Revision: 1937
http://smartbody.svn.sourceforge.net/smartbody/?rev=1937&view=rev
Author: fengww
Date: 2011-06-02 23:29:20 +0000 (Thu, 02 Jun 2011)
Log Message:
-----------
Restructure the reaching code. Now the core reach system is associated with the
character instead of with the controller. This provides a cleaner way to setup
reach motion and build the pre-processing without initialize the controller.
Tweak the blending in/out for reach controller so the animation is pass-through
when idle.
Add rigid body physics simulation and collisions with the ODE library. Add
commands to set a pawn into a rigid body ( sphere, box, or capsule ).
Add test cases for grasping and physical simulation.
Modified Paths:
--------------
trunk/core/smartbody/sbm/src/PawnPosControl.cpp
trunk/core/smartbody/sbm/src/fltk_viewer.cpp
trunk/core/smartbody/sbm/src/fltk_viewer.h
trunk/core/smartbody/sbm/src/sbm_main.cpp
trunk/core/smartbody/sbm/visualc9/sbm-fltk.vcproj
trunk/core/smartbody/smartbody-dll/smartbody-dll.cpp
trunk/core/smartbody/smartbody-dll/smartbody-dll.vcproj
trunk/core/smartbody/smartbody-lib/src/sbm/GPU/SbmDeformableMeshGPU.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/MeCtBodyReachState.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/MeCtBodyReachState.h
trunk/core/smartbody/smartbody-lib/src/sbm/bml_bodyreach.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/bml_grab.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/mcontrol_callbacks.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/mcontrol_callbacks.h
trunk/core/smartbody/smartbody-lib/src/sbm/mcontrol_util.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/mcontrol_util.h
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_example_body_reach.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_example_body_reach.hpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_hand.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_hand.hpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_jacobian_IK.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_jacobian_IK.hpp
trunk/core/smartbody/smartbody-lib/src/sbm/me_ct_motion_example.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/sbm_character.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/sbm_character.hpp
trunk/core/smartbody/smartbody-lib/src/sbm/sbm_pawn.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/sbm_pawn.hpp
trunk/core/smartbody/smartbody-lib/src/sr/planner/sk_blend_cfg.cpp
trunk/core/smartbody/smartbody-lib/src/sr/planner/sk_blend_cfg.h
trunk/core/smartbody/smartbody-lib/src/sr/planner/sk_blend_cfg_manager.h
trunk/core/smartbody/smartbody-lib/src/sr/planner/sk_pos_cfg.cpp
trunk/core/smartbody/smartbody-lib/src/sr/planner/sk_pos_cfg.h
trunk/core/smartbody/smartbody-lib/visualc9/smartbody-lib.vcproj
trunk/data/sbm-test/scripts/test-reach-example.seq
Added Paths:
-----------
trunk/core/smartbody/ode/
trunk/core/smartbody/ode/include/
trunk/core/smartbody/ode/include/ode/
trunk/core/smartbody/ode/include/ode/Makefile.am
trunk/core/smartbody/ode/include/ode/Makefile.in
trunk/core/smartbody/ode/include/ode/README
trunk/core/smartbody/ode/include/ode/collision.h
trunk/core/smartbody/ode/include/ode/collision_space.h
trunk/core/smartbody/ode/include/ode/collision_trimesh.h
trunk/core/smartbody/ode/include/ode/common.h
trunk/core/smartbody/ode/include/ode/compatibility.h
trunk/core/smartbody/ode/include/ode/contact.h
trunk/core/smartbody/ode/include/ode/error.h
trunk/core/smartbody/ode/include/ode/export-dif.h
trunk/core/smartbody/ode/include/ode/mass.h
trunk/core/smartbody/ode/include/ode/matrix.h
trunk/core/smartbody/ode/include/ode/memory.h
trunk/core/smartbody/ode/include/ode/misc.h
trunk/core/smartbody/ode/include/ode/objects.h
trunk/core/smartbody/ode/include/ode/ode.h
trunk/core/smartbody/ode/include/ode/odeconfig.h
trunk/core/smartbody/ode/include/ode/odecpp.h
trunk/core/smartbody/ode/include/ode/odecpp_collision.h
trunk/core/smartbody/ode/include/ode/odeinit.h
trunk/core/smartbody/ode/include/ode/odemath.h
trunk/core/smartbody/ode/include/ode/rotation.h
trunk/core/smartbody/ode/include/ode/timer.h
trunk/core/smartbody/ode/lib/
trunk/core/smartbody/ode/lib/ode_single.lib
trunk/core/smartbody/ode/lib/ode_singled.lib
trunk/core/smartbody/smartbody-lib/src/sbm/MeCtReachEngine.cpp
trunk/core/smartbody/smartbody-lib/src/sbm/MeCtReachEngine.h
trunk/data/sbm-test/scripts/test-reach-grab.seq
trunk/data/sbm-test/scripts/test-reach-physics.seq
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