+ return dGeomBoxPointDepth
+ (mODEGeom,pos[0],pos[1],pos[2]);
+}
+
+long ODEBoxCollider::GetGeomID(){
+ return mGeomID;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeboxcollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,47 @@
+/* -*- 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: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
+ $Id: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
+
+ 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_ODEBOXCOLLIDER_H
+#define OXYGEN_ODEBOXCOLLIDER_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/int/boxcolliderint.h>
+#include <oxygen/physicsserver/ode/odeconvexcollider.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEBoxCollider : public BoxColliderInt, public ODEConvexCollider
+{
+public:
+ ODEBoxCollider();
+ void SetBoxLengths(const salt::Vector3f& extents);
+ void GetBoxLengths(salt::Vector3f& extents);
+ float GetPointDepth(const salt::Vector3f& pos);
+ void CreateBox();
+
+ long GetGeomID();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEBOXCOLLIDER_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -37,6 +37,7 @@
ODECollider::ODECollider() : ODEPhysicsObject(), mODEGeom(0)
{
+ mGeomID = 0;
}
ODECollider::~ODECollider()
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,28 @@
+/* -*- 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: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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/physicsserver/ode/odeconvexcollider.h>
+
+using namespace oxygen;
+
+ODEConvexCollider::ODEConvexCollider() : ODECollider(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconvexcollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,39 @@
+/* -*- 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: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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_ODECONVEXCOLLIDER_H
+#define OXYGEN_ODECONVEXCOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odecollider.h>
+#include <oxygen/physicsserver/int/convexcolliderint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODEConvexCollider : public ConvexColliderInt, public ODECollider
+{
+public:
+ ODEConvexCollider();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECONVEXCOLLIDER_H
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,28 @@
+/* -*- 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: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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/physicsserver/ode/odecylindercollider.h>
+
+using namespace oxygen;
+
+ODECylinderCollider::ODECylinderCollider() : ODEConvexCollider(){
+
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecylindercollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,39 @@
+/* -*- 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: odeobject.cpp 3 2008-11-21 02:38:08Z hedayat $
+
+ 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_ODECYLINDERCOLLIDER_H
+#define OXYGEN_ODECYLINDERCOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odeconvexcollider.h>
+#include <oxygen/physicsserver/int/cylindercolliderint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODECylinderCollider : public CylinderColliderInt, public ODEConvexCollider
+{
+public:
+ ODECylinderCollider();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECYLINDERCOLLIDER_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -32,7 +32,7 @@
using namespace salt;
using namespace std;
-ODERigidBody::ODERigidBody() : ODEBody(){
+ODERigidBody::ODERigidBody() : ODEBody(), mODEBody(0){
mBodyID = 0;
mMassTrans = Vector3f(0,0,0);
mMassTransformed = false;
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -158,8 +158,8 @@
for (int i=0;i<n;++i)
{
// notify the collider nodes
- collider->OnCollision(collidee,contacts[i],Collider::CT_DIRECT);
- collidee->OnCollision(collider,contacts[i],Collider::CT_SYMMETRIC);
+ //collider->OnCollision(collidee,contacts[i],Collider::CT_DIRECT);
+ //collidee->OnCollision(collider,contacts[i],Collider::CT_SYMMETRIC);
}
}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,57 @@
+/* -*- mode: c++ -*-
+
+ this file is part of rcssserver3D
+ Fri May 9 2003
+ Copyright (C) 2003 Koblenz University
+ $Id: spherecollider.cpp 108 2009-11-25 10:20:10Z a-held $
+
+ 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/physicsserver/ode/odespherecollider.h>
+
+using namespace oxygen;
+using namespace salt;
+
+ODESphereCollider::ODESphereCollider() : ODEConvexCollider()
+{
+ mODEGeom = 0;
+ mGeomID = 0;
+}
+
+void ODESphereCollider::SetRadius(float r)
+{
+ dGeomSphereSetRadius(mODEGeom, r);
+}
+
+float ODESphereCollider::GetRadius() const
+{
+ return dGeomSphereGetRadius(mODEGeom);
+}
+
+void ODESphereCollider::CreateSphere()
+{
+ mODEGeom = dCreateSphere(0, 1.0f);
+ mGeomID = (long) mODEGeom;
+}
+
+float ODESphereCollider::GetPointDepth(const Vector3f& pos)
+{
+ return dGeomSpherePointDepth
+ (mODEGeom,pos[0],pos[1],pos[2]);
+}
+
+long ODESphereCollider::GetGeomID(){
+ return mGeomID;
+}
Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespherecollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -0,0 +1,46 @@
+/* -*- 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: odeobject.h 56 2009-03-17 18:03:47Z hedayat $
+
+ 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_ODESPHERECOLLIDER_H
+#define OXYGEN_ODESPHERECOLLIDER_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/int/spherecolliderint.h>
+#include <oxygen/physicsserver/ode/odeconvexcollider.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODESphereCollider : public SphereColliderInt, public ODEConvexCollider
+{
+public:
+ ODESphereCollider();
+ void SetRadius(float r);
+ float GetRadius() const;
+ float GetPointDepth(const salt::Vector3f& pos);
+ void CreateSphere();
+
+ long GetGeomID();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODESPHERECOLLIDER_H
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/space.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -138,8 +138,8 @@
if (s1 == s2)
{
- const oxygen::Collider::TColliderNameSet & collider_set = collider->GetNotCollideWithSet();
- const oxygen::Collider::TColliderNameSet & collidee_set = collidee->GetNotCollideWithSet();
+ const oxygen::Collider::TColliderNameSet& collider_set = collider->GetNotCollideWithSet();
+ const oxygen::Collider::TColliderNameSet& collidee_set = collidee->GetNotCollideWithSet();
if (
(collider_set.find(collidee->GetName()) != collider_set.end()) ||
(collidee_set.find(collider->GetName()) != collidee_set.end())
@@ -170,8 +170,8 @@
for (int i=0;i<n;++i)
{
// notify the collider nodes
- collider->OnCollision(collidee,contacts[i],Collider::CT_DIRECT);
- collidee->OnCollision(collider,contacts[i],Collider::CT_SYMMETRIC);
+ collider->OnCollision(collidee,(void*) &contacts[i],Collider::CT_DIRECT);
+ collidee->OnCollision(collider,(void*) &contacts[i],Collider::CT_SYMMETRIC);
}
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.cpp 2009-12-09 08:42:42 UTC (rev 117)
@@ -20,44 +20,44 @@
*/
#include <oxygen/physicsserver/spherecollider.h>
+#include <oxygen/physicsserver/ode/odespherecollider.h>
using namespace oxygen;
using namespace salt;
SphereCollider::SphereCollider() : ConvexCollider()
{
+ mSphereColliderImp = boost::shared_ptr<ODESphereCollider>(new ODESphereCollider());
}
-void
-SphereCollider::SetRadius(float r)
+void SphereCollider::SetRadius(float r)
{
- dGeomSphereSetRadius(mODEGeom, r);
+ mSphereColliderImp->SetRadius(r);
}
-float
-SphereCollider::GetRadius() const
+float SphereCollider::GetRadius() const
{
- return dGeomSphereGetRadius(mODEGeom);
+ return mSphereColliderImp->GetRadius();
}
-bool
-SphereCollider::ConstructInternal()
+bool SphereCollider::ConstructInternal()
{
- if (! Collider::ConstructInternal())
+ if (!Collider::ConstructInternal())
{
return false;
}
+
+ // mODEGeom = dCreateSphere(0, 1.0f);
// create a unit sphere
- mODEGeom = dCreateSphere(0, 1.0f);
+ mSphereColliderImp->CreateSphere();
+ mODEGeom = (dGeomID) mSphereColliderImp->GetGeomID();
- return (mODEGeom != 0);
+ return (mSphereColliderImp->GetGeomID() != 0);
}
-float
-SphereCollider::GetPointDepth(const Vector3f& pos)
+float SphereCollider::GetPointDepth(const Vector3f& pos)
{
Vector3f worldPos(GetWorldTransform() * pos);
- return dGeomSpherePointDepth
- (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
+ return mSphereColliderImp->GetPointDepth(worldPos);
}
Modified: branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.h 2009-12-08 07:56:49 UTC (rev 116)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/spherecollider.h 2009-12-09 08:42:42 UTC (rev 117)
@@ -27,8 +27,9 @@
namespace oxygen
{
+class SphereColliderInt;
-/** SphereCollider encapsulates an ODE sphere geometry object.
+/** SphereCollider encapsulates a sphere geometry object.
*/
class OXYGEN_API SphereCollider : public ConvexCollider
{
@@ -38,10 +39,10 @@
public:
SphereCollider();
- /** sets the radius of the managed ODE sphere geom */
+ /** sets the radius of the managed sphere geom */
void SetRadius(float r);
- /** get the radius back from ODE */
+ /** get the radius back from */
float GetRadius() const;
/** returns the depth of the given relative position in the
@@ -54,6 +55,9 @@
protected:
/** constructs a default sphere with a radius of 1 */
virtual bool ConstructInternal();
+
+private:
+ boost::shared_ptr<SphereColliderInt> mSphereColliderImp;
};
DECLARE_CLASS(SphereCollider);
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