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------------------------------------------------------------
revno: 2611
committer: Sergei D. sj2001@xxxxxxxxx
branch nick: trunk_http
timestamp: Sun 2010-12-19 18:59:14 +0300
message:
  1.Fix RotationEngine for new meaning non-dynamic bodies
  2.Fix STLImporter
  3.!!! Set aspherical=False for a facets. Need more consideration.
  4.!!! blockedDOFs for leapfrogAsphericalRotate need more consideration.
modified:
  pkg/common/RotationEngine.cpp
  pkg/dem/NewtonIntegrator.cpp
  py/utils.py
  py/ymport.py


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=== modified file 'pkg/common/RotationEngine.cpp'
--- pkg/common/RotationEngine.cpp	2010-11-19 12:06:23 +0000
+++ pkg/common/RotationEngine.cpp	2010-12-19 15:59:14 +0000
@@ -61,13 +61,13 @@
 		b->state->angVel=rotationAxis*angularVelocity;
 		if(rotateAroundZero){
 			const Vector3r l=b->state->pos-zeroPoint;
-			if (!b->isDynamic())	b->state->pos=q*l+zeroPoint; 
+			//if (!b->isDynamic())	b->state->pos=q*l+zeroPoint; 
 			b->state->vel=b->state->angVel.cross(l);
 		}
-		if (!b->isDynamic())	{
-			b->state->ori=q*b->state->ori;
-			b->state->ori.normalize();
-		}
+		//if (!b->isDynamic())	{
+			//b->state->ori=q*b->state->ori;
+			//b->state->ori.normalize();
+		//}
 	}
 }
 

=== modified file 'pkg/dem/NewtonIntegrator.cpp'
--- pkg/dem/NewtonIntegrator.cpp	2010-12-13 13:31:57 +0000
+++ pkg/dem/NewtonIntegrator.cpp	2010-12-19 15:59:14 +0000
@@ -258,7 +258,7 @@
 	state->angMom+=dt*M; // global angular momentum at time n+1/2
 	const Vector3r l_b_half = A*state->angMom; // local angular momentum at time n+1/2
 	Vector3r angVel_b_half = l_b_half.cwise()/state->inertia; // local angular velocity at time n+1/2
-	blockRotateDOFs( state->blockedDOFs, angVel_b_half );
+	//blockRotateDOFs( state->blockedDOFs, angVel_b_half ); // FIXME: angVel_b_half is the local velocity, but blockedDOFs need for the _global_ velocity.
 	const Quaternionr dotQ_half=DotQ(angVel_b_half,Q_half); // dQ/dt at time n+1/2
 	state->ori=state->ori+dt*dotQ_half; // Q at time n+1
 	state->angVel=state->ori*angVel_b_half; // global angular velocity at time n+1/2

=== modified file 'py/utils.py'
--- py/utils.py	2010-12-08 15:20:55 +0000
+++ py/utils.py	2010-12-19 15:59:14 +0000
@@ -285,7 +285,8 @@
 	_commonBodySetup(b,0,Vector3(0,0,0),material,noBound=noBound)
 	b.state.pos=b.state.refPos=center
 	b.dynamic=dynamic
-	b.aspherical=True
+	#b.aspherical=True
+	b.aspherical=False # FIXME: is it reasonably for a facets?
 	b.mask=mask
 	return b
 

=== modified file 'py/ymport.py'
--- py/ymport.py	2010-10-26 13:41:30 +0000
+++ py/ymport.py	2010-12-19 15:59:14 +0000
@@ -68,13 +68,14 @@
 	imp = STLImporter()
 	facets=imp.ymport(file)
 	for b in facets:
-		b.dynamic=dynamic
 		b.shape.color=color if color else utils.randomColor()
 		b.shape.wire=wire
 		b.shape.highlight=highlight
 		pos,ori=b.state.pos,b.state.ori
 		utils._commonBodySetup(b,0,Vector3(0,0,0),noBound=noBound,material=material)
 		b.state.pos,b.state.ori=pos,ori
+		b.aspherical=False # FIXME: is it  reasonably for a facets?
+		b.dynamic=dynamic
 	return facets
 
 def gts(meshfile,shift=(0,0,0),scale=1.0,**kw):