Author: terry
Date: 2006-07-19 13:34:06 -0400 (Wed, 19 Jul 2006)
New Revision: 62756
Modified:
branches/tao_2_0/src/Tao.Ode/Ode.cs
Log:
More tweaks and bug fixes. This revision fixes a rather serious error caused
by some hanky-panky on the part of the ODE people. Rather than being a
3-member array in ODE, it turns out that dVector3 was a 4 member array with a
single unused slot, to maintain future SIMD compatability. The Tao.Ode
implementation had only 3 fields, so was probably causing all kinds of havok.
Padded Tao.Ode.dVector3 with an extra field, and collision detection with Ode
0.6 seems to work now.
Major ODE 0.6 changes are now complete, and it is safe to check in changes
without conflicting with ongoing work on my part.
Modified: branches/tao_2_0/src/Tao.Ode/Ode.cs
===================================================================
--- branches/tao_2_0/src/Tao.Ode/Ode.cs 2006-07-19 17:25:58 UTC (rev 62755)
+++ branches/tao_2_0/src/Tao.Ode/Ode.cs 2006-07-19 17:34:06 UTC (rev 62756)
@@ -243,94 +243,94 @@
#region Parameters for second axis
/// <summary>
- ///
+ ///
/// </summary>
dParamLoStop2 = 0x100 + 0,
/// <summary>
- ///
+ ///
/// </summary>
dParamHiStop2 = 0x100 + 1,
/// <summary>
- ///
+ ///
/// </summary>
dParamVel2 = 0x100 + 2,
/// <summary>
- ///
+ ///
/// </summary>
dParamFMax2 = 0x100 + 3,
/// <summary>
- ///
+ ///
/// </summary>
dParamFudgeFactor2 = 0x100 + 4,
/// <summary>
- ///
+ ///
/// </summary>
dParamBounce2 = 0x100 + 5,
/// <summary>
- ///
+ ///
/// </summary>
dParamCFM2 = 0x100 + 6,
/// <summary>
- ///
+ ///
/// </summary>
dParamStopERP2 = 0x100 + 7,
/// <summary>
- ///
+ ///
/// </summary>
dParamStopCFM2 = 0x100 + 8,
/// <summary>
- ///
+ ///
/// </summary>
dParamSuspensionERP2 = 0x100 + 9,
/// <summary>
- ///
+ ///
/// </summary>
dParamSuspensionCFM2 = 0x100 + 10,
#endregion Parameters for second axis
#region Parameters for third axis
/// <summary>
- ///
+ ///
/// </summary>
dParamLoStop3 = 0x200 + 0,
/// <summary>
- ///
+ ///
/// </summary>
dParamHiStop3 = 0x200 + 1,
/// <summary>
- ///
+ ///
/// </summary>
dParamVel3 = 0x200 + 2,
/// <summary>
- ///
+ ///
/// </summary>
dParamFMax3 = 0x200 + 3,
/// <summary>
- ///
+ ///
/// </summary>
dParamFudgeFactor3 = 0x200 + 4,
/// <summary>
- ///
+ ///
/// </summary>
dParamBounce3 = 0x200 + 5,
/// <summary>
- ///
+ ///
/// </summary>
dParamCFM3 = 0x200 + 6,
/// <summary>
- ///
+ ///
/// </summary>
dParamStopERP3 = 0x200 + 7,
/// <summary>
- ///
+ ///
/// </summary>
dParamStopCFM3 = 0x200 + 8,
/// <summary>
- ///
+ ///
/// </summary>
dParamSuspensionERP3 = 0x200 + 9,
/// <summary>
- ///
+ ///
/// </summary>
dParamSuspensionCFM3 = 0x200 + 10,
#endregion Parameters for third axis
@@ -659,6 +659,7 @@
/// dContactMotion2 The same thing as
above, but for friction direction 2.
/// dContactSlip1 Force-dependent-slip
(FDS) in friction direction 1.
/// dContactSlip2 Force-dependent-slip
(FDS) in friction direction 2.
+ /// dContactApprox0 TODO: Document me
/// dContactApprox1_1 Use the friction
pyramid approximation for friction direction 1. If this is
/// not specified
then the constant-force-limit approximation is used (and mu is
/// a force limit).
@@ -818,12 +819,39 @@
X = x;
Y = y;
Z = z;
+ SIMD_PADDING = (dReal)0;
}
/// <summary>
///
/// </summary>
public dReal X, Y, Z;
+
/// <summary>
+ /// In ODE's common.h: typedef dReal dVector3[4];
+ ///
+ /// From ODE mailing list:
+ /// dVector3 is a dReal[4] to allow for future SIMD
extension (the dMatrix3 is
+ /// similarily defined).
+ ///
+ /// However, there may already be a speed
difference by defining it as a
+ /// dReal[4]; the reason is that properly alligned
memory data can be accessed
+ /// more efficiently by the CPU. You should go to
great lengths to ensure that
+ /// every instance of dVector3 in your projects are
atleast 4-byte aligned
+ /// (virtually default), 16-byte alignments are
better still and usually need to
+ /// be enforced.
+ ///
+ /// This ensures that memory access (read/write)
can be performed just a little
+ /// bit faster.
+ ///
+ /// For example:
+ /// You'll notice that if you used dReal[3] for an
array of dVector3, then not
+ /// every vector would fall onto a 16-byte boundary
(provided that the first
+ /// vector was properly alligned). Whereas it is
guaranteed with dReal[4]
+ /// (provided that the first vector was properly
alligned).
+ /// </summary>
+ public dReal SIMD_PADDING;
+
+ /// <summary>
/// Indexer to support use of array syntax as found in
ODE examples
/// X = 0, Y = 1, Z = 2
/// </summary>
@@ -870,6 +898,17 @@
}
}
}
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <returns></returns>
+ public dReal[] ToArray()
+ {
+ return new dReal[] {
+ X, Y, Z, SIMD_PADDING
+ };
+ }
};
/// <summary>
@@ -950,6 +989,17 @@
}
}
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <returns></returns>
+ public dReal[] ToArray()
+ {
+ return new dReal[] {
+ X, Y, Z, W
+ };
+ }
};
/// <summary>
@@ -1030,6 +1080,17 @@
}
}
}
+
+ /// <summary>
+ ///
+ /// </summary>
+ /// <returns></returns>
+ public dReal[] ToArray()
+ {
+ return new dReal[] {
+ X, Y, Z, W
+ };
+ }
};
/// <summary>
@@ -1069,7 +1130,7 @@
public struct dMatrix3
{
/// <summary>
- ///
+ ///
/// </summary>
/// <param name="values"></param>
public dMatrix3(dReal[] values)
@@ -1089,56 +1150,56 @@
}
/// <summary>
- ///
+ ///
/// </summary>
public dReal M00;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M01;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M02;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M03;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M10;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M11;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M12;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M13;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M20;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M21;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M22;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M23;
/// <summary>
- ///
+ ///
/// </summary>
/// <param name="index"></param>
/// <returns></returns>
@@ -1197,7 +1258,7 @@
}
/// <summary>
- ///
+ ///
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
@@ -1278,7 +1339,7 @@
}
/// <summary>
- ///
+ ///
/// </summary>
/// <returns></returns>
public dReal[] ToArray()
@@ -1296,7 +1357,7 @@
public struct dMatrix4
{
/// <summary>
- ///
+ ///
/// </summary>
/// <param name="values"></param>
public dMatrix4(dReal[] values)
@@ -1320,72 +1381,72 @@
}
/// <summary>
- ///
+ ///
/// </summary>
public dReal M00;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M01;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M02;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M03;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M10;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M11;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M12;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M13;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M20;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M21;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M22;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M23;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M30;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M31;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M32;
/// <summary>
- ///
+ ///
/// </summary>
public dReal M33;
/// <summary>
- ///
+ ///
/// </summary>
/// <param name="index"></param>
/// <returns></returns>
@@ -1456,7 +1517,7 @@
}
/// <summary>
- ///
+ ///
/// </summary>
/// <param name="x"></param>
/// <param name="y"></param>
@@ -1554,6 +1615,16 @@
}
}
}
+ /// <summary>
+ ///
+ /// </summary>
+ /// <returns></returns>
+ public dReal[] ToArray()
+ {
+ return new dReal[] {
+ M00, M01, M02, M03, M10, M11, M12, M13,
M20, M21, M22, M23, M30, M31, M32, M33
+ };
+ }
};
// TODO: Should there be a dMatrix6 here to complete the set of
arrays found in ODE's common.h?
@@ -1663,7 +1734,7 @@
#region World gravity functions
/// <summary>
/// Set the world's global gravity vector.
- /// The units are m/s/s (meters/second/second), so Earth's
gravity vector would
+ /// The units are m/s/s (meters/second/second), so Earth's
gravity vector would
/// be (0,0,-9.81), assuming that +z is up.
/// The default is no gravity, i.e. (0,0,0).
/// </summary>
@@ -1686,7 +1757,7 @@
#endregion World gravity functions
#region World CFM and ERP functions
/// <summary>
- /// Set the global ERP (Error Reduction Parameter) value, which
controls how much error
+ /// Set the global ERP (Error Reduction Parameter) value, which
controls how much error
/// correction is performed in each time step.
/// Typical values are in the range 0.1--0.8. The default is
0.2.
/// </summary>
@@ -2060,7 +2131,7 @@
/// </summary>
/// <remarks>
/// For some reason the dMatrix3 does not marshall correctly,
so this function
- /// maintains compatibility with the ODE api by converting the
supplied dMatrix3 to
+ /// maintains compatibility with the ODE api by converting the
supplied dMatrix3 to
/// and array and passing that to ODE.
/// </remarks>
/// <param name="body">the body to set</param>
@@ -2207,7 +2278,7 @@
/// <param name="body">A dBodyID</param>
/// <param name="mass">A dMass</param>
[DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
- public extern static void dBodySetMass(dBodyID body, dMass
mass);
+ public extern static void dBodySetMass(dBodyID body, ref dMass
mass);
/// <summary>
/// Get the mass of the body (see the mass functions)
@@ -3920,8 +3991,8 @@
//int dJointGetLMotorNumAxes (dJointID);
// <summary>TODO: Implement me</summary>
- //void dJointGetLMotorAxis (dJointID, int anum, dVector3
result);
-
+ //void dJointGetLMotorAxis (dJointID, int anum, dVector3
result);
+
// <summary>TODO: Implement me</summary>
//dReal dJointGetLMotorParam (dJointID, int parameter);
@@ -5061,17 +5132,17 @@
[DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
public extern static void dGeomCylinderGetParams(dGeomID
cylinder, ref dReal radius, ref dReal length);
- /// <summary>
- /// Return the depth of the point (x,y,z) in the given cylinder.
- ///
- /// Points inside the geom will have positive depth, points
outside it will
- /// have negative depth, and points on the surface will have
zero depth.
- /// </summary>
- /// <returns>the depth of the point</returns>
- /// <param name="cylinder">the cylinder to query</param>
- /// <param name="x">the x coordinate of the point</param>
- /// <param name="y">the y coordinate of the point</param>
- /// <param name="z">the z coordinate of the point</param>
+ // <summary>
+ // Return the depth of the point (x,y,z) in the given cylinder.
+ //
+ // Points inside the geom will have positive depth, points
outside it will
+ // have negative depth, and points on the surface will have
zero depth.
+ // </summary>
+ // <returns>the depth of the point</returns>
+ // <param name="cylinder">the cylinder to query</param>
+ // <param name="x">the x coordinate of the point</param>
+ // <param name="y">the y coordinate of the point</param>
+ // <param name="z">the z coordinate of the point</param>
// TODO: Uncomment when implemented by ODE
// [DllImport(ODE_NATIVE_LIBRARY,
CallingConvention = CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
// public extern static dReal
dGeomCylinderPointDepth(dGeomID cylinder, dReal x, dReal y, dReal z);
@@ -5313,15 +5384,15 @@
public extern static int dGeomTransformGetInfo(dGeomID g);
#endregion Geometry transform class
#region User Custom Geom class
- /// <summary>
- /// Create a custom (user) geom class and register with ODE.
- /// Note ODE limits the number of custom geom classes that can
be generated.
- ///
- /// NOTE also that this is untested and may need
modification/clarification before
- /// being considered stable.
- /// </summary>
- /// <param name="customclass">the custom class object</param>
- /// <returns>a class number for the new custom geom
class</returns>
+ // <summary>
+ // Create a custom (user) geom class and register with ODE.
+ // Note ODE limits the number of custom geom classes that can
be generated.
+ //
+ // NOTE also that this is untested and may need
modification/clarification before
+ // being considered stable.
+ // </summary>
+ // <param name="customclass">the custom class object</param>
+ // <returns>a class number for the new custom geom
class</returns>
//[DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
//public extern static int dCreateGeomClass (dGeomClass
customclass);
@@ -5329,11 +5400,11 @@
// [DllImport(ODE_NATIVE_LIBRARY,
CallingConvention = CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
// public extern static void * dGeomGetClassData
(dGeomID);
- /// <summary>
- /// Create an instance of a custom user-defined geom class.
- /// </summary>
- /// <param name="classnum">the class number of the custom geom,
generated by dCreateGeomClass</param>
- /// <returns>the id (handle) of the new geom instance</returns>
+ // <summary>
+ // Create an instance of a custom user-defined geom class.
+ // </summary>
+ // <param name="classnum">the class number of the custom geom,
generated by dCreateGeomClass</param>
+ // <returns>the id (handle) of the new geom instance</returns>
//[DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
//public extern static dGeomID dCreateGeom (int classnum);
@@ -5602,9 +5673,18 @@
#endregion Space functions
#region TriMesh enums
+ /// <summary>
+ ///
+ /// </summary>
public enum TriMeshNumbers : int
{
+ /// <summary>
+ ///
+ /// </summary>
TRIMESH_FACE_NORMALS = 1,
+ /// <summary>
+ ///
+ /// </summary>
TRIMESH_LAST_TRANSFORMATION = 2
}
#endregion TriMesh enums
@@ -6019,12 +6099,24 @@
[DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
public extern static void dRFrom2Axes(out dMatrix3 R, dReal ax,
dReal ay, dReal az, dReal bx, dReal by, dReal bz);
- // TODO: Document Me
- [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
+ /// <summary>
+ /// TODO: Document Me
+ /// </summary>
+ /// <param name="R"></param>
+ /// <param name="ax"></param>
+ /// <param name="ay"></param>
+ /// <param name="az"></param>
+ [DllImport(ODE_NATIVE_LIBRARY, CallingConvention =
CALLING_CONVENTION), SuppressUnmanagedCodeSecurity]
public extern static void dRFromZAxis(dReal[] R, dReal ax,
dReal ay, dReal az);
- // ODE API compatability function due to dMatrix3 marshalling
errors
- public static void dRFromZAxis(dMatrix3 R, dReal ax, dReal ay,
dReal az)
+ /// <summary>
+ /// ODE API compatability function due to dMatrix3 marshalling
errors
+ /// </summary>
+ /// <param name="R"></param>
+ /// <param name="ax"></param>
+ /// <param name="ay"></param>
+ /// <param name="az"></param>
+ public static void dRFromZAxis(dMatrix3 R, dReal ax, dReal ay,
dReal az)
{
dRFromZAxis(R.ToArray(), ax, ay, az);
}
@@ -6123,16 +6215,16 @@
// NOT IMPLEMENTED
// This region contains functions in the ODE 0.6 source that
are part of the
- // ODE public API (labeled ODE_API in the ODE source), but
aren't implemented in
- // Tao.Ode. In a few cases they may be awaiting
implementation, but most of the
+ // ODE public API (labeled ODE_API in the ODE source), but
aren't implemented in
+ // Tao.Ode. In a few cases they may be awaiting
implementation, but most of the
// functions here are deliberately not implemented.
- // The primary reason for not implementing a function is that
it does not seem to
+ // The primary reason for not implementing a function is that
it does not seem to
// implement core ODE functionality and so isn't worth the
effort to wrap. Such a
- // function could be better implemented in fully managed code
rather than calling
- // into the ODE library.
+ // function could be better implemented in fully managed code
rather than calling
+ // into the ODE library.
// An example of this is dSetZero(dReal *a, int n), which just
sets a vector or matrix
// of size n to all zeros. This can easily be done in managed
code by the Tao.Ode user.
- //
+ //
// Conceivably, some utility functions such as this could be
implemented as fully managed
// parts of Tao.Ode, if deemed useful.
//
@@ -6199,17 +6291,17 @@
//ODE_API dReal dMaxDifferenceLowerTriangle (const dReal *A,
const dReal *B, int n);
// From odemath.h
- // ODE_API void dNormalize3 (dVector3 a);
+ // ODE_API void dNormalize3 (dVector3 a);
// ODE_API void dNormalize4 (dVector4 a);
// void dPlaneSpace (const dVector3 n, dVector3 p, dVector3 q);
// from timer.h
- // ODE_API void dStopwatchReset (dStopwatch *);
- // ODE_API void dStopwatchStart (dStopwatch *);
- // ODE_API void dStopwatchStop (dStopwatch *);
- // ODE_API double dStopwatchTime (dStopwatch *); /*
returns total time in secs */
- // ODE_API void dTimerStart (const char *description); /* pass
a static string here */
- // ODE_API void dTimerNow (const char *description); /* pass
a static string here */
+ // ODE_API void dStopwatchReset (dStopwatch *);
+ // ODE_API void dStopwatchStart (dStopwatch *);
+ // ODE_API void dStopwatchStop (dStopwatch *);
+ // ODE_API double dStopwatchTime (dStopwatch *); /*
returns total time in secs */
+ // ODE_API void dTimerStart (const char *description); /* pass
a static string here */
+ // ODE_API void dTimerNow (const char *description); /* pass
a static string here */
// ODE_API void dTimerEnd(void);
// ODE_API void dTimerReport (FILE *fout, int average);
// ODE_API double dTimerTicksPerSecond(void);
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