Store contact geoms on collision, not just points. Also, fix memory leak.

panda/src/ode/odeCollisionEntry.I

@@ -62,13 +62,24 @@ get_body2() {
 }
 
 ////////////////////////////////////////////////////////////////////
-//     Function: OdeCollisionEntry::get_num_contact_points
+//     Function: OdeCollisionEntry::get_num_contacts
 //       Access: Published
-//  Description: Returns the number of contact points.
+//  Description: Returns the number of contacts in the collision.
 ////////////////////////////////////////////////////////////////////
 INLINE const size_t OdeCollisionEntry::
-get_num_contact_points() {
+get_num_contacts() {
-  return _num_points;
+  return _num_contacts;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: OdeCollisionEntry::get_contact_geom
+//       Access: Published
+//  Description: Returns the nth contact geom in the collision.
+////////////////////////////////////////////////////////////////////
+INLINE const OdeContactGeom OdeCollisionEntry::
+get_contact_geom(size_t n) {
+  nassertr(n >= 0 && n < _num_contacts, OdeContactGeom());
+  return _contact_geoms[n];
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -78,7 +89,7 @@ get_num_contact_points() {
 ////////////////////////////////////////////////////////////////////
 INLINE const LPoint3f OdeCollisionEntry::
 get_contact_point(size_t n) {
-  nassertr(n >= 0 && n < _num_points, LPoint3f::zero());
+  nassertr(n >= 0 && n < _num_contacts, LPoint3f::zero());
-  return _points[n];
+  return _contact_geoms[n].get_pos();
 }
 

panda/src/ode/odeCollisionEntry.cxx

@@ -16,3 +16,13 @@
 
 TypeHandle OdeCollisionEntry::_type_handle;
 
+////////////////////////////////////////////////////////////////////
+//     Function: OdeCollisionEntry::Destructor
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+OdeCollisionEntry::
+~OdeCollisionEntry() {
+  delete[] _contact_geoms;
+}
+

panda/src/ode/odeCollisionEntry.h

@@ -18,7 +18,7 @@
 #include "pandabase.h"
 #include "typedReferenceCount.h"
 
-class OdeGeom;
+#include "odeContactGeom.h"
 
 ////////////////////////////////////////////////////////////////////
 //       Class : OdeCollisionEntry
@@ -27,23 +27,25 @@ class OdeGeom;
 ////////////////////////////////////////////////////////////////////
 class EXPCL_PANDAODE OdeCollisionEntry : public TypedReferenceCount {
 PUBLISHED:
-  virtual ~OdeCollisionEntry() {};
+  virtual ~OdeCollisionEntry();
   
   INLINE const OdeGeom get_geom1();
   INLINE const OdeGeom get_geom2();
   INLINE const OdeBody get_body1();
   INLINE const OdeBody get_body2();
   
+  INLINE const size_t get_num_contacts();
   INLINE const LPoint3f get_contact_point(size_t n);
-  INLINE const size_t get_num_contact_points();
+  INLINE const OdeContactGeom get_contact_geom(size_t n);
-  MAKE_SEQ(get_contact_points, get_num_contact_points, get_contact_point);
+  MAKE_SEQ(get_contact_points, get_num_contacts, get_contact_point);
+  MAKE_SEQ(get_contact_geoms, get_num_contacts, get_contact_geom);
 
 private:
   INLINE OdeCollisionEntry();
   dGeomID _geom1, _geom2;
   dBodyID _body1, _body2;
-  size_t _num_points;
+  size_t _num_contacts;
-  LPoint3f *_points;
+  OdeContactGeom *_contact_geoms;
 
 public:
   static TypeHandle get_class_type() {

panda/src/ode/odeContactGeom.h

@@ -22,12 +22,15 @@
 #include "ode_includes.h"
 #include "odeGeom.h"
 
+class OdeSpace;
+
 ////////////////////////////////////////////////////////////////////
 //       Class : OdeContactGeom
 // Description : 
 ////////////////////////////////////////////////////////////////////
 class EXPCL_PANDAODE OdeContactGeom : public TypedReferenceCount {
   friend class OdeContact;
+  friend class OdeSpace;
 
 PUBLISHED:
   OdeContactGeom();

panda/src/ode/odeSpace.cxx

@@ -206,8 +206,8 @@ auto_callback(void *data, dGeomID o1, dGeomID o2) {
       entry->_geom2 = o2;
       entry->_body1 = b1;
       entry->_body2 = b2;
-      entry->_num_points = numc;
+      entry->_num_contacts = numc;
-      entry->_points = new LPoint3f[numc];
+      entry->_contact_geoms = new OdeContactGeom[numc];
     }
     
     for(i=0; i < numc; i++) {
@@ -216,9 +216,7 @@ auto_callback(void *data, dGeomID o1, dGeomID o2) {
         dJointAttach(c, b1, b2);
       }
       if (!_collide_space->_collision_event.empty()) {
-        entry->_points[i][0] = contact[i].geom.pos[0];
+        entry->_contact_geoms[i] = contact[i].geom;
-        entry->_points[i][1] = contact[i].geom.pos[1];
-        entry->_points[i][2] = contact[i].geom.pos[2];
       }
       // this creates contact position data for python. It is useful for debugging only 64 points are stored
       if(contactCount < 64) {