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Added collide2 and space_to_geom

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rdb 2009-04-08 19:18:36 +00:00
parent 14b7af8900
commit 72688304cb
3 changed files with 68 additions and 1 deletions
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2
panda/src/ode/odeGeom.h
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@ -37,6 +37,7 @@ class OdeSimpleSpace;
class OdeHashSpace;
class OdeQuadTreeSpace;
class OdeUtil;
class OdeCollisionEntry;
////////////////////////////////////////////////////////////////////
@ -46,6 +47,7 @@ class OdeCollisionEntry;
class EXPCL_PANDAODE OdeGeom : public TypedObject {
friend class OdeContactGeom;
friend class OdeSpace;
friend class OdeUtil;
friend class OdeCollisionEntry;
protected:

51
panda/src/ode/odeUtil.cxx
View File

@ -14,7 +14,16 @@
#include "odeUtil.h"
#ifdef HAVE_PYTHON
#include "py_panda.h"
#include "typedReferenceCount.h"
#ifndef CPPPARSER
extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeGeom;
#endif
#endif
dReal OdeUtil::OC_infinity = dInfinity;
PyObject* OdeUtil::_python_callback = NULL;
////////////////////////////////////////////////////////////////////
// Function: OdeUtil::get_connecting_joint
@ -102,3 +111,45 @@ collide(const OdeGeom &geom1, const OdeGeom &geom2, const short int max_contacts
return contacts;
}
#ifdef HAVE_PYTHON
////////////////////////////////////////////////////////////////////
// Function: OdeUtil::collide2
// Access: Public, Static
// Description: Calls the callback for all potentially intersecting
// pairs that contain one geom from geom1 and one geom
// from geom2.
////////////////////////////////////////////////////////////////////
int OdeUtil::
collide2(const OdeGeom &geom1, const OdeGeom &geom2, PyObject* arg, PyObject* callback) {
nassertr(callback != NULL, -1);
if (!PyCallable_Check(callback)) {
PyErr_Format(PyExc_TypeError, "'%s' object is not callable", callback->ob_type->tp_name);
return -1;
} else {
_python_callback = (PyObject*) callback;
Py_XINCREF(_python_callback);
dSpaceCollide2(geom1.get_id(), geom2.get_id(), (void*) arg, &near_callback);
Py_XDECREF(_python_callback);
return 0;
}
}
void OdeUtil::
near_callback(void *data, dGeomID o1, dGeomID o2) {
ode_cat.spam() << "near_callback called, data: " << data << ", dGeomID1: " << o1 << ", dGeomID2: " << o2 << "\n";
OdeGeom g1 (o1);
OdeGeom g2 (o2);
PyObject* p1 = DTool_CreatePyInstanceTyped(&g1, Dtool_OdeGeom, true, false, g1.get_type_index());
PyObject* p2 = DTool_CreatePyInstanceTyped(&g2, Dtool_OdeGeom, true, false, g2.get_type_index());
PyObject* result = PyEval_CallFunction(_python_callback, "OOO", (PyObject*) data, p1, p2);
if (!result) {
ode_cat.error() << "An error occurred while calling python function!\n";
PyErr_Print();
}
}
#endif
OdeGeom OdeUtil::
space_to_geom(const OdeSpace &space) {
return OdeGeom((dGeomID)space.get_id());
}

16
panda/src/ode/odeUtil.h
View File

@ -23,8 +23,13 @@
#include "odeJointCollection.h"
#include "odeContactCollection.h"
#ifdef HAVE_PYTHON
#include "py_panda.h"
#endif
class OdeBody;
class OdeJoint;
class OdeGeom;
////////////////////////////////////////////////////////////////////
// Class : OdeUtil
@ -43,8 +48,11 @@ PUBLISHED:
const int joint_type);
static OdeContactCollection collide(const OdeGeom &geom1, const OdeGeom &geom2,
const short int max_contacts = 150);
static int collide2(const OdeGeom &geom1, const OdeGeom &geom2,
PyObject* arg, PyObject* callback);
static OdeGeom space_to_geom(const OdeSpace &space);
static dReal OC_infinity;
static dReal OC_infinity;
// RAU we can't access OC_infinity as constants are not exposed in python
static dReal get_infinity() {return OC_infinity;};
@ -52,6 +60,12 @@ PUBLISHED:
static int rand_get_seed() {return dRandGetSeed();};
static void rand_set_seed(int s) {dRandSetSeed(s);};
private:
#ifdef HAVE_PYTHON
static void near_callback(void*, dGeomID, dGeomID);
static PyObject* _python_callback;
#endif
};
#endif