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add setDefaultSurfaceType for Geoms, support golf hard and soft surfaces

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This commit is contained in:
Redmond Urbino 2007-06-23 02:31:41 +00:00
parent 26306d6e3e
commit dba5cd0e7c
5 changed files with 79 additions and 8 deletions
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28
panda/src/ode/odeGeom.cxx
View File

@ -19,6 +19,7 @@
#include "config_ode.h"
#include "odeGeom.h"
OdeGeom::GeomSurfaceMap OdeGeom::_geom_surface_map;
TypeHandle OdeGeom::_type_handle;
OdeGeom::
@ -30,7 +31,34 @@ OdeGeom(dGeomID id) :
OdeGeom::
~OdeGeom() {
odegeom_cat.debug() << "~" << get_type() << "(" << _id << ")\n";
GeomSurfaceMap::iterator iter = _geom_surface_map.find(this->get_id());
if (iter != _geom_surface_map.end()) {
_geom_surface_map.erase(iter);
}
}
int OdeGeom::
get_default_surface_type()
{
return OdeGeom::get_default_surface_type(this->get_id());
}
int OdeGeom::
get_default_surface_type(dGeomID id)
{
GeomSurfaceMap::iterator iter = _geom_surface_map.find(id);
if (iter != _geom_surface_map.end()) {
// odegeom_cat.debug() << "get_default_surface_type the geomId =" << id <<" surfaceType=" << iter->second << "\n";
return iter->second;
}
// odegeom_cat.debug() << "get_default_surface_type not in map, returning 0" ;
return 0;
}
void OdeGeom::
set_default_surface_type( int surfaceType){
_geom_surface_map[this->get_id()]= surfaceType;
}
void OdeGeom::
destroy() {

7
panda/src/ode/odeGeom.h
View File

@ -105,6 +105,9 @@ PUBLISHED:
INLINE LPoint3f get_offset_position() const;
INLINE LMatrix3f get_offset_rotation() const;
INLINE LQuaternionf get_offset_quaternion() const;
int get_default_surface_type() ;
void set_default_surface_type( int surfaceType);
static int get_default_surface_type(dGeomID id);
OdeSpace get_space() const;
@ -132,6 +135,10 @@ public:
protected:
dGeomID _id;
private:
typedef pmap<dGeomID, int> GeomSurfaceMap;
static GeomSurfaceMap _geom_surface_map;
public:
static TypeHandle get_class_type() {
return _type_handle;

46
panda/src/ode/odeSpace.cxx
View File

@ -77,11 +77,12 @@ clean() {
dSpaceClean(_id);
}
OdeGeom OdeSpace::
OdeGeom OdeSpace::
get_geom(int i) {
return OdeGeom(dSpaceGetGeom(_id, i));
}
void OdeSpace::
write(ostream &out, unsigned int indent) const {
#ifndef NDEBUG //[
@ -106,7 +107,7 @@ int OdeSpace::
autoCollide()
{
OdeSpace::contactCount = 0;
dSpaceCollide(_id, 0, &autoCallback);
dSpaceCollide(_id, this, &autoCallback);
return OdeSpace::contactCount;
}
@ -120,35 +121,64 @@ get_contact_data(int data_index)
return OdeSpace::contact_data[data_index];
}
int OdeSpace::
get_surface_type(OdeSpace * self, dGeomID o1)
// return the surface of the body if this geom has a body, else use the default surface type
{
int retval = 0;
dBodyID b1 = dGeomGetBody(o1);
if (b1) {
retval = _collide_world->get_surface_body(b1).surfaceType;
}
else {
retval = OdeGeom::get_default_surface_type(o1);
}
// odespace_cat.debug() << "for geom " << o1 << " returning surface type " << retval << "\n";
return retval;
}
int autoCallbackCounter = 0;
void OdeSpace::
autoCallback(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
{
int i;
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
dContact contact[OdeSpace::MAX_CONTACTS];
int surface1 = get_surface_type((OdeSpace*)data, o1);
int surface2 = get_surface_type((OdeSpace*)data, o2);
sSurfaceParams collide_params;
collide_params = _collide_world->get_surface(_collide_world->get_surface_body(b1).surfaceType,_collide_world->get_surface_body(b2).surfaceType);
// collide_params = _collide_world->get_surface(_collide_world->get_surface_body(b1).surfaceType,_collide_world->get_surface_body(b2).surfaceType);
collide_params = _collide_world->get_surface(surface1, surface2);
for (i=0; i < OdeSpace::MAX_CONTACTS; i++)
{
contact[i].surface.mode = collide_params.colparams.mode;
contact[i].surface.mu = collide_params.colparams.mu;
contact[i].surface.mu2 = collide_params.colparams.mu2;
contact[i].surface.bounce = collide_params.colparams.bounce;
contact[i].surface.bounce_vel = collide_params.colparams.bounce_vel;
contact[i].surface.soft_cfm = collide_params.colparams.soft_cfm;
}
if (int numc = dCollide(o1, o2, OdeSpace::MAX_CONTACTS, &contact[0].geom, sizeof(dContact)))
int numc = dCollide(o1, o2, OdeSpace::MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
if (numc)
{
if (odespace_cat.is_debug() && (autoCallbackCounter%30 == 0)) {
odespace_cat.debug() << autoCallbackCounter <<" collision between geoms " << o1 << " and " << o2 << "\n";
odespace_cat.debug() << "collision between body " << b1 << " and " << b2 << "\n";
odespace_cat.debug() << "surface1= "<< surface1 << " surface2=" << surface2 << "\n";
}
autoCallbackCounter += 1;
for(i=0; i < numc; i++)
{
dJointID c = dJointCreateContact(_collide_world->get_id(), _collide_joint_group, contact + i);

1
panda/src/ode/odeSpace.h
View File

@ -78,6 +78,7 @@ PUBLISHED:
void remove(OdeSpace& space);
void clean();
OdeGeom get_geom(int i); // Not INLINE because of forward declaration
static int get_surface_type(OdeSpace * self, dGeomID o1);
INLINE OdeSpace get_space() const;

5
panda/src/ode/odeWorld.cxx
View File

@ -26,12 +26,14 @@ OdeWorld() :
_id(dWorldCreate()) {
odeworld_cat.debug() << get_type() << "(" << _id << ")" << "\n";
_num_surfaces = 0;
}
OdeWorld::
OdeWorld(const OdeWorld &copy) :
_id(copy._id) {
_num_surfaces = 0;
}
OdeWorld::
@ -51,6 +53,7 @@ destroy() {
void OdeWorld::
assign_surface_body(OdeBody& body, int surface)
{
// odeworld_cat.debug() << "assign_surface_body body.Id =" << body.get_id() << " surface=" << surface << "\n";
_body_surface_map[body.get_id()].surfaceType = surface;
_body_surface_map[body.get_id()].dampen = 0.0f;
}
@ -158,11 +161,13 @@ get_surface_body(dBodyID id)
BodySurfaceMap::iterator iter = _body_surface_map.find(id);
if (iter != _body_surface_map.end()) {
// odeworld_cat.debug() << "In map the bodyId =" << id <<" surfaceType=" << iter->second.surfaceType << "\n";
return iter->second;
}
sBodyParams defaultParams;
defaultParams.surfaceType = 0;
defaultParams.dampen = 0.0f;
// odeworld_cat.debug() << "no surface for bodyId=" << id << " returning default 0" << "\n";
return defaultParams;
}