Thread: [simspark-svn] SF.net SVN: simspark:[102] branches/multiphys

SourceForge Headquarters 225 Broadway Suite 1600 San Diego, CA 92101 +1 (858) 422-6466

Revision: 102
          http://simspark.svn.sourceforge.net/simspark/?rev=102&view=rev
Author:   a-held
Date:     2009-11-18 07:24:29 +0000 (Wed, 18 Nov 2009)

Log Message:
-----------
bringing branch up to date

Modified Paths:
--------------
    branches/multiphys/rcssserver3d/ChangeLog
    branches/multiphys/rcssserver3d/RELEASE
    branches/multiphys/spark/ChangeLog
    branches/multiphys/spark/RELEASE
    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/body.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/body.h
    branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h
    branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
    branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h
    branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
    branches/multiphys/spark/lib/oxygen/physicsserver/physicsserver.h
    branches/multiphys/spark/lib/oxygen/physicsserver/space.h
    branches/multiphys/spark/lib/oxygen/physicsserver/world.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/world.h
    branches/multiphys/spark/lib/oxygen/physicsserver/world_c.cpp
    branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.cpp
    branches/multiphys/spark/lib/oxygen/simulationserver/agentcontrol.h
    branches/multiphys/spark/lib/oxygen/simulationserver/netcontrol.cpp
    branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.cpp
    branches/multiphys/spark/lib/oxygen/simulationserver/simulationserver.h
    branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.cpp
    branches/multiphys/spark/plugin/collisionperceptor/forceresistanceperceptor.h
    branches/multiphys/spark/utility/rcssnet/socket.cpp
    branches/multiphys/spark/utility/rcssnet/socket.hpp

Added Paths:
-----------
    branches/multiphys/spark/lib/oxygen/physicsserver/imp/
    branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h
    branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odewrapper.h

Removed Paths:
-------------
    branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h
    branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld_c.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/ode/odewrapper.h
    branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/odeobject.h
    branches/multiphys/spark/lib/oxygen/physicsserver/odeobject_c.cpp
    branches/multiphys/spark/lib/oxygen/physicsserver/odewrapper.h

Property Changed:
----------------
    branches/multiphys/


Property changes on: branches/multiphys
___________________________________________________________________
Added: svn:mergeinfo
   + /trunk:95-101

Modified: branches/multiphys/rcssserver3d/ChangeLog
===================================================================

--- branches/multiphys/rcssserver3d/ChangeLog	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/rcssserver3d/ChangeLog	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,3 +1,8 @@
+2009-10-31  Hedayat Vatankhah  <he...@gr...>
+
+	* RELEASE: 
+	- write about changes sine 0.6.2, initial draft.
+
 2009-08-24  Marian Buchta  <mar...@gm...>
 
 	* CMakeLists.txt:

Modified: branches/multiphys/rcssserver3d/RELEASE
===================================================================
--- branches/multiphys/rcssserver3d/RELEASE	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/rcssserver3d/RELEASE	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,15 +1,10 @@
-RELEASE News of rcssserver3d-0.6.2
+RELEASE News of rcssserver3d-0.6.3 (In progress)
 
-This release is mainly a bug-fix release, and is the last release before
-RoboCup 2009 competitions.
-
-* Some improvements:
- - improved Windows and MacOSX support
- - improved external monitor
- - fixed a bug in rcssserver3d's goal counting
- - added right kick-off key to the monitor (Simon Raffeiner)
- - simspark can take command line argument specifying the rb script to run
-   (using --script-path command line option)
-
+* Most notable changes:
+ - No internal monitor by default. Run rcssmonitor3d separately to see the game. 
+ - Added HMDP effector/perceptor
+ - Some compilation fixes
+ - Improved Windows support 
+ 
 You can get the package on the Simspark page on SourceForge
 at http://sourceforge.net/projects/simspark/

Modified: branches/multiphys/spark/ChangeLog
===================================================================
--- branches/multiphys/spark/ChangeLog	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/ChangeLog	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,3 +1,24 @@
+2009-10-31  Hedayat Vatankhah  <he...@gr...>
+
+	* lib/oxygen/simulationserver/simulationserver.h: 
+	* lib/oxygen/simulationserver/simulationserver.cpp:
+	- prevent a deadlock case (on exit) in multi-threaded mode
+	 
+	* lib/oxygen/simulationserver/agentcontrol.h: 
+	* lib/oxygen/simulationserver/agentcontrol.cpp:
+	- send senses in SenseAgent method, so that they'll be sent after receiving
+	  commands from the agents. this will ensure that any commands sent after
+	  sending senses will be executed in the next cycle, which results in a
+	  more deterministic behaviour 
+
+2009-10-30  Hedayat Vatankhah  <he...@gr...>
+
+	* lib/oxygen/simulationserver/netcontrol.cpp (NetControl::InitSimulation): 
+	- try to set REUSEADDR flag to reuse local addresses. 
+	
+	* utility/rcssnet/socket.cpp (Socket::setReuseAddr): 
+	- added the new function 
+
 2009-08-25  Marian Buchta  <mar...@gm...>
 
 	* plugin/openglsyswx/CMakeLists.txt:

Modified: branches/multiphys/spark/RELEASE
===================================================================
--- branches/multiphys/spark/RELEASE	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/RELEASE	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,15 +1,17 @@
-RELEASE News of simspark-0.1.2
+RELEASE News of simspark-0.1.3 (in progress)
 
-This release brings some bugfixes, better performance and also better Windows
-support. A Windows installer will be available too. This is the first version 
-which runs in multi-threaded mode by default. The multi-threaded mode is still
-in early stages, and it can be improved cosiderably in future.
+SOME INTERESTING COMMENTS!
 
 Main changes of this release are:
- - improved Windows support, including Windows Installer. 
- - Multi-threaded mode now works, and is the default mode when running simspark
- - Performance improvements
- - Fixed a bug in networking code, which were introduced in 0.1.1
+ - Compilation fixes
+ - Improved Windows support
+ - Simspark should always accept connections. No more "Connection refused"
+   messages and the need to wait for simspark's network port to be freed!
+ - Simspark will now collect received commands right before sending
+   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.   
 
 You can get the package on the Simspark page on SourceForge
 at http://sourceforge.net/projects/simspark/

Modified: branches/multiphys/spark/lib/oxygen/CMakeLists.txt
===================================================================
--- branches/multiphys/spark/lib/oxygen/CMakeLists.txt	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/CMakeLists.txt	2009-11-18 07:24:29 UTC (rev 102)
@@ -21,8 +21,6 @@
     physicsserver/collider.h
     physicsserver/collisionhandler.h
     physicsserver/contactjointhandler.h
-    physicsserver/odeobject.h
-    physicsserver/odewrapper.h
     physicsserver/physicsserver.h
     physicsserver/planecollider.h
     physicsserver/raycollider.h
@@ -41,6 +39,15 @@
     physicsserver/universaljoint.h
     physicsserver/hinge2joint.h
     physicsserver/angularmotor.h
+    
+    #interfaces
+    physicsserver/imp/worldimp.h
+    
+    #ode-specific files
+    physicsserver/ode/odeobject.h
+    physicsserver/ode/odeworld.h
+    physicsserver/ode/odewrapper.h
+    
     sceneserver/sceneimporter.h
     sceneserver/basenode.h
     sceneserver/fpscontroller.h
@@ -116,8 +123,6 @@
     physicsserver/collisionhandler_c.cpp
     physicsserver/contactjointhandler.cpp
     physicsserver/contactjointhandler_c.cpp
-    physicsserver/odeobject.cpp
-    physicsserver/odeobject_c.cpp
     physicsserver/physicsserver.cpp
     physicsserver/physicsserver_c.cpp
     physicsserver/planecollider.cpp
@@ -152,6 +157,16 @@
     physicsserver/hinge2joint_c.cpp
     physicsserver/angularmotor.cpp
     physicsserver/angularmotor_c.cpp
+    
+    #interfaces
+    physicsserver/imp/worldimp_c.cpp
+    
+    #ODE-specific files
+    physicsserver/ode/odeworld.cpp
+    physicsserver/ode/odeworld_c.cpp
+    physicsserver/ode/odeobject.cpp
+    physicsserver/ode/odeobject_c.cpp
+    
     sceneserver/basenode.cpp
     sceneserver/basenode_c.cpp
     sceneserver/fpscontroller.cpp

Modified: branches/multiphys/spark/lib/oxygen/oxygen.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.cpp	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/oxygen.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -57,9 +57,9 @@
     zg.GetCore()->RegisterClassObject(new CLASS(BodyController), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(DragController), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(VelocityController), "oxygen/");
-    zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(Space), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(World), "oxygen/");
+    zg.GetCore()->RegisterClassObject(new CLASS(WorldImp), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(Joint), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(BallJoint), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(HingeJoint), "oxygen/");
@@ -86,6 +86,11 @@
     zg.GetCore()->RegisterClassObject(new CLASS(AgentAspect), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(Effector), "oxygen/");
     zg.GetCore()->RegisterClassObject(new CLASS(Perceptor), "oxygen/");
+    
+    //ODE-specific classes
+    zg.GetCore()->RegisterClassObject(new CLASS(ODEObject), "oxygen/");
+    zg.GetCore()->RegisterClassObject(new CLASS(ODEWorld), "oxygen/");
+    
 
 #ifdef HAVE_SPADES_HEADERS
     // spades

Modified: branches/multiphys/spark/lib/oxygen/oxygen.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/oxygen.h	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/oxygen.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -34,6 +34,7 @@
 #include "gamecontrolserver/actionobject.h"
 #include "gamecontrolserver/behavior.h"
 
+//abstract physics classes
 #include "physicsserver/body.h"
 #include "physicsserver/bodycontroller.h"
 #include "physicsserver/dragcontroller.h"
@@ -42,7 +43,6 @@
 #include "physicsserver/boxcollider.h"
 #include "physicsserver/ccylindercollider.h"
 #include "physicsserver/collider.h"
-#include "physicsserver/odeobject.h"
 #include "physicsserver/physicsserver.h"
 #include "physicsserver/planecollider.h"
 #include "physicsserver/raycollider.h"
@@ -60,6 +60,13 @@
 #include "physicsserver/universaljoint.h"
 #include "physicsserver/hinge2joint.h"
 
+//physics interfaces
+#include "physicsserver/imp/worldimp.h"
+
+//ode-specific includes
+#include <oxygen/physicsserver/ode/odeobject.h>
+#include <oxygen/physicsserver/ode/odeworld.h>
+
 #include "sceneserver/basenode.h"
 #include "sceneserver/camera.h"
 #include "sceneserver/fpscontroller.h"

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -339,7 +339,7 @@
     // direction: (1=x, 2=y, 3=z)
     int direction = 3;
 
-    dMassSetCappedCylinder (&mass, density, direction, radius, length);
+    dMassSetCapsule (&mass, density, direction, radius, length);
 }
 
 void Body::SetCappedCylinder (float density, float radius, float length)
@@ -361,7 +361,7 @@
     // direction: (1=x, 2=y, 3=z)
     int direction = 3;
 
-    dMassSetCappedCylinderTotal(&mass, total_mass, direction, radius, length);
+    dMassSetCapsuleTotal(&mass, total_mass, direction, radius, length);
 }
 
 void Body::SetCappedCylinderTotal(float total_mass, float radius, float length)

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/body.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/body.h	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/body.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -23,7 +23,7 @@
 #define OXYGEN_BODY_H
 
 #include <oxygen/oxygen_defines.h>
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
 
 namespace oxygen
 {

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/boxcollider.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -23,7 +23,7 @@
 #define OXYGEN_BOXCOLLIDER_H
 
 #include <oxygen/oxygen_defines.h>
-#include "collider.h"
+#include <oxygen/physicsserver/collider.h>
 
 namespace oxygen
 {

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collider.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collider.h	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collider.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -22,7 +22,7 @@
 #ifndef OXYGEN_COLLIDER_H
 #define OXYGEN_COLLIDER_H
 
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
 #include <string>
 #include <set>
 #include <oxygen/oxygen_defines.h>

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/collisionhandler.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -24,7 +24,7 @@
 
 #include <oxygen/sceneserver/basenode.h>
 #include <oxygen/oxygen_defines.h>
-#include "odewrapper.h"
+#include <oxygen/physicsserver/ode/odewrapper.h>
 
 namespace oxygen
 {

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/imp/worldimp.h	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,116 +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: world.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_WORLDIMP_H
-#define OXYGEN_WORLDIMP_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/ode/odeobject.h>
-
-namespace oxygen
-{
-
-/** World encapsulates an ODE world object. It is a container for
-    rigid bodies and joints. Objects in different worlds can not
-    interact, for example rigid bodies from two different worlds can
-    not collide. All the objects in a world exist at the same point in
-    time, thus one reason to use separate worlds is to simulate
-    systems at different rates.
-*/
-class OXYGEN_API WorldImp : public ODEObject
-{
-    //
-    // Functions
-    //
-public:
-    WorldImp() : ODEObject(){};
-    virtual ~WorldImp(){};
-
-    /** returns the ID of the managed ODE world */
-    virtual dWorldID GetODEWorldImp() const = 0;
-
-    /** sets the gravity vector of this vorld */
-    virtual void SetGravityImp(const salt::Vector3f& gravity) = 0;
-
-    /** gets the gravity vector of this world */
-    virtual salt::Vector3f GetGravityImp() const = 0;
-
-    /** sets the Error Reduction Parameter of this world. The ERP
-        specifies what proportion of a joint error will be fixed
-        during the next simulation step. if ERP=0 then no correcting
-        force is applied and the bodies will eventually drift apart as
-        the simulation proceeds. If ERP=1 then the simulation will
-        attempt to fix all joint error during the next time
-        step. However, setting ERP=1 is not recommended, as the joint
-        error will not be completely fixed due to various internal
-        approximations. A value of ERP=0.1 to 0.8 is recommended (0.2
-        is the default).
-    */
-    virtual void SetERPImp(float erp) = 0;
-
-    /** returns the Error Reduction Parameter of this World.
-     */
-    virtual float GetERPImp() const = 0;
-
-    /** sets the Constraint Force mixing (CFM) value. If CFM is set to
-        zero, the constraint will be hard. If CFM is set to a positive
-        value, it will be possible to violate the constraint by
-        `pushing on it' (for example, for contact constraints by
-        forcing the two contacting objects together). In other words
-        the constraint will be soft, and the softness will increase as
-        CFM increases. Note that setting CFM to a negative value can
-        have undesirable bad effects, such as instability.
-    */
-    virtual void SetCFMImp(float cfm) = 0;
-
-    /** returns the Constraint Force mixing (CFM) value. */
-    virtual float GetCFMImp() const = 0;
-
-    /** steps the world deltatime forward, i.e. performs physics
-        simulation for a deltaTime seconds interval.
-    */
-    virtual void StepImp(float deltaTime) = 0;
-
-    virtual bool GetAutoDisableFlagImp() const = 0;
-    virtual void SetAutoDisableFlagImp(bool flag) = 0;
-
-    /** Set and get the depth of the surface layer around all geometry
-        objects. Contacts are allowed to sink into the surface layer up to
-        the given depth before coming to rest. The default value is
-        zero. Increasing this to some small value (e.g. 0.001) can help
-        prevent jittering problems due to contacts being repeatedly made
-        and broken.
-    */
-    virtual void SetContactSurfaceLayerImp(float depth) = 0;
-    virtual float GetContactSurfaceLayerImp() const = 0;
-
-    /** destroy the managed ODE object */
-    virtual void DestroyODEObjectImp() = 0;
-
-    /** creates them managed ODE world */
-    virtual bool ConstructInternalImp() = 0;
-};
-
-DECLARE_ABSTRACTCLASS(WorldImp);
-
-}
-
-#endif //OXYGEN_WORLDIMP_H

Copied: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h (from rev 101, trunk/spark/lib/oxygen/physicsserver/imp/worldimp.h)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,116 @@
+/* -*- 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: world.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_WORLDIMP_H
+#define OXYGEN_WORLDIMP_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/physicsserver/ode/odeobject.h>
+
+namespace oxygen
+{
+
+/** World encapsulates an ODE world object. It is a container for
+    rigid bodies and joints. Objects in different worlds can not
+    interact, for example rigid bodies from two different worlds can
+    not collide. All the objects in a world exist at the same point in
+    time, thus one reason to use separate worlds is to simulate
+    systems at different rates.
+*/
+class OXYGEN_API WorldImp : public ODEObject
+{
+    //
+    // Functions
+    //
+public:
+    WorldImp() : ODEObject(){};
+    virtual ~WorldImp(){};
+
+    /** returns the ID of the managed ODE world */
+    virtual dWorldID GetODEWorldImp() const = 0;
+
+    /** sets the gravity vector of this vorld */
+    virtual void SetGravityImp(const salt::Vector3f& gravity) = 0;
+
+    /** gets the gravity vector of this world */
+    virtual salt::Vector3f GetGravityImp() const = 0;
+
+    /** sets the Error Reduction Parameter of this world. The ERP
+        specifies what proportion of a joint error will be fixed
+        during the next simulation step. if ERP=0 then no correcting
+        force is applied and the bodies will eventually drift apart as
+        the simulation proceeds. If ERP=1 then the simulation will
+        attempt to fix all joint error during the next time
+        step. However, setting ERP=1 is not recommended, as the joint
+        error will not be completely fixed due to various internal
+        approximations. A value of ERP=0.1 to 0.8 is recommended (0.2
+        is the default).
+    */
+    virtual void SetERPImp(float erp) = 0;
+
+    /** returns the Error Reduction Parameter of this World.
+     */
+    virtual float GetERPImp() const = 0;
+
+    /** sets the Constraint Force mixing (CFM) value. If CFM is set to
+        zero, the constraint will be hard. If CFM is set to a positive
+        value, it will be possible to violate the constraint by
+        `pushing on it' (for example, for contact constraints by
+        forcing the two contacting objects together). In other words
+        the constraint will be soft, and the softness will increase as
+        CFM increases. Note that setting CFM to a negative value can
+        have undesirable bad effects, such as instability.
+    */
+    virtual void SetCFMImp(float cfm) = 0;
+
+    /** returns the Constraint Force mixing (CFM) value. */
+    virtual float GetCFMImp() const = 0;
+
+    /** steps the world deltatime forward, i.e. performs physics
+        simulation for a deltaTime seconds interval.
+    */
+    virtual void StepImp(float deltaTime) = 0;
+
+    virtual bool GetAutoDisableFlagImp() const = 0;
+    virtual void SetAutoDisableFlagImp(bool flag) = 0;
+
+    /** Set and get the depth of the surface layer around all geometry
+        objects. Contacts are allowed to sink into the surface layer up to
+        the given depth before coming to rest. The default value is
+        zero. Increasing this to some small value (e.g. 0.001) can help
+        prevent jittering problems due to contacts being repeatedly made
+        and broken.
+    */
+    virtual void SetContactSurfaceLayerImp(float depth) = 0;
+    virtual float GetContactSurfaceLayerImp() const = 0;
+
+    /** destroy the managed ODE object */
+    virtual void DestroyODEObjectImp() = 0;
+
+    /** creates them managed ODE world */
+    virtual bool ConstructInternalImp() = 0;
+};
+
+DECLARE_ABSTRACTCLASS(WorldImp);
+
+}
+
+#endif //OXYGEN_WORLDIMP_H

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,29 +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: world_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 <oxygen/physicsserver/imp/worldimp.h>
-
-using namespace oxygen;
-
-void CLASS(WorldImp)::DefineClass()
-{
-    DEFINE_BASECLASS(oxygen/ODEObject);
-}

Copied: branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp (from rev 101, trunk/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/imp/worldimp_c.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,29 @@
+/* -*- 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: world_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 <oxygen/physicsserver/imp/worldimp.h>
+
+using namespace oxygen;
+
+void CLASS(WorldImp)::DefineClass()
+{
+    DEFINE_BASECLASS(oxygen/ODEObject);
+}

Modified: branches/multiphys/spark/lib/oxygen/physicsserver/joint.h
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/joint.h	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/joint.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -23,7 +23,7 @@
 #define OXYGEN_JOINT_H
 
 #include <oxygen/oxygen_defines.h>
-#include "odeobject.h"
+#include <oxygen/physicsserver/ode/odeobject.h>
 
 namespace oxygen
 {

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeobject.cpp	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,167 +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: 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/odeobject.h>
-#include <oxygen/physicsserver/space.h>
-#include <oxygen/physicsserver/world.h>
-#include <oxygen/sceneserver/scene.h>
-#include <zeitgeist/logserver/logserver.h>
-
-using namespace oxygen;
-using namespace boost;
-
-ODEObject::ODEObject() : BaseNode()
-{
-}
-
-ODEObject::~ODEObject()
-{
-}
-
-void ODEObject::OnUnlink()
-{
-    DestroyODEObject();
-}
-
-/** returns the world node */
-shared_ptr<World> ODEObject::GetWorld()
-{
-    shared_ptr<Scene> scene = GetScene();
-    if (scene.get() == 0)
-        {
-            GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
-            return shared_ptr<World>();
-        }
-
-    shared_ptr<World> worldNode = shared_dynamic_cast<World>
-        (scene->GetChildOfClass("World"));
-    if (worldNode.get() == 0)
-        {
-            GetLog()->Error() << "(ODEObject) ERROR: found no World node\n";
-        }
-
-    return worldNode;
-}
-
-shared_ptr<Space> ODEObject::GetSpace()
-{
-    // try to find the nearest parent space object
-    weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
-    if (! parentSpace.expired())
-        {
-            return parentSpace.lock();
-        }
-
-    // return the global space instance
-    shared_ptr<Scene> scene = GetScene();
-    if (scene.get() == 0)
-        {
-            GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
-            return shared_ptr<Space>();
-        }
-
-    shared_ptr<Space> spaceNode = shared_dynamic_cast<Space>
-        (scene->GetChildOfClass("Space"));
-    if (spaceNode.get() == 0)
-        {
-            GetLog()->Error() << "(ODEObject) ERROR: found no Space node\n";
-        }
-
-    return spaceNode;
-}
-
-dWorldID ODEObject::GetWorldID()
-{
-    shared_ptr<World> world = GetWorld();
-    if (world.get() == 0)
-        {
-            return 0;
-        }
-
-    dWorldID worldId = world->GetODEWorld();
-    if (worldId == 0)
-        {
-            GetLog()->Error()
-                << "(ODEObject) ERROR: World returned empty ODE handle\n";
-        }
-
-    return worldId;
-}
-
-dSpaceID ODEObject::FindSpaceID()
-{
-    shared_ptr<Space> space = GetSpace();
-    if (space.get() == 0)
-        {
-            return 0;
-        }
-
-    dSpaceID spaceId = space->GetODESpace();
-
-    if (spaceId == 0)
-        {
-            GetLog()->Error()
-                << "(ODEObject) ERROR: Space returned empty ODE handle\n";
-        }
-
-    return spaceId;
-}
-
-dSpaceID ODEObject::GetParentSpaceID()
-{
-    return 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
-{
-    matrix[0] = rot.m[0];
-    matrix[1] = rot.m[4];
-    matrix[2] = rot.m[8];
-    matrix[3] = 0;
-    matrix[4] = rot.m[1];
-    matrix[5] = rot.m[5];
-    matrix[6] = rot.m[9];
-    matrix[7] = 0;
-    matrix[8] = rot.m[2];
-    matrix[9] = rot.m[6];
-    matrix[10] = rot.m[10];
-    matrix[11] = 0;
-}
-
-void ODEObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
-{
-    rot.m[0] = matrix[0] ;
-    rot.m[4] = matrix[1] ;
-    rot.m[8] = matrix[2];
-    rot.m[12] = matrix[3];
-    rot.m[1] = matrix[4];
-    rot.m[5] = matrix[5];
-    rot.m[9] = matrix[6];
-    rot.m[13] = matrix[7];
-    rot.m[2] = matrix[8];
-    rot.m[6] = matrix[9];
-    rot.m[10] = matrix[10] ;
-    rot.m[14] = matrix[11];
-    rot.m[3] = 0.0;
-    rot.m[7] = 0.0;
-    rot.m[11] = 0.0;
-    rot.m[15] = 1.0;
-}

Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeobject.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,167 @@
+/* -*- 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/odeobject.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/physicsserver/world.h>
+#include <oxygen/sceneserver/scene.h>
+#include <zeitgeist/logserver/logserver.h>
+
+using namespace oxygen;
+using namespace boost;
+
+ODEObject::ODEObject() : BaseNode()
+{
+}
+
+ODEObject::~ODEObject()
+{
+}
+
+void ODEObject::OnUnlink()
+{
+    DestroyODEObject();
+}
+
+/** returns the world node */
+shared_ptr<World> ODEObject::GetWorld()
+{
+    shared_ptr<Scene> scene = GetScene();
+    if (scene.get() == 0)
+        {
+            GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
+            return shared_ptr<World>();
+        }
+
+    shared_ptr<World> worldNode = shared_dynamic_cast<World>
+        (scene->GetChildOfClass("World"));
+    if (worldNode.get() == 0)
+        {
+            GetLog()->Error() << "(ODEObject) ERROR: found no World node\n";
+        }
+
+    return worldNode;
+}
+
+shared_ptr<Space> ODEObject::GetSpace()
+{
+    // try to find the nearest parent space object
+    weak_ptr<Space> parentSpace = FindParentSupportingClass<Space>();
+    if (! parentSpace.expired())
+        {
+            return parentSpace.lock();
+        }
+
+    // return the global space instance
+    shared_ptr<Scene> scene = GetScene();
+    if (scene.get() == 0)
+        {
+            GetLog()->Error() << "(ODEObject) ERROR: found no Scene node\n";
+            return shared_ptr<Space>();
+        }
+
+    shared_ptr<Space> spaceNode = shared_dynamic_cast<Space>
+        (scene->GetChildOfClass("Space"));
+    if (spaceNode.get() == 0)
+        {
+            GetLog()->Error() << "(ODEObject) ERROR: found no Space node\n";
+        }
+
+    return spaceNode;
+}
+
+dWorldID ODEObject::GetWorldID()
+{
+    shared_ptr<World> world = GetWorld();
+    if (world.get() == 0)
+        {
+            return 0;
+        }
+
+    dWorldID worldId = world->GetODEWorld();
+    if (worldId == 0)
+        {
+            GetLog()->Error()
+                << "(ODEObject) ERROR: World returned empty ODE handle\n";
+        }
+
+    return worldId;
+}
+
+dSpaceID ODEObject::FindSpaceID()
+{
+    shared_ptr<Space> space = GetSpace();
+    if (space.get() == 0)
+        {
+            return 0;
+        }
+
+    dSpaceID spaceId = space->GetODESpace();
+
+    if (spaceId == 0)
+        {
+            GetLog()->Error()
+                << "(ODEObject) ERROR: Space returned empty ODE handle\n";
+        }
+
+    return spaceId;
+}
+
+dSpaceID ODEObject::GetParentSpaceID()
+{
+    return 0;
+}
+
+void ODEObject::ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix)
+{
+    matrix[0] = rot.m[0];
+    matrix[1] = rot.m[4];
+    matrix[2] = rot.m[8];
+    matrix[3] = 0;
+    matrix[4] = rot.m[1];
+    matrix[5] = rot.m[5];
+    matrix[6] = rot.m[9];
+    matrix[7] = 0;
+    matrix[8] = rot.m[2];
+    matrix[9] = rot.m[6];
+    matrix[10] = rot.m[10];
+    matrix[11] = 0;
+}
+
+void ODEObject::ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const
+{
+    rot.m[0] = matrix[0] ;
+    rot.m[4] = matrix[1] ;
+    rot.m[8] = matrix[2];
+    rot.m[12] = matrix[3];
+    rot.m[1] = matrix[4];
+    rot.m[5] = matrix[5];
+    rot.m[9] = matrix[6];
+    rot.m[13] = matrix[7];
+    rot.m[2] = matrix[8];
+    rot.m[6] = matrix[9];
+    rot.m[10] = matrix[10] ;
+    rot.m[14] = matrix[11];
+    rot.m[3] = 0.0;
+    rot.m[7] = 0.0;
+    rot.m[11] = 0.0;
+    rot.m[15] = 1.0;
+}

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeobject.h	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -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: 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_ODEOBJECT_H
-#define OXYGEN_ODEOBJECT_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/sceneserver/basenode.h>
-#include <oxygen/physicsserver/ode/odewrapper.h>
-
-namespace oxygen
-{
-class Space;
-class World;
-
-/** ODEObject is the base of all classes encapsulating ODE concepts
- */
-class OXYGEN_API ODEObject : public BaseNode
-{
-public:
-    //
-    // Functions
-    //
-    ODEObject();
-    virtual ~ODEObject();
-
-    /** This rountine is called, before the hierarchy object is
-        removed from the parent. It can be overridden to support
-        custom 'unlink' behavior.
-    */
-    virtual void OnUnlink();
-
-    /** returns the ODE world handle */
-    dWorldID GetWorldID();
-
-    /** returns the nearest parent space ODE handle */
-    dSpaceID FindSpaceID();
-
-    /** returns the ODE handle ID of the containing parent space */
-    virtual dSpaceID GetParentSpaceID();
-
-    /** destroy the managed ODE object */
-    virtual void DestroyODEObject(){};
-
-protected:
-    /** returns the world node */
-    boost::shared_ptr<World> GetWorld();
-
-    /** finds the nearest parent space node */
-    boost::shared_ptr<Space> GetSpace();
-
-    /** converts the rotation part of a salt::Matrix to an ODE
-        dMatrix3 */
-    void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
-
-    /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
-    void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
-};
-
-DECLARE_ABSTRACTCLASS(ODEObject);
-
-} //namespace oxygen
-
-#endif //OXYGEN_ODEOBJECT_H

Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeobject.h)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -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: 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_ODEOBJECT_H
+#define OXYGEN_ODEOBJECT_H
+
+#include <oxygen/oxygen_defines.h>
+#include <oxygen/sceneserver/basenode.h>
+#include <oxygen/physicsserver/ode/odewrapper.h>
+
+namespace oxygen
+{
+class Space;
+class World;
+
+/** ODEObject is the base of all classes encapsulating ODE concepts
+ */
+class OXYGEN_API ODEObject : public BaseNode
+{
+public:
+    //
+    // Functions
+    //
+    ODEObject();
+    virtual ~ODEObject();
+
+    /** This rountine is called, before the hierarchy object is
+        removed from the parent. It can be overridden to support
+        custom 'unlink' behavior.
+    */
+    virtual void OnUnlink();
+
+    /** returns the ODE world handle */
+    dWorldID GetWorldID();
+
+    /** returns the nearest parent space ODE handle */
+    dSpaceID FindSpaceID();
+
+    /** returns the ODE handle ID of the containing parent space */
+    virtual dSpaceID GetParentSpaceID();
+
+    /** destroy the managed ODE object */
+    virtual void DestroyODEObject(){};
+
+protected:
+    /** returns the world node */
+    boost::shared_ptr<World> GetWorld();
+
+    /** finds the nearest parent space node */
+    boost::shared_ptr<Space> GetSpace();
+
+    /** converts the rotation part of a salt::Matrix to an ODE
+        dMatrix3 */
+    void ConvertRotationMatrix(const salt::Matrix& rot, dMatrix3& matrix);
+
+    /** coverts the ODE dMatrix3 to the rotation part of a salt::Matrix */
+    void ConvertRotationMatrix(const dReal* matrix, salt::Matrix& rot) const;
+};
+
+DECLARE_ABSTRACTCLASS(ODEObject);
+
+} //namespace oxygen
+
+#endif //OXYGEN_ODEOBJECT_H

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,29 +0,0 @@
-/* -*- mode: c++ -*-
-
-   this file is part of rcssserver3D
-   Fri May 9 2003
-   Copyright (C) 2003 Koblenz University
-   $Id: odeobject_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 <oxygen/physicsserver/ode/odeobject.h>
-
-using namespace oxygen;
-
-void CLASS(ODEObject)::DefineClass()
-{
-        DEFINE_BASECLASS(oxygen/BaseNode);
-}

Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeobject_c.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,29 @@
+/* -*- mode: c++ -*-
+
+   this file is part of rcssserver3D
+   Fri May 9 2003
+   Copyright (C) 2003 Koblenz University
+   $Id: odeobject_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 <oxygen/physicsserver/ode/odeobject.h>
+
+using namespace oxygen;
+
+void CLASS(ODEObject)::DefineClass()
+{
+        DEFINE_BASECLASS(oxygen/BaseNode);
+}

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeworld.cpp	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,138 +0,0 @@
-/* -*- mode: c++ -*-
-
-   this file is part of rcssserver3D
-   Fri May 9 2003
-   Copyright (C) 2003 Koblenz University
-   $Id: world.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/odeworld.h>
-#include <oxygen/physicsserver/space.h>
-#include <oxygen/sceneserver/scene.h>
-
-using namespace boost;
-using namespace oxygen;
-using namespace salt;
-
-ODEWorld::ODEWorld() : WorldImp(), mODEWorld(0)
-{
-}
-
-ODEWorld::~ODEWorld()
-{
-}
-
-dWorldID ODEWorld::GetODEWorldImp() const
-{
-  return mODEWorld;
-}
-
-void ODEWorld::SetGravityImp(const Vector3f& gravity)
-{
-  dWorldSetGravity(mODEWorld,
-                   gravity.x(),
-                   gravity.y(),
-                   gravity.z()
-                   );
-}
-
-salt::Vector3f ODEWorld::GetGravityImp() const
-{
-  dVector3 dGravity;
-  dWorldGetGravity(mODEWorld,dGravity);
-  return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
-}
-
-void ODEWorld::SetERPImp(float erp)
-{
-  dWorldSetERP(mODEWorld, erp);
-}
-
-float ODEWorld::GetERPImp() const
-{
-  return dWorldGetERP(mODEWorld);
-}
-
-void ODEWorld::SetCFMImp(float cfm)
-{
-  dWorldSetCFM(mODEWorld, cfm);
-}
-
-float ODEWorld::GetCFMImp() const
-{
-  return dWorldGetCFM(mODEWorld);
-}
-
-void ODEWorld::StepImp(float deltaTime)
-{
-  dWorldStep(mODEWorld, deltaTime);
-}
-
-bool ODEWorld::GetAutoDisableFlagImp() const
-{
-  return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
-}
-
-void ODEWorld::SetAutoDisableFlagImp(bool flag)
-{
-  dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
-}
-
-void ODEWorld::SetContactSurfaceLayerImp(float depth)
-{
-  dWorldSetContactSurfaceLayer(mODEWorld, depth);
-}
-
-float ODEWorld::GetContactSurfaceLayerImp() const
-{
-  return dWorldGetContactSurfaceLayer(mODEWorld);
-}
-
-bool ODEWorld::ConstructInternalImp()
-{
-  // create an ode world
-  mODEWorld = dWorldCreate();
-
-  return (mODEWorld != 0);
-}
-
-void ODEWorld::DestroyODEObjectImp()
-{
-  static bool recurseLock = false;
-  if (recurseLock)
-    {
-      return;
-    }
-
-  recurseLock = true;
-
-  shared_ptr<Space> space = GetSpace();
-  if (space.get() != 0)
-    {
-      space->DestroyODEObject();
-    }
-
-  if (mODEWorld == 0)
-    {
-      return;
-    }
-
-  // release the ODE world
-  dWorldDestroy(mODEWorld);
-  mODEWorld = 0;
-
-  recurseLock = false;
-}

Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeworld.cpp)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.cpp	2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,138 @@
+/* -*- mode: c++ -*-
+
+   this file is part of rcssserver3D
+   Fri May 9 2003
+   Copyright (C) 2003 Koblenz University
+   $Id: world.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/odeworld.h>
+#include <oxygen/physicsserver/space.h>
+#include <oxygen/sceneserver/scene.h>
+
+using namespace boost;
+using namespace oxygen;
+using namespace salt;
+
+ODEWorld::ODEWorld() : WorldImp(), mODEWorld(0)
+{
+}
+
+ODEWorld::~ODEWorld()
+{
+}
+
+dWorldID ODEWorld::GetODEWorldImp() const
+{
+  return mODEWorld;
+}
+
+void ODEWorld::SetGravityImp(const Vector3f& gravity)
+{
+  dWorldSetGravity(mODEWorld,
+                   gravity.x(),
+                   gravity.y(),
+                   gravity.z()
+                   );
+}
+
+salt::Vector3f ODEWorld::GetGravityImp() const
+{
+  dVector3 dGravity;
+  dWorldGetGravity(mODEWorld,dGravity);
+  return Vector3f(dGravity[0],dGravity[1],dGravity[2]);
+}
+
+void ODEWorld::SetERPImp(float erp)
+{
+  dWorldSetERP(mODEWorld, erp);
+}
+
+float ODEWorld::GetERPImp() const
+{
+  return dWorldGetERP(mODEWorld);
+}
+
+void ODEWorld::SetCFMImp(float cfm)
+{
+  dWorldSetCFM(mODEWorld, cfm);
+}
+
+float ODEWorld::GetCFMImp() const
+{
+  return dWorldGetCFM(mODEWorld);
+}
+
+void ODEWorld::StepImp(float deltaTime)
+{
+  dWorldStep(mODEWorld, deltaTime);
+}
+
+bool ODEWorld::GetAutoDisableFlagImp() const
+{
+  return (dWorldGetAutoDisableFlag(mODEWorld) == 1);
+}
+
+void ODEWorld::SetAutoDisableFlagImp(bool flag)
+{
+  dWorldSetAutoDisableFlag(mODEWorld, static_cast<int>(flag));
+}
+
+void ODEWorld::SetContactSurfaceLayerImp(float depth)
+{
+  dWorldSetContactSurfaceLayer(mODEWorld, depth);
+}
+
+float ODEWorld::GetContactSurfaceLayerImp() const
+{
+  return dWorldGetContactSurfaceLayer(mODEWorld);
+}
+
+bool ODEWorld::ConstructInternalImp()
+{
+  // create an ode world
+  mODEWorld = dWorldCreate();
+
+  return (mODEWorld != 0);
+}
+
+void ODEWorld::DestroyODEObjectImp()
+{
+  static bool recurseLock = false;
+  if (recurseLock)
+    {
+      return;
+    }
+
+  recurseLock = true;
+
+  shared_ptr<Space> space = GetSpace();
+  if (space.get() != 0)
+    {
+      space->DestroyODEObject();
+    }
+
+  if (mODEWorld == 0)
+    {
+      return;
+    }
+
+  // release the ODE world
+  dWorldDestroy(mODEWorld);
+  mODEWorld = 0;
+
+  recurseLock = false;
+}

Deleted: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h
===================================================================
--- trunk/spark/lib/oxygen/physicsserver/ode/odeworld.h	2009-11-18 07:11:28 UTC (rev 101)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -1,124 +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: world.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_ODEWORLD_H
-#define OXYGEN_ODEWORLD_H
-
-#include <oxygen/oxygen_defines.h>
-#include <oxygen/physicsserver/imp/worldimp.h>
-
-namespace oxygen
-{
-
-/** World encapsulates an ODE world object. It is a container for
-    rigid bodies and joints. Objects in different worlds can not
-    interact, for example rigid bodies from two different worlds can
-    not collide. All the objects in a world exist at the same point in
-    time, thus one reason to use separate worlds is to simulate
-    systems at different rates.
-*/
-class OXYGEN_API ODEWorld : public WorldImp
-{
-    //
-    // Functions
-    //
-public:
-    ODEWorld();
-    virtual ~ODEWorld();
-
-    /** returns the ID of the managed ODE world */
-    dWorldID GetODEWorldImp() const;
-
-    /** sets the gravity vector of this vorld */
-    void SetGravityImp(const salt::Vector3f& gravity);
-
-    /** gets the gravity vector of this world */
-    salt::Vector3f GetGravityImp() const;
-
-    /** sets the Error Reduction Parameter of this world. The ERP
-        specifies what proportion of a joint error will be fixed
-        during the next simulation step. if ERP=0 then no correcting
-        force is applied and the bodies will eventually drift apart as
-        the simulation proceeds. If ERP=1 then the simulation will
-        attempt to fix all joint error during the next time
-        step. However, setting ERP=1 is not recommended, as the joint
-        error will not be completely fixed due to various internal
-        approximations. A value of ERP=0.1 to 0.8 is recommended (0.2
-        is the default).
-    */
-    void SetERPImp(float erp);
-
-    /** returns the Error Reduction Parameter of this World.
-     */
-    float GetERPImp() const;
-
-    /** sets the Constraint Force mixing (CFM) value. If CFM is set to
-        zero, the constraint will be hard. If CFM is set to a positive
-        value, it will be possible to violate the constraint by
-        `pushing on it' (for example, for contact constraints by
-        forcing the two contacting objects together). In other words
-        the constraint will be soft, and the softness will increase as
-        CFM increases. Note that setting CFM to a negative value can
-        have undesirable bad effects, such as instability.
-    */
-    void SetCFMImp(float cfm);
-
-    /** returns the Constraint Force mixing (CFM) value. */
-    float GetCFMImp() const;
-
-    /** steps the world deltatime forward, i.e. performs physics
-        simulation for a deltaTime seconds interval.
-    */
-    void StepImp(float deltaTime);
-
-    bool GetAutoDisableFlagImp() const;
-    void SetAutoDisableFlagImp(bool flag);
-
-    /** Set and get the depth of the surface layer around all geometry
-        objects. Contacts are allowed to sink into the surface layer up to
-        the given depth before coming to rest. The default value is
-        zero. Increasing this to some small value (e.g. 0.001) can help
-        prevent jittering problems due to contacts being repeatedly made
-        and broken.
-    */
-    void SetContactSurfaceLayerImp(float depth);
-    float GetContactSurfaceLayerImp() const;
-
-    /** destroy the managed ODE object */
-    virtual void DestroyODEObjectImp();
-
-protected:
-    /** creates them managed ODE world */
-    virtual bool ConstructInternalImp();
-
-    //
-    // Members
-    //
-private:
-    /** the dynamics world represented by this object */
-    dWorldID mODEWorld;
-};
-
-DECLARE_CLASS(ODEWorld);
-
-};
-
-#endif //OXYGEN_WORLD_H

Copied: branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h (from rev 101, trunk/spark/lib/oxygen/physicsserver/ode/odeworld.h)
===================================================================
--- branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h	                        (rev 0)
+++ branches/multiphys/spark/lib/oxygen/physicsserver/ode/odeworld.h	2009-11-18 07:24:29 UTC (rev 102)
@@ -0,0 +1,124 @@
+/* -*- 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: world.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 Li...
 
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