[Sserver-three-d] Fw: [sserver-commits] CVS:rcsoccersim/rcssserver3D/lib/oxygen/physicsserver space.cpp, 1.16, 1.17 space.h, 1.8, 1.9 space_c

[Feng X. <hen...@ma...>]

Hi Markus,

    I just finished the generic code for the disable of inner collision of nao robot. Hope it will work. Please have a check. Welcome more criticism.

Cheers!



Feng Xue
2008-04-11



发件人： Feng Xue
发送时间： 2008-04-11 10:37:36
收件人： sse...@li...
抄送： 
主题： [sserver-commits] CVS:rcsoccersim/rcssserver3D/lib/oxygen/physicsserver space.cpp,1.16, 1.17 space.h, 1.8, 1.9 space_c

Update of /cvsroot/sserver/rcsoccersim/rcssserver3D/lib/oxygen/physicsserver
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv20902
Modified Files:
space.cpp space.h space_c.cpp 
Log Message:
Removed the original "disable inner collision code" and add
a generic code proposed by Markus Rollmann
Index: space.cpp
===================================================================
RCS file: /cvsroot/sserver/rcsoccersim/rcssserver3D/lib/oxygen/physicsserver/space.cpp,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** space.cpp 10 Apr 2008 11:34:33 -0000 1.16
--- space.cpp 11 Apr 2008 02:36:56 -0000 1.17
***************
*** 5,9 ****
     Copyright (C) 2003 Koblenz University
     $Id$
-    $Id$
  
     This program is free software; you can redistribute it and/or modify
--- 5,8 ----
***************
*** 36,40 ****
  }
  
! Space::Space() : ODEObject(), mODESpace(0), mODEContactGroup(0)
  {
  }
--- 35,39 ----
  }
  
! Space::Space() : ODEObject(), mODESpace(0), mODEContactGroup(0), mIsDisableInnerCollision(false)
  {
  }
***************
*** 98,102 ****
          }
  
!     //If obj1 and obj2 are in a robot space, no collide
      boost::shared_ptr<Collider> c1 = Collider::GetCollider(obj1);
      boost::shared_ptr<Collider> c2 = Collider::GetCollider(obj2);
--- 97,101 ----
          }
  
!     //If obj1 and obj2 are in a space that disabled inner collision, no collide
      boost::shared_ptr<Collider> c1 = Collider::GetCollider(obj1);
      boost::shared_ptr<Collider> c2 = Collider::GetCollider(obj2);
***************
*** 108,112 ****
          if (s1.get() && s2.get() && (s1.get() == s2.get()))
          {
!             if (s1->GetName() == "spacenao" && s2->GetName() == "spacenao") 
              {
                  return;
--- 107,111 ----
          if (s1.get() && s2.get() && (s1.get() == s2.get()))
          {
!             if (s1->IsDisableInnerCollision() && s2->IsDisableInnerCollision()) 
              {
                  return;
***************
*** 266,267 ****
--- 265,279 ----
      mODESpace = 0;
  }
+ 
+ 
+ void Space::DisableInnerCollision(bool is_disable)
+ {
+     this->mIsDisableInnerCollision = is_disable;
+ }
+ 
+ 
+ bool Space::IsDisableInnerCollision() const
+ {
+     return this->mIsDisableInnerCollision;
+ }
+ 
Index: space.h
===================================================================
RCS file: /cvsroot/sserver/rcsoccersim/rcssserver3D/lib/oxygen/physicsserver/space.h,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** space.h 22 Feb 2008 07:52:14 -0000 1.8
--- space.h 11 Apr 2008 02:36:56 -0000 1.9
***************
*** 68,71 ****
--- 68,77 ----
      bool IsGlobalSpace();
  
+     /** enable/disable inner collision */
+     void DisableInnerCollision(bool is_disable);
+  
+     /** get the tag whether disable inner collision */
+     bool IsDisableInnerCollision() const;
+ 
  protected:
      static void collisionNearCallback (void *data, dGeomID obj1, dGeomID obj2);
***************
*** 105,108 ****
--- 111,118 ----
      /** the ODE group for all created contact joints */
      dJointGroupID mODEContactGroup;
+ 
+ private:
+     /** the tag whether disable inner collision */
+     bool mIsDisableInnerCollision;
  };
  
Index: space_c.cpp
===================================================================
RCS file: /cvsroot/sserver/rcsoccersim/rcssserver3D/lib/oxygen/physicsserver/space_c.cpp,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** space_c.cpp 21 Feb 2004 15:30:44 -0000 1.5
--- space_c.cpp 11 Apr 2008 02:36:56 -0000 1.6
***************
*** 24,29 ****
  using namespace oxygen;
  
  void CLASS(Space)::DefineClass()
  {
!         DEFINE_BASECLASS(oxygen/ODEObject);
  }
--- 24,43 ----
  using namespace oxygen;
  
+ FUNCTION(Space,disableInnerCollision)
+ {
+     bool inSet;
+     if ((in.GetSize() != 1) ||
+         (! in.GetValue(in[0],inSet)))
+     {
+         return false;
+     }
+ 
+     obj->DisableInnerCollision(inSet);
+     return true;
+ }
+ 
  void CLASS(Space)::DefineClass()
  {
!     DEFINE_BASECLASS(oxygen/ODEObject);
!     DEFINE_FUNCTION(disableInnerCollision);
  }
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