Revision: 7656
http://playerstage.svn.sourceforge.net/playerstage/?rev=7656&view=rev
Author: natepak
Date: 2009-05-14 04:32:05 +0000 (Thu, 14 May 2009)
Log Message:
-----------
More changes to the cmake files
Modified Paths:
--------------
code/gazebo/trunk/server/CMakeLists.txt
code/gazebo/trunk/server/physics/Body.cc
code/gazebo/trunk/server/physics/Body.hh
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2009-05-14 03:14:25 UTC (rev
7655)
+++ code/gazebo/trunk/server/CMakeLists.txt 2009-05-14 04:32:05 UTC (rev
7656)
@@ -61,7 +61,6 @@
GazeboError.cc
GazeboMessage.cc
Model.cc
- Simulator.cc
Angle.cc
Param.cc
GraphicsIfaceHandler.cc
@@ -75,7 +74,6 @@
Model.hh
Pose3d.hh
Quatern.hh
- Simulator.hh
SingletonT.hh
StaticPluginRegister.hh
Time.hh
@@ -95,7 +93,7 @@
ADD_LIBRARY(gazebo_server SHARED ${gazeboserver_sources})
-ADD_EXECUTABLE(gazebo-exec main.cc)
+ADD_EXECUTABLE(gazebo-exec Simulator.cc main.cc)
SET_TARGET_PROPERTIES(gazebo-exec PROPERTIES OUTPUT_NAME "gazebo")
LIST_TO_STRING(GAZEBO_CFLAGS "${gazeboserver_cflags}")
Modified: code/gazebo/trunk/server/physics/Body.cc
===================================================================
--- code/gazebo/trunk/server/physics/Body.cc 2009-05-14 03:14:25 UTC (rev
7655)
+++ code/gazebo/trunk/server/physics/Body.cc 2009-05-14 04:32:05 UTC (rev
7656)
@@ -62,15 +62,17 @@
////////////////////////////////////////////////////////////////////////////////
// Constructor
-Body::Body(Entity *parent, dWorldID worldId)
+Body::Body(Entity *parent)
: Entity(parent)
{
this->physicsEngine = World::Instance()->GetPhysicsEngine();
if ( !this->IsStatic() )
{
- this->bodyId = dBodyCreate(worldId);
+ ODEPhysics *odePhysics = (ODEPhysics*)(this->physicsEngine);
+ this->bodyId = dBodyCreate(odePhysics->GetWorldId());
+
dMassSetZero( &this->mass );
}
else
@@ -164,7 +166,7 @@
{
//std::cout << "setting self collide: " << this->nameP->GetValue() <<
std::endl;
ODEPhysics* pe =
dynamic_cast<ODEPhysics*>(World::Instance()->GetPhysicsEngine());
- this->spaceId = dSimpleSpaceCreate( pe->spaceId);
+ this->spaceId = dSimpleSpaceCreate( pe->GetSpaceId());
}
// option to enter full mass matrix
Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh 2009-05-14 03:14:25 UTC (rev
7655)
+++ code/gazebo/trunk/server/physics/Body.hh 2009-05-14 04:32:05 UTC (rev
7656)
@@ -51,7 +51,7 @@
class Body : public Entity
{
/// \brief Constructor
- public: Body(Entity *parent, dWorldID worldId);
+ public: Body(Entity *parent);
/// \brief Destructor
public: virtual ~Body();
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-05-14 03:14:25 UTC
(rev 7655)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-05-14 04:32:05 UTC
(rev 7656)
@@ -255,10 +255,17 @@
// Create a new body
Body *ODEPhysics::CreateBody(Entity *parent)
{
- return new Body(parent, this->worldId);
+ return new Body(parent);
}
////////////////////////////////////////////////////////////////////////////////
+// Get the world id
+dWorldID ODEPhysics::GetWorldId()
+{
+ return this->worldId;
+}
+
+////////////////////////////////////////////////////////////////////////////////
// Create a new joint
Joint *ODEPhysics::CreateJoint(Joint::Type type)
{
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2009-05-14 03:14:25 UTC
(rev 7655)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh 2009-05-14 04:32:05 UTC
(rev 7656)
@@ -125,6 +125,9 @@
/// \brief Return the space id
public: dSpaceID GetSpaceId() const;
+ /// \brief Get the world id
+ public: dWorldID GetWorldId();
+
/// \brief Do collision detection
private: static void CollisionCallback( void *data, dGeomID o1, dGeomID o2);
@@ -132,7 +135,7 @@
private: dWorldID worldId;
/// \brief Top-level space for all sub-spaces/geoms
- public: dSpaceID spaceId;
+ private: dSpaceID spaceId;
/// \brief Collision attributes
private: dJointGroupID contactGroup;
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