From fca74b0bf0a0833f5701e9c0de7b3bc15b2233dd Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:07 +0000 Subject: dont ask --- .../GeomTransformGroup/GeomTransformGroup.cpp | 218 --------------------- .../GeomTransformGroup/GeomTransformGroup.h | 29 --- .../ode-0.9/contrib/GeomTransformGroup/README.txt | 148 -------------- 3 files changed, 395 deletions(-) delete mode 100644 libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp delete mode 100644 libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.h delete mode 100644 libraries/ode-0.9/contrib/GeomTransformGroup/README.txt (limited to 'libraries/ode-0.9/contrib/GeomTransformGroup') diff --git a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp b/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp deleted file mode 100644 index 26b77b0..0000000 --- a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.cpp +++ /dev/null @@ -1,218 +0,0 @@ - -/* ************************************************************************ */ -/* - grouped and transformed geometry functions - author: Tim Schmidt tisch@uni-paderborn.de -*/ - - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "objects.h" -#include "array.h" -#include "geom_internal.h" - -// given a pointer `p' to a dContactGeom, return the dContactGeom at -// p + skip bytes. - -#define CONTACT(p,skip) ((dContactGeom*) (((char*)p) + (skip))) - - -// ############################################################################ - -int dGeomTransformGroupClass = -1; -// ############################################################################ - -struct dxGeomTransformGroup { - dArray parts; // all the geoms that make up the group - dVector3 relativePosition; - dMatrix3 relativeRotation; -}; -// ############################################################################ - -void dGeomTransformGroupSetRelativePosition (dxGeom *g, dReal x, dReal y, dReal z) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - transformGroup->relativePosition[0] = x; - transformGroup->relativePosition[1] = y; - transformGroup->relativePosition[2] = z; -} -// ############################################################################ - -void dGeomTransformGroupSetRelativeRotation (dxGeom *g, const dMatrix3 R) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - memcpy (transformGroup->relativeRotation,R,sizeof(dMatrix3)); -} -// ############################################################################ - -const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - return transformGroup->relativePosition; -} -// ############################################################################ - -const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g) -{ - dAASSERT (g); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - return transformGroup->relativeRotation; -} -// ############################################################################ - -static void computeFinalTransformation (const dxGeom *tg, const dxGeom *part) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(tg); - dMULTIPLY0_331 (part->pos,tg->R,transformGroup->relativePosition); - part->pos[0] += tg->pos[0]; - part->pos[1] += tg->pos[1]; - part->pos[2] += tg->pos[2]; - dMULTIPLY0_333 (part->R,tg->R,transformGroup->relativeRotation); -} -// ############################################################################ - -int dCollideTransformGroup (const dxGeom *o1, const dxGeom *o2, int flags, - dContactGeom *contact, int skip) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(o1); - if (transformGroup->parts.size() == 0) - { - return 0; - } - int numleft = flags & NUMC_MASK; - if (numleft == 0) numleft = 1; - flags &= ~NUMC_MASK; - int num=0, i=0; - while (i < transformGroup->parts.size() && numleft > 0) - { - dUASSERT (transformGroup->parts[i]->spaceid==0, - "GeomTransformGroup encapsulated object must not be in a space"); - dUASSERT (transformGroup->parts[i]->body==0, - "GeomTransformGroup encapsulated object must not be attached to a body"); - if (!o1->space_aabb) - { - computeFinalTransformation (o1, transformGroup->parts[i]); - } - dxBody *bodyBackup = transformGroup->parts[i]->body; - transformGroup->parts[i]->body = o1->body; - int n = dCollide (transformGroup->parts[i],const_cast(o2), - flags | numleft,contact,skip); - transformGroup->parts[i]->body = bodyBackup; - contact = CONTACT (contact,skip*n); - numleft -= n; - num += n; - i++; - } - return num; -} -// ############################################################################ - -static dColliderFn * dGeomTransformGroupColliderFn (int num) -{ - return (dColliderFn *) &dCollideTransformGroup; -} -// ############################################################################ - -static void dGeomTransformGroupAABB (dxGeom *geom, dReal aabb[6]) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom); - aabb[0] = dInfinity; - aabb[1] = -dInfinity; - aabb[2] = dInfinity; - aabb[3] = -dInfinity; - aabb[4] = dInfinity; - aabb[5] = -dInfinity; - int i,j; - for (i=0; i < transformGroup->parts.size(); i++) - { - computeFinalTransformation (geom, transformGroup->parts[i]); - dReal aabb2[6]; - transformGroup->parts[i]->_class->aabb (transformGroup->parts[i],aabb2); - for (j=0; j<6; j += 2) if (aabb2[j] < aabb[j]) aabb[j] = aabb2[j]; - for (j=1; j<6; j += 2) if (aabb2[j] > aabb[j]) aabb[j] = aabb2[j]; - } -} -// ############################################################################ - -static void dGeomTransformGroupDtor (dxGeom *geom) -{ - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(geom); - transformGroup->parts.~dArray(); -} -// ############################################################################ - -dxGeom *dCreateGeomTransformGroup (dSpaceID space) -{ - if (dGeomTransformGroupClass == -1) { - dGeomClass c; - c.bytes = sizeof (dxGeomTransformGroup); - c.collider = &dGeomTransformGroupColliderFn; - c.aabb = &dGeomTransformGroupAABB; - c.aabb_test = 0; - c.dtor = dGeomTransformGroupDtor; - dGeomTransformGroupClass = dCreateGeomClass (&c); - } - dxGeom *g = dCreateGeom (dGeomTransformGroupClass); - if (space) - { - dSpaceAdd (space,g); - } - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - transformGroup->parts.constructor(); - dSetZero (transformGroup->relativePosition,4); - dRSetIdentity (transformGroup->relativeRotation); - return g; -} -// ############################################################################ - -void dGeomTransformGroupAddGeom (dxGeom *g, dxGeom *obj) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - transformGroup->parts.push (obj); -} -// ############################################################################ - -void dGeomTransformGroupRemoveGeom (dxGeom *g, dxGeom *obj) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - for (int i=0; i < transformGroup->parts.size(); i++) { - if (transformGroup->parts[i] == obj) { - transformGroup->parts.remove (i); - return; - } - } -} -// ############################################################################ - -dxGeom * dGeomTransformGroupGetGeom (dxGeom *g, int i) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - dAASSERT (i >= 0 && i < transformGroup->parts.size()); - return transformGroup->parts[i]; -} -// ############################################################################ - -int dGeomTransformGroupGetNumGeoms (dxGeom *g) -{ - dUASSERT (g && g->_class->num == dGeomTransformGroupClass, - "argument not a geom TransformGroup"); - dxGeomTransformGroup *transformGroup = (dxGeomTransformGroup*) CLASSDATA(g); - return transformGroup->parts.size(); -} diff --git a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.h b/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.h deleted file mode 100644 index 705fdb9..0000000 --- a/libraries/ode-0.9/contrib/GeomTransformGroup/GeomTransformGroup.h +++ /dev/null @@ -1,29 +0,0 @@ - -/* ************************************************************************ */ -/* - grouped and transformed geometry functions - author: Tim Schmidt tisch@uni-paderborn.de -*/ - - -#ifdef __cplusplus -extern "C" { -#endif - - -extern int dGeomTransformGroupClass; - -void dGeomTransformGroupSetRelativePosition (dGeomID g, dReal x, dReal y, dReal z); -void dGeomTransformGroupSetRelativeRotation (dGeomID g, const dMatrix3 R); -const dReal * dGeomTransformGroupGetRelativePosition (dxGeom *g); -const dReal * dGeomTransformGroupGetRelativeRotation (dxGeom *g); -dGeomID dCreateGeomTransformGroup (dSpaceID space); -void dGeomTransformGroupAddGeom (dGeomID tg, dGeomID obj); -void dGeomTransformGroupRemoveGeom (dGeomID tg, dGeomID obj); -dGeomID dGeomTransformGroupGetGeom (dGeomID tg, int i); -int dGeomTransformGroupGetNumGeoms (dGeomID tg); - - -#ifdef __cplusplus -} -#endif diff --git a/libraries/ode-0.9/contrib/GeomTransformGroup/README.txt b/libraries/ode-0.9/contrib/GeomTransformGroup/README.txt deleted file mode 100644 index bca0e66..0000000 --- a/libraries/ode-0.9/contrib/GeomTransformGroup/README.txt +++ /dev/null @@ -1,148 +0,0 @@ -README for GeomTransformGroup by Tim Schmidt. ---------------------------------------------- - -This is a patch to add the dGeomTransformGroup object to the list of geometry -objects. - -It should work with the cvs version of the ode library from 07/24/2002. - -++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - -comment by russ smith: this code is easy to use with the rest of ODE. -simply copy GeomTransformGroup.cpp to ode/src and copy GeomTransformGroup.h -to include/ode. then add GeomTransformGroup.cpp to the ODE_SRC variable -in the makefile. rebuild, and you're done! of course i could have done all -this for you, but i prefer to keep GeomTransformGroup separated from the -rest of ODE for now while other issues with the collision system are -resolved. - -++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - - -Description: - -The dGeomTransformGroup is an adaption of the TransformGroup known from -Java3D (and maybe other libraries with a similar scene graph representation). -It can be used to build an arbitrarily structured tree of objects that are -each positioned relative to the particular parent node. - -If you have a plane for example, there is one root node associated with the -plane's body and another three transformgroups placed 'under' this node. One -with the fuselage (cappedcylinder) under it and two with the underlying wings -(flat boxes). And if you want to add engines, simply put them 'next to' the -wings under another two transformgroups. - -bodyTG ---> associated with dBody - | - +--fuselageTG - | | - | +--fuselageCylinder - | - +--leftwingTG - | | - | +--wingBox - | | - | +--leftengineTG - | | - | +--leftengineCylinder - | - +--rightwingTG - | - +--wingBox - | - +--rightengineTG - | - +--rightengineCylinder - -This is a method to easily compose objects without the necessity of always -calculating global coordinates. But apart from this there is something else -that makes dGeomTransformGroups very valuable. - -Maybe you remember that some users reported the problem of acquiring the -correct bodies to be attached by a contactjoint in the nearCallback when -using dGeomGroups and dGeomTransforms at the same time. This results from the -fact that dGeomGroups are not associated with bodies while all other -geometries are. - -So, as you can see in the nearCallback of the the test_buggy demo you have to -attach the contactjoint with the bodies that you get from the geometries that -are stored in the contact struct (-> dGeomGetBody(contacts[i].geom.g1)). -Normally you would do this by asking o1 and o2 directly with dGeomGetBody(o1) -and dGeomGetBody(o2) respectively. - -As a first approach you can overcome that problem by testing o1 and o2 if -they are groups or not to find out how to get the corresponding bodies. - -However this will fail if you want grouped transforms that are constructed -out of dGeomTransforms encapsulated in a dGeomGroup. According to the test -you use contacts[i].geom.g1 to get the right body. Unfortunately g1 is -encapsulated in a transform and therefore not attached to any body. In this -case the dGeomTransform 'in the middle' would have been the right object to -be asked for the body. - -You may now conclude that it is a good idea to unwrap the group encapsulated -geoms at the beginning of the nearcallback and use dGeomGetBody(o1) -consistently. But keep in mind that this also means not to invoke -dCollide(..) on groups at all and therefore not to expoit the capability of -dGeomGroups to speed up collision detection by the creation of bounding boxes -around the encapsulated geometry. - -Everything becomes even worse if you create a dGeomTransform that contains a -dGeomGroup of geoms. The function that cares about the collision of -transforms with other objects uses the position and rotation of the -respective encapsulated object to compute its final position and orientation. -Unfortunately dGeomGroups do not have a position and rotation, so the result -will not be what you have expected. - -Here the dGeomTransformGroups comes into operation, because it combines the -advantages and capabilities of the dGeomGroup and the dGeomTransform. -And as an effect of synergy it is now even possible to set the position of a -group of geoms with one single command. -Even nested encapsulations of dGeomTransformGroups in dGeomTransformGroups -should be possible (to be honest, I have not tried that so far ;-) ). - -++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - -API: - -dGeomID dCreateGeomTransformGroup (dSpaceID space); - - create a GeomTransformGroup - -void dGeomTransformGroupAddGeom (dGeomID tg, dGeomID obj); - - Comparable to dGeomTransformSetGeom or dGeomGroupAdd - - add objects to this group - -void dGeomTransformGroupRemoveGeom (dGeomID tg, dGeomID obj); - - remove objects from this group - -void dGeomTransformGroupSetRelativePosition - (dGeomID g, dReal x, dReal y, dReal z); -void dGeomTransformGroupSetRelativeRotation - (dGeomID g, const dMatrix3 R); - - Comparable to setting the position and rotation of all the - dGeomTransform encapsulated geometry. The difference - is that it is global with respect to this group and therefore - affects all geoms in this group. - - The relative position and rotation are attributes of the - transformgroup, so the position and rotation of the individual - geoms are not changed - -const dReal * dGeomTransformGroupGetRelativePosition (dGeomID g); -const dReal * dGeomTransformGroupGetRelativeRotation (dGeomID g); - - get the relative position and rotation - -dGeomID dGeomTransformGroupGetGeom (dGeomID tg, int i); - - Comparable to dGeomGroupGetGeom - - get a specific geom of the group - -int dGeomTransformGroupGetNumGeoms (dGeomID tg); - - Comparable to dGeomGroupGetNumGeoms - - get the number of geoms in the group - - -++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - -Tim Schmidt -student of computer science -University of Paderborn, Germany -tisch@uni-paderborn.de -- cgit v1.1