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Added missing methods for modifying Bullet constraint frames.

This commit is contained in:
enn0x 2013-06-16 06:43:38 +00:00
parent 87590d6d09
commit 0ee060aefd
21 changed files with 190 additions and 31 deletions
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7
panda/src/bullet/bulletBodyNode.cxx
View File

@ -165,7 +165,7 @@ output(ostream &out) const {
// Description:
////////////////////////////////////////////////////////////////////
void BulletBodyNode::
add_shape(BulletShape *shape, CPT(TransformState) ts) {
add_shape(BulletShape *shape, const TransformState *ts) {
nassertv(get_object());
@ -173,10 +173,7 @@ add_shape(BulletShape *shape, CPT(TransformState) ts) {
&& ((btConvexHullShape *)shape->ptr())->getNumVertices() == 0));
// Transform
btTransform trans = btTransform::getIdentity();
if (ts) {
trans = TransformState_to_btTrans(ts);
}
btTransform trans = TransformState_to_btTrans(ts);
// Reset the shape scaling before we add a shape, and remember the current
// Scale so we can restore it later...

2
panda/src/bullet/bulletBodyNode.h
View File

@ -38,7 +38,7 @@ PUBLISHED:
INLINE ~BulletBodyNode();
// Shapes
void add_shape(BulletShape *shape, CPT(TransformState) xform=NULL);
void add_shape(BulletShape *shape, const TransformState *xform=TransformState::make_identity());
void remove_shape(BulletShape *shape);
INLINE int get_num_shapes() const;

22
panda/src/bullet/bulletConeTwistConstraint.I
View File

@ -23,3 +23,25 @@ INLINE BulletConeTwistConstraint::
delete _constraint;
}
////////////////////////////////////////////////////////////////////
// Function: BulletConeTwistConstraint::get_frame_a
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE CPT(TransformState) BulletConeTwistConstraint::
get_frame_a() const {
return btTrans_to_TransformState(_constraint->getAFrame());
}
////////////////////////////////////////////////////////////////////
// Function: BulletConeTwistConstraint::get_frame_b
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE CPT(TransformState) BulletConeTwistConstraint::
get_frame_b() const {
return btTrans_to_TransformState(_constraint->getBFrame());
}

20
panda/src/bullet/bulletConeTwistConstraint.cxx
View File

@ -26,7 +26,7 @@ TypeHandle BulletConeTwistConstraint::_type_handle;
////////////////////////////////////////////////////////////////////
BulletConeTwistConstraint::
BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
CPT(TransformState) frame_a) {
const TransformState *frame_a) {
btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
btTransform trans_a = TransformState_to_btTrans(frame_a);
@ -42,8 +42,8 @@ BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
BulletConeTwistConstraint::
BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
const BulletRigidBodyNode *node_b,
CPT(TransformState) frame_a,
CPT(TransformState) frame_b) {
const TransformState *frame_a,
const TransformState *frame_b) {
btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
btTransform trans_a = TransformState_to_btTrans(frame_a);
@ -181,3 +181,17 @@ set_motor_target_in_constraint_space(const LQuaternion &quat) {
_constraint->setMotorTargetInConstraintSpace(LQuaternion_to_btQuat(quat));
}
////////////////////////////////////////////////////////////////////
// Function: BulletConeTwistConstraint::set_frames
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
void BulletConeTwistConstraint::
set_frames(const TransformState *ts_a, const TransformState *ts_b) {
btTransform frame_a = TransformState_to_btTrans(ts_a);
btTransform frame_b = TransformState_to_btTrans(ts_b);
_constraint->setFrames(frame_a, frame_b);
}

10
panda/src/bullet/bulletConeTwistConstraint.h
View File

@ -33,11 +33,11 @@ class EXPCL_PANDABULLET BulletConeTwistConstraint : public BulletConstraint {
PUBLISHED:
BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
CPT(TransformState) frame_a);
const TransformState *frame_a);
BulletConeTwistConstraint(const BulletRigidBodyNode *node_a,
const BulletRigidBodyNode *node_b,
CPT(TransformState) frame_a,
CPT(TransformState) frame_b);
const TransformState *frame_a,
const TransformState *frame_b);
INLINE ~BulletConeTwistConstraint();
void set_limit(int index, PN_stdfloat value);
@ -54,6 +54,10 @@ PUBLISHED:
void set_motor_target(const LQuaternion &quat);
void set_motor_target_in_constraint_space(const LQuaternion &quat);
void set_frames(const TransformState *ts_a, const TransformState *ts_b);
INLINE CPT(TransformState) get_frame_a() const;
INLINE CPT(TransformState) get_frame_b() const;
public:
virtual btTypedConstraint *ptr() const;

2
panda/src/bullet/bulletConvexHullShape.cxx
View File

@ -78,7 +78,7 @@ add_array(const PTA_LVecBase3 &points) {
// Description:
////////////////////////////////////////////////////////////////////
void BulletConvexHullShape::
add_geom(const Geom *geom, CPT(TransformState) ts) {
add_geom(const Geom *geom, const TransformState *ts) {
nassertv(geom);
nassertv(ts);

2
panda/src/bullet/bulletConvexHullShape.h
View File

@ -39,7 +39,7 @@ PUBLISHED:
void add_point(const LPoint3 &p);
void add_array(const PTA_LVecBase3 &points);
void add_geom(const Geom *geom,
CPT(TransformState) ts=TransformState::make_identity());
const TransformState *ts=TransformState::make_identity());
public:
virtual btCollisionShape *ptr() const;

22
panda/src/bullet/bulletGenericConstraint.I
View File

@ -23,3 +23,25 @@ INLINE BulletGenericConstraint::
delete _constraint;
}
////////////////////////////////////////////////////////////////////
// Function: BulletGenericConstraint::get_frame_a
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE CPT(TransformState) BulletGenericConstraint::
get_frame_a() const {
return btTrans_to_TransformState(_constraint->getFrameOffsetA());
}
////////////////////////////////////////////////////////////////////
// Function: BulletGenericConstraint::get_frame_b
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE CPT(TransformState) BulletGenericConstraint::
get_frame_b() const {
return btTrans_to_TransformState(_constraint->getFrameOffsetB());
}

20
panda/src/bullet/bulletGenericConstraint.cxx
View File

@ -24,7 +24,7 @@ TypeHandle BulletGenericConstraint::_type_handle;
////////////////////////////////////////////////////////////////////
BulletGenericConstraint::
BulletGenericConstraint(const BulletRigidBodyNode *node_a,
CPT(TransformState) frame_a,
const TransformState *frame_a,
bool use_frame_a) {
btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
@ -41,8 +41,8 @@ BulletGenericConstraint(const BulletRigidBodyNode *node_a,
BulletGenericConstraint::
BulletGenericConstraint(const BulletRigidBodyNode *node_a,
const BulletRigidBodyNode *node_b,
CPT(TransformState) frame_a,
CPT(TransformState) frame_b,
const TransformState *frame_a,
const TransformState *frame_b,
bool use_frame_a) {
btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
@ -165,3 +165,17 @@ get_translational_limit_motor() {
return BulletTranslationalLimitMotor(*_constraint->getTranslationalLimitMotor());
}
////////////////////////////////////////////////////////////////////
// Function: BulletGenericConstraint::set_frames
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
void BulletGenericConstraint::
set_frames(const TransformState *ts_a, const TransformState *ts_b) {
btTransform frame_a = TransformState_to_btTrans(ts_a);
btTransform frame_b = TransformState_to_btTrans(ts_b);
_constraint->setFrames(frame_a, frame_b);
}

11
panda/src/bullet/bulletGenericConstraint.h
View File

@ -36,12 +36,12 @@ class EXPCL_PANDABULLET BulletGenericConstraint : public BulletConstraint {
PUBLISHED:
BulletGenericConstraint(const BulletRigidBodyNode *node_a,
CPT(TransformState) frame_a,
const TransformState *frame_a,
bool use_frame_a);
BulletGenericConstraint(const BulletRigidBodyNode *node_a,
const BulletRigidBodyNode *node_b,
CPT(TransformState) frame_a,
CPT(TransformState) frame_b,
const TransformState *frame_a,
const TransformState *frame_b,
bool use_frame_a);
INLINE ~BulletGenericConstraint();
@ -58,6 +58,11 @@ PUBLISHED:
BulletRotationalLimitMotor get_rotational_limit_motor(int axis);
BulletTranslationalLimitMotor get_translational_limit_motor();
// Frames
void set_frames(const TransformState *ts_a, const TransformState *ts_b);
INLINE CPT(TransformState) get_frame_a() const;
INLINE CPT(TransformState) get_frame_b() const;
public:
virtual btTypedConstraint *ptr() const;

22
panda/src/bullet/bulletHingeConstraint.I
View File

@ -23,3 +23,25 @@ INLINE BulletHingeConstraint::
delete _constraint;
}
////////////////////////////////////////////////////////////////////
// Function: BulletHingeConstraint::get_frame_a
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE CPT(TransformState) BulletHingeConstraint::
get_frame_a() const {
return btTrans_to_TransformState(_constraint->getAFrame());
}
////////////////////////////////////////////////////////////////////
// Function: BulletHingeConstraint::get_frame_b
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE CPT(TransformState) BulletHingeConstraint::
get_frame_b() const {
return btTrans_to_TransformState(_constraint->getBFrame());
}

14
panda/src/bullet/bulletHingeConstraint.cxx
View File

@ -267,3 +267,17 @@ set_motor_target(PN_stdfloat target_angle, PN_stdfloat dt) {
_constraint->setMotorTarget(target_angle, dt);
}
////////////////////////////////////////////////////////////////////
// Function: BulletHingeConstraint::set_frames
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
void BulletHingeConstraint::
set_frames(const TransformState *ts_a, const TransformState *ts_b) {
btTransform frame_a = TransformState_to_btTrans(ts_a);
btTransform frame_b = TransformState_to_btTrans(ts_b);
_constraint->setFrames(frame_a, frame_b);
}

4
panda/src/bullet/bulletHingeConstraint.h
View File

@ -72,6 +72,10 @@ PUBLISHED:
void set_motor_target(const LQuaternion &quat, PN_stdfloat dt);
void set_motor_target(PN_stdfloat target_angle, PN_stdfloat dt);
void set_frames(const TransformState *ts_a, const TransformState *ts_b);
INLINE CPT(TransformState) get_frame_a() const;
INLINE CPT(TransformState) get_frame_b() const;
public:
virtual btTypedConstraint *ptr() const;

2
panda/src/bullet/bulletRigidBodyNode.cxx
View File

@ -606,7 +606,7 @@ sync_b2p(PandaNode *node) {
// by calling MotionState::setGlobalTransform.
////////////////////////////////////////////////////////////////////
void BulletRigidBodyNode::MotionState::
set_net_transform(CPT(TransformState) &ts) {
set_net_transform(const TransformState *ts) {
nassertv(ts);

2
panda/src/bullet/bulletRigidBodyNode.h
View File

@ -110,7 +110,7 @@ private:
virtual void getWorldTransform(btTransform &trans) const;
virtual void setWorldTransform(const btTransform &trans);
void set_net_transform(CPT(TransformState) &ts);
void set_net_transform(const TransformState *ts);
void sync_b2p(PandaNode *node);
bool sync_disabled() const;

22
panda/src/bullet/bulletSliderConstraint.I
View File

@ -23,3 +23,25 @@ INLINE BulletSliderConstraint::
delete _constraint;
}
////////////////////////////////////////////////////////////////////
// Function: BulletSliderConstraint::get_frame_a
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE CPT(TransformState) BulletSliderConstraint::
get_frame_a() const {
return btTrans_to_TransformState(_constraint->getFrameOffsetA());
}
////////////////////////////////////////////////////////////////////
// Function: BulletSliderConstraint::get_frame_b
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
INLINE CPT(TransformState) BulletSliderConstraint::
get_frame_b() const {
return btTrans_to_TransformState(_constraint->getFrameOffsetB());
}

20
panda/src/bullet/bulletSliderConstraint.cxx
View File

@ -26,7 +26,7 @@ TypeHandle BulletSliderConstraint::_type_handle;
////////////////////////////////////////////////////////////////////
BulletSliderConstraint::
BulletSliderConstraint(const BulletRigidBodyNode *node_a,
CPT(TransformState) frame_a,
const TransformState *frame_a,
bool use_frame_a) {
btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
@ -43,8 +43,8 @@ BulletSliderConstraint(const BulletRigidBodyNode *node_a,
BulletSliderConstraint::
BulletSliderConstraint(const BulletRigidBodyNode *node_a,
const BulletRigidBodyNode *node_b,
CPT(TransformState) frame_a,
CPT(TransformState) frame_b,
const TransformState *frame_a,
const TransformState *frame_b,
bool use_frame_a) {
btRigidBody *ptr_a = btRigidBody::upcast(node_a->get_object());
@ -309,3 +309,17 @@ get_max_angular_motor_force() const {
return (PN_stdfloat)_constraint->getMaxAngMotorForce();
}
////////////////////////////////////////////////////////////////////
// Function: BulletSliderConstraint::set_frames
// Access: Published
// Description:
////////////////////////////////////////////////////////////////////
void BulletSliderConstraint::
set_frames(const TransformState *ts_a, const TransformState *ts_b) {
btTransform frame_a = TransformState_to_btTrans(ts_a);
btTransform frame_b = TransformState_to_btTrans(ts_b);
_constraint->setFrames(frame_a, frame_b);
}

11
panda/src/bullet/bulletSliderConstraint.h
View File

@ -33,12 +33,12 @@ class EXPCL_PANDABULLET BulletSliderConstraint : public BulletConstraint {
PUBLISHED:
BulletSliderConstraint(const BulletRigidBodyNode *node_a,
CPT(TransformState) frame_a,
const TransformState *frame_a,
bool useFrame_a);
BulletSliderConstraint(const BulletRigidBodyNode *node_a,
const BulletRigidBodyNode *node_b,
CPT(TransformState) frame_a,
CPT(TransformState) frame_b,
const TransformState *frame_a,
const TransformState *frame_b,
bool use_frame_a);
INLINE ~BulletSliderConstraint();
@ -71,6 +71,11 @@ PUBLISHED:
PN_stdfloat get_target_angular_motor_velocity() const;
PN_stdfloat get_max_angular_motor_force() const;
// Frames
void set_frames(const TransformState *ts_a, const TransformState *ts_b);
INLINE CPT(TransformState) get_frame_a() const;
INLINE CPT(TransformState) get_frame_b() const;
public:
virtual btTypedConstraint *ptr() const;

2
panda/src/bullet/bulletSphericalConstraint.h
View File

@ -46,9 +46,9 @@ PUBLISHED:
const LPoint3 &pivot_b);
INLINE ~BulletSphericalConstraint();
// Pivots
void set_pivot_a(const LPoint3 &pivot_a);
void set_pivot_b(const LPoint3 &pivot_b);
LPoint3 get_pivot_in_a() const;
LPoint3 get_pivot_in_b() const;

2
panda/src/bullet/bulletTriangleMesh.cxx
View File

@ -101,7 +101,7 @@ get_welding_distance() const {
// Description:
////////////////////////////////////////////////////////////////////
void BulletTriangleMesh::
add_geom(const Geom *geom, bool remove_duplicate_vertices, CPT(TransformState) ts) {
add_geom(const Geom *geom, bool remove_duplicate_vertices, const TransformState *ts) {
nassertv(geom);
nassertv(ts);

2
panda/src/bullet/bulletTriangleMesh.h
View File

@ -46,7 +46,7 @@ PUBLISHED:
bool remove_duplicate_vertices=false);
void add_geom(const Geom *geom,
bool remove_duplicate_vertices=false,
CPT(TransformState) ts=TransformState::make_identity());
const TransformState *ts=TransformState::make_identity());
void set_welding_distance(PN_stdfloat distance);
void preallocate(int num_verts, int num_indices);