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interface additions to be more panda-like

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This commit is contained in:
Josh Wilson 2007-02-09 08:30:34 +00:00
parent efea7190c2
commit 4be7630974
31 changed files with 360 additions and 105 deletions
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100
panda/src/ode/odeBody.I
View File

@ -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);

6
panda/src/ode/odeBody.cxx
View File

@ -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);
}

25
panda/src/ode/odeBody.h
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@ -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;

10
panda/src/ode/odeBoxGeom.I
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@ -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]);
}

5
panda/src/ode/odeBoxGeom.cxx
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@ -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() {
}

3
panda/src/ode/odeBoxGeom.h
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@ -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; };

5
panda/src/ode/odeCappedCylinderGeom.I
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@ -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]);
}

1
panda/src/ode/odeCappedCylinderGeom.h
View File

@ -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; };

53
panda/src/ode/odeContactGeom.cxx
View File

@ -29,33 +29,13 @@ OdeContactGeom() :
OdeContactGeom::
OdeContactGeom(const OdeContactGeom &copy) :
_contact_geom() {
_contact_geom.pos[0] = copy._contact_geom.pos[0];
_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;
*this = copy._contact_geom;
}
OdeContactGeom::
OdeContactGeom(const dContactGeom &contact_geom) :
OdeContactGeom(const dContactGeom &copy) :
_contact_geom() {
_contact_geom.pos[0] = contact_geom.pos[0];
_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;
*this = _contact_geom;
}
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];
_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;
*this = copy._contact_geom;
}
void OdeContactGeom::
operator = (const dContactGeom &contact_geom) {
_contact_geom.pos[0] = contact_geom.pos[0];
_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;
}

3
panda/src/ode/odeContactGeom.h
View File

@ -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:

33
panda/src/ode/odeGeom.I
View File

@ -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) {
dGeomSetCategoryBits(_id, bits);
set_category_bits(const BitMask32 &bits) {
dGeomSetCategoryBits(_id, bits.get_word());
}
INLINE void OdeGeom::
set_collide_bits(unsigned long bits) {
dGeomSetCollideBits(_id, bits);
set_collide_bits(const BitMask32 &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,

6
panda/src/ode/odeGeom.cxx
View File

@ -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) {

13
panda/src/ode/odeGeom.h
View File

@ -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_collide_bits(unsigned long bits);
INLINE void set_category_bits(const BitMask32 &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;

18
panda/src/ode/odeHeightFieldGeom.h
View File

@ -1,4 +1,4 @@
// Filename: odeBoxGeom.h
// Filename: odeHeightfieldGeom.h
// Created by: joswilso (27Dec06)
//
////////////////////////////////////////////////////////////////////
@ -16,8 +16,8 @@
//
////////////////////////////////////////////////////////////////////
#ifndef ODEBOXGEOM_H
#define ODEBOXGEOM_H
#ifndef ODEHEIGHTFIELDGEOM_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();
virtual ~OdeBoxGeom();
OdeHeightfieldGeom();
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

4
panda/src/ode/odeJoint.I
View File

@ -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);
}
*/

23
panda/src/ode/odeJoint.cxx
View File

@ -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::
get_body(int index, OdeBody &body) const {
body._id = dJointGetBody(_id, index);
OdeBody OdeJoint::
get_body(int index) const {
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;
get_body(0, body);
OdeBody body = get_body(0);
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;
}

21
panda/src/ode/odeJoint.h
View File

@ -27,8 +27,8 @@
#include "odeWorld.h" // Needed for derived classes
#include "odeJointGroup.h"
class OdeBody;
// Strange, we should be forced to include this by get_body()
class OdeBody;
////////////////////////////////////////////////////////////////////
@ -45,19 +45,20 @@ protected:
PUBLISHED:
virtual ~OdeJoint();
void destroy();
INLINE void set_data(void *data);
INLINE void *get_data();
// INLINE void set_data(void *data);
// INLINE void *get_data();
INLINE int get_joint_type() const;
void get_body(int index, OdeBody &body) const;
INLINE void set_feedback(dJointFeedback *);
INLINE dJointFeedback *get_feedback();
OdeBody get_body(int index) const;
// INLINE void set_feedback(dJointFeedback *);
// INLINE dJointFeedback *get_feedback();
void attach(const OdeBody &body1, const OdeBody &body2);
void attach(const OdeBody &body, int index);
void attachBodies(const OdeBody &body1, const OdeBody &body2);
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;

41
panda/src/ode/odeMass.I
View File

@ -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) {
_mass.rotate(R);
translate(const LVecBase3f &pos) {
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]);

2
panda/src/ode/odeMass.cxx
View File

@ -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
}

12
panda/src/ode/odeMass.h
View File

@ -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;

10
panda/src/ode/odePlaneGeom.I
View File

@ -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]);
}

10
panda/src/ode/odePlaneGeom.cxx
View File

@ -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() {
}

4
panda/src/ode/odePlaneGeom.h
View File

@ -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; };

10
panda/src/ode/odeQuadTreeSpace.cxx
View File

@ -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,
LVec3TodVector4(extents).vec,
LVec3_to_sdVector4(center).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,
LVec3TodVector4(extents).vec,
LVec3_to_sdVector4(center).vec,
LVec3_to_sdVector4(extents).vec,
depth)) {
}

4
panda/src/ode/odeRayGeom.I
View File

@ -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 {

1
panda/src/ode/odeRayGeom.h
View File

@ -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;

18
panda/src/ode/odeSpace.I
View File

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

9
panda/src/ode/odeSpace.cxx
View File

@ -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::
get_geom(int i, OdeGeom &geom) {
geom._id = dSpaceGetGeom(_id, i);
OdeGeom OdeSpace::
get_geom(int i) {
return OdeGeom(dSpaceGetGeom(_id, i));
}
void OdeSpace::

9
panda/src/ode/odeSpace.h
View File

@ -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_collide_bits(unsigned long bits);
INLINE void set_category_bits(const BitMask32 &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;

5
panda/src/ode/odeSphereGeom.I
View File

@ -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]);
}

1
panda/src/ode/odeSphereGeom.h
View File

@ -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; };