Bullet: added tick callback, and filter callback now uses CallbackObject.

panda/src/bullet/Sources.pp

@@ -28,6 +28,7 @@
     bulletConvexPointCloudShape.h bulletConvexPointCloudShape.I \
     bulletCylinderShape.h bulletCylinderShape.I \
     bulletDebugNode.h bulletDebugNode.I \
+    bulletFilterCallbackData.h bulletFilterCallbackData.I \
     bulletGenericConstraint.h bulletGenericConstraint.I \
     bulletGhostNode.h bulletGhostNode.I \
     bulletHeightfieldShape.h bulletHeightfieldShape.I \
@@ -47,6 +48,7 @@
     bulletSoftBodyWorldInfo.h bulletSoftBodyWorldInfo.I \
     bulletSphereShape.h bulletSphereShape.I \
     bulletSphericalConstraint.h bulletSphericalConstraint.I \
+    bulletTickCallbackData.h bulletTickCallbackData.I \
     bulletTriangleMesh.h bulletTriangleMesh.I \
     bulletTriangleMeshShape.h bulletTriangleMeshShape.I \
     bulletVehicle.h bulletVehicle.I \
@@ -74,6 +76,7 @@
     bulletConvexPointCloudShape.cxx \
     bulletCylinderShape.cxx \
     bulletDebugNode.cxx \
+    bulletFilterCallbackData.cxx \
     bulletGenericConstraint.cxx \
     bulletGhostNode.cxx \
     bulletHeightfieldShape.cxx \
@@ -93,6 +96,7 @@
     bulletSoftBodyWorldInfo.cxx \
     bulletSphereShape.cxx \
     bulletSphericalConstraint.cxx \
+    bulletTickCallbackData.cxx \
     bulletTriangleMesh.cxx \
     bulletTriangleMeshShape.cxx \
     bulletVehicle.cxx \
@@ -120,6 +124,7 @@
     bulletConvexPointCloudShape.h bulletConvexPointCloudShape.I \
     bulletCylinderShape.h bulletCylinderShape.I \
     bulletDebugNode.h bulletDebugNode.I \
+    bulletFilterCallbackData.h bulletFilterCallbackData.I \
     bulletGenericConstraint.h bulletGenericConstraint.I \
     bulletGhostNode.h bulletGhostNode.I \
     bulletHeightfieldShape.h bulletHeightfieldShape.I \
@@ -139,6 +144,7 @@
     bulletSoftBodyWorldInfo.h bulletSoftBodyWorldInfo.I \
     bulletSphereShape.h bulletSphereShape.I \
     bulletSphericalConstraint.h bulletSphericalConstraint.I \
+    bulletTickCallbackData.h bulletTickCallbackData.I \
     bulletTriangleMesh.h bulletTriangleMesh.I \
     bulletTriangleMeshShape.h bulletTriangleMeshShape.I \
     bulletVehicle.h bulletVehicle.I \

panda/src/bullet/bulletContactCallbackData.I

@@ -18,35 +18,17 @@
 //  Description:
 ////////////////////////////////////////////////////////////////////
 INLINE BulletContactCallbackData::
-BulletContactCallbackData(BulletManifoldPoint &mp, PandaNode *node0, PandaNode *node1) :
+BulletContactCallbackData(BulletManifoldPoint &mp, PandaNode *node0, PandaNode *node1, int id0, int id1, int index0, int index1) :
+  _mp(mp),
   _node0(node0),
   _node1(node1),
-  _mp(mp) {
+  _id0(id0),
+  _id1(id1),
+  _index0(index0),
+  _index1(index1) {
 
 }
 
-////////////////////////////////////////////////////////////////////
-//     Function: BulletContactCallbackData::get_node_0
-//       Access: Published
-//  Description:
-////////////////////////////////////////////////////////////////////
-INLINE PandaNode *BulletContactCallbackData::
-get_node_0() const {
-
-  return _node0;
-}
-
-////////////////////////////////////////////////////////////////////
-//     Function: BulletContactCallbackData::get_node_1
-//       Access: Published
-//  Description:
-////////////////////////////////////////////////////////////////////
-INLINE PandaNode *BulletContactCallbackData::
-get_node_1() const {
-
-  return _node1;
-}
-
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletContactCallbackData::get_manifold
 //       Access: Published
@@ -58,3 +40,69 @@ get_manifold() const {
   return _mp;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: BulletContactCallbackData::get_node0
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PandaNode *BulletContactCallbackData::
+get_node0() const {
+
+  return _node0;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletContactCallbackData::get_node1
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PandaNode *BulletContactCallbackData::
+get_node1() const {
+
+  return _node1;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletContactCallbackData::get_part_id0
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE int BulletContactCallbackData::
+get_part_id0() const {
+
+  return _id0;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletContactCallbackData::get_part_id1
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE int BulletContactCallbackData::
+get_part_id1() const {
+
+  return _id1;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletContactCallbackData::get_index0
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE int BulletContactCallbackData::
+get_index0() const {
+
+  return _index0;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletContactCallbackData::get_index1
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE int BulletContactCallbackData::
+get_index1() const {
+
+  return _index1;
+}
+

panda/src/bullet/bulletContactCallbackData.h

@@ -31,17 +31,26 @@ class EXPCL_PANDABULLET BulletContactCallbackData : public CallbackData {
 
 PUBLISHED:
   INLINE BulletContactCallbackData(BulletManifoldPoint &mp, 
-                                   PandaNode *node0, 
-                                   PandaNode *node1);
+                                   PandaNode *node0, PandaNode *node1,
+                                   int id0, int id1,
+                                   int index0, int index1);
 
-  PandaNode *get_node_0() const;
-  PandaNode *get_node_1() const;
-  BulletManifoldPoint &get_manifold() const;
+  INLINE BulletManifoldPoint &get_manifold() const;
+  INLINE PandaNode *get_node0() const;
+  INLINE PandaNode *get_node1() const;
+  INLINE int get_part_id0() const;
+  INLINE int get_part_id1() const;
+  INLINE int get_index0() const;
+  INLINE int get_index1() const;
 
 private:
+  BulletManifoldPoint &_mp;
   PandaNode *_node0;
   PandaNode *_node1;
-  BulletManifoldPoint &_mp;
+  int _id0;
+  int _id1;
+  int _index0;
+  int _index1;
 
 ////////////////////////////////////////////////////////////////////
 public:

panda/src/bullet/bulletContactCallbacks.h

@@ -73,7 +73,7 @@ contact_added_callback(btManifoldPoint &cp,
     if (bullet_contact_added_callback) {
 
       BulletManifoldPoint mp(cp);
-      BulletContactCallbackData cbdata(mp, node0, node1);
+      BulletContactCallbackData cbdata(mp, node0, node1, id0, id1, index0, index1);
 
       bullet_contact_added_callback->do_callback(&cbdata);
     }

panda/src/bullet/bulletFilterCallbackData.I

@@ -0,0 +1,71 @@
+// Filename: bulletFilterCallbackData.I
+// Created by:  enn0x (26Nov12)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletFilterCallbackData::Constructor
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE BulletFilterCallbackData::
+BulletFilterCallbackData(PandaNode *node0, PandaNode *node1) :
+  _node0(node0),
+  _node1(node1),
+  _collide(false) {
+
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletFilterCallbackData::get_node_0
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PandaNode *BulletFilterCallbackData::
+get_node_0() const {
+
+  return _node0;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletFilterCallbackData::get_node_1
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PandaNode *BulletFilterCallbackData::
+get_node_1() const {
+
+  return _node1;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletFilterCallbackData::get_collide
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE bool BulletFilterCallbackData::
+get_collide() const {
+
+  return _collide;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletFilterCallbackData::set_collide
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE void BulletFilterCallbackData::
+set_collide(bool collide) {
+
+  _collide = collide;
+}
+

panda/src/bullet/bulletFilterCallbackData.cxx

@@ -0,0 +1,18 @@
+// Filename: bulletFilterCallbackData.cxx
+// Created by:  enn0x (26Nov12)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#include "bulletFilterCallbackData.h"
+
+TypeHandle BulletFilterCallbackData::_type_handle;
+

panda/src/bullet/bulletFilterCallbackData.h

@@ -0,0 +1,70 @@
+// Filename: bulletFilterCallbackData.h
+// Created by:  enn0x (26Nov12)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef __BULLET_FILTER_CALLBACK_DATA_H__
+#define __BULLET_FILTER_CALLBACK_DATA_H__
+
+#include "pandabase.h"
+#include "callbackData.h"
+#include "callbackObject.h"
+
+#include "bullet_includes.h"
+#include "bullet_utils.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : BulletFilterCallbackData
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDABULLET BulletFilterCallbackData : public CallbackData {
+
+PUBLISHED:
+  INLINE BulletFilterCallbackData(PandaNode *node0, 
+                                  PandaNode *node1);
+
+  INLINE PandaNode *get_node_0() const;
+  INLINE PandaNode *get_node_1() const;
+
+  INLINE void set_collide(bool collide);
+  INLINE bool get_collide() const;
+
+private:
+  PandaNode *_node0;
+  PandaNode *_node1;
+  bool _collide;
+
+////////////////////////////////////////////////////////////////////
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    CallbackData::init_type();
+    register_type(_type_handle, "BulletFilterCallbackData", 
+                  CallbackData::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {
+    init_type();
+    return get_class_type();
+  }
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "bulletFilterCallbackData.I"
+
+#endif // __BULLET_FILTER_CALLBACK_DATA_H__

panda/src/bullet/bulletTickCallbackData.I

@@ -0,0 +1,36 @@
+// Filename: bulletTickCallbackData.I
+// Created by:  enn0x (26Nov12)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletTickCallbackData::Constructor
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE BulletTickCallbackData::
+BulletTickCallbackData(btScalar timestep) :
+  _timestep(timestep) {
+
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletTickCallbackData::get_timestep
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PN_stdfloat BulletTickCallbackData::
+get_timestep() const {
+
+  return (PN_stdfloat)_timestep;
+}
+

panda/src/bullet/bulletTickCallbackData.cxx

@@ -0,0 +1,18 @@
+// Filename: bulletTickCallbackData.cxx
+// Created by:  enn0x (26Nov12)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#include "bulletTickCallbackData.h"
+
+TypeHandle BulletTickCallbackData::_type_handle;
+

panda/src/bullet/bulletTickCallbackData.h

@@ -0,0 +1,62 @@
+// Filename: bulletTickCallbackData.h
+// Created by:  enn0x (26Nov12)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef __BULLET_TICK_CALLBACK_DATA_H__
+#define __BULLET_TICK_CALLBACK_DATA_H__
+
+#include "pandabase.h"
+#include "callbackData.h"
+#include "callbackObject.h"
+
+#include "bullet_includes.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : BulletTickCallbackData
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDABULLET BulletTickCallbackData : public CallbackData {
+
+PUBLISHED:
+  INLINE BulletTickCallbackData(btScalar timestep);
+
+  INLINE PN_stdfloat get_timestep() const;
+
+private:
+  btScalar _timestep;
+
+////////////////////////////////////////////////////////////////////
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    CallbackData::init_type();
+    register_type(_type_handle, "BulletTickCallbackData", 
+                  CallbackData::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {
+    init_type();
+    return get_class_type();
+  }
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "bulletTickCallbackData.I"
+
+#endif // __BULLET_TICK_CALLBACK_DATA_H__

panda/src/bullet/bulletWorld.I

@@ -52,10 +52,6 @@ INLINE BulletWorld::
   delete _configuration;
   delete _dispatcher;
   delete _broadphase;
-
-#ifdef HAVE_PYTHON
-  Py_XDECREF(_filter_cb3._python_callback);
-#endif
 }
 
 ////////////////////////////////////////////////////////////////////

panda/src/bullet/bulletWorld.cxx

@@ -19,14 +19,6 @@
 
 #include "collideMask.h"
 
-#ifdef HAVE_PYTHON
-  #include "py_panda.h"
-  #include "typedReferenceCount.h"
-  #ifndef CPPPARSER
-    extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_PandaNode;
-  #endif
-#endif
-
 #define clamp(x, x_min, x_max) max(min(x, x_max), x_min)
 
 TypeHandle BulletWorld::_type_handle;
@@ -77,29 +69,6 @@ BulletWorld() {
   _dispatcher = new btCollisionDispatcher(_configuration);
   nassertv(_dispatcher);
 
-/*
-  _dispatcher.registerCollisionCreateFunc(
-    BroadphaseNativeType.ConvexTriangleMeshShape,
-    BroadphaseNativeType.ConvexTriangleMeshShape,
-    dcc.GetCollisionAlgorithmCreateFunc(
-      BroadphaseNativeType.TriangleMeshShape,
-      BroadphaseNativeType.TriangleMeshShape));
-
-  _dispatcher.registerCollisionCreateFunc(
-      BroadphaseNativeType.TriangleMeshShape,
-      BroadphaseNativeType.TriangleMeshShape,
-      dcc.GetCollisionAlgorithmCreateFunc(
-        BroadphaseNativeType.ConvexTriangleMeshShape,
-        BroadphaseNativeType.ConvexTriangleMeshShape));
-
-  _dispatcher.registerCollisionCreateFunc(
-     BroadphaseNativeType.ConvexTriangleMeshShape,
-     BroadphaseNativeType.ConvexTriangleMeshShape,
-     dcc.GetCollisionAlgorithmCreateFunc(
-       BroadphaseNativeType.ConvexTriangleMeshShape,
-       BroadphaseNativeType.ConvexTriangleMeshShape));
-*/
-
   // Solver
   _solver = new btSequentialImpulseConstraintSolver;
   nassertv(_solver);
@@ -109,6 +78,7 @@ BulletWorld() {
   nassertv(_world);
   nassertv(_world->getPairCache());
 
+  _world->setWorldUserInfo(this);
   _world->setGravity(btVector3(0.0f, 0.0f, 0.0f));
 
   // Ghost-pair callback
@@ -122,13 +92,16 @@ BulletWorld() {
     case FA_groups_mask:
       _world->getPairCache()->setOverlapFilterCallback(&_filter_cb2);
       break;
-    case FA_python_callback:
+    case FA_callback:
       _world->getPairCache()->setOverlapFilterCallback(&_filter_cb3);
       break;
     default:
       bullet_cat.error() << "no proper filter algorithm!" << endl;
   }
 
+  // Tick callback
+  _tick_callback_obj = NULL;
+
   // SoftBodyWorldInfo
   _info.m_dispatcher = _dispatcher;
   _info.m_broadphase = _broadphase;
@@ -899,30 +872,71 @@ clear_contact_added_callback() {
   bullet_contact_added_callback = NULL;
 }
 
-#ifdef HAVE_PYTHON
 ////////////////////////////////////////////////////////////////////
-//     Function: BulletWorld::set_python_filter_callback
+//     Function: BulletWorld::set_tick_callback
 //       Access: Published
 //  Description:
 ////////////////////////////////////////////////////////////////////
 void BulletWorld::
-set_python_filter_callback(PyObject *callback) {
+set_tick_callback(CallbackObject *obj) {
 
-  nassertv(callback != NULL);
+  nassertv(obj != NULL);
+  _tick_callback_obj = obj;
+}
 
-  if (!PyCallable_Check(callback)) {
-    PyErr_Format(PyExc_TypeError, "'%s' object is not callable", callback->ob_type->tp_name);
-    return;
-  }
+////////////////////////////////////////////////////////////////////
+//     Function: BulletWorld::clear_tick_callback
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+void BulletWorld::
+clear_tick_callback() {
 
-  if (bullet_filter_algorithm != FA_python_callback) {
+  _tick_callback_obj = NULL;
+}
+
+///////////////////////////////////////////////////////////////////
+//     Function: BulletWorld::tick_callback
+//       Access: Private
+//  Description:
+////////////////////////////////////////////////////////////////////
+void BulletWorld::
+tick_callback(btDynamicsWorld *world, btScalar timestep) {
+
+  nassertv(world->getWorldUserInfo());
+
+  BulletWorld *w = static_cast<BulletWorld *>(world->getWorldUserInfo());
+  BulletTickCallbackData cbdata(timestep);
+  w->_tick_callback_obj->do_callback(&cbdata);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletWorld::set_filter_callback
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+void BulletWorld::
+set_filter_callback(CallbackObject *obj) {
+
+  nassertv(obj != NULL);
+
+  if (bullet_filter_algorithm != FA_callback) {
     bullet_cat.warning() << "filter algorithm is not 'python-callback'" << endl;
   }
 
-  _filter_cb3._python_callback = callback;
-  Py_XINCREF(_filter_cb3._python_callback);
+  _filter_cb3._filter_callback_obj = obj;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletWorld::clear_filter_callback
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+void BulletWorld::
+clear_filter_callback() {
+
+  _filter_cb3._filter_callback_obj = NULL;
 }
-#endif
 
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletWorld::FilterCallback1::needBroadphaseCollision
@@ -983,7 +997,6 @@ needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) co
   return false;
 }
 
-#ifdef HAVE_PYTHON
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletWorld::FilterCallback3::needBroadphaseCollision
 //       Access: Published
@@ -992,7 +1005,7 @@ needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) co
 bool BulletWorld::btFilterCallback3::
 needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const {
 
-  nassertr(_python_callback, false);
+  nassertr(_filter_callback_obj, false);
 
   btCollisionObject *obj0 = (btCollisionObject *) proxy0->m_clientObject;
   btCollisionObject *obj1 = (btCollisionObject *) proxy1->m_clientObject;
@@ -1006,37 +1019,10 @@ needBroadphaseCollision(btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) co
   nassertr(node0, false);
   nassertr(node1, false);
 
-  PyObject *p0 = DTool_CreatePyInstanceTyped(node0, Dtool_PandaNode, true, false, node0->get_type_index());
-  PyObject *p1 = DTool_CreatePyInstanceTyped(node1, Dtool_PandaNode, true, false, node1->get_type_index());
-
-  PyObject *result = PyEval_CallFunction(_python_callback, "OO", p0, p1);
-
-  bool collide = false;
-
-  if (!result) {
-    bullet_cat.error() << "An error occurred while calling python function!" << endl;
-    PyErr_Print();
-  }
-  else {
-    int v = PyObject_IsTrue(result);
-    if (v == 1) {
-      collide = true;
-    }
-    else if (v == 0) {
-      collide = false;
-    }
-    else {
-      bullet_cat.error() << "Python callback function must return a bool object" << endl;
-    }
-    Py_DECREF(result);
-  }
-
-  //Py_XDECREF(p0);
-  //Py_XDECREF(p1);
-
-  return collide;
+  BulletFilterCallbackData cbdata(node0, node1);
+  _filter_callback_obj->do_callback(&cbdata);
+  return cbdata.get_collide();
 }
-#endif
 
 ////////////////////////////////////////////////////////////////////
 //     Function: BulletWorld::BroadphaseAlgorithm ostream operator
@@ -1090,14 +1076,10 @@ operator << (ostream &out, BulletWorld::FilterAlgorithm algorithm) {
   switch (algorithm) {
   case BulletWorld::FA_mask:
     return out << "mask";
-
   case BulletWorld::FA_groups_mask:
     return out << "groups-mask";
-
-#ifdef HAVE_PYTHON
-  case BulletWorld::FA_python_callback:
-    return out << "python-callback";
-#endif
+  case BulletWorld::FA_callback:
+    return out << "callback";
   };
   return out << "**invalid BulletWorld::FilterAlgorithm(" << (int)algorithm << ")**";
 }
@@ -1117,17 +1099,14 @@ operator >> (istream &in, BulletWorld::FilterAlgorithm &algorithm) {
   else if (word == "groups-mask") {
     algorithm = BulletWorld::FA_groups_mask;
   } 
-#ifdef HAVE_PYTHON
-  else if (word == "python-callback") {
-    algorithm = BulletWorld::FA_python_callback;
+  else if (word == "callback") {
+    algorithm = BulletWorld::FA_callback;
   }
-#endif
   else {
     bullet_cat.error()
       << "Invalid BulletWorld::FilterAlgorithm: " << word << "\n";
     algorithm = BulletWorld::FA_mask;
   }
-
   return in;
 }
 

panda/src/bullet/bulletWorld.h

@@ -39,11 +39,6 @@
 #include "collideMask.h"
 #include "luse.h"
 
-#ifdef HAVE_PYTHON
-  #include "py_panda.h"
-  #include "Python.h"
-#endif
-
 class BulletPersistentManifold;
 class BulletShape;
 class BulletSoftBodyWorldInfo;
@@ -142,6 +137,12 @@ PUBLISHED:
   void set_contact_added_callback(CallbackObject *obj);
   void clear_contact_added_callback();
 
+  void set_tick_callback(CallbackObject *obj);
+  void clear_tick_callback();
+
+  void set_filter_callback(CallbackObject *obj);
+  void clear_filter_callback();
+
   // Configuration
   enum BroadphaseAlgorithm {
     BA_sweep_and_prune,
@@ -151,15 +152,9 @@ PUBLISHED:
   enum FilterAlgorithm {
     FA_mask,
     FA_groups_mask,
-#ifdef HAVE_PYTHON
-    FA_python_callback,
-#endif
+    FA_callback,
   };
 
-#ifdef HAVE_PYTHON
-  void set_python_filter_callback(PyObject *callback);
-#endif
-
 PUBLISHED: // Deprecated methods, will become private soon
   void attach_ghost(BulletGhostNode *node);
   void remove_ghost(BulletGhostNode *node);
@@ -187,6 +182,8 @@ private:
   void sync_p2b(PN_stdfloat dt, int num_substeps);
   void sync_b2p();
 
+  void tick_callback(btDynamicsWorld *world, btScalar timestep);
+
   typedef PTA(PT(BulletRigidBodyNode)) BulletRigidBodies;
   typedef PTA(PT(BulletSoftBodyNode)) BulletSoftBodies;
   typedef PTA(PT(BulletGhostNode)) BulletGhosts;
@@ -214,15 +211,13 @@ private:
     CollideMask _collide[32];
   };
 
-#ifdef HAVE_PYTHON
   struct btFilterCallback3 : public btOverlapFilterCallback {
     virtual bool needBroadphaseCollision(
       btBroadphaseProxy* proxy0,
       btBroadphaseProxy* proxy1) const;
 
-    PyObject *_python_callback;
+    PT(CallbackObject) _filter_callback_obj;
   };
-#endif
 
   btBroadphaseInterface *_broadphase;
   btCollisionConfiguration *_configuration;
@@ -234,15 +229,14 @@ private:
 
   btFilterCallback1 _filter_cb1;
   btFilterCallback2 _filter_cb2;
-
-#ifdef HAVE_PYTHON
   btFilterCallback3 _filter_cb3;
-#endif
 
-  btSoftBodyWorldInfo _info;
+  PT(CallbackObject) _tick_callback_obj;
 
   PT(BulletDebugNode) _debug;
 
+  btSoftBodyWorldInfo _info;
+
   BulletRigidBodies _bodies;
   BulletSoftBodies _softbodies;
   BulletGhosts _ghosts;

panda/src/bullet/config_bullet.cxx

@@ -27,6 +27,7 @@
 #include "bulletConvexPointCloudShape.h"
 #include "bulletCylinderShape.h"
 #include "bulletDebugNode.h"
+#include "bulletFilterCallbackData.h"
 #include "bulletGenericConstraint.h"
 #include "bulletGhostNode.h"
 #include "bulletHeightfieldShape.h"
@@ -40,6 +41,7 @@
 #include "bulletSphericalConstraint.h"
 #include "bulletSoftBodyNode.h"
 #include "bulletSoftBodyShape.h"
+#include "bulletTickCallbackData.h"
 #include "bulletTriangleMesh.h"
 #include "bulletTriangleMeshShape.h"
 #include "bulletVehicle.h"
@@ -158,7 +160,7 @@ init_libbullet() {
   BulletConvexPointCloudShape::init_type();
   BulletCylinderShape::init_type();
   BulletDebugNode::init_type();
-  BulletSphericalConstraint::init_type();
+  BulletFilterCallbackData::init_type();
   BulletGenericConstraint::init_type();
   BulletGhostNode::init_type();
   BulletHeightfieldShape::init_type();
@@ -169,8 +171,10 @@ init_libbullet() {
   BulletShape::init_type();
   BulletSliderConstraint::init_type();
   BulletSphereShape::init_type();
+  BulletSphericalConstraint::init_type();
   BulletSoftBodyNode::init_type();
   BulletSoftBodyShape::init_type();
+  BulletTickCallbackData::init_type();
   BulletTriangleMesh::init_type();
   BulletTriangleMeshShape::init_type();
   BulletVehicle::init_type();

panda/src/bullet/p3bullet_composite.cxx

@@ -17,6 +17,7 @@
 #include "bulletCharacterControllerNode.cxx"
 #include "bulletCylinderShape.cxx"
 #include "bulletDebugNode.cxx"
+#include "bulletFilterCallbackData.cxx"
 #include "bulletGenericConstraint.cxx"
 #include "bulletGhostNode.cxx"
 #include "bulletHelper.cxx"
@@ -36,6 +37,7 @@
 #include "bulletSoftBodyMaterial.cxx"
 #include "bulletSoftBodyShape.cxx"
 #include "bulletSoftBodyWorldInfo.cxx"
+#include "bulletTickCallbackData.cxx"
 #include "bulletTriangleMesh.cxx"
 #include "bulletTriangleMeshShape.cxx"
 #include "bulletVehicle.cxx"