Revision: 8389
http://playerstage.svn.sourceforge.net/playerstage/?rev=8389&view=rev
Author: natepak
Date: 2009-11-11 19:06:27 +0000 (Wed, 11 Nov 2009)
Log Message:
-----------
Added hashlevels
Modified Paths:
--------------
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-11 18:17:36 UTC
(rev 8388)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2009-11-11 19:06:27 UTC
(rev 8389)
@@ -75,6 +75,7 @@
//this->spaceId = dSimpleSpaceCreate(0);
this->spaceId = dHashSpaceCreate(0);
+ dHashSpaceSetLevels(this->spaceId, -2, 8);
this->contactGroup = dJointGroupCreate(0);
@@ -451,7 +452,8 @@
//std::cout << "Geom1[" << geom1->GetName() << "] Geom2[" <<
geom2->GetName() << "]\n";
- numc = dCollide(o1,o2,10, contactGeoms, sizeof(contactGeoms[0]));
+ numc = dCollide(o1,o2,64, contactGeoms, sizeof(contactGeoms[0]));
+
if (numc != 0)
{
for (i=0; i<numc; i++)
Modified: code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc 2009-11-11
18:17:36 UTC (rev 8388)
+++ code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc 2009-11-11
19:06:27 UTC (rev 8389)
@@ -50,7 +50,7 @@
/// Update function.
void ODETrimeshShape::Update()
{
- ODEGeom *ogeom = ((ODEGeom*)this->parent);
+ /*ODEGeom *ogeom = ((ODEGeom*)this->parent);
/// FIXME: use below to update trimesh geometry for collision without using
above Ogre codes
// tell the tri-tri collider the current transform of the trimesh --
@@ -83,6 +83,7 @@
dGeomTriMeshSetLastTransform( ogeom->GetGeomId(),
*(dMatrix4*)( this->matrix_dblbuff + this->last_matrix_index * 16) );
+ */
}
//////////////////////////////////////////////////////////////////////////////
@@ -109,12 +110,12 @@
//{
dTriMeshDataID odeData;
- const SubMesh *subMesh = mesh->GetSubMesh(i);
+ /*const SubMesh *subMesh = mesh->GetSubMesh(i);
if (subMesh->GetVertexCount() < 3)
{
printf("ODETrimesh invalid mesh\n");
return;
- }
+ }*/
/// This will hold the vertex data of the triangle mesh
odeData = dGeomTriMeshDataCreate();
@@ -124,10 +125,10 @@
float *vertices = NULL;
unsigned int *indices = NULL;
- subMesh->FillArrays(&vertices, &indices);
+ mesh->FillArrays(&vertices, &indices);
- numIndices = subMesh->GetIndexCount();
- numVertices = subMesh->GetVertexCount();
+ numIndices = mesh->GetIndexCount();
+ numVertices = mesh->GetVertexCount();
for (unsigned int j=0; j < numVertices; j++)
{
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