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Phase out OdeContactCollection

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This commit is contained in:
rdb 2009-04-14 15:40:18 +00:00
parent 435805081d
commit f431703f0a
10 changed files with 71 additions and 288 deletions
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3
panda/src/ode/Sources.pp
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@ -29,7 +29,6 @@
odeContact.I odeContact.h \
odeAMotorJoint.I odeAMotorJoint.h \
odeBallJoint.I odeBallJoint.h \
odeContactCollection.I odeContactCollection.h \
odeContactJoint.I odeContactJoint.h \
odeFixedJoint.I odeFixedJoint.h \
odeHingeJoint.I odeHingeJoint.h \
@ -62,7 +61,6 @@
odeSpace.cxx \
odeGeom.cxx \
odeSurfaceParameters.cxx \
odeContactCollection.cxx \
odeContactGeom.cxx odeContact.cxx \
odeAMotorJoint.cxx odeBallJoint.cxx \
odeContactJoint.cxx odeFixedJoint.cxx \
@ -91,7 +89,6 @@
odeGeom.I odeGeom.h \
odeSurfaceParameters.I odeSurfaceParameters.h \
odeContactGeom.I odeContactGeom.h \
odeContactCollection.I odeContactCollection.h \
odeContact.I odeContact.h \
odeAMotorJoint.I odeAMotorJoint.h \
odeBallJoint.I odeBallJoint.h \

48
panda/src/ode/odeCollisionEntry.I
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@ -27,7 +27,7 @@ OdeCollisionEntry() {
// Description: Returns the first geom in the collision.
////////////////////////////////////////////////////////////////////
INLINE const OdeGeom OdeCollisionEntry::
get_geom1() {
get_geom1() const {
return OdeGeom(_geom1);
}
@ -37,7 +37,7 @@ get_geom1() {
// Description: Returns the second geom in the collision.
////////////////////////////////////////////////////////////////////
INLINE const OdeGeom OdeCollisionEntry::
get_geom2() {
get_geom2() const {
return OdeGeom(_geom2);
}
@ -47,7 +47,7 @@ get_geom2() {
// Description: Returns the first body in the collision.
////////////////////////////////////////////////////////////////////
INLINE const OdeBody OdeCollisionEntry::
get_body1() {
get_body1() const {
return OdeBody(_body1);
}
@ -57,7 +57,7 @@ get_body1() {
// Description: Returns the second body in the collision.
////////////////////////////////////////////////////////////////////
INLINE const OdeBody OdeCollisionEntry::
get_body2() {
get_body2() const {
return OdeBody(_body2);
}
@ -67,7 +67,7 @@ get_body2() {
// Description: Returns the number of contacts in the collision.
////////////////////////////////////////////////////////////////////
INLINE const size_t OdeCollisionEntry::
get_num_contacts() {
get_num_contacts() const {
return _num_contacts;
}
@ -77,7 +77,18 @@ get_num_contacts() {
// Description: Returns the nth contact geom in the collision.
////////////////////////////////////////////////////////////////////
INLINE const OdeContactGeom OdeCollisionEntry::
get_contact_geom(size_t n) {
get_contact_geom(size_t n) const {
nassertr(n >= 0 && n < _num_contacts, OdeContactGeom());
return _contact_geoms[n];
}
////////////////////////////////////////////////////////////////////
// Function: OdeCollisionEntry::operator []
// Access: Published
// Description: Returns the nth contact geom in the collision.
////////////////////////////////////////////////////////////////////
INLINE const OdeContactGeom OdeCollisionEntry::
operator [] (size_t n) const {
nassertr(n >= 0 && n < _num_contacts, OdeContactGeom());
return _contact_geoms[n];
}
@ -86,10 +97,33 @@ get_contact_geom(size_t n) {
// Function: OdeCollisionEntry::get_contact_point
// Access: Published
// Description: Returns the nth contact point in the collision.
// This does exactly the same as
// get_contact_geom(n).get_pos().
////////////////////////////////////////////////////////////////////
INLINE const LPoint3f OdeCollisionEntry::
get_contact_point(size_t n) {
get_contact_point(size_t n) const {
nassertr(n >= 0 && n < _num_contacts, LPoint3f::zero());
return _contact_geoms[n].get_pos();
}
////////////////////////////////////////////////////////////////////
// Function: OdeCollisionEntry::operator bool
// Access: Published
// Description: An OdeCollisionEntry evaluates to False if it
// holds no contacts.
////////////////////////////////////////////////////////////////////
INLINE OdeCollisionEntry::
operator bool () const {
return (_num_contacts != 0);
}
////////////////////////////////////////////////////////////////////
// Function: OdeCollisionEntry::is_empty
// Access: Published
// Description: Returns true if the entry holds no contacts.
////////////////////////////////////////////////////////////////////
INLINE bool OdeCollisionEntry::
is_empty() const {
return (_num_contacts == 0);
}

21
panda/src/ode/odeCollisionEntry.h
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@ -20,6 +20,8 @@
#include "odeContactGeom.h"
class OdeUtil;
////////////////////////////////////////////////////////////////////
// Class : OdeCollisionEntry
// Description : A class used to hold information about a collision
@ -29,17 +31,21 @@ class EXPCL_PANDAODE OdeCollisionEntry : public TypedReferenceCount {
PUBLISHED:
virtual ~OdeCollisionEntry();
INLINE const OdeGeom get_geom1();
INLINE const OdeGeom get_geom2();
INLINE const OdeBody get_body1();
INLINE const OdeBody get_body2();
INLINE const OdeGeom get_geom1() const;
INLINE const OdeGeom get_geom2() const;
INLINE const OdeBody get_body1() const;
INLINE const OdeBody get_body2() const;
INLINE const size_t get_num_contacts();
INLINE const LPoint3f get_contact_point(size_t n);
INLINE const OdeContactGeom get_contact_geom(size_t n);
INLINE const size_t get_num_contacts() const;
INLINE const LPoint3f get_contact_point(size_t n) const;
INLINE const OdeContactGeom get_contact_geom(size_t n) const;
INLINE const OdeContactGeom operator [] (size_t n) const;
MAKE_SEQ(get_contact_points, get_num_contacts, get_contact_point);
MAKE_SEQ(get_contact_geoms, get_num_contacts, get_contact_geom);
INLINE operator bool () const;
INLINE bool is_empty() const;
private:
INLINE OdeCollisionEntry();
dGeomID _geom1, _geom2;
@ -66,6 +72,7 @@ private:
static TypeHandle _type_handle;
friend class OdeSpace;
friend class OdeUtil;
};
#include "odeCollisionEntry.I"

88
panda/src/ode/odeContactCollection.I
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@ -1,88 +0,0 @@
// Filename: odeContactCollection.I
// Created by: pro-rsoft (17Dec08)
//
////////////////////////////////////////////////////////////////////
//
// 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: OdeContactCollection::Destructor
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE OdeContactCollection::
~OdeContactCollection() {
}
////////////////////////////////////////////////////////////////////
// Function: OdeContactCollection::operator +=
// Access: Published
// Description: Appends the other list onto the end of this one.
////////////////////////////////////////////////////////////////////
INLINE void OdeContactCollection::
operator += (const OdeContactCollection &other) {
add_contacts_from(other);
}
////////////////////////////////////////////////////////////////////
// Function: OdeContactCollection::operator +
// Access: Published
// Description: Returns a OdeContactCollection representing the
// concatenation of the two lists.
////////////////////////////////////////////////////////////////////
INLINE OdeContactCollection OdeContactCollection::
operator + (const OdeContactCollection &other) const {
OdeContactCollection a(*this);
a += other;
return a;
}
////////////////////////////////////////////////////////////////////
// Function: OdeContactCollection::clear
// Access: Published
// Description: Clears the contact collection.
////////////////////////////////////////////////////////////////////
INLINE void OdeContactCollection::
clear() {
_contacts.clear();
}
////////////////////////////////////////////////////////////////////
// Function: OdeContactCollection::is_empty
// Access: Published
// Description: Returns true if the collection is empty.
////////////////////////////////////////////////////////////////////
INLINE bool OdeContactCollection::
is_empty() const {
return _contacts.empty();
}
////////////////////////////////////////////////////////////////////
// Function: OdeContactCollection::get_num_contacts
// Access: Published
// Description: Returns the number of Contacts in the collection.
// This is the same thing as size().
////////////////////////////////////////////////////////////////////
INLINE int OdeContactCollection::
get_num_contacts() const {
return _contacts.size();
}
////////////////////////////////////////////////////////////////////
// Function: OdeContactCollection::size
// Access: Published
// Description: Returns the number of Contacts in the collection.
// This is the same thing as get_num_contacts().
////////////////////////////////////////////////////////////////////
INLINE int OdeContactCollection::
size() const {
return _contacts.size();
}

116
panda/src/ode/odeContactCollection.cxx
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@ -1,116 +0,0 @@
// Filename: odeContactCollection.cxx
// Created by: pro-rsoft (17Dec08)
//
////////////////////////////////////////////////////////////////////
//
// 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 "odeContactCollection.h"
OdeContactCollection::
OdeContactCollection() {
}
OdeContactCollection::
OdeContactCollection(const OdeContactCollection &copy) :
_contacts(copy._contacts) {
}
void OdeContactCollection::
operator = (const OdeContactCollection &copy) {
_contacts = copy._contacts;
}
void OdeContactCollection::
add_contact(PT(OdeContact) contact) {
_contacts.push_back(contact);
}
bool OdeContactCollection::
remove_contact(PT(OdeContact) contact) {
int contact_index = -1;
for (int i = 0; contact_index == -1 && i < (int)_contacts.size(); i++) {
if (_contacts[i] == contact) {
contact_index = i;
}
}
if (contact_index == -1) {
// The indicated contact was not a member of the collection.
return false;
}
_contacts.erase(_contacts.begin() + contact_index);
return true;
}
void OdeContactCollection::
add_contacts_from(const OdeContactCollection &other) {
int other_num_contacts = other.get_num_contacts();
for (int i = 0; i < other_num_contacts; i++) {
add_contact(other.get_contact(i));
}
}
void OdeContactCollection::
remove_contacts_from(const OdeContactCollection &other) {
Contacts new_contacts;
int num_contacts = get_num_contacts();
for (int i = 0; i < num_contacts; i++) {
PT(OdeContact) contact = get_contact(i);
if (!other.has_contact(contact)) {
new_contacts.push_back(contact);
}
}
_contacts = new_contacts;
}
void OdeContactCollection::
remove_duplicate_contacts() {
Contacts new_contacts;
int num_contacts = get_num_contacts();
for (int i = 0; i < num_contacts; i++) {
PT(OdeContact) contact = get_contact(i);
bool duplicated = false;
for (int j = 0; j < i && !duplicated; j++) {
duplicated = (contact == get_contact(j));
}
if (!duplicated) {
new_contacts.push_back(contact);
}
}
_contacts = new_contacts;
}
bool OdeContactCollection::
has_contact(PT(OdeContact) contact) const {
for (int i = 0; i < get_num_contacts(); i++) {
if (contact == get_contact(i)) {
return true;
}
}
return false;
}
PT(OdeContact) OdeContactCollection::
get_contact(int index) const {
nassertr(index >= 0 && index < (int)_contacts.size(), NULL);
return _contacts[index];
}
PT(OdeContact) OdeContactCollection::
operator [] (int index) const {
return get_contact(index);
}

57
panda/src/ode/odeContactCollection.h
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@ -1,57 +0,0 @@
// Filename: odeContactCollection.h
// Created by: pro-rsoft (17Dec08)
//
////////////////////////////////////////////////////////////////////
//
// 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 ODECONTACTCOLLECTION_H
#define ODECONTACTCOLLECTION_H
#include "odeContact.h"
////////////////////////////////////////////////////////////////////
// Class : OdeContactCollection
// Description : This is a set of zero or more OdeContacts. It's
// handy for returning from functions that need to
// return multiple OdeContacts.
////////////////////////////////////////////////////////////////////
class EXPCL_PANDAODE OdeContactCollection {
PUBLISHED:
OdeContactCollection();
OdeContactCollection(const OdeContactCollection &copy);
void operator = (const OdeContactCollection &copy);
INLINE ~OdeContactCollection();
void add_contact(PT(OdeContact) contact);
bool remove_contact(PT(OdeContact) contact);
void add_contacts_from(const OdeContactCollection &other);
void remove_contacts_from(const OdeContactCollection &other);
void remove_duplicate_contacts();
bool has_contact(PT(OdeContact) contact) const;
INLINE void clear();
INLINE bool is_empty() const;
INLINE int get_num_contacts() const;
PT(OdeContact) get_contact(int index) const;
MAKE_SEQ(get_contacts, get_num_contacts, get_contact);
PT(OdeContact) operator [] (int index) const;
INLINE int size() const;
INLINE void operator += (const OdeContactCollection &other);
INLINE OdeContactCollection operator + (const OdeContactCollection &other) const;
private:
typedef pvector<PT(OdeContact)> Contacts;
Contacts _contacts;
};
#include "odeContactCollection.I"
#endif

2
panda/src/ode/odeContactGeom.h
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@ -23,6 +23,7 @@
#include "odeGeom.h"
class OdeSpace;
class OdeUtil;
////////////////////////////////////////////////////////////////////
// Class : OdeContactGeom
@ -31,6 +32,7 @@ class OdeSpace;
class EXPCL_PANDAODE OdeContactGeom : public TypedReferenceCount {
friend class OdeContact;
friend class OdeSpace;
friend class OdeUtil;
PUBLISHED:
OdeContactGeom();

19
panda/src/ode/odeUtil.cxx
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@ -94,21 +94,25 @@ are_connected_excluding(const OdeBody &body1,
// Access: Public, Static
// Description: Given two geometry objects that potentially touch
// (geom1 and geom2), generate contact information
// for them. Returns a collection of OdeContacts.
// for them. Returns an OdeCollisionEntry.
////////////////////////////////////////////////////////////////////
OdeContactCollection OdeUtil::
PT(OdeCollisionEntry) OdeUtil::
collide(const OdeGeom &geom1, const OdeGeom &geom2, const short int max_contacts) {
dContactGeom *contact_list = (dContactGeom *)PANDA_MALLOC_ARRAY(max_contacts * sizeof(dContactGeom));
int num_contacts = dCollide(geom1.get_id(), geom2.get_id(), max_contacts, contact_list, sizeof(contact_list));
OdeContactCollection contacts;
PT(OdeCollisionEntry) entry = new OdeCollisionEntry();
entry->_geom1 = geom1.get_id();
entry->_geom2 = geom2.get_id();
entry->_body1 = dGeomGetBody(geom1.get_id());
entry->_body2 = dGeomGetBody(geom2.get_id());
entry->_num_contacts = num_contacts;
entry->_contact_geoms = new OdeContactGeom[num_contacts];
for (int i = 0; i < num_contacts; i++) {
PT(OdeContact) contact = new OdeContact();
contact->set_geom(OdeContactGeom(contact_list[i]));
contacts.add_contact(contact);
entry->_contact_geoms[i] = contact_list[i];
}
PANDA_FREE_ARRAY(contact_list);
return contacts;
return entry;
}
#ifdef HAVE_PYTHON
@ -153,3 +157,4 @@ OdeGeom OdeUtil::
space_to_geom(const OdeSpace &space) {
return OdeGeom((dGeomID)space.get_id());
}

4
panda/src/ode/odeUtil.h
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@ -21,7 +21,7 @@
#include "ode_includes.h"
#include "odeJointCollection.h"
#include "odeContactCollection.h"
#include "odeCollisionEntry.h"
#ifdef HAVE_PYTHON
#include "py_panda.h"
@ -46,7 +46,7 @@ PUBLISHED:
static int are_connected_excluding(const OdeBody &body1,
const OdeBody &body2,
const int joint_type);
static OdeContactCollection collide(const OdeGeom &geom1, const OdeGeom &geom2,
static PT(OdeCollisionEntry) 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);

1
panda/src/ode/pode_composite1.cxx
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@ -11,5 +11,4 @@
#include "odeSurfaceParameters.cxx"
#include "odeContactGeom.cxx"
#include "odeContact.cxx"
#include "odeContactCollection.cxx"