extension functions for ODE classes
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rdb
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// Filename: odeBody_ext.I
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// Created by: rdb (11Dec13)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#include "odeJoint_ext.h"
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////////////////////////////////////////////////////////////////////
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// Function: OdeBody::get_converted_joint
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// Access: Published
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// Description: Equivalent to get_joint().convert()
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////////////////////////////////////////////////////////////////////
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INLINE PyObject *Extension<OdeBody>::
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get_converted_joint(int i) const {
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OdeJoint j = _this->get_joint(i);
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return invoke_extension(&j).convert();
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}
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// Filename: odeBody_ext.h
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// Created by: rdb (11Dec13)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#ifndef ODEBODY_EXT_H
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#define ODEBODY_EXT_H
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#include "dtoolbase.h"
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#ifdef HAVE_PYTHON
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#include "config_ode.h"
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#include "odeBody.h"
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#include "extension.h"
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#include "py_panda.h"
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////////////////////////////////////////////////////////////////////
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// Class : Extension<OdeBody>
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// Description : This class defines the extension methods for
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// NodePathCollection, which are called instead of
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// any C++ methods with the same prototype.
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////////////////////////////////////////////////////////////////////
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template<>
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class Extension<OdeBody> : public ExtensionBase<OdeBody> {
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public:
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INLINE PyObject *get_converted_joint(int i) const;
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};
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#include "odeBody_ext.I"
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#endif // HAVE_PYTHON
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#endif // ODEBODY_EXT_H
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// Filename: odeGeom_ext.I
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// Created by: rdb (11Dec13)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#include "odeSpace_ext.h"
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#include "lpoint3.h"
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#ifndef CPPPARSER
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IMPORT_THIS struct Dtool_PyTypedObject Dtool_LPoint3f;
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#endif
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////////////////////////////////////////////////////////////////////
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// Function: OdeGeom::get_AA_bounds
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// Access: Published
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// Description: A more Pythonic way of calling getAABB()
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////////////////////////////////////////////////////////////////////
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INLINE PyObject *Extension<OdeGeom>::
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get_AA_bounds() const {
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LPoint3f *min_point = new LPoint3f;
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LPoint3f *max_point = new LPoint3f;
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_this->get_AABB(*min_point, *max_point);
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PyObject *min_inst = DTool_CreatePyInstance((void*) min_point, Dtool_LPoint3f, true, false);
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PyObject *max_inst = DTool_CreatePyInstance((void*) max_point, Dtool_LPoint3f, true, false);
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return Py_BuildValue("NN", min_inst, max_inst);
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}
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////////////////////////////////////////////////////////////////////
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// Function: OdeGeom::get_converted_space
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// Access: Published
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// Description: Equivalent to get_space().convert()
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////////////////////////////////////////////////////////////////////
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INLINE PyObject *Extension<OdeGeom>::
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get_converted_space() const {
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OdeSpace s = _this->get_space();
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return invoke_extension(&s).convert();
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}
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// Filename: odeGeom_ext.cxx
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// Created by: rdb (11Dec13)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#include "odeGeom_ext.h"
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#include "odeBoxGeom.h"
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//#include "odeConvexGeom.h"
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#include "odeGeom.h"
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#include "odeHashSpace.h"
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#include "odeCappedCylinderGeom.h"
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//#include "odeHeightfieldGeom.h"
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#include "odePlaneGeom.h"
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#include "odeQuadTreeSpace.h"
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#include "odeRayGeom.h"
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#include "odeSimpleSpace.h"
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#include "odeSpace.h"
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#include "odeSphereGeom.h"
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#include "odeTriMeshGeom.h"
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#ifdef HAVE_PYTHON
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#ifndef CPPPARSER
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeBoxGeom;
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//extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeConvexGeom;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeGeom;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeHashSpace;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeCappedCylinderGeom;
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//extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeHeightfieldGeom;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdePlaneGeom;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeQuadTreeSpace;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeRayGeom;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeSimpleSpace;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeSpace;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeSphereGeom;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeTriMeshGeom;
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#endif
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////////////////////////////////////////////////////////////////////
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// Function: OdeGeom::convert
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// Access: Published
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// Description: Do a sort of pseudo-downcast on this space in
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// order to expose its specialized functions.
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////////////////////////////////////////////////////////////////////
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PyObject *Extension<OdeGeom>::
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convert() const {
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Dtool_PyTypedObject *class_type;
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TypedObject *geom;
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switch (_this->get_class()) {
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case OdeGeom::GC_sphere:
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geom = new OdeSphereGeom(_this->get_id());
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class_type = &Dtool_OdeSphereGeom;
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break;
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case OdeGeom::GC_box:
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geom = new OdeBoxGeom(_this->get_id());
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class_type = &Dtool_OdeBoxGeom;
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break;
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case OdeGeom::GC_capped_cylinder:
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geom = new OdeCappedCylinderGeom(_this->get_id());
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class_type = &Dtool_OdeCappedCylinderGeom;
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break;
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case OdeGeom::GC_plane:
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geom = new OdePlaneGeom(_this->get_id());
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class_type = &Dtool_OdePlaneGeom;
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break;
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case OdeGeom::GC_ray:
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geom = new OdeRayGeom(_this->get_id());
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class_type = &Dtool_OdeRayGeom;
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break;
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//case OdeGeom::GC_convex:
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// geom = new OdeConvexGeom(_this->get_id());
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// class_type = &Dtool_OdeConvexGeom;
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// break;
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case OdeGeom::GC_tri_mesh:
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geom = new OdeTriMeshGeom(_this->get_id());
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class_type = &Dtool_OdeTriMeshGeom;
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break;
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//case OdeGeom::GC_heightfield:
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// geom = new OdeHeightfieldGeom(_this->get_id());
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// class_type = &Dtool_OdeHeightfieldGeom;
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// break;
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case OdeGeom::GC_simple_space:
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geom = new OdeSimpleSpace((dSpaceID) _this->get_id());
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class_type = &Dtool_OdeSimpleSpace;
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break;
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case OdeGeom::GC_hash_space:
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geom = new OdeHashSpace((dSpaceID) _this->get_id());
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class_type = &Dtool_OdeHashSpace;
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break;
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case OdeGeom::GC_quad_tree_space:
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geom = new OdeQuadTreeSpace((dSpaceID) _this->get_id());
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class_type = &Dtool_OdeQuadTreeSpace;
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break;
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default:
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// This shouldn't happen, but if it does, we
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// should just return a regular OdeGeom or OdeSpace.
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if (_this->is_space()) {
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geom = new OdeSpace((dSpaceID) _this->get_id());
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class_type = &Dtool_OdeSpace;
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} else {
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geom = new OdeGeom(_this->get_id());
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class_type = &Dtool_OdeGeom;
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}
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}
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return DTool_CreatePyInstanceTyped((void *)geom, *class_type,
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true, false, geom->get_type_index());
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}
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#endif // HAVE_PYTHON
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// Filename: odeGeom_ext.h
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// Created by: rdb (11Dec13)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#ifndef ODEGEOM_EXT_H
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#define ODEGEOM_EXT_H
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#include "dtoolbase.h"
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#ifdef HAVE_PYTHON
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#include "config_ode.h"
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#include "odeGeom.h"
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#include "extension.h"
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#include "py_panda.h"
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////////////////////////////////////////////////////////////////////
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// Class : Extension<OdeGeom>
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// Description : This class defines the extension methods for
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// NodePathCollection, which are called instead of
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// any C++ methods with the same prototype.
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////////////////////////////////////////////////////////////////////
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template<>
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class Extension<OdeGeom> : public ExtensionBase<OdeGeom> {
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public:
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INLINE PyObject *get_AA_bounds() const;
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PyObject *convert() const;
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INLINE PyObject *get_converted_space() const;
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};
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#include "odeGeom_ext.I"
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#endif // HAVE_PYTHON
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#endif // ODEGEOM_EXT_H
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// Filename: odeJoint_ext.cxx
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// Created by: rdb (11Dec13)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#include "odeJoint_ext.h"
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#ifdef HAVE_PYTHON
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#include "odeJoint.h"
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#include "odeBallJoint.h"
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#include "odeHingeJoint.h"
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#include "odeSliderJoint.h"
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#include "odeContactJoint.h"
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#include "odeUniversalJoint.h"
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#include "odeHinge2Joint.h"
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#include "odeFixedJoint.h"
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#include "odeNullJoint.h"
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#include "odeAMotorJoint.h"
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#include "odeLMotorJoint.h"
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#include "odePlane2dJoint.h"
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#ifndef CPPPARSER
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeBallJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeHingeJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeSliderJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeContactJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeUniversalJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeHinge2Joint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeFixedJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeNullJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeAMotorJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeLMotorJoint;
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extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdePlane2dJoint;
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#endif
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////////////////////////////////////////////////////////////////////
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// Function: OdeJoint::attach
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// Access: Published
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// Description: Attach two bodies together. If either body is None,
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// the other will be attached to the environment.
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////////////////////////////////////////////////////////////////////
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void Extension<OdeJoint>::
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attach(const OdeBody *body1, const OdeBody *body2) {
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if (body1 && body2) {
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_this->attach_bodies(*body1, *body2);
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} else if (body1 && !body2) {
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_this->attach_body(*body1, 0);
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} else if (!body1 && body2) {
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_this->attach_body(*body2, 1);
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}
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}
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////////////////////////////////////////////////////////////////////
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// Function: OdeJoint::convert
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// Access: Published
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// Description: Do a sort of pseudo-downcast on this space in
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// order to expose its specialized functions.
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////////////////////////////////////////////////////////////////////
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PyObject *Extension<OdeJoint>::
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convert() const {
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Dtool_PyTypedObject *class_type;
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OdeJoint *joint;
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switch (_this->get_joint_type()) {
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case OdeJoint::JT_ball:
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joint = new OdeBallJoint(_this->get_id());
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class_type = &Dtool_OdeBallJoint;
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break;
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case OdeJoint::JT_hinge:
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joint = new OdeHingeJoint(_this->get_id());
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class_type = &Dtool_OdeHingeJoint;
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break;
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case OdeJoint::JT_slider:
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joint = new OdeSliderJoint(_this->get_id());
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class_type = &Dtool_OdeSliderJoint;
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break;
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case OdeJoint::JT_contact:
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joint = new OdeContactJoint(_this->get_id());
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class_type = &Dtool_OdeContactJoint;
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break;
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case OdeJoint::JT_universal:
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joint = new OdeUniversalJoint(_this->get_id());
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class_type = &Dtool_OdeUniversalJoint;
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break;
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case OdeJoint::JT_hinge2:
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joint = new OdeHinge2Joint(_this->get_id());
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class_type = &Dtool_OdeHinge2Joint;
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break;
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case OdeJoint::JT_fixed:
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joint = new OdeFixedJoint(_this->get_id());
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class_type = &Dtool_OdeFixedJoint;
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break;
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case OdeJoint::JT_null:
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joint = new OdeNullJoint(_this->get_id());
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class_type = &Dtool_OdeNullJoint;
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break;
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case OdeJoint::JT_a_motor:
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joint = new OdeAMotorJoint(_this->get_id());
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class_type = &Dtool_OdeAMotorJoint;
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break;
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case OdeJoint::JT_l_motor:
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joint = new OdeLMotorJoint(_this->get_id());
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class_type = &Dtool_OdeLMotorJoint;
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break;
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case OdeJoint::JT_plane2d:
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joint = new OdePlane2dJoint(_this->get_id());
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class_type = &Dtool_OdePlane2dJoint;
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break;
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default:
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// This shouldn't happen, but if it does, we
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// should just return a regular OdeJoint.
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joint = new OdeJoint(_this->get_id());
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class_type = &Dtool_OdeJoint;
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}
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return DTool_CreatePyInstanceTyped((void *)joint, *class_type,
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true, false, joint->get_type_index());
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}
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#endif // HAVE_PYTHON
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@ -0,0 +1,43 @@
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// Filename: odeJoint_ext.h
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// Created by: rdb (11Dec13)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// 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."
|
||||
//
|
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////////////////////////////////////////////////////////////////////
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#ifndef ODEJOINT_EXT_H
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#define ODEJOINT_EXT_H
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#include "dtoolbase.h"
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#ifdef HAVE_PYTHON
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#include "config_ode.h"
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#include "odeJoint.h"
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#include "extension.h"
|
||||
#include "py_panda.h"
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Class : Extension<OdeJoint>
|
||||
// Description : This class defines the extension methods for
|
||||
// NodePathCollection, which are called instead of
|
||||
// any C++ methods with the same prototype.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
template<>
|
||||
class Extension<OdeJoint> : public ExtensionBase<OdeJoint> {
|
||||
public:
|
||||
void attach(const OdeBody *body1, const OdeBody *body2);
|
||||
|
||||
PyObject *convert() const;
|
||||
};
|
||||
|
||||
#endif // HAVE_PYTHON
|
||||
|
||||
#endif // ODEJOINT_EXT_H
|
||||
|
|
@ -0,0 +1,58 @@
|
|||
// Filename: odeSpace_ext.I
|
||||
// Created by: rdb (11Dec13)
|
||||
//
|
||||
////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// 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."
|
||||
//
|
||||
////////////////////////////////////////////////////////////////////
|
||||
|
||||
/* okcircular */
|
||||
#include "odeGeom_ext.h"
|
||||
|
||||
#ifndef CPPPARSER
|
||||
IMPORT_THIS struct Dtool_PyTypedObject Dtool_LPoint3f;
|
||||
#endif
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Function: OdeSpace::get_AA_bounds
|
||||
// Access: Published
|
||||
// Description: A more Pythonic way of calling getAABB()
|
||||
////////////////////////////////////////////////////////////////////
|
||||
INLINE PyObject *Extension<OdeSpace>::
|
||||
get_AA_bounds() const {
|
||||
LPoint3f *min_point = new LPoint3f;
|
||||
LPoint3f *max_point = new LPoint3f;
|
||||
_this->get_AABB(*min_point, *max_point);
|
||||
|
||||
PyObject *min_inst = DTool_CreatePyInstance((void*) min_point, Dtool_LPoint3f, true, false);
|
||||
PyObject *max_inst = DTool_CreatePyInstance((void*) max_point, Dtool_LPoint3f, true, false);
|
||||
return Py_BuildValue("NN", min_inst, max_inst);
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Function: OdeSpace::get_converted_geom
|
||||
// Access: Published
|
||||
// Description: Equivalent to get_geom(index).convert()
|
||||
////////////////////////////////////////////////////////////////////
|
||||
INLINE PyObject *Extension<OdeSpace>::
|
||||
get_converted_geom(int index) const {
|
||||
OdeGeom g = _this->get_geom(index);
|
||||
return invoke_extension(&g).convert();
|
||||
}
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Function: OdeSpace::get_converted_space
|
||||
// Access: Published
|
||||
// Description: Equivalent to get_space().convert()
|
||||
////////////////////////////////////////////////////////////////////
|
||||
INLINE PyObject *Extension<OdeSpace>::
|
||||
get_converted_space() const {
|
||||
OdeSpace s = _this->get_space();
|
||||
return invoke_extension(&s).convert();
|
||||
}
|
||||
|
|
@ -0,0 +1,112 @@
|
|||
// Filename: odeSpace_ext.cxx
|
||||
// Created by: rdb (10Dec13)
|
||||
//
|
||||
////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// 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 "odeSpace_ext.h"
|
||||
#include "config_ode.h"
|
||||
|
||||
#ifdef HAVE_PYTHON
|
||||
|
||||
#include "odeGeom.h"
|
||||
#include "odeHashSpace.h"
|
||||
#include "odeSimpleSpace.h"
|
||||
#include "odeSpace.h"
|
||||
#include "odeQuadTreeSpace.h"
|
||||
|
||||
#ifndef CPPPARSER
|
||||
extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeHashSpace;
|
||||
extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeSimpleSpace;
|
||||
extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeSpace;
|
||||
extern EXPCL_PANDAODE Dtool_PyTypedObject Dtool_OdeQuadTreeSpace;
|
||||
#endif
|
||||
|
||||
PyObject *Extension<OdeSpace>::_python_callback = NULL;
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Function: OdeSpace::convert
|
||||
// Access: Published
|
||||
// Description: Do a sort of pseudo-downcast on this space in
|
||||
// order to expose its specialized functions.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
PyObject *Extension<OdeSpace>::
|
||||
convert() const {
|
||||
Dtool_PyTypedObject *class_type;
|
||||
OdeSpace *space;
|
||||
|
||||
switch (_this->get_class()) {
|
||||
case OdeGeom::GC_simple_space:
|
||||
space = new OdeSimpleSpace(_this->get_id());
|
||||
class_type = &Dtool_OdeSimpleSpace;
|
||||
break;
|
||||
|
||||
case OdeGeom::GC_hash_space:
|
||||
space = new OdeHashSpace(_this->get_id());
|
||||
class_type = &Dtool_OdeHashSpace;
|
||||
break;
|
||||
|
||||
case OdeGeom::GC_quad_tree_space:
|
||||
space = new OdeQuadTreeSpace(_this->get_id());
|
||||
class_type = &Dtool_OdeQuadTreeSpace;
|
||||
break;
|
||||
|
||||
default:
|
||||
// This shouldn't happen, but if it does, we
|
||||
// should just return a regular OdeSpace.
|
||||
space = new OdeSpace(_this->get_id());
|
||||
class_type = &Dtool_OdeSpace;
|
||||
}
|
||||
|
||||
return DTool_CreatePyInstanceTyped((void *)space, *class_type,
|
||||
true, false, space->get_type_index());
|
||||
}
|
||||
|
||||
int Extension<OdeSpace>::
|
||||
collide(PyObject* arg, PyObject* callback) {
|
||||
nassertr(callback != NULL, -1);
|
||||
|
||||
if (!PyCallable_Check(callback)) {
|
||||
PyErr_Format(PyExc_TypeError, "'%s' object is not callable", callback->ob_type->tp_name);
|
||||
return -1;
|
||||
|
||||
} else if (_this->get_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 {
|
||||
_python_callback = (PyObject*) callback;
|
||||
Py_XINCREF(_python_callback);
|
||||
dSpaceCollide(_this->get_id(), (void*) arg, &near_callback);
|
||||
Py_XDECREF(_python_callback);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
void Extension<OdeSpace>::
|
||||
near_callback(void *data, dGeomID o1, dGeomID o2) {
|
||||
OdeGeom g1 (o1);
|
||||
OdeGeom g2 (o2);
|
||||
PyObject* p1 = invoke_extension(&g1).convert();
|
||||
PyObject* p2 = invoke_extension(&g2).convert();
|
||||
PyObject *result = PyObject_CallFunctionObjArgs(_python_callback, (PyObject*) data, p1, p2, NULL);
|
||||
if (!result) {
|
||||
odespace_cat.error() << "An error occurred while calling python function!\n";
|
||||
PyErr_Print();
|
||||
} else {
|
||||
Py_DECREF(result);
|
||||
}
|
||||
Py_XDECREF(p2);
|
||||
Py_XDECREF(p1);
|
||||
}
|
||||
|
||||
#endif // HAVE_PYTHON
|
||||
|
|
@ -0,0 +1,54 @@
|
|||
// Filename: odeSpace_ext.h
|
||||
// Created by: rdb (10Dec13)
|
||||
//
|
||||
////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// 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 ODESPACE_EXT_H
|
||||
#define ODESPACE_EXT_H
|
||||
|
||||
#include "dtoolbase.h"
|
||||
|
||||
#ifdef HAVE_PYTHON
|
||||
|
||||
#include "config_ode.h"
|
||||
#include "odeSpace.h"
|
||||
#include "extension.h"
|
||||
#include "py_panda.h"
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Class : Extension<OdeSpace>
|
||||
// Description : This class defines the extension methods for
|
||||
// NodePathCollection, which are called instead of
|
||||
// any C++ methods with the same prototype.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
template<>
|
||||
class Extension<OdeSpace> : public ExtensionBase<OdeSpace> {
|
||||
public:
|
||||
INLINE PyObject *get_AA_bounds() const;
|
||||
|
||||
PyObject *convert() const;
|
||||
INLINE PyObject *get_converted_geom(int index) const;
|
||||
INLINE PyObject *get_converted_space() const;
|
||||
|
||||
int collide(PyObject* arg, PyObject* near_callback);
|
||||
|
||||
private:
|
||||
static void near_callback(void*, dGeomID, dGeomID);
|
||||
|
||||
static PyObject *_python_callback;
|
||||
};
|
||||
|
||||
#include "odeSpace_ext.I"
|
||||
|
||||
#endif // HAVE_PYTHON
|
||||
|
||||
#endif // ODESPACE_EXT_H
|
||||
|
|
@ -0,0 +1,66 @@
|
|||
// Filename: odeUtil_ext.cxx
|
||||
// Created by: rdb (10Dec13)
|
||||
//
|
||||
////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// 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 "odeUtil_ext.h"
|
||||
#include "config_ode.h"
|
||||
#include "odeGeom.h"
|
||||
#include "odeGeom_ext.h"
|
||||
|
||||
#ifdef HAVE_PYTHON
|
||||
|
||||
PyObject *Extension<OdeUtil>::_python_callback = NULL;
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Function: OdeUtil::collide2
|
||||
// Access: Public, Static
|
||||
// Description: Calls the callback for all potentially intersecting
|
||||
// pairs that contain one geom from geom1 and one geom
|
||||
// from geom2.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
int Extension<OdeUtil>::
|
||||
collide2(const OdeGeom &geom1, const OdeGeom &geom2, PyObject* arg, PyObject* callback) {
|
||||
nassertr(callback != NULL, -1);
|
||||
if (!PyCallable_Check(callback)) {
|
||||
PyErr_Format(PyExc_TypeError, "'%s' object is not callable", callback->ob_type->tp_name);
|
||||
return -1;
|
||||
} else {
|
||||
_python_callback = (PyObject*) callback;
|
||||
Py_XINCREF(_python_callback);
|
||||
dSpaceCollide2(geom1.get_id(), geom2.get_id(), (void*) arg, &near_callback);
|
||||
Py_XDECREF(_python_callback);
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
void Extension<OdeUtil>::
|
||||
near_callback(void *data, dGeomID o1, dGeomID o2) {
|
||||
if (ode_cat.is_spam()) {
|
||||
ode_cat.spam()
|
||||
<< "near_callback called, data: " << data << ", dGeomID1: " << o1 << ", dGeomID2: " << o2 << "\n";
|
||||
}
|
||||
|
||||
OdeGeom g1 (o1);
|
||||
OdeGeom g2 (o2);
|
||||
PyObject* p1 = invoke_extension(&g1).convert();
|
||||
PyObject* p2 = invoke_extension(&g2).convert();
|
||||
PyObject* result = PyObject_CallFunctionObjArgs(_python_callback, (PyObject*) data, p1, p2, NULL);
|
||||
if (!result) {
|
||||
ode_cat.error() << "An error occurred while calling python function!\n";
|
||||
PyErr_Print();
|
||||
}
|
||||
Py_XDECREF(p1);
|
||||
Py_XDECREF(p2);
|
||||
}
|
||||
|
||||
#endif // HAVE_PYTHON
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
// Filename: odeUtil_ext.h
|
||||
// Created by: rdb (10Dec13)
|
||||
//
|
||||
////////////////////////////////////////////////////////////////////
|
||||
//
|
||||
// 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 ODEUTIL_EXT_H
|
||||
#define ODEUTIL_EXT_H
|
||||
|
||||
#include "dtoolbase.h"
|
||||
|
||||
#ifdef HAVE_PYTHON
|
||||
|
||||
#include "config_ode.h"
|
||||
#include "odeUtil.h"
|
||||
#include "extension.h"
|
||||
#include "py_panda.h"
|
||||
|
||||
////////////////////////////////////////////////////////////////////
|
||||
// Class : Extension<OdeUtil>
|
||||
// Description : This class defines the extension methods for
|
||||
// NodePathCollection, which are called instead of
|
||||
// any C++ methods with the same prototype.
|
||||
////////////////////////////////////////////////////////////////////
|
||||
template<>
|
||||
class Extension<OdeUtil> : public ExtensionBase<OdeUtil> {
|
||||
public:
|
||||
static int collide2(const OdeGeom &geom1, const OdeGeom &geom2,
|
||||
PyObject* arg, PyObject* callback);
|
||||
|
||||
private:
|
||||
static void near_callback(void*, dGeomID, dGeomID);
|
||||
|
||||
static PyObject *_python_callback;
|
||||
};
|
||||
|
||||
#endif // HAVE_PYTHON
|
||||
|
||||
#endif // ODEUTIL_EXT_H
|
||||
Loading…
Reference in New Issue