[Yake-svn] SF.net SVN: yake: [1696] trunk/yake

[<psy...@us...>]

Revision: 1696
          http://svn.sourceforge.net/yake/?rev=1696&view=rev
Author:   psyclonist
Date:     2007-03-28 08:27:09 -0700 (Wed, 28 Mar 2007)

Log Message:
-----------
fixed static-vs-static actor bug (patch),
improved exception safety,
new parameters for OdeWorld: num_iterations, ERP, CFM (patch)

Modified Paths:
--------------
    trunk/yake/src/plugins/physicsODE/OdeWorld.cpp
    trunk/yake/yake/plugins/physicsODE/OdeWorld.h

Modified: trunk/yake/src/plugins/physicsODE/OdeWorld.cpp
===================================================================
--- trunk/yake/src/plugins/physicsODE/OdeWorld.cpp	2007-03-28 15:24:23 UTC (rev 1695)
+++ trunk/yake/src/plugins/physicsODE/OdeWorld.cpp	2007-03-28 15:27:09 UTC (rev 1696)
@@ -43,30 +43,29 @@
 	//-----------------------------------------------------
 	OdeWorld::OdeWorld() : mNextMeshId( 0 ), mTimeOverflow(0.)
 	{
-		//TODO make these settings configurable for user
 		//simulation
 		mStepSize = real( 1./50. );
 
-		mOdeWorld = new dWorld();
-		YAKE_ASSERT( mOdeWorld );
+		mOdeWorld.reset( new dWorld() );
 
-		mOdeSpace = new dSimpleSpace( 0 );
-		YAKE_ASSERT( mOdeSpace );
+		//mOdeSpace.reset( new dSimpleSpace( 0 ) );
+		mOdeSpace.reset( new dHashSpace( 0 ) );
+		//dHashSpaceSetLevels (mOdeSpace->id(),10, 20);
 		
-		mOdeContactGroup = new dJointGroup( 0 );
+		mOdeContactGroup.reset( new dJointGroup( 0 ) );
 
 		mOdeWorld->setAutoDisableFlag( 1 );
 		mOdeWorld->setAutoDisableAngularThreshold( dReal(0.01) ); // ODE default: 0.01
 		mOdeWorld->setAutoDisableLinearThreshold( dReal(0.01) ); // ODE default: 0.01
 		mOdeWorld->setAutoDisableSteps( 10 ); // ODE default: 10
-		mOdeWorld->setAutoDisableTime( 0 ); // ODE default: 0. (= ignore time)
+		mOdeWorld->setAutoDisableTime( 0 ); // ODE default: 0. (= ignore time)*/
 
 		// We do not set any default gravity setting
 		// as we don't want to enforce a specific coordinate system.
 		//	mOdeWorld->setGravity( 0., -9.81, 0. );
 
 
-		// Global ERP and CFM values should be configurable via some (properties?) interface
+		// Global ERP and CFM values are configurable via the properties interface
 		// Individual values ( for joints and such ) should also be accessable
 		// perhaps via direct_ode access.
 		mOdeWorld->setCFM( dReal(0.001) );
@@ -77,7 +76,6 @@
 		dWorldSetContactMaxCorrectingVel( mOdeWorld->id(), dReal(2.) );
 		dWorldSetContactSurfaceLayer( mOdeWorld->id(), dReal(0.01) );
 
-
 		mTime = real(0.);
 
 		mMaterials["default"] = SharedPtr<OdeMaterial>(new OdeMaterial("default"));
@@ -103,9 +101,9 @@
 			YAKE_SAFE_DELETE_ARRAY( mesh_data.normals );
 		}
 
- 		YAKE_SAFE_DELETE( mOdeContactGroup );
- 		YAKE_SAFE_DELETE( mOdeSpace );
- 		YAKE_SAFE_DELETE( mOdeWorld );
+ 		mOdeContactGroup.reset();
+ 		mOdeSpace.reset();
+ 		mOdeWorld.reset();
  	}
 		
 	//-----------------------------------------------------
@@ -210,6 +208,18 @@
 			{
 				mStepSize = boost::any_cast<real>(rValue);
 			}
+			else if (rName == "num_iterations")
+			{
+				dWorldSetQuickStepNumIterations( mOdeWorld->id(), boost::any_cast<int>(rValue));
+			}
+			else if (rName == "ERP")
+			{
+				mOdeWorld->setERP(boost::any_cast<real>(rValue));
+			}
+			else if (rName == "CFM")
+			{
+				mOdeWorld->setCFM(boost::any_cast<real>(rValue));
+			}
 		} catch (boost::bad_any_cast& e)
 		{
 			YAKE_EXCEPT(String("Failed to set solver parameter! (") + e.what() + ")");
@@ -516,6 +526,8 @@
 		
 		if ( b1 && b2 && dAreConnected( b1, b2 ) )
 			return;
+		
+		
 
 		void* data1 = dGeomGetData( o1 );
 		void* data2 = dGeomGetData( o2 );
@@ -533,12 +545,12 @@
 		{
 			OdeActor* pA = static_cast<OdeGeom*>( data1 )->getOwner();
 			OdeActor* pB = static_cast<OdeGeom*>( data2 )->getOwner();
-
+			
 			if (!pA || !pB)
 				return;
 
 			// collision between two static objects: do nothing
-			if ((pA->getType() == ACTOR_STATIC) && (pA->getType() == ACTOR_STATIC))
+			if ((pA->getType() == ACTOR_STATIC) && (pB->getType() == ACTOR_STATIC))
 			{
 				return;
 			}

Modified: trunk/yake/yake/plugins/physicsODE/OdeWorld.h
===================================================================
--- trunk/yake/yake/plugins/physicsODE/OdeWorld.h	2007-03-28 15:24:23 UTC (rev 1695)
+++ trunk/yake/yake/plugins/physicsODE/OdeWorld.h	2007-03-28 15:27:09 UTC (rev 1696)
@@ -88,10 +88,10 @@
 			// helpers
 			dWorldID _getOdeID() const;
 			dJointGroup* _getOdeContactJointGroup() const 
-			{ return mOdeContactGroup; }
+			{ return mOdeContactGroup.get(); }
 			
 			dSpace* _getOdeSpace() const
-			{ return mOdeSpace; }
+			{ return mOdeSpace.get(); }
 			
 			dSpaceID _getOdeSpaceID() const
 			{ return mOdeSpace->id(); }
@@ -110,9 +110,9 @@
 			real				mTimeOverflow;
 			real				mTime;
 			real				mStepSize;
-			dWorld*				mOdeWorld;
-			dJointGroup*			mOdeContactGroup;
-			dSpace*				mOdeSpace;
+			SharedPtr<dWorld>	mOdeWorld;
+			SharedPtr<dJointGroup>	mOdeContactGroup;
+			SharedPtr<dSpace>	mOdeSpace;
 
 			typedef std::vector< OdeBody* > BodyList;
 			BodyList			mBodies;


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