simspark-svn Mailing List for Spark - A generic physical simulator (Page 13)

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Revision: 116
          http://simspark.svn.sourceforge.net/simspark/?rev=116&view=rev
Author:   a-held
Date:     2009-12-08 07:56:49 +0000 (Tue, 08 Dec 2009)

Log Message:
-----------
updated ccyluinder to capsule
removed some unnecessary includes in interfaces
prepared bridge pattern for Collider class
provided bridge pattern for Compound-, Concave- and EmptyCollider

Modified Paths:
--------------
    branches/multiphys/spark/lib/oxygen/CMakeLists.txt
    branches/multiphys/spark/lib/oxygen/oxygen.cpp
    branches/multiphys/spark/lib/oxygen/oxygen.h
    branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
    branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.h
    branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.h
    branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.h
    branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.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/int/softbodyint.h
    branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h
    branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h
    branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odedynamicbody.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/oderigidbody.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odesoftbody.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odespace.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odestaticbody.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
    branches/multiphys/spark/plugin/rosimporter/rosimporter.cpp

Added Paths:
-----------
    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/compoundcollider.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
    branches/multiphys/spark/lib/oxygen/physicsserver/int/compoundcolliderint.h
    branches/multiphys/spark/lib/oxygen/physicsserver/int/concavecolliderint.h
    branches/multiphys/spark/lib/oxygen/physicsserver/int/emptycolliderint.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/odecompoundcollider.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconcavecollider.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconcavecollider.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeemptycollider.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeemptycollider.h

Removed Paths:
-------------
    branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider_c.cpp

Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================

--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt	2009-12-08 07:56:49 UTC (rev 116)
@@ -22,7 +22,7 @@
     physicsserver/softbody.h
     physicsserver/bodycontroller.h
     physicsserver/boxcollider.h
-    physicsserver/ccylindercollider.h
+    physicsserver/capsulecollider.h
     physicsserver/cylindercollider.h
     physicsserver/collider.h
     physicsserver/compoundcollider.h
@@ -55,7 +55,11 @@
     
     #interfaces
     physicsserver/int/bodyint.h
+    physicsserver/int/colliderint.h
+    physicsserver/int/compoundcolliderint.h
+    physicsserver/int/concavecolliderint.h
     physicsserver/int/dynamicbodyint.h
+    physicsserver/int/emptycolliderint.h
     physicsserver/int/physicsobjectint.h
     physicsserver/int/physicsserverint.h
     physicsserver/int/rigidbodyint.h
@@ -67,6 +71,10 @@
     #ode-specific files
     physicsserver/ode/odebody.h
     physicsserver/ode/odedynamicbody.h
+    physicsserver/ode/odecollider.h
+    physicsserver/ode/odecompoundcollider.h
+    physicsserver/ode/odeconcavecollider.h
+    physicsserver/ode/odeemptycollider.h
     physicsserver/ode/odephysicsobject.h
     physicsserver/ode/odephysicsserver.h
     physicsserver/ode/oderigidbody.h
@@ -153,12 +161,14 @@
     physicsserver/transformcollider_c.cpp
     physicsserver/boxcollider.cpp
     physicsserver/boxcollider_c.cpp
-    physicsserver/ccylindercollider.cpp
-    physicsserver/ccylindercollider_c.cpp
+    physicsserver/capsulecollider.cpp
+    physicsserver/capsulecollider_c.cpp
     physicsserver/cylindercollider_c.cpp
     physicsserver/collider.cpp
     physicsserver/collider_c.cpp
+    physicsserver/compoundcollider.cpp
     physicsserver/compoundcollider_c.cpp
+    physicsserver/concavecollider.cpp
     physicsserver/concavecollider_c.cpp
     physicsserver/conecollider_c.cpp
     physicsserver/convexcollider_c.cpp
@@ -166,6 +176,7 @@
     physicsserver/collisionhandler_c.cpp
     physicsserver/contactjointhandler.cpp
     physicsserver/contactjointhandler_c.cpp
+    physicsserver/emptycollider.cpp
     physicsserver/emptycollider_c.cpp
     physicsserver/physicsserver.cpp
     physicsserver/physicsserver_c.cpp
@@ -206,7 +217,11 @@
     
     #ODE-specific files
     physicsserver/ode/odebody.cpp
+    physicsserver/ode/odecompoundcollider.cpp
+    physicsserver/ode/odeconcavecollider.cpp
+    physicsserver/ode/odecollider.cpp
     physicsserver/ode/odedynamicbody.cpp
+    physicsserver/ode/odeemptycollider.cpp
     physicsserver/ode/odephysicsobject.cpp
     physicsserver/ode/odephysicsserver.cpp
     physicsserver/ode/oderigidbody.cpp

Modified: branches/multiphys/spark/lib/oxygen/oxygen.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.cpp	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/oxygen.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -83,7 +83,7 @@
     zg.GetCore()->RegisterClassObject(new CLASS(EmptyCollider), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(TransformCollider), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(BoxCollider), "oxygen/");
-    zg.GetCore()->RegisterClassObject(new CLASS(CCylinderCollider), "oxygen/");
+    zg.GetCore()->RegisterClassObject(new CLASS(CapsuleCollider), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(CylinderCollider), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(PlaneCollider), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(RayCollider), "oxygen/");

Modified: branches/multiphys/spark/lib/oxygen/oxygen.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/oxygen.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -46,7 +46,7 @@
 #include <oxygen/physicsserver/velocitycontroller.h>
 #include <oxygen/physicsserver/transformcollider.h>
 #include <oxygen/physicsserver/boxcollider.h>
-#include <oxygen/physicsserver/ccylindercollider.h>
+#include <oxygen/physicsserver/capsulecollider.h>
 #include <oxygen/physicsserver/cylindercollider.h>
 #include <oxygen/physicsserver/collider.h>
 #include <oxygen/physicsserver/compoundcollider.h>

Added: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,89 @@
+/* -*- 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: ccylindercollider.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/capsulecollider.h>
+
+using namespace oxygen;
+using namespace salt;
+
+CapsuleCollider::CapsuleCollider() : ConvexCollider()
+{
+}
+
+void CapsuleCollider::SetParams(float radius, float length)
+{
+    dGeomCCylinderSetParams (mODEGeom, radius, length);
+}
+
+void CapsuleCollider::SetRadius(float radius)
+{
+    SetParams(radius,GetLength());
+}
+
+void CapsuleCollider::SetLength(float length)
+{
+    SetParams(GetRadius(),length);
+}
+
+void CapsuleCollider::GetParams(float& radius, float& length)
+{
+    dReal r,l;
+    dGeomCCylinderGetParams(mODEGeom,&r,&l);
+    radius = r;
+    length = l;
+}
+
+float CapsuleCollider::GetRadius()
+{
+    float length;
+    float radius;
+    GetParams(radius,length);
+    return radius;
+}
+
+float CapsuleCollider::GetLength()
+{
+    float radius;
+    float length;
+    GetParams(radius,length);
+    return length;
+}
+
+bool CapsuleCollider::ConstructInternal()
+{
+    if (! Collider::ConstructInternal())
+    {
+        return false;
+    }
+
+    // create a unit capped cylinder
+    mODEGeom = dCreateCCylinder(0, 1.0f, 1.0f);
+
+    return (mODEGeom != 0);
+}
+
+float CapsuleCollider::GetPointDepth(const Vector3f& pos)
+{
+    Vector3f worldPos(GetWorldTransform() * pos);
+    return dGeomCCylinderPointDepth
+        (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
+}
+

Added: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,83 @@
+/* -*- 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: ccylindercollider.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_CAPSULECOLLIDER_H
+#define OXYGEN_CAPSULECOLLIDER_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/convexcollider.h>
+
+namespace oxygen
+{
+
+/** CapsuleCollider encapsulates an ODE 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.
+ */
+class OXYGEN_API CapsuleCollider : public ConvexCollider
+{
+    //
+    // Functions
+    //
+public:
+    CapsuleCollider();
+
+    /** 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);
+
+    /** sets the radius of the capsule */
+    void SetRadius(float radius);
+
+    /** sets the length of the capsule */
+    void SetLength(float length);
+
+    /** gets the radius and the length of the capsule */
+    void GetParams(float& radius, float& length);
+
+    /** returns the radius of the capsule */
+    float GetRadius();
+
+    /** return the length of the capsule */
+    float GetLength();
+
+    /** returns the depth of the given relative position in the
+       managed capsule geom. Points inside the geom will have
+       positive depth, points outside it will have negative depth, and
+       points on the surface will have zero depth.
+     */
+    float GetPointDepth(const salt::Vector3f& pos);
+
+protected:
+    /** constructs a default capsule with an radius of 1 and a
+        length of 1 */
+    virtual bool ConstructInternal();
+};
+
+DECLARE_CLASS(CapsuleCollider);
+
+} //namespace oxygen
+
+#endif //OXYGEN_CAPSULECOLLIDER_H

Added: branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/capsulecollider_c.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,112 @@
+/* -*- 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: ccylindercollider_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
+   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/capsulecollider.h>
+
+using namespace oxygen;
+using namespace boost;
+using namespace salt;
+
+FUNCTION(CapsuleCollider,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(CapsuleCollider,setRadius)
+{
+    float inRadius;
+
+    if (
+        (in.GetSize() != 1) ||
+        (! in.GetValue(in[0],inRadius))
+        )
+        {
+            return false;
+        }
+
+    obj->SetRadius(inRadius);
+    return true;
+}
+
+FUNCTION(CapsuleCollider,setLength)
+{
+    float inLength;
+
+    if (
+        (in.GetSize() != 1) ||
+        (! in.GetValue(in[0],inLength))
+        )
+        {
+            return false;
+        }
+
+    obj->SetLength(inLength);
+    return true;
+}
+
+FUNCTION(CapsuleCollider,getRadius)
+{
+    return obj->GetRadius();
+}
+
+FUNCTION(CapsuleCollider,getLength)
+{
+    return obj->GetLength();
+}
+
+FUNCTION(CapsuleCollider,getPointDepth)
+{
+    Vector3f inPos;
+
+    if (
+        (in.GetSize() == 0) ||
+        (! in.GetValue(in.begin(), inPos))
+        )
+        {
+            return 0;
+        }
+
+    return obj->GetPointDepth(inPos);
+}
+
+void CLASS(CapsuleCollider)::DefineClass()
+{
+    DEFINE_BASECLASS(oxygen/ConvexCollider);
+    DEFINE_FUNCTION(setParams);
+    DEFINE_FUNCTION(setRadius);
+    DEFINE_FUNCTION(setLength);
+    DEFINE_FUNCTION(getRadius);
+    DEFINE_FUNCTION(getLength);
+    DEFINE_FUNCTION(getPointDepth);
+}

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.cpp	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -1,94 +0,0 @@
-/* -*- 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
-   $Id$
-
-   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/ccylindercollider.h>
-
-using namespace oxygen;
-using namespace salt;
-
-CCylinderCollider::CCylinderCollider() : ConvexCollider()
-{
-}
-
-void CCylinderCollider::SetParams(float radius, float length)
-{
-    dGeomCCylinderSetParams (mODEGeom, radius, length);
-}
-
-void CCylinderCollider::SetRadius(float radius)
-{
-    SetParams(radius,GetLength());
-}
-
-void CCylinderCollider::SetLength(float length)
-{
-    SetParams(GetRadius(),length);
-}
-
-void
-CCylinderCollider::GetParams(float& radius, float& length)
-{
-    dReal r,l;
-    dGeomCCylinderGetParams(mODEGeom,&r,&l);
-    radius = r;
-    length = l;
-}
-
-float
-CCylinderCollider::GetRadius()
-{
-    float length;
-    float radius;
-    GetParams(radius,length);
-    return radius;
-}
-
-float
-CCylinderCollider::GetLength()
-{
-    float radius;
-    float length;
-    GetParams(radius,length);
-    return length;
-}
-
-bool
-CCylinderCollider::ConstructInternal()
-{
-    if (! Collider::ConstructInternal())
-    {
-        return false;
-    }
-
-    // create a unit capped cylinder
-    mODEGeom = dCreateCCylinder(0, 1.0f, 1.0f);
-
-    return (mODEGeom != 0);
-}
-
-float
-CCylinderCollider::GetPointDepth(const Vector3f& pos)
-{
-    Vector3f worldPos(GetWorldTransform() * pos);
-    return dGeomCCylinderPointDepth
-        (mODEGeom,worldPos[0],worldPos[1],worldPos[2]);
-}
-

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -1,83 +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 OXYGEN_CCYLINDERCOLLIDER_H
-#define OXYGEN_CCYLINDERCOLLIDER_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/convexcollider.h>
-
-namespace oxygen
-{
-
-/** CCylinderCollider encapsulates an ODE capped cylinder geometry
-    object. A capped cylinder is like a normal cylinder except it has
-    half-sphere caps at its ends. This feature makes the internal
-    collision detection code particularly fast and accurate.
- */
-class OXYGEN_API CCylinderCollider : public ConvexCollider
-{
-    //
-    // Functions
-    //
-public:
-    CCylinderCollider();
-
-    /** 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);
-
-    /** sets the radius of the capped cylinder */
-    void SetRadius(float radius);
-
-    /** sets the length of the capped cylinder */
-    void SetLength(float length);
-
-    /** gets the radius and the length of the capped cylinder */
-    void GetParams(float& radius, float& length);
-
-    /** returns the radius of the capped cylinder */
-    float GetRadius();
-
-    /** return the length of the capped cylinder */
-    float GetLength();
-
-    /** returns the depth of the given relative position in the
-       managed capped cylinder geom. Points inside the geom will have
-       positive depth, points outside it will have negative depth, and
-       points on the surface will have zero depth.
-     */
-    float GetPointDepth(const salt::Vector3f& pos);
-
-protected:
-    /** constructs a default capped cylinder with an radius of 1 and a
-        length of 1 */
-    virtual bool ConstructInternal();
-};
-
-DECLARE_CLASS(CCylinderCollider);
-
-} //namespace oxygen
-
-#endif //OXYGEN_CCYLINDERCOLLIDER_H

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider_c.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider_c.cpp	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ccylindercollider_c.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -1,112 +0,0 @@
-/* -*- 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
-   $Id$
-
-   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/ccylindercollider.h>
-
-using namespace oxygen;
-using namespace boost;
-using namespace salt;
-
-FUNCTION(CCylinderCollider,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(CCylinderCollider,setRadius)
-{
-    float inRadius;
-
-    if (
-        (in.GetSize() != 1) ||
-        (! in.GetValue(in[0],inRadius))
-        )
-        {
-            return false;
-        }
-
-    obj->SetRadius(inRadius);
-    return true;
-}
-
-FUNCTION(CCylinderCollider,setLength)
-{
-    float inLength;
-
-    if (
-        (in.GetSize() != 1) ||
-        (! in.GetValue(in[0],inLength))
-        )
-        {
-            return false;
-        }
-
-    obj->SetLength(inLength);
-    return true;
-}
-
-FUNCTION(CCylinderCollider,getRadius)
-{
-    return obj->GetRadius();
-}
-
-FUNCTION(CCylinderCollider,getLength)
-{
-    return obj->GetLength();
-}
-
-FUNCTION(CCylinderCollider,getPointDepth)
-{
-    Vector3f inPos;
-
-    if (
-        (in.GetSize() == 0) ||
-        (! in.GetValue(in.begin(), inPos))
-        )
-        {
-            return 0;
-        }
-
-    return obj->GetPointDepth(inPos);
-}
-
-void CLASS(CCylinderCollider)::DefineClass()
-{
-    DEFINE_BASECLASS(oxygen/ConvexCollider);
-    DEFINE_FUNCTION(setParams);
-    DEFINE_FUNCTION(setRadius);
-    DEFINE_FUNCTION(setLength);
-    DEFINE_FUNCTION(getRadius);
-    DEFINE_FUNCTION(getLength);
-    DEFINE_FUNCTION(getPointDepth);
-}

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -19,6 +19,7 @@
    Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
 */
 #include <oxygen/physicsserver/collider.h>
+#include <oxygen/physicsserver/ode/odecollider.h>
 #include <oxygen/physicsserver/collisionhandler.h>
 #include <oxygen/physicsserver/space.h>
 #include <oxygen/physicsserver/transformcollider.h>
@@ -34,6 +35,7 @@
 
 Collider::Collider() : PhysicsObject(), mODEGeom(0)
 {
+    mColliderImp = boost::shared_ptr<ODECollider>(new ODECollider());
 }
 
 Collider::~Collider()

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -30,6 +30,7 @@
 
 namespace oxygen
 {
+class ColliderInt;
 
 /** \class Collider encapsulates an ODE geometry object- geom for
     short. Geoms are the fundamental objects in the collision
@@ -158,6 +159,9 @@
 protected:
     /** the ode collision geometry */
     dGeomID mODEGeom;
+    
+private:
+    boost::shared_ptr<ColliderInt> mColliderImp;
 
 protected:
     /** a set that store the colliders that I never collide with

Added: branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -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/compoundcollider.h>
+#include <oxygen/physicsserver/ode/odecompoundcollider.h>
+
+using namespace oxygen;
+
+CompoundCollider::CompoundCollider() : Collider(){
+    mCompoundColliderImp = boost::shared_ptr<ODECompoundCollider>(new ODECompoundCollider());
+}
+
+CompoundCollider::~CompoundCollider(){
+
+}

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/compoundcollider.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -27,6 +27,7 @@
 
 namespace oxygen
 {
+class CompoundColliderInt;
 /**
     CompoundCollider is not yet implemented.
 */
@@ -37,8 +38,11 @@
     // Functions
     //
 public:
-    CompoundCollider() : Collider(){};
-    virtual ~CompoundCollider(){};
+    CompoundCollider();
+    virtual ~CompoundCollider();
+    
+private:
+    boost::shared_ptr<CompoundColliderInt> mCompoundColliderImp;
 };
 
 DECLARE_CLASS(CompoundCollider);

Added: branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -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/concavecollider.h>
+#include <oxygen/physicsserver/ode/odeconcavecollider.h>
+
+using namespace oxygen;
+
+ConcaveCollider::ConcaveCollider() : Collider(){
+    mConcaveColliderImp = boost::shared_ptr<ODEConcaveCollider>(new ODEConcaveCollider());
+}
+
+ConcaveCollider::~ConcaveCollider(){
+
+}

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/concavecollider.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -27,6 +27,7 @@
 
 namespace oxygen
 {
+class ConcaveColliderInt;
 /**
     ConcaveCollider is not yet implemented.
 */
@@ -37,8 +38,11 @@
     // Functions
     //
 public:
-    ConcaveCollider() : Collider(){};
-    virtual ~ConcaveCollider(){};
+    ConcaveCollider();
+    virtual ~ConcaveCollider();
+    
+private:
+    boost::shared_ptr<ConcaveColliderInt> mConcaveColliderImp;
 };
 
 DECLARE_CLASS(ConcaveCollider);

Added: branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -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/emptycollider.h>
+#include <oxygen/physicsserver/ode/odeemptycollider.h>
+
+using namespace oxygen;
+
+EmptyCollider::EmptyCollider() : Collider(){
+    mEmptyColliderImp = boost::shared_ptr<ODEEmptyCollider>(new ODEEmptyCollider());
+}
+
+EmptyCollider::~EmptyCollider(){
+
+}

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/emptycollider.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -27,6 +27,7 @@
 
 namespace oxygen
 {
+class EmptyColliderInt;
 /**
     EmptyCollider is not yet implemented.
 */
@@ -37,8 +38,11 @@
     // Functions
     //
 public:
-    EmptyCollider() : Collider(){};
-    virtual ~EmptyCollider(){};
+    EmptyCollider();
+    virtual ~EmptyCollider();
+    
+private:
+    boost::shared_ptr<EmptyColliderInt> mEmptyColliderImp;
 };
 
 DECLARE_CLASS(EmptyCollider);

Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/colliderint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,72 @@
+/* -*- 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_COLLIDERINT_H
+#define OXYGEN_COLLIDERINT_H
+
+#include <oxygen/physicsserver/ode/odewrapper.h>
+#include <oxygen/oxygen_defines.h>
+#include <set>
+#include <string>
+
+namespace oxygen
+{
+class Collider;
+
+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;
+    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;
+    
+protected:
+    dGeomID mODEGeom;
+    TColliderNameSet mNotCollideWithSet;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_COLLIDERINT_H

Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/compoundcolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/compoundcolliderint.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/compoundcolliderint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -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_COMPOUNDCOLLIDERINT_H
+#define OXYGEN_COMPOUNDCOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API CompoundColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_COMPOUNDCOLLIDERINT_H

Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/concavecolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/concavecolliderint.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/concavecolliderint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -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_CONCAVECOLLIDERINT_H
+#define OXYGEN_CONCAVECOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ConcaveColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_CONCAVECOLLIDERINT_H

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/dynamicbodyint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -24,7 +24,6 @@
 #define OXYGEN_DYNAMICBODYINT_H
 
 #include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odebody.h>
 
 namespace oxygen
 {

Added: branches/multiphys/spark/lib/oxygen/physicsserver/int/emptycolliderint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/emptycolliderint.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/emptycolliderint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -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_EMPTYCOLLIDERINT_H
+#define OXYGEN_EMPTYCOLLIDERINT_H
+
+#include <oxygen/oxygen_defines.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API EmptyColliderInt
+{
+
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_EMPTYCOLLIDERINT_H

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/physicsobjectint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -24,8 +24,7 @@
 #define OXYGEN_PHYSICSOBJECTINT_H
 
 #include <boost/smart_ptr/shared_ptr.hpp>
-#include <oxygen/physicsserver/ode/odewrapper.h>
-#include <oxygen/sceneserver/basenode.h>
+#include <salt/salt.h>
 #include <oxygen/oxygen_defines.h>
 
 namespace oxygen

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/rigidbodyint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -24,8 +24,6 @@
 #define OXYGEN_RIGIDBODYINT_H
 
 #include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odebody.h>
-#include <iostream>
 
 namespace oxygen
 {

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/softbodyint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -24,7 +24,6 @@
 #define OXYGEN_SOFTBODYINT_H
 
 #include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odebody.h>
 
 namespace oxygen
 {

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/spaceint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -23,7 +23,6 @@
 #ifndef OXYGEN_SPACEINT_H
 #define OXYGEN_SPACEINT_H
 
-#include <oxygen/physicsserver/ode/odephysicsobject.h>
 #include <set>
 #include <oxygen/oxygen_defines.h>
 
@@ -32,6 +31,7 @@
 class Transform;
 class RigidBody;
 class Collider;
+class Scene;
 
 class OXYGEN_API SpaceInt
 {

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/staticbodyint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -24,7 +24,6 @@
 #define OXYGEN_STATICBODYINT_H
 
 #include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odebody.h>
 
 namespace oxygen
 {

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h	2009-12-07 08:43:40 UTC (rev 115)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/int/worldint.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -22,8 +22,8 @@
 #ifndef OXYGEN_WORLDINT_H
 #define OXYGEN_WORLDINT_H
 
+#include <salt/salt.h>
 #include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odephysicsobject.h>
 
 namespace oxygen
 {

Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -0,0 +1,305 @@
+/* -*- 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: collider.cpp 115 2009-12-07 08:43:40Z 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/odecollider.h>
+#include <oxygen/physicsserver/collisionhandler.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/physicsserver/transformcollider.h>
+#include <oxygen/physicsserver/rigidbody.h>
+#include <oxygen/sceneserver/basenode.h>
+#include <oxygen/sceneserver/scene.h>
+#include <zeitgeist/leaf.h>
+#include <zeitgeist/logserver/logserver.h>
+
+using namespace oxygen;
+using namespace salt;
+using namespace zeitgeist;
+using namespace boost;
+using namespace std;
+
+ODECollider::ODECollider() : ODEPhysicsObject(), mODEGeom(0)
+{
+}
+
+ODECollider::~ODECollider()
+{
+}
+
+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()
+{
+    //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)
+{
+    dMatrix3 ODEMatrix;
+    void* matrixPtr = (void*) &ODEMatrix; 
+    ConvertRotationMatrix(rot, matrixPtr);
+    dGeomSetRotation(mODEGeom, ODEMatrix);
+}
+
+void ODECollider::SetPosition(const Vector3f& pos)
+{
+    //Vector3f globalPos(GetWorldTransform() * pos);
+    //dGeomSetPosition (mODEGeom, globalPos[0], globalPos[1], globalPos[2]);
+}
+
+void ODECollider::SetLocalPosition(const Vector3f& pos)
+{
+    dGeomSetPosition (mODEGeom, pos[0], pos[1], pos[2]);
+}
+
+Vector3f ODECollider::GetPosition() const
+{
+    const dReal* pos = dGeomGetPosition(mODEGeom);
+    return Vector3f(pos[0],pos[1],pos[2]);
+}
+
+long ODECollider::GetParentSpaceID()
+{
+    if (mODEGeom == 0)
+        {
+            return 0;
+        }
+
+    return (long) dGeomGetSpace(mODEGeom);
+}
+
+bool ODECollider::Intersects(boost::shared_ptr<Collider> collider)
+{
+    if (
+        (mODEGeom == 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;
+}
+
+void ODECollider::DestroyPhysicsObject()
+{
+    if (! mODEGeom)
+        {
+            return;
+        }
+
+    dGeomDestroy(mODEGeom);
+    mODEGeom = 0;
+}
+
+void ODECollider::AddNotCollideWithColliderName(const std::string & colliderName, bool isAdd)
+{
+    TColliderNameSet::iterator it = mNotCollideWithSet.find(colliderName);
+
+    if (isAdd)
+    {
+        if (it == mNotCollideWithSet.end())
+        {
+            //I'm not have this one
+            mNotCollideWithSet.insert(colliderName);
+        }
+    }
+    else
+    {
+        if (it != mNotCollideWithSet.end())
+        {
+            //Remove
+            mNotCollideWithSet.erase(it);
+        }
+    }
+}
+
+const ODECollider::TColliderNameSet& ODECollider::GetNotCollideWithSet() const
+{
+    return mNotCollideWithSet;
+}

Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecollider.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -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: 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_ODECOLLIDER_H
+#define OXYGEN_ODECOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odephysicsobject.h>
+#include <oxygen/physicsserver/int/colliderint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODECollider : public ColliderInt, public ODEPhysicsObject
+{
+
+public:    
+    ODECollider();
+    virtual ~ODECollider();
+
+    void OnCollision(boost::shared_ptr<Collider> collidee, dContact& contact, ECollisionType type);
+    bool AddCollisionHandler(const std::string& handlerName);
+    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();
+    
+protected:
+    dGeomID mODEGeom;
+    TColliderNameSet mNotCollideWithSet;
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECOLLIDER_H

Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.cpp	2009-12-08 07:56:49 UTC (rev 116)
@@ -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/odecompoundcollider.h>
+
+using namespace oxygen;
+
+ODECompoundCollider::ODECompoundCollider() : ODECollider(){
+
+}

Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odecompoundcollider.h	2009-12-08 07:56:49 UTC (rev 116)
@@ -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_ODECOMPOUNDCOLLIDER_H
+#define OXYGEN_ODECOMPOUNDCOLLIDER_H
+
+#include <oxygen/physicsserver/ode/odecollider.h>
+#include <oxygen/physicsserver/int/compoundcolliderint.h>
+
+namespace oxygen
+{
+
+class OXYGEN_API ODECompoundCollider : public CompoundColliderInt, public ODECollider
+{
+public:
+    ODECompoundCollider();
+};
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODECOMPOUNDCOLLIDER_H

Added: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconcavecollider.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeconcavecollider.cpp	                        (rev 0)
+++ br...
 
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