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First pass at integrating ODE into Panda. Using ODE v0.7

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This commit is contained in:
Josh Wilson 2007-01-29 11:42:45 +00:00
parent a47ddd8505
commit 7e8990269e
6 changed files with 66 additions and 1 deletions
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5
dtool/Config.pp
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@ -619,6 +619,11 @@
#define FFMPEG_LIBS $[if $[WINDOWS_PLATFORM],libavcodec.lib libavformat.lib libavutil.lib libgcc.lib,avcodec avformat avutil]
#defer HAVE_FFMPEG $[libtest $[FFMPEG_LPATH],$[FFMPEG_LIBS]]
// Is ODE installed, and where?
#define ODE_IPATH
#define ODE_LPATH
#define ODE_LIBS $[if $[WINDOWS_PLATFORM],libode.lib,libode]
#defer HAVE_ODE $[libtest $[ODE_LPATH],$[ODE_LIBS]]
// Do you want to build the DirectD tools for starting Panda clients
// remotely? This only affects the direct tree. Enabling this may

8
dtool/LocalSetup.pp
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@ -116,6 +116,11 @@
#else
#print - Did not find FFMPEG
#endif
#if $[HAVE_ODE]
#print + ODE
#else
#print - Did not find ODE
#endif
#if $[HAVE_MAYA]
#print + OpenMaya
#else
@ -223,6 +228,9 @@ $[cdefine HAVE_OPENCV]
/* Define if we have FFMPEG installed and want to build for FFMPEG. */
$[cdefine HAVE_FFMPEG]
/* Define if we have ODE installed and want to build for ODE. */
$[cdefine HAVE_ODE]
/* Define if we have Mesa installed and want to build mesadisplay. */
$[cdefine HAVE_MESA]
$[cdefine MESA_MGL]

5
dtool/Package.pp
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@ -224,6 +224,11 @@
#set FFMPEG_LIBS $[FFMPEG_LIBS]
#set HAVE_FFMPEG $[HAVE_FFMPEG]
#set ODE_IPATH $[unixfilename $[ODE_IPATH]]
#set ODE_LPATH $[unixfilename $[ODE_LPATH]]
#set ODE_LIBS $[ODE_LIBS]
#set HAVE_ODE $[HAVE_ODE]
#set HAVE_THREADS $[HAVE_THREADS]
#set DEBUG_THREADS $[DEBUG_THREADS]
#set MUTEX_SPINLOCK $[MUTEX_SPINLOCK]

7
dtool/pptempl/Global.pp
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@ -176,6 +176,13 @@
#define ffmpeg_libs $[FFMPEG_LIBS]
#endif
#if $[HAVE_ODE]
#define ode_ipath $[wildcard $[ODE_IPATH]]
#define ode_lpath $[wildcard $[ODE_LPATH]]
#define ode_cflags $[ODE_CFLAGS]
#define ode_libs $[ODE_LIBS]
#endif
#if $[HAVE_JPEG]
#define jpeg_ipath $[wildcard $[JPEG_IPATH]]
#define jpeg_lpath $[wildcard $[JPEG_LPATH]]

3
dtool/src/parser-inc/Sources.pp
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@ -10,4 +10,5 @@
cv.h cvtypes.h cxcore.h cxerror.h cxtypes.h highgui.h \
avcodec.h avformat.h avio.h avutil.h common.h integer.h \
intfloat_readwrite.h mathematics.h rational.h rtp.h \
rtsp.h rtspcodes.h winsock2.h
rtsp.h rtspcodes.h winsock2.h \
ode/common.h

39
dtool/src/parser-inc/common.h
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@ -6,4 +6,43 @@
#ifndef COMMON_H
#define COMMON_H
# ODE header stuff
#if defined(dSINGLE)
typedef float dReal;
#elif defined(dDOUBLE)
typedef double dReal;
#else
#error You must #define dSINGLE or dDOUBLE
#endif
typedef dReal dVector3[4];
typedef dReal dVector4[4];
typedef dReal dMatrix3[4*3];
typedef dReal dMatrix4[4*4];
typedef dReal dMatrix6[8*6];
typedef dReal dQuaternion[4];
struct dxWorld; /* dynamics world */
struct dxSpace; /* collision space */
struct dxBody; /* rigid body (dynamics object) */
struct dxGeom; /* geometry (collision object) */
struct dxJoint;
struct dxJointNode;
struct dxJointGroup;
typedef struct dxWorld *dWorldID;
typedef struct dxSpace *dSpaceID;
typedef struct dxBody *dBodyID;
typedef struct dxGeom *dGeomID;
typedef struct dxJoint *dJointID;
typedef struct dxJointGroup *dJointGroupID;
typedef struct dJointFeedback {
dVector3 f1; /* force applied to body 1 */
dVector3 t1; /* torque applied to body 1 */
dVector3 f2; /* force applied to body 2 */
dVector3 t2; /* torque applied to body 2 */
} dJointFeedback;
#endif /* COMMON_H */