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Asserts, and reformat code

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rdb 2009-04-04 07:20:28 +00:00
parent 6bd15649f9
commit a5d774a1c3
3 changed files with 240 additions and 265 deletions
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4
panda/src/ode/odeJoint.cxx
View File

@ -37,6 +37,7 @@ OdeJoint::
void OdeJoint:: void OdeJoint::
destroy() { destroy() {
nassertv(_id);
dJointDestroy(_id); dJointDestroy(_id);
} }
@ -50,6 +51,7 @@ destroy() {
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
void OdeJoint:: void OdeJoint::
attach_bodies(const OdeBody &body1, const OdeBody &body2) { attach_bodies(const OdeBody &body1, const OdeBody &body2) {
nassertv(_id);
nassertv(body1.get_id() != 0 && body2.get_id() != 0); nassertv(body1.get_id() != 0 && body2.get_id() != 0);
dJointAttach(_id, body1.get_id(), body2.get_id()); dJointAttach(_id, body1.get_id(), body2.get_id());
} }
@ -65,6 +67,7 @@ attach_bodies(const OdeBody &body1, const OdeBody &body2) {
//////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////
void OdeJoint:: void OdeJoint::
attach_body(const OdeBody &body, int index) { attach_body(const OdeBody &body, int index) {
nassertv(_id);
nassertv(body.get_id() != 0); nassertv(body.get_id() != 0);
nassertv(index == 0 || index == 1); nassertv(index == 0 || index == 1);
if (index == 0) { if (index == 0) {
@ -76,6 +79,7 @@ attach_body(const OdeBody &body, int index) {
void OdeJoint:: void OdeJoint::
detach() { detach() {
nassertv(_id);
dJointAttach(_id, 0, 0); dJointAttach(_id, 0, 0);
} }

68
panda/src/ode/odeSpace.cxx
View File

@ -50,46 +50,55 @@ OdeSpace::
void OdeSpace:: void OdeSpace::
destroy() { destroy() {
nassertv(_id);
dSpaceDestroy(_id); dSpaceDestroy(_id);
} }
int OdeSpace:: int OdeSpace::
query(const OdeGeom& geom) const { query(const OdeGeom& geom) const {
nassertr(_id, 0);
return dSpaceQuery(_id, geom.get_id()); return dSpaceQuery(_id, geom.get_id());
} }
int OdeSpace:: int OdeSpace::
query(const OdeSpace& space) const { query(const OdeSpace& space) const {
nassertr(_id, 0);
return dSpaceQuery(_id, (dGeomID)space.get_id()); return dSpaceQuery(_id, (dGeomID)space.get_id());
} }
void OdeSpace:: void OdeSpace::
add(OdeSpace& space) { add(OdeSpace& space) {
nassertv(_id);
dSpaceAdd(_id, (dGeomID)space.get_id()); dSpaceAdd(_id, (dGeomID)space.get_id());
} }
void OdeSpace:: void OdeSpace::
remove(OdeSpace& space) { remove(OdeSpace& space) {
nassertv(_id);
dSpaceRemove(_id, (dGeomID)space.get_id()); dSpaceRemove(_id, (dGeomID)space.get_id());
} }
void OdeSpace:: void OdeSpace::
add(OdeGeom& geom) { add(OdeGeom& geom) {
nassertv(_id);
dSpaceAdd(_id, geom.get_id()); dSpaceAdd(_id, geom.get_id());
} }
void OdeSpace:: void OdeSpace::
remove(OdeGeom& geom) { remove(OdeGeom& geom) {
nassertv(_id);
dSpaceRemove(_id, geom.get_id()); dSpaceRemove(_id, geom.get_id());
} }
void OdeSpace:: void OdeSpace::
clean() { clean() {
nassertv(_id);
dSpaceClean(_id); dSpaceClean(_id);
} }
OdeGeom OdeSpace:: OdeGeom OdeSpace::
get_geom(int i) { get_geom(int i) {
nassertr(_id, OdeGeom(0));
return OdeGeom(dSpaceGetGeom(_id, i)); return OdeGeom(dSpaceGetGeom(_id, i));
} }
@ -107,24 +116,22 @@ operator bool () const {
} }
void OdeSpace:: void OdeSpace::
set_auto_collide_world(OdeWorld &world) set_auto_collide_world(OdeWorld &world) {
{
my_world = &world; my_world = &world;
} }
void OdeSpace:: void OdeSpace::
set_auto_collide_joint_group(OdeJointGroup &joint_group) set_auto_collide_joint_group(OdeJointGroup &joint_group) {
{
_collide_joint_group = joint_group.get_id(); _collide_joint_group = joint_group.get_id();
} }
int OdeSpace:: int OdeSpace::
auto_collide() auto_collide() {
{
if (my_world == NULL) { if (my_world == NULL) {
odespace_cat.error() << "No collide world has been set!\n"; odespace_cat.error() << "No collide world has been set!\n";
return 0; return 0;
} else { } else {
nassertr(_id, 0);
OdeSpace::contactCount = 0; OdeSpace::contactCount = 0;
_collide_space = this; _collide_space = this;
_collide_world = my_world; _collide_world = my_world;
@ -134,36 +141,30 @@ auto_collide()
} }
double OdeSpace:: double OdeSpace::
get_contact_data(int data_index) get_contact_data(int data_index) {
// get the contact data it looks like so [x1,y1,z1,x2,y2,z2... x64,y64,z64] // get the contact data it looks like so [x1,y1,z1,x2,y2,z2... x64,y64,z64]
// use the return in from autoCollide to determine how much of the data is // use the return in from autoCollide to determine how much of the data is
// valid. The data would be more straight forward but the callbacks have to be // valid. The data would be more straight forward but the callbacks have to be
// static. // static.
{
return OdeSpace::contact_data[data_index]; return OdeSpace::contact_data[data_index];
} }
int OdeSpace:: int OdeSpace::
get_contact_id(int data_index, int first) get_contact_id(int data_index, int first) {
// get the contact data it looks like so [x1,y1,z1,x2,y2,z2... x64,y64,z64] // get the contact data it looks like so [x1,y1,z1,x2,y2,z2... x64,y64,z64]
// use the return in from autoCollide to determine how much of the data is // use the return in from autoCollide to determine how much of the data is
// valid. The data would be more straight forward but the callbacks have to be // valid. The data would be more straight forward but the callbacks have to be
// static. // static.
{ if (first == 0) {
if (first == 0)
{
return OdeSpace::contact_ids[(data_index * 2) + 0]; return OdeSpace::contact_ids[(data_index * 2) + 0];
} } else {
else
{
return OdeSpace::contact_ids[(data_index * 2) + 1]; return OdeSpace::contact_ids[(data_index * 2) + 1];
} }
} }
void OdeSpace:: void OdeSpace::
auto_callback(void *data, dGeomID o1, dGeomID o2) auto_callback(void *data, dGeomID o1, dGeomID o2) {
// uses data stored on the world to resolve collisions so you don't have to use near_callbacks in python // uses data stored on the world to resolve collisions so you don't have to use near_callbacks in python
{
int i; int i;
static int autoCallbackCounter = 0; static int autoCallbackCounter = 0;
dBodyID b1 = dGeomGetBody(o1); dBodyID b1 = dGeomGetBody(o1);
@ -178,8 +179,7 @@ auto_callback(void *data, dGeomID o1, dGeomID o2)
sSurfaceParams collide_params; sSurfaceParams collide_params;
collide_params = _collide_world->get_surface(surface1, surface2); collide_params = _collide_world->get_surface(surface1, surface2);
for (i=0; i < OdeSpace::MAX_CONTACTS; i++) for (i=0; i < OdeSpace::MAX_CONTACTS; i++) {
{
contact[i].surface.mode = collide_params.colparams.mode; contact[i].surface.mode = collide_params.colparams.mode;
contact[i].surface.mu = collide_params.colparams.mu; contact[i].surface.mu = collide_params.colparams.mu;
contact[i].surface.mu2 = collide_params.colparams.mu2; contact[i].surface.mu2 = collide_params.colparams.mu2;
@ -191,8 +191,7 @@ auto_callback(void *data, dGeomID o1, dGeomID o2)
static int numc = 0; static int numc = 0;
numc = dCollide(o1, o2, OdeSpace::MAX_CONTACTS, &contact[0].geom, sizeof(dContact)); numc = dCollide(o1, o2, OdeSpace::MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
if (numc) if (numc) {
{
if (odespace_cat.is_debug() && (autoCallbackCounter%30 == 0)) { if (odespace_cat.is_debug() && (autoCallbackCounter%30 == 0)) {
odespace_cat.debug() << autoCallbackCounter <<" collision between geoms " << o1 << " and " << o2 << "\n"; odespace_cat.debug() << autoCallbackCounter <<" collision between geoms " << o1 << " and " << o2 << "\n";
odespace_cat.debug() << "collision between body " << b1 << " and " << b2 << "\n"; odespace_cat.debug() << "collision between body " << b1 << " and " << b2 << "\n";
@ -211,11 +210,9 @@ auto_callback(void *data, dGeomID o1, dGeomID o2)
entry->_points = new LPoint3f[numc]; entry->_points = new LPoint3f[numc];
} }
for(i=0; i < numc; i++) for(i=0; i < numc; i++) {
{
dJointID c = dJointCreateContact(_collide_world->get_id(), _collide_joint_group, contact + i); dJointID c = dJointCreateContact(_collide_world->get_id(), _collide_joint_group, contact + i);
if ((_collide_space->get_collide_id(o1) >= 0) && (_collide_space->get_collide_id(o2) >= 0)) if ((_collide_space->get_collide_id(o1) >= 0) && (_collide_space->get_collide_id(o2) >= 0)) {
{
dJointAttach(c, b1, b2); dJointAttach(c, b1, b2);
} }
if (!_collide_space->_collision_event.empty()) { if (!_collide_space->_collision_event.empty()) {
@ -224,8 +221,7 @@ auto_callback(void *data, dGeomID o1, dGeomID o2)
entry->_points[i][2] = contact[i].geom.pos[2]; 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 // this creates contact position data for python. It is useful for debugging only 64 points are stored
if(contactCount < 64) if(contactCount < 64) {
{
OdeSpace::contact_data[0 + (OdeSpace::contactCount * 3)] = contact[i].geom.pos[0]; OdeSpace::contact_data[0 + (OdeSpace::contactCount * 3)] = contact[i].geom.pos[0];
OdeSpace::contact_data[1 + (OdeSpace::contactCount * 3)] = contact[i].geom.pos[1]; OdeSpace::contact_data[1 + (OdeSpace::contactCount * 3)] = contact[i].geom.pos[1];
OdeSpace::contact_data[2 + (OdeSpace::contactCount * 3)] = contact[i].geom.pos[2]; OdeSpace::contact_data[2 + (OdeSpace::contactCount * 3)] = contact[i].geom.pos[2];
@ -240,7 +236,6 @@ auto_callback(void *data, dGeomID o1, dGeomID o2)
throw_event(_collide_space->_collision_event, EventParameter(entry)); throw_event(_collide_space->_collision_event, EventParameter(entry));
} }
} }
} }
#ifdef HAVE_PYTHON #ifdef HAVE_PYTHON
@ -250,6 +245,10 @@ collide(PyObject* arg, PyObject* callback) {
if (!PyCallable_Check(callback)) { if (!PyCallable_Check(callback)) {
PyErr_Format(PyExc_TypeError, "'%s' object is not callable", callback->ob_type->tp_name); PyErr_Format(PyExc_TypeError, "'%s' object is not callable", callback->ob_type->tp_name);
return -1; return -1;
} else if (_id == NULL) {
// Well, while we're in the mood of python exceptions, let's make this one too.
PyErr_Format(PyExc_TypeError, "OdeSpace is not valid!");
return -1;
} else { } else {
OdeSpace::_python_callback = (PyObject*) callback; OdeSpace::_python_callback = (PyObject*) callback;
Py_XINCREF(OdeSpace::_python_callback); Py_XINCREF(OdeSpace::_python_callback);
@ -308,8 +307,7 @@ set_surface_type(OdeGeom& geom, int surfaceType){
} }
int OdeSpace:: int OdeSpace::
get_surface_type(dGeomID id) get_surface_type(dGeomID id) {
{
GeomSurfaceMap::iterator iter = _geom_surface_map.find(id); GeomSurfaceMap::iterator iter = _geom_surface_map.find(id);
if (iter != _geom_surface_map.end()) { if (iter != _geom_surface_map.end()) {
// odespace_cat.debug() << "get_default_surface_type the geomId =" << id <<" surfaceType=" << iter->second << "\n"; // odespace_cat.debug() << "get_default_surface_type the geomId =" << id <<" surfaceType=" << iter->second << "\n";
@ -345,24 +343,20 @@ set_collide_id( int collide_id, dGeomID id){
} }
int OdeSpace:: int OdeSpace::
set_collide_id( OdeGeom& geom, int collide_id) set_collide_id( OdeGeom& geom, int collide_id) {
{
dGeomID id = geom.get_id(); dGeomID id = geom.get_id();
return set_collide_id(collide_id, id); return set_collide_id(collide_id, id);
} }
int OdeSpace:: int OdeSpace::
get_collide_id(OdeGeom& geom) get_collide_id(OdeGeom& geom) {
{
dGeomID id = geom.get_id(); dGeomID id = geom.get_id();
return get_collide_id(id); return get_collide_id(id);
} }
int OdeSpace:: int OdeSpace::
get_collide_id(dGeomID id) get_collide_id(dGeomID id) {
{
/* /*
GeomCollideIdMap::iterator iter2 = _geom_collide_id_map.begin(); GeomCollideIdMap::iterator iter2 = _geom_collide_id_map.begin();
while (iter2 != _geom_collide_id_map.end()) { while (iter2 != _geom_collide_id_map.end()) {

67
panda/src/ode/odeWorld.cxx
View File

@ -39,17 +39,16 @@ OdeWorld::
void OdeWorld:: void OdeWorld::
destroy() { destroy() {
if(_num_surfaces > 0) if(_num_surfaces > 0) {
{
delete _surface_table; delete _surface_table;
} }
nassertv(_id);
dWorldDestroy(_id); dWorldDestroy(_id);
} }
/* /*
void OdeWorld:: void OdeWorld::
assign_surface_body(OdeBody& body, int surface) assign_surface_body(OdeBody& body, int surface) {
{
// odeworld_cat.debug() << "assign_surface_body body.Id =" << body.get_id() << " surface=" << surface << "\n"; // odeworld_cat.debug() << "assign_surface_body body.Id =" << body.get_id() << " surface=" << surface << "\n";
_body_dampen_map[body.get_id()].surfaceType = surface; _body_dampen_map[body.get_id()].surfaceType = surface;
_body_dampen_map[body.get_id()].dampen = 0.0f; _body_dampen_map[body.get_id()].dampen = 0.0f;
@ -57,26 +56,22 @@ assign_surface_body(OdeBody& body, int surface)
*/ */
void OdeWorld:: void OdeWorld::
add_body_dampening(OdeBody& body, int surface) add_body_dampening(OdeBody& body, int surface) {
{
_body_dampen_map[body.get_id()].dampen = 0.0f; _body_dampen_map[body.get_id()].dampen = 0.0f;
} }
void OdeWorld:: void OdeWorld::
init_surface_table(PN_uint8 num_surfaces) init_surface_table(PN_uint8 num_surfaces) {
{
_surface_table = new sSurfaceParams[num_surfaces * num_surfaces]; _surface_table = new sSurfaceParams[num_surfaces * num_surfaces];
//_dampen_table = new sSurfaceParams[num_surfaces * num_surfaces]; //_dampen_table = new sSurfaceParams[num_surfaces * num_surfaces];
_num_surfaces = num_surfaces; _num_surfaces = num_surfaces;
} }
void OdeWorld:: void OdeWorld::
set_surface(int pos1, int pos2, sSurfaceParams& entry) set_surface(int pos1, int pos2, sSurfaceParams& entry) {
{
odeworld_cat.debug() << " pos1 " << pos1 << " pos2 " << pos2 << " num surfaces " << (int)_num_surfaces << " endline\n"; odeworld_cat.debug() << " pos1 " << pos1 << " pos2 " << pos2 << " num surfaces " << (int)_num_surfaces << " endline\n";
if((_num_surfaces <= pos1) || (_num_surfaces <= pos2)) if((_num_surfaces <= pos1) || (_num_surfaces <= pos2)) {
{
odeworld_cat.error() << "surface position exceeds size of surface table, set num_surface in initSurfaceTable higher." << "\n"; odeworld_cat.error() << "surface position exceeds size of surface table, set num_surface in initSurfaceTable higher." << "\n";
return; return;
} }
@ -96,19 +91,14 @@ set_surface(int pos1, int pos2, sSurfaceParams& entry)
sSurfaceParams& OdeWorld:: sSurfaceParams& OdeWorld::
get_surface(PN_uint8 surface1, PN_uint8 surface2) get_surface(PN_uint8 surface1, PN_uint8 surface2) {
{
int true_pos = 0; int true_pos = 0;
if(surface1 >= surface2) if(surface1 >= surface2) {
{
true_pos = (surface1 * _num_surfaces) + surface2; true_pos = (surface1 * _num_surfaces) + surface2;
} } else {
else
{
true_pos = (surface2 * _num_surfaces) + surface1; true_pos = (surface2 * _num_surfaces) + surface1;
} }
if((_num_surfaces <= surface1) || (_num_surfaces <= surface2)) if((_num_surfaces <= surface1) || (_num_surfaces <= surface2)) {
{
odeworld_cat.error() << "surface position exceeds size of surface table, set num_surface in initSurfaceTable higher." << "\n"; odeworld_cat.error() << "surface position exceeds size of surface table, set num_surface in initSurfaceTable higher." << "\n";
//nassertr_always((_num_surfaces > surface1 && _num_surfaces > surface2), _surface_table[true_pos]); //nassertr_always((_num_surfaces > surface1 && _num_surfaces > surface2), _surface_table[true_pos]);
} }
@ -123,25 +113,20 @@ set_surface_entry( PN_uint8 pos1, PN_uint8 pos2,
dReal soft_erp, dReal soft_erp,
dReal soft_cfm, dReal soft_cfm,
dReal slip, dReal slip,
dReal dampen) dReal dampen) {
{
//todo: add mode //todo: add mode
sSurfaceParams new_params; sSurfaceParams new_params;
int someMode = 0; int someMode = 0;
if (bounce > 0.0001) if (bounce > 0.0001) {
{
someMode |= dContactBounce; someMode |= dContactBounce;
} }
if (soft_erp > 0.0001) if (soft_erp > 0.0001) {
{
someMode |= dContactSoftERP; someMode |= dContactSoftERP;
} }
if (soft_cfm > 0.0001) if (soft_cfm > 0.0001) {
{
someMode |= dContactSoftCFM; someMode |= dContactSoftCFM;
} }
if (slip > 0.0001) if (slip > 0.0001) {
{
someMode = someMode | dContactSlip1 | dContactSlip2; someMode = someMode | dContactSlip1 | dContactSlip2;
} }
new_params.colparams.mode = dContactBounce | dContactSoftCFM | dContactApprox1;// | dContactSoftERP; new_params.colparams.mode = dContactBounce | dContactSoftCFM | dContactApprox1;// | dContactSoftERP;
@ -159,12 +144,9 @@ set_surface_entry( PN_uint8 pos1, PN_uint8 pos2,
//todo: a bit of wasted space here //todo: a bit of wasted space here
set_surface(pos1, pos2, new_params); set_surface(pos1, pos2, new_params);
if(pos1 >= pos2) if(pos1 >= pos2) {
{
set_surface(pos1, pos2, new_params); set_surface(pos1, pos2, new_params);
} } else {
else
{
set_surface(pos2, pos1, new_params); set_surface(pos2, pos1, new_params);
} }
} }
@ -172,21 +154,17 @@ set_surface_entry( PN_uint8 pos1, PN_uint8 pos2,
void OdeWorld:: void OdeWorld::
set_dampen_on_bodies(dBodyID id1, dBodyID id2,dReal damp) set_dampen_on_bodies(dBodyID id1, dBodyID id2,dReal damp) {
{ if(_body_dampen_map[id1].dampen < damp) {
if(_body_dampen_map[id1].dampen < damp)
{
_body_dampen_map[id1].dampen = damp; _body_dampen_map[id1].dampen = damp;
} }
if(_body_dampen_map[id2].dampen < damp) if(_body_dampen_map[id2].dampen < damp) {
{
_body_dampen_map[id2].dampen = damp; _body_dampen_map[id2].dampen = damp;
} }
} }
float OdeWorld:: float OdeWorld::
apply_dampening(float dt, OdeBody& body) apply_dampening(float dt, OdeBody& body) {
{
dBodyID bodyId = body.get_id(); dBodyID bodyId = body.get_id();
dReal damp = _body_dampen_map[bodyId].dampen; dReal damp = _body_dampen_map[bodyId].dampen;
float dampening = 1.00 - (damp * dt); float dampening = 1.00 - (damp * dt);
@ -194,7 +172,6 @@ apply_dampening(float dt, OdeBody& body)
body.set_linear_vel(body.get_linear_vel() * dampening); body.set_linear_vel(body.get_linear_vel() * dampening);
_body_dampen_map[bodyId].dampen = 0.0; _body_dampen_map[bodyId].dampen = 0.0;
return dampening; return dampening;
} }
OdeWorld:: OdeWorld::