interface additions to be more panda-like

panda/src/ode/odeBody.I

@@ -91,6 +91,11 @@ set_position(dReal x, dReal y, dReal z) {
   dBodySetPosition(_id, x, y, z);
 }
 
+INLINE void OdeBody::
+set_position(const LVecBase3f &pos) {
+  set_position(pos[0], pos[1], pos[2]);
+}
+
 INLINE void OdeBody::
 set_rotation(const LMatrix3f r) {
   dMatrix3 mat3 = {r._m.data[0], r._m.data[1], r._m.data[2], 0,
@@ -114,11 +119,21 @@ set_linear_vel(dReal x, dReal y, dReal z) {
   dBodySetLinearVel(_id, x, y, z);
 }
 
+INLINE void OdeBody::
+set_linear_vel(const LVecBase3f &vel) {
+  set_linear_vel(vel[0], vel[1], vel[2]);
+}
+
 INLINE void OdeBody::
 set_angular_vel(dReal x, dReal y, dReal z) {
   dBodySetAngularVel(_id, x, y, z);
 }
 
+INLINE void OdeBody::
+set_angular_vel(const LVecBase3f &vel) {
+  set_angular_vel(vel[0], vel[1], vel[2]);
+}
+
 INLINE LVecBase3f OdeBody::
 get_position() const {
   const dReal *res = dBodyGetPosition(_id);
@@ -166,51 +181,101 @@ add_force(dReal fx, dReal fy, dReal fz) {
   dBodyAddForce(_id, fx, fy, fz);
 }
 
+INLINE void OdeBody::
+add_force(const LVecBase3f &f) {
+  add_force(f[0], f[1], f[2]);
+}
+
 INLINE void OdeBody::
 add_torque(dReal fx, dReal fy, dReal fz) {
   dBodyAddTorque(_id, fx, fy, fz);
 }
 
+INLINE void OdeBody::
+add_torque(const LVecBase3f &f) {
+  add_torque(f[0], f[1], f[2]);
+}
+
 INLINE void OdeBody::
 add_rel_force(dReal fx, dReal fy, dReal fz) {
   dBodyAddRelForce(_id, fx, fy, fz);
 }
 
+INLINE void OdeBody::
+add_rel_force(const LVecBase3f &f) {
+  add_rel_force(f[0], f[1], f[2]);
+}
+
 INLINE void OdeBody::
 add_rel_torque(dReal fx, dReal fy, dReal fz) {
   dBodyAddRelTorque(_id, fx, fy, fz);
 }
 
+INLINE void OdeBody::
+add_rel_torque(const LVecBase3f &f) {
+  add_rel_torque(f[0], f[1], f[2]);
+}
+
 INLINE void OdeBody::
 add_force_at_pos(dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) {
   dBodyAddForceAtPos(_id, fx, fy, fz, px, py, pz);
 }
 
+INLINE void OdeBody::
+add_force_at_pos(const LVecBase3f &f, const LVecBase3f &pos) {
+  add_force_at_pos(f[0], f[1], f[2], pos[0], pos[1], pos[2]);
+}
+
 INLINE void OdeBody::
 add_force_at_rel_pos(dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) {
   dBodyAddForceAtRelPos(_id, fx, fy, fz, px, py, pz);
 }
 
+INLINE void OdeBody::
+add_force_at_rel_pos(const LVecBase3f &f, const LVecBase3f &pos) {
+  add_force_at_rel_pos(f[0], f[1], f[2], pos[0], pos[1], pos[2]);
+}
+
 INLINE void OdeBody::
 add_rel_force_at_pos(dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) {
   dBodyAddRelForceAtPos(_id, fx, fy, fz, px, py, pz);
 }
 
+INLINE void OdeBody::
+add_rel_force_at_pos(const LVecBase3f &f, const LVecBase3f &pos) {
+  add_rel_force_at_pos(f[0], f[1], f[2], pos[0], pos[1], pos[2]);
+}
+
 INLINE void OdeBody::
 add_rel_force_at_rel_pos(dReal fx, dReal fy, dReal fz, dReal px, dReal py, dReal pz) {
   dBodyAddRelForceAtRelPos(_id, fx, fy, fz, px, py, pz);
 }
 
+INLINE void OdeBody::
+add_rel_force_at_rel_pos(const LVecBase3f &f, const LVecBase3f &pos) {
+  add_rel_force_at_rel_pos(f[0], f[1], f[2], pos[0], pos[1], pos[2]);
+}
+
 INLINE void OdeBody::
 set_force(dReal x, dReal y, dReal z) {
   dBodySetForce(_id, x, y, z);
 }
 
+INLINE void OdeBody::
+set_force(const LVecBase3f &f) {
+  set_force(f[0], f[1], f[2]);
+}
+
 INLINE void OdeBody::
 set_torque(dReal x, dReal y, dReal z) {
   dBodySetTorque(_id, x, y, z);
 }
 
+INLINE void OdeBody::
+set_torque(const LVecBase3f &f) {
+  set_torque(f[0], f[1], f[2]);
+}
+
 INLINE LPoint3f OdeBody::
 get_rel_point_pos(dReal px, dReal py, dReal pz) const {
   dVector3 result;
@@ -218,6 +283,11 @@ get_rel_point_pos(dReal px, dReal py, dReal pz) const {
   return LPoint3f(result[0], result[1], result[2]);
 }
 
+INLINE LPoint3f OdeBody::
+get_rel_point_pos(const LVecBase3f &pos) const {
+  return get_rel_point_pos(pos[0], pos[1], pos[2]);
+}
+
 INLINE LPoint3f OdeBody::
 get_rel_point_vel(dReal px, dReal py, dReal pz) const {
   dVector3 result;
@@ -225,6 +295,11 @@ get_rel_point_vel(dReal px, dReal py, dReal pz) const {
   return LPoint3f(result[0], result[1], result[2]);
 }
 
+INLINE LPoint3f OdeBody::
+get_rel_point_vel(const LVecBase3f &pos) const {
+  return get_rel_point_vel(pos[0], pos[1], pos[2]);
+}
+
 INLINE LPoint3f OdeBody::
 get_point_vel(dReal px, dReal py, dReal pz) const {
   dVector3 result;
@@ -232,6 +307,11 @@ get_point_vel(dReal px, dReal py, dReal pz) const {
   return LPoint3f(result[0], result[1], result[2]);
 }
 
+INLINE LPoint3f OdeBody::
+get_point_vel(const LVecBase3f &pos) const {
+  return get_point_vel(pos[0], pos[1], pos[2]);
+}
+
 INLINE LPoint3f OdeBody::
 get_pos_rel_point(dReal px, dReal py, dReal pz) const {
   dVector3 result;
@@ -239,6 +319,11 @@ get_pos_rel_point(dReal px, dReal py, dReal pz) const {
   return LPoint3f(result[0], result[1], result[2]);
 }
 
+INLINE LPoint3f OdeBody::
+get_pos_rel_point(const LVecBase3f &pos) const {
+  return get_pos_rel_point(pos[0], pos[1], pos[2]);
+}
+
 INLINE LVecBase3f OdeBody::
 vector_to_world(dReal px, dReal py, dReal pz) const {
   dVector3 result;
@@ -246,6 +331,11 @@ vector_to_world(dReal px, dReal py, dReal pz) const {
   return LVecBase3f(result[0], result[1], result[2]);
 }
 
+INLINE LVecBase3f OdeBody::
+vector_to_world(const LVecBase3f &pos) const {
+  return vector_to_world(pos[0], pos[1], pos[2]);
+}
+
 INLINE LVecBase3f OdeBody::
 vector_from_world(dReal px, dReal py, dReal pz) const {
   dVector3 result;
@@ -253,6 +343,11 @@ vector_from_world(dReal px, dReal py, dReal pz) const {
   return LVecBase3f(result[0], result[1], result[2]);
 }
 
+INLINE LVecBase3f OdeBody::
+vector_from_world(const LVecBase3f &pos) const {
+  return vector_from_world(pos[0], pos[1], pos[2]);
+}
+
 INLINE void OdeBody::
 set_finite_rotation_mode(int mode) {
   dBodySetFiniteRotationMode(_id, mode);
@@ -263,6 +358,11 @@ set_finite_rotation_axis(dReal x, dReal y, dReal z) {
   dBodySetFiniteRotationAxis(_id, x, y, z);
 }
 
+INLINE void OdeBody::
+set_finite_rotation_axis(const LVecBase3f &axis) {
+  set_finite_rotation_axis(axis[0], axis[1], axis[2]);
+}
+
 INLINE int OdeBody::
 get_finite_rotation_mode() const {
   return dBodyGetFiniteRotationMode(_id);

panda/src/ode/odeBody.cxx

@@ -21,11 +21,6 @@
 
 TypeHandle OdeBody::_type_handle;
 
-OdeBody::
-OdeBody() :
-  _id(0) {
-}
-
 OdeBody::
 OdeBody(dBodyID id) :
   _id(id) {
@@ -42,6 +37,7 @@ OdeBody::
 
 void OdeBody::
 destroy() {
+  nassertv(_id);
   dBodyDestroy(_id);
 }
 

panda/src/ode/odeBody.h

@@ -41,7 +41,6 @@ protected:
   OdeBody(dBodyID id);
 
 PUBLISHED:
-  OdeBody();
   OdeBody(OdeWorld &world);
   virtual ~OdeBody();
   void destroy();
@@ -55,10 +54,13 @@ PUBLISHED:
   INLINE void set_data(void *data);
 
   INLINE void set_position(dReal x, dReal y, dReal z);
+  INLINE void set_position(const LVecBase3f &pos);
   INLINE void set_rotation(const LMatrix3f r);
   INLINE void set_quaternion(const LQuaternionf q);
   INLINE void set_linear_vel(dReal x, dReal y, dReal z);
+  INLINE void set_linear_vel(const LVecBase3f &vel);
   INLINE void set_angular_vel(dReal x, dReal y, dReal z);
+  INLINE void set_angular_vel(const LVecBase3f &vel);
   INLINE void set_mass(OdeMass &mass);
 
 
@@ -77,29 +79,50 @@ PUBLISHED:
   INLINE OdeMass     get_mass() const;
 
   INLINE void add_force(dReal fx, dReal fy, dReal fz);
+  INLINE void add_force(const LVecBase3f &f);
   INLINE void add_torque(dReal fx, dReal fy, dReal fz);
+  INLINE void add_torque(const LVecBase3f &f);
   INLINE void add_rel_force(dReal fx, dReal fy, dReal fz);
+  INLINE void add_rel_force(const LVecBase3f &f);
   INLINE void add_rel_torque(dReal fx, dReal fy, dReal fz);
+  INLINE void add_rel_torque(const LVecBase3f &f);
   INLINE void add_force_at_pos(dReal fx, dReal fy, dReal fz, 
 			       dReal px, dReal py, dReal pz);
+  INLINE void add_force_at_pos(const LVecBase3f &f, 
+			       const LVecBase3f &pos);
   INLINE void add_force_at_rel_pos(dReal fx, dReal fy, dReal fz, 
 				   dReal px, dReal py, dReal pz);
+  INLINE void add_force_at_rel_pos(const LVecBase3f &f, 
+				   const LVecBase3f &pos);
   INLINE void add_rel_force_at_pos(dReal fx, dReal fy, dReal fz, 
 				   dReal px, dReal py, dReal pz);
+  INLINE void add_rel_force_at_pos(const LVecBase3f &f, 
+				   const LVecBase3f &pos);
   INLINE void add_rel_force_at_rel_pos(dReal fx, dReal fy, dReal fz, 
 				       dReal px, dReal py, dReal pz);
+  INLINE void add_rel_force_at_rel_pos(const LVecBase3f &f, 
+				       const LVecBase3f &pos);
   INLINE void set_force(dReal x, dReal y, dReal z);
+  INLINE void set_force(const LVecBase3f &f);
   INLINE void set_torque(dReal x, dReal y, dReal z);
+  INLINE void set_torque(const LVecBase3f &f);
 
   INLINE LPoint3f get_rel_point_pos(dReal px, dReal py, dReal pz) const;
+  INLINE LPoint3f get_rel_point_pos(const LVecBase3f &pos) const;
   INLINE LPoint3f get_rel_point_vel(dReal px, dReal py, dReal pz) const;
+  INLINE LPoint3f get_rel_point_vel(const LVecBase3f &pos) const;
   INLINE LPoint3f get_point_vel(dReal px, dReal py, dReal pz) const;
+  INLINE LPoint3f get_point_vel(const LVecBase3f &pos) const;
   INLINE LPoint3f get_pos_rel_point(dReal px, dReal py, dReal pz) const;
+  INLINE LPoint3f get_pos_rel_point(const LVecBase3f &pos) const;
   INLINE LVecBase3f vector_to_world(dReal px, dReal py, dReal pz) const;
+  INLINE LVecBase3f vector_to_world(const LVecBase3f &pos) const;
   INLINE LVecBase3f vector_from_world(dReal px, dReal py, dReal pz) const;
+  INLINE LVecBase3f vector_from_world(const LVecBase3f &pos) const;
 
   INLINE void set_finite_rotation_mode(int mode);
   INLINE void set_finite_rotation_axis(dReal x, dReal y, dReal z);
+  INLINE void set_finite_rotation_axis(const LVecBase3f &axis);
   INLINE int get_finite_rotation_mode() const;
   INLINE LVecBase3f get_finite_rotation_axis() const;
 

panda/src/ode/odeBoxGeom.I

@@ -21,6 +21,11 @@ set_lengths(dReal lx, dReal ly, dReal lz) {
   dGeomBoxSetLengths(_id, lx, ly, lz);
 }
 
+INLINE void OdeBoxGeom::
+set_lengths(const LVecBase3f &size) {
+  set_lengths(size[0], size[1], size[2]);
+}
+
 INLINE LVecBase3f OdeBoxGeom::
 get_lengths() {
   dVector3 res;
@@ -33,3 +38,8 @@ get_point_depth(dReal x, dReal y, dReal z) {
   return dGeomBoxPointDepth(_id, x, y, z);
 }
 
+INLINE dReal OdeBoxGeom::
+get_point_depth(const LPoint3f &p) {
+  return get_point_depth(p[0], p[1], p[2]);
+}
+

panda/src/ode/odeBoxGeom.cxx

@@ -31,6 +31,11 @@ OdeBoxGeom(OdeSpace &space, dReal lx, dReal ly, dReal lz) :
   OdeGeom(dCreateBox(space.get_id(), lx, ly, lz)) {
 }
 
+OdeBoxGeom::
+OdeBoxGeom(OdeSpace &space, const LVecBase3f &size) :
+  OdeGeom(dCreateBox(space.get_id(), size[0], size[1], size[2])) {
+}
+
 OdeBoxGeom::
 ~OdeBoxGeom() {
 }

panda/src/ode/odeBoxGeom.h

@@ -34,11 +34,14 @@ class EXPCL_PANDAODE OdeBoxGeom : public OdeGeom {
 PUBLISHED:
   OdeBoxGeom(dReal lx, dReal ly, dReal lz);
   OdeBoxGeom(OdeSpace &space, dReal lx, dReal ly, dReal lz);
+  OdeBoxGeom(OdeSpace &space, const LVecBase3f &size);
   virtual ~OdeBoxGeom();
 
   INLINE void set_lengths(dReal lx, dReal ly, dReal lz);
+  INLINE void set_lengths(const LVecBase3f &size);
   INLINE LVecBase3f get_lengths();
   INLINE dReal get_point_depth(dReal x, dReal y, dReal z);
+  INLINE dReal get_point_depth(const LPoint3f &p);
 
 public:
   INLINE static int get_geom_class() { return dBoxClass; };

panda/src/ode/odeCappedCylinderGeom.I

@@ -44,3 +44,8 @@ INLINE dReal OdeCappedCylinderGeom::
 get_point_depth(dReal x, dReal y, dReal z) const {
   return dGeomCapsulePointDepth(_id, x, y, z);
 }
+
+INLINE dReal OdeCappedCylinderGeom::
+get_point_depth(const LPoint3f &p) const {
+  return get_point_depth(p[0], p[1], p[2]);
+}

panda/src/ode/odeCappedCylinderGeom.h

@@ -41,6 +41,7 @@ PUBLISHED:
   INLINE dReal get_radius() const;
   INLINE dReal get_length() const;
   INLINE dReal get_point_depth(dReal x, dReal y, dReal z) const;
+  INLINE dReal get_point_depth(const LPoint3f &p) const;
 
 public:
   INLINE static int get_geom_class() { return dCapsuleClass; };

panda/src/ode/odeContactGeom.cxx

@@ -29,33 +29,13 @@ OdeContactGeom() :
 OdeContactGeom::
 OdeContactGeom(const OdeContactGeom &copy) : 
   _contact_geom() {
-  _contact_geom.pos[0] = copy._contact_geom.pos[0];
+  *this = copy._contact_geom;
-  _contact_geom.pos[1] = copy._contact_geom.pos[1];
-  _contact_geom.pos[2] = copy._contact_geom.pos[2];
-  _contact_geom.normal[0] = copy._contact_geom.normal[0];
-  _contact_geom.normal[1] = copy._contact_geom.normal[1];
-  _contact_geom.normal[2] = copy._contact_geom.normal[2];
-  _contact_geom.depth = copy._contact_geom.depth;
-  _contact_geom.g1 = copy._contact_geom.g1;
-  _contact_geom.g2 = copy._contact_geom.g2;
-  _contact_geom.side1 = copy._contact_geom.side1;
-  _contact_geom.side2 = copy._contact_geom.side2;
 }
 
 OdeContactGeom::
-OdeContactGeom(const dContactGeom &contact_geom) : 
+OdeContactGeom(const dContactGeom &copy) : 
   _contact_geom() {
-  _contact_geom.pos[0] = contact_geom.pos[0];
+  *this = _contact_geom;
-  _contact_geom.pos[1] = contact_geom.pos[1];
-  _contact_geom.pos[2] = contact_geom.pos[2];
-  _contact_geom.normal[0] = contact_geom.normal[0];
-  _contact_geom.normal[1] = contact_geom.normal[1];
-  _contact_geom.normal[2] = contact_geom.normal[2];
-  _contact_geom.depth = contact_geom.depth;
-  _contact_geom.g1 = contact_geom.g1;
-  _contact_geom.g2 = contact_geom.g2;
-  _contact_geom.side1 = contact_geom.side1;
-  _contact_geom.side2 = contact_geom.side2;
 }
 
 OdeContactGeom::
@@ -69,16 +49,21 @@ get_contact_geom_ptr() const {
 
 void OdeContactGeom::
 operator = (const OdeContactGeom &copy) {
-  _contact_geom.pos[0] = copy._contact_geom.pos[0];
+  *this = copy._contact_geom;
-  _contact_geom.pos[1] = copy._contact_geom.pos[1];
+}
-  _contact_geom.pos[2] = copy._contact_geom.pos[2];
+
-  _contact_geom.normal[0] = copy._contact_geom.normal[0];
+void OdeContactGeom::
-  _contact_geom.normal[1] = copy._contact_geom.normal[1];
+operator = (const dContactGeom &contact_geom) {
-  _contact_geom.normal[2] = copy._contact_geom.normal[2];
+  _contact_geom.pos[0] = contact_geom.pos[0];
-  _contact_geom.depth = copy._contact_geom.depth;
+  _contact_geom.pos[1] = contact_geom.pos[1];
-  _contact_geom.g1 = copy._contact_geom.g1;
+  _contact_geom.pos[2] = contact_geom.pos[2];
-  _contact_geom.g2 = copy._contact_geom.g2;
+  _contact_geom.normal[0] = contact_geom.normal[0];
-  _contact_geom.side1 = copy._contact_geom.side1;
+  _contact_geom.normal[1] = contact_geom.normal[1];
-  _contact_geom.side2 = copy._contact_geom.side2;
+  _contact_geom.normal[2] = contact_geom.normal[2];
+  _contact_geom.depth = contact_geom.depth;
+  _contact_geom.g1 = contact_geom.g1;
+  _contact_geom.g2 = contact_geom.g2;
+  _contact_geom.side1 = contact_geom.side1;
+  _contact_geom.side2 = contact_geom.side2;
 }
 

panda/src/ode/odeContactGeom.h

@@ -34,7 +34,7 @@ class EXPCL_PANDAODE OdeContactGeom : public TypedReferenceCount {
   friend class OdeContact;
 
 protected:
-  OdeContactGeom(const dContactGeom &contact_geom);
+  OdeContactGeom(const dContactGeom &copy);
 
 PUBLISHED:
   OdeContactGeom();
@@ -60,6 +60,7 @@ public:
 
 private:
   void operator = (const OdeContactGeom &copy);
+  void operator = (const dContactGeom &copy);
   dContactGeom _contact_geom;
 
 public:

panda/src/ode/odeGeom.I

@@ -43,6 +43,11 @@ set_position(dReal x, dReal y, dReal z) {
   dGeomSetPosition(_id, x, y, z);
 }
 
+INLINE void OdeGeom::
+set_position(const LVecBase3f &pos) {
+  set_position(pos[0], pos[1], pos[2]);
+}
+
 INLINE void OdeGeom::
 set_rotation(const LMatrix3f &r) {
   dMatrix3 rot = { r._m.data[0], r._m.data[1], r._m.data[2], 0,
@@ -96,13 +101,23 @@ get_class() const {
 }
 
 INLINE void OdeGeom::
-set_category_bits(unsigned long bits) {
+set_category_bits(const BitMask32 &bits) {
-  dGeomSetCategoryBits(_id, bits);
+  dGeomSetCategoryBits(_id, bits.get_word());
 }
 
 INLINE void OdeGeom::
-set_collide_bits(unsigned long bits) {
+set_collide_bits(const BitMask32 &bits) {
-  dGeomSetCollideBits(_id, bits);
+  dGeomSetCollideBits(_id, bits.get_word());
+}
+
+INLINE BitMask32 OdeGeom::
+get_category_bits() {
+  return BitMask32(dGeomGetCategoryBits(_id));
+}
+
+INLINE BitMask32 OdeGeom::
+get_collide_bits() {
+  return BitMask32(dGeomGetCollideBits(_id));
 }
 
 INLINE void OdeGeom::
@@ -125,6 +140,11 @@ set_offset_position(dReal x, dReal y, dReal z) {
   dGeomSetOffsetPosition(_id, x, y, z);
 }
 
+INLINE void OdeGeom::
+set_offset_position(const LVecBase3f &pos) {
+  set_offset_position(pos[0], pos[1], pos[2]);
+}
+
 INLINE void OdeGeom::
 set_offset_rotation(const LMatrix3f &r) {
   dMatrix3 rot = { r._m.data[0], r._m.data[1], r._m.data[2], 0,
@@ -144,6 +164,11 @@ set_offset_world_position(dReal x, dReal y, dReal z) {
   dGeomSetOffsetWorldPosition(_id, x, y, z);
 }
 
+INLINE void OdeGeom::
+set_offset_world_position(const LVecBase3f &pos) {
+  set_offset_world_position(pos[0], pos[1], pos[2]);
+}
+
 INLINE void OdeGeom::
 set_offset_world_rotation(const LMatrix3f &r) {
   dMatrix3 rot = { r._m.data[0], r._m.data[1], r._m.data[2], 0,

panda/src/ode/odeGeom.cxx

@@ -21,12 +21,6 @@
 
 TypeHandle OdeGeom::_type_handle;
 
-OdeGeom::
-OdeGeom() :
-  _id(0) {
-  odegeom_cat.debug() << get_type() << "(" << _id << ")\n";
-}
-
 OdeGeom::
 OdeGeom(dGeomID id) :
   _id(id) {

panda/src/ode/odeGeom.h

@@ -22,6 +22,7 @@
 #include "pandabase.h"
 #include "typedObject.h"
 #include "luse.h"
+#include "bitMask.h"
 
 #include "ode_includes.h"
 #include "odeSpace.h" // Needed for derived classes
@@ -41,7 +42,6 @@ protected:
   OdeGeom(dGeomID id);
 
 PUBLISHED:
-  OdeGeom();
   virtual ~OdeGeom();
   void destroy();
 
@@ -49,6 +49,7 @@ PUBLISHED:
   INLINE void set_body(OdeBody &body);
   INLINE OdeBody get_body() const;
   INLINE void set_position(dReal x, dReal y, dReal z);
+  INLINE void set_position(const LVecBase3f &pos);
   INLINE void set_rotation(const LMatrix3f &r);
   INLINE void set_quaternion(const LQuaternionf &q);
   INLINE LPoint3f get_position() const;
@@ -57,15 +58,19 @@ PUBLISHED:
   //INLINE void get_aabb(dReal aabb[6]) const;
   INLINE int is_space();
   INLINE int get_class() const;
-  INLINE void set_category_bits(unsigned long bits);
+  INLINE void set_category_bits(const BitMask32 &bits);
-  INLINE void set_collide_bits(unsigned long bits);
+  INLINE void set_collide_bits(const BitMask32 &bits);
+  INLINE BitMask32 get_category_bits();
+  INLINE BitMask32 get_collide_bits();
   INLINE void enable();
   INLINE void disable();
   INLINE int is_enabled();
   INLINE void set_offset_position(dReal x, dReal y, dReal z);
+  INLINE void set_offset_position(const LVecBase3f &pos);
   INLINE void set_offset_rotation(const LMatrix3f &r);
   INLINE void set_offset_quaternion(const LQuaternionf &q);
   INLINE void set_offset_world_position(dReal x, dReal y, dReal z);
+  INLINE void set_offset_world_position(const LVecBase3f &pos);
   INLINE void set_offset_world_rotation(const LMatrix3f &r);
   INLINE void set_offset_world_quaternion(const LQuaternionf &q);
   INLINE void clear_offset();
@@ -75,7 +80,9 @@ PUBLISHED:
   INLINE LQuaternionf get_offset_quaternion() const;
 
   void get_space(OdeSpace &space) const;
+
   virtual void write(ostream &out = cout, unsigned int indent=0) const;
+
 public:
   INLINE dGeomID get_id() const;
 

panda/src/ode/odeHeightFieldGeom.h

@@ -1,4 +1,4 @@
-// Filename: odeBoxGeom.h
+// Filename: odeHeightfieldGeom.h
 // Created by:  joswilso (27Dec06)
 //
 ////////////////////////////////////////////////////////////////////
@@ -16,8 +16,8 @@
 //
 ////////////////////////////////////////////////////////////////////
 
-#ifndef ODEBOXGEOM_H
+#ifndef ODEHEIGHTFIELDGEOM_H
-#define ODEBOXGEOM_H
+#define ODEHEIGHTFIELDGEOM_H
 
 #include "pandabase.h"
 #include "typedObject.h"
@@ -27,13 +27,13 @@
 #include "odeGeom.h"
 
 ////////////////////////////////////////////////////////////////////
-//       Class : OdeBoxGeom
+//       Class : OdeHeightfieldGeom
 // Description : 
 ////////////////////////////////////////////////////////////////////
-class EXPCL_PANDAODE OdeBoxGeom : public OdeGeom {
+class EXPCL_PANDAODE OdeHeightfieldGeom : public OdeGeom {
 PUBLISHED:
-  OdeBoxGeom();
+  OdeHeightfieldGeom();
-  virtual ~OdeBoxGeom();
+  virtual ~OdeHeightfieldGeom();
 
   INLINE dHeightfieldDataID heightfield_data_create();
   INLINE void heightfield_data_destroy(dHeightfieldDataID d);
@@ -51,7 +51,7 @@ public:
   }
   static void init_type() {
     OdeGeom::init_type();
-    register_type(_type_handle, "OdeBoxGeom",
+    register_type(_type_handle, "OdeHeightfieldGeom",
 		  OdeGeom::get_class_type());
   }
   virtual TypeHandle get_type() const {
@@ -63,6 +63,6 @@ private:
   static TypeHandle _type_handle;
 };
 
-#include "odeBoxGeom.I"
+#include "odeHeightfieldGeom.I"
 
 #endif

panda/src/ode/odeJoint.I

@@ -21,6 +21,7 @@ get_id() const {
   return _id;
 }
 
+/*
 INLINE void OdeJoint::
 set_data(void *data) {
   dJointSetData(_id, data);
@@ -30,12 +31,14 @@ INLINE void *OdeJoint::
 get_data() {
   return dJointGetData(_id);
 }
+*/
 
 INLINE int OdeJoint::
 get_joint_type() const {
   return dJointGetType(_id);
 }
 
+/*
 INLINE void OdeJoint::
 set_feedback(dJointFeedback *feedback) {
   dJointSetFeedback(_id, feedback);
@@ -45,3 +48,4 @@ INLINE dJointFeedback *OdeJoint::
 get_feedback() {
   return dJointGetFeedback(_id);
 }
+*/

panda/src/ode/odeJoint.cxx

@@ -38,12 +38,14 @@ destroy() {
 }
 
 void OdeJoint::
-attach(const OdeBody &body1, const OdeBody &body2) {
+attachBodies(const OdeBody &body1, const OdeBody &body2) {
+  nassertv(body1.get_id() != 0 && body2.get_id() != 0);
   dJointAttach(_id, body1.get_id(), body2.get_id());
 }
 
 void OdeJoint::
-attach(const OdeBody &body, int index) {
+attachBody(const OdeBody &body, int index) {
+  nassertv(body.get_id() != 0);
   if (index == 0) {
     dJointAttach(_id, body.get_id(), 0);
   } else {
@@ -56,9 +58,10 @@ detach() {
   dJointAttach(_id, 0, 0);
 }
 
-void OdeJoint::
+OdeBody OdeJoint::
-get_body(int index, OdeBody &body) const {
+get_body(int index) const {
-  body._id = dJointGetBody(_id, index);
+  nassertr(index == 0 || index == 1, OdeBody(0));
+  return OdeBody(dJointGetBody(_id, index));
 }
 
 void OdeJoint::
@@ -67,8 +70,7 @@ write(ostream &out, unsigned int indent) const {
   out.width(indent); out << "" << get_type() \
 			 << "(id = " << _id \
 			 << ", body1 = ";
-  OdeBody body;
+  OdeBody body = get_body(0);
-  get_body(0, body);
   if (body.get_id() != 0) {
     body.write(out);
   }
@@ -76,7 +78,7 @@ write(ostream &out, unsigned int indent) const {
     out << "0";
   }
   out << ", body2 = ";
-  get_body(1, body);
+  body = get_body(1);
   if (body.get_id() != 0) {
     body.write(out);
   }
@@ -87,3 +89,8 @@ write(ostream &out, unsigned int indent) const {
 
   #endif //] NDEBUG
 }
+
+bool OdeJoint::
+operator==(const OdeJoint &other) {
+  return _id == other._id;
+}

panda/src/ode/odeJoint.h

@@ -27,8 +27,8 @@
 #include "odeWorld.h" // Needed for derived classes
 #include "odeJointGroup.h"
 
-
+// Strange, we should be forced to include this by get_body()
-class OdeBody;
+class OdeBody; 
 
 
 ////////////////////////////////////////////////////////////////////
@@ -45,19 +45,20 @@ protected:
 PUBLISHED:
   virtual ~OdeJoint();
   void destroy();
-
+  
-  INLINE void set_data(void *data);
+  // INLINE void set_data(void *data);
-  INLINE void *get_data();
+  // INLINE void *get_data();
   INLINE int get_joint_type() const;
-  void get_body(int index, OdeBody &body) const;
+  OdeBody get_body(int index) const;
-  INLINE void set_feedback(dJointFeedback *);
+  // INLINE void set_feedback(dJointFeedback *);
-  INLINE dJointFeedback *get_feedback();
+  // INLINE dJointFeedback *get_feedback();
    
-  void attach(const OdeBody &body1, const OdeBody &body2);
+  void attachBodies(const OdeBody &body1, const OdeBody &body2);
-  void attach(const OdeBody &body, int index);
+  void attachBody(const OdeBody &body, int index);
   void detach();
 
   virtual void write(ostream &out = cout, unsigned int indent=0) const;
+  bool operator==(const OdeJoint &other);
 
 public: 
   INLINE dJointID get_id() const;

panda/src/ode/odeMass.I

@@ -37,6 +37,16 @@ set_parameters(dReal themass,
                       I12, I13, I23);
 }
 
+INLINE void OdeMass::
+set_parameters(dReal themass,
+	       const LVecBase3f &center,
+               const LMatrix3f &i) {
+  set_parameters(themass,
+                 center[0], center[1], center[2], 
+                 i._m.data[0], i._m.data[4], i._m.data[8],
+                 i._m.data[1], i._m.data[2], i._m.data[5]);
+}
+
 INLINE void OdeMass::
 set_sphere(dReal density, dReal radius) {
   _mass.setSphere(density, radius);
@@ -81,7 +91,22 @@ INLINE void OdeMass::
 set_box(dReal density,
         dReal lx, dReal ly, dReal lz) {
   _mass.setBox(density,
-		lx, ly, lz);
+	       lx, ly, lz);
+}
+
+INLINE void OdeMass::
+set_box(dReal density,
+	const LVecBase3f &size) {
+  _mass.setBox(density,
+	       size[0], size[1], size[2]);
+}
+
+INLINE void OdeMass::
+set_box_total(dReal total_mass,
+              const LVecBase3f &size) {
+  dMassSetBoxTotal(&_mass,
+                   total_mass,
+                   size[0], size[1], size[2]);
 }
 
 INLINE void OdeMass::
@@ -103,8 +128,16 @@ translate(dReal x, dReal y, dReal z) {
 }
 
 INLINE void OdeMass::
-rotate(const dMatrix3 R) {
+translate(const LVecBase3f &pos) {
-  _mass.rotate(R);
+  translate(pos[0], pos[1], pos[2]);
+}
+
+INLINE void OdeMass::
+rotate(const LMatrix3f &r) {
+  dMatrix3 rot = { r._m.data[0], r._m.data[1], r._m.data[2], 0,
+                   r._m.data[3], r._m.data[4], r._m.data[5], 0,
+                   r._m.data[6], r._m.data[7], r._m.data[8], 0 };
+  _mass.rotate(rot);
 }
 
 INLINE void OdeMass::
@@ -123,7 +156,7 @@ get_center() const {
 }
 
 INLINE LMatrix3f OdeMass::
-get_inertia() const {
+get_inertial_tensor() const {
   return LMatrix3f(_mass.I[0], _mass.I[1], _mass.I[2] ,
                    _mass.I[4], _mass.I[5], _mass.I[6] ,
                    _mass.I[8], _mass.I[9], _mass.I[10]);

panda/src/ode/odeMass.cxx

@@ -61,7 +61,7 @@ write(ostream &out, unsigned int indent) const {
   out << get_type() \
       << "(mag = " << get_magnitude() \
       << ", center = " << get_center() \
-      << ", inertia = " << get_inertia() \
+      << ", inertia = " << get_inertial_tensor() \
       << ")";
   #endif //] NDEBUG
 }

panda/src/ode/odeMass.h

@@ -41,6 +41,9 @@ PUBLISHED:
                              dReal cgx, dReal cgy, dReal cgz,
                              dReal I11, dReal I22, dReal I33,
                              dReal I12, dReal I13, dReal I23);
+  INLINE void set_parameters(dReal themass,
+                             const LVecBase3f &center,
+                             const LMatrix3f &r);
   INLINE void set_sphere(dReal density, dReal radius);
   INLINE void set_sphere_total(dReal total_mass, dReal radius);
   INLINE void set_capsule(dReal density, int direction,
@@ -53,16 +56,21 @@ PUBLISHED:
                                  dReal radius, dReal length);
   INLINE void set_box(dReal density,
                       dReal lx, dReal ly, dReal lz);
+  INLINE void set_box(dReal density,
+                      const LVecBase3f &size);
   INLINE void set_box_total(dReal total_mass,
                             dReal lx, dReal ly, dReal lz);
+  INLINE void set_box_total(dReal total_mass,
+			    const LVecBase3f &size);
   INLINE void adjust(dReal newmass);
   INLINE void translate(dReal x, dReal y, dReal z);
-  INLINE void rotate(const dMatrix3 R);
+  INLINE void translate(const LVecBase3f &pos);
+  INLINE void rotate(const LMatrix3f &r);
   INLINE void add(OdeMass &other);
 
   INLINE dReal get_magnitude() const;
   INLINE LPoint3f get_center() const;
-  INLINE LMatrix3f get_inertia() const;
+  INLINE LMatrix3f get_inertial_tensor() const;
 
   virtual void write(ostream &out = cout, unsigned int indent=0) const;
 

panda/src/ode/odePlaneGeom.I

@@ -21,6 +21,11 @@ set_params(dReal a, dReal b, dReal c, dReal d) {
   dGeomPlaneSetParams(_id, a, b, c, d);
 }
 
+INLINE void OdePlaneGeom::
+set_params(const LVecBase4f &params) {
+  set_params(params[0], params[1], params[2], params[3]);
+}
+
 INLINE LVecBase4f OdePlaneGeom::
 get_params() const {
   dVector4 res;
@@ -32,3 +37,8 @@ INLINE dReal OdePlaneGeom::
 get_point_depth(dReal x, dReal y, dReal z) const {
   return dGeomPlanePointDepth(_id, x, y, z);
 }
+
+INLINE dReal OdePlaneGeom::
+get_point_depth(const LPoint3f &p) const {
+  return get_point_depth(p[0], p[1], p[2]);
+}

panda/src/ode/odePlaneGeom.cxx

@@ -26,11 +26,21 @@ OdePlaneGeom(dReal a, dReal b, dReal c, dReal d) :
   OdeGeom(dCreatePlane(0, a, b, c, d)) {
 }
 
+OdePlaneGeom::
+OdePlaneGeom(const LVecBase4f &params) :
+  OdeGeom(dCreatePlane(0, params[0], params[1], params[2], params[3])) {
+}
+
 OdePlaneGeom::
 OdePlaneGeom(OdeSpace &space, dReal a, dReal b, dReal c, dReal d) :
   OdeGeom(dCreatePlane(space.get_id(), a, b, c, d)) {
 }
 
+OdePlaneGeom::
+OdePlaneGeom(OdeSpace &space, const LVecBase4f &params) :
+  OdeGeom(dCreatePlane(space.get_id(), params[0], params[1], params[2], params[3])) {
+}
+
 OdePlaneGeom::
 ~OdePlaneGeom() {
 }

panda/src/ode/odePlaneGeom.h

@@ -32,12 +32,16 @@
 class EXPCL_PANDAODE OdePlaneGeom : public OdeGeom {
 PUBLISHED:
   OdePlaneGeom(dReal a, dReal b, dReal c, dReal d);
+  OdePlaneGeom(const LVecBase4f &params);
   OdePlaneGeom(OdeSpace &space, dReal a, dReal b, dReal c, dReal d);
+  OdePlaneGeom(OdeSpace &space, const LVecBase4f &params);
   virtual ~OdePlaneGeom();
 
   INLINE void set_params(dReal a, dReal b, dReal c, dReal d);
+  INLINE void set_params(const LVecBase4f &params);
   INLINE LVecBase4f get_params() const;
   INLINE dReal get_point_depth(dReal x, dReal y, dReal z) const;
+  INLINE dReal get_point_depth(const LPoint3f &p) const;
 
 public:
   INLINE static int get_geom_class() { return dPlaneClass; };

panda/src/ode/odeQuadTreeSpace.cxx

@@ -23,7 +23,7 @@ TypeHandle OdeQuadTreeSpace::_type_handle;
 
 typedef struct { dVector4 vec; } sdVector4;
 
-sdVector4 LVec3TodVector4(const LVecBase3f& vec) {
+sdVector4 LVec3_to_sdVector4(const LVecBase3f& vec) {
   sdVector4 sdVec4;
 
   sdVec4.vec[0] = vec[0];
@@ -39,8 +39,8 @@ OdeQuadTreeSpace(const LPoint3f &center,
 		 const LVecBase3f &extents,
 		 const int depth) :
   OdeSpace(dQuadTreeSpaceCreate(0,
-				LVec3TodVector4(center).vec,
+				LVec3_to_sdVector4(center).vec,
-				LVec3TodVector4(extents).vec,
+				LVec3_to_sdVector4(extents).vec,
 				depth)) {
 }
 
@@ -50,8 +50,8 @@ OdeQuadTreeSpace(OdeSpace &space,
 		 const LVecBase3f &extents,
 		 const int depth) :
   OdeSpace(dQuadTreeSpaceCreate(space.get_id(),
-                                LVec3TodVector4(center).vec,
+                                LVec3_to_sdVector4(center).vec,
-				LVec3TodVector4(extents).vec,
+				LVec3_to_sdVector4(extents).vec,
                                 depth)) {
 }
 

panda/src/ode/odeRayGeom.I

@@ -30,6 +30,10 @@ set(dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz) {
   dGeomRaySet(_id, px, py, pz, dx, dy, dz);
 }
 
+INLINE void OdeRayGeom::
+set(const LVecBase3f &start, const LVecBase3f &dir) {
+  set(start[0], start[1], start[2], dir[0], dir[1], dir[2]);
+}
 
 INLINE void OdeRayGeom::
 get(LVecBase3f &start, LVecBase3f &dir) const {

panda/src/ode/odeRayGeom.h

@@ -38,6 +38,7 @@ PUBLISHED:
   INLINE void set_length(dReal length);
   INLINE dReal get_length();
   INLINE void set(dReal px, dReal py, dReal pz, dReal dx, dReal dy, dReal dz);
+  INLINE void set(const LVecBase3f &start, const LVecBase3f &dir);
   INLINE void get(LVecBase3f &start, LVecBase3f &dir) const;
   INLINE LVecBase3f get_start() const;
   INLINE LVecBase3f get_direction() const;

panda/src/ode/odeSpace.I

@@ -60,13 +60,23 @@ get_class() const {
 }
 
 INLINE void OdeSpace::
-set_category_bits(unsigned long bits) {
+set_category_bits(const BitMask32 &bits) {
-  dGeomSetCategoryBits((dGeomID)_id, bits);
+  dGeomSetCategoryBits((dGeomID)_id, bits.get_word());
 }
 
 INLINE void OdeSpace::
-set_collide_bits(unsigned long bits) {
+set_collide_bits(const BitMask32 &bits) {
-  dGeomSetCollideBits((dGeomID)_id, bits);
+  dGeomSetCollideBits((dGeomID)_id, bits.get_word());
+}
+
+INLINE BitMask32 OdeSpace::
+get_category_bits() {
+  return BitMask32(dGeomGetCategoryBits((dGeomID)_id));
+}
+
+INLINE BitMask32 OdeSpace::
+get_collide_bits() {
+  return BitMask32(dGeomGetCollideBits((dGeomID)_id));
 }
 
 INLINE void OdeSpace::

panda/src/ode/odeSpace.cxx

@@ -33,9 +33,8 @@ OdeSpace::
 void OdeSpace::
 destroy() {
   if (get_cleanup()) {
-    OdeGeom geom;    
     for (int i = 0; i < get_num_geoms(); ++i) {
-      get_geom(i, geom);
+      OdeGeom geom(get_geom(i));
       if (geom.get_class() == OdeTriMeshGeom::get_geom_class()) {
         OdeTriMeshGeom::unlink_data(geom.get_id());
       }
@@ -79,9 +78,9 @@ clean() {
   dSpaceClean(_id);
 }
 
-void OdeSpace::
+OdeGeom OdeSpace::
-get_geom(int i, OdeGeom &geom) {
+get_geom(int i) {
-  geom._id = dSpaceGetGeom(_id, i);
+  return OdeGeom(dSpaceGetGeom(_id, i));
 }
 
 void OdeSpace::

panda/src/ode/odeSpace.h

@@ -22,6 +22,7 @@
 #include "pandabase.h"
 #include "typedObject.h"
 #include "luse.h"
+#include "bitMask.h"
 
 #include "ode_includes.h"
 
@@ -50,8 +51,10 @@ PUBLISHED:
   // INLINE void get_aabb() const;  
   INLINE int is_space();
   INLINE int get_class() const;
-  INLINE void set_category_bits(unsigned long bits);
+  INLINE void set_category_bits(const BitMask32 &bits);
-  INLINE void set_collide_bits(unsigned long bits);
+  INLINE void set_collide_bits(const BitMask32 &bits);
+  INLINE BitMask32 get_category_bits();
+  INLINE BitMask32 get_collide_bits();
   INLINE void enable();
   INLINE void disable();
   INLINE int is_enabled();
@@ -61,7 +64,7 @@ PUBLISHED:
   void remove(OdeGeom& geom);
   void remove(OdeSpace& space);
   void clean();
-  void get_geom(int i, OdeGeom &geom);
+  OdeGeom get_geom(int i); // Not INLINE because of forward declaration
 
   INLINE OdeSpace get_space() const;
 

panda/src/ode/odeSphereGeom.I

@@ -31,3 +31,8 @@ get_point_depth(dReal x, dReal y, dReal z) const {
   return dGeomSpherePointDepth(_id, x, y, z);
 }
 
+INLINE dReal OdeSphereGeom::
+get_point_depth(const LPoint3f &p) const {
+  return get_point_depth(p[0], p[1], p[2]);
+}
+

panda/src/ode/odeSphereGeom.h

@@ -39,6 +39,7 @@ PUBLISHED:
   INLINE void set_radius(dReal radius);
   INLINE dReal get_radius() const;
   INLINE dReal get_point_depth(dReal x, dReal y, dReal z) const;
+  INLINE dReal get_point_depth(const LPoint3f &p) const;
 
 public:
   INLINE static int get_geom_class() { return dSphereClass; };