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bullet: make thread-safe by adding global lock mechanism 

Also addresses some memory leaks.
This commit is contained in:
deflected 2018-02-21 15:04:47 +01:00 committed by rdb
parent 7aedc21510
commit 9afdb78d94
100 changed files with 3469 additions and 2519 deletions
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4
panda/src/bullet/bulletBaseCharacterControllerNode.h
View File

@ -43,8 +43,8 @@ public:
virtual btPairCachingGhostObject *get_ghost() const = 0;
virtual btCharacterControllerInterface *get_character() const = 0;
virtual void sync_p2b(PN_stdfloat dt, int num_substeps) = 0;
virtual void sync_b2p() = 0;
virtual void do_sync_p2b(PN_stdfloat dt, int num_substeps) = 0;
virtual void do_sync_b2p() = 0;
public:
static TypeHandle get_class_type() {

129
panda/src/bullet/bulletBodyNode.I
View File

@ -84,51 +84,6 @@ get_collision_response() const {
return !get_collision_flag(btCollisionObject::CF_NO_CONTACT_RESPONSE);
}
/**
*
*/
INLINE void BulletBodyNode::
set_collision_flag(int flag, bool value) {
int flags = get_object()->getCollisionFlags();
if (value == true) {
flags |= flag;
}
else {
flags &= ~(flag);
}
get_object()->setCollisionFlags(flags);
}
/**
*
*/
INLINE bool BulletBodyNode::
get_collision_flag(int flag) const {
return (get_object()->getCollisionFlags() & flag) ? true : false;
}
/**
*
*/
INLINE bool BulletBodyNode::
is_static() const {
return get_object()->isStaticObject();
}
/**
*
*/
INLINE bool BulletBodyNode::
is_kinematic() const {
return get_object()->isKinematicObject();
}
/**
*
*/
@ -147,90 +102,6 @@ set_kinematic(bool value) {
set_collision_flag(btCollisionObject::CF_KINEMATIC_OBJECT, value);
}
/**
*
*/
INLINE PN_stdfloat BulletBodyNode::
get_restitution() const {
return get_object()->getRestitution();
}
/**
*
*/
INLINE void BulletBodyNode::
set_restitution(PN_stdfloat restitution) {
return get_object()->setRestitution(restitution);
}
/**
*
*/
INLINE PN_stdfloat BulletBodyNode::
get_friction() const {
return get_object()->getFriction();
}
/**
*
*/
INLINE void BulletBodyNode::
set_friction(PN_stdfloat friction) {
return get_object()->setFriction(friction);
}
#if BT_BULLET_VERSION >= 281
/**
*
*/
INLINE PN_stdfloat BulletBodyNode::
get_rolling_friction() const {
return get_object()->getRollingFriction();
}
/**
*
*/
INLINE void BulletBodyNode::
set_rolling_friction(PN_stdfloat friction) {
return get_object()->setRollingFriction(friction);
}
#endif
/**
*
*/
INLINE bool BulletBodyNode::
has_anisotropic_friction() const {
return get_object()->hasAnisotropicFriction();
}
/**
*
*/
INLINE int BulletBodyNode::
get_num_shapes() const {
return _shapes.size();
}
/**
*
*/
INLINE BulletShape *BulletBodyNode::
get_shape(int idx) const {
nassertr(idx >= 0 && idx < (int)_shapes.size(), NULL);
return _shapes[idx];
}
/**
* Enables or disables the debug visualisation for this collision object. By
* default the debug visualisation is enabled.

240
panda/src/bullet/bulletBodyNode.cxx
View File

@ -41,9 +41,11 @@ BulletBodyNode(const char *name) : PandaNode(name) {
*/
BulletBodyNode::
BulletBodyNode(const BulletBodyNode &copy) :
PandaNode(copy),
_shapes(copy._shapes)
PandaNode(copy)
{
LightMutexHolder holder(BulletWorld::get_global_lock());
_shapes = copy._shapes;
if (copy._shape && copy._shape->getShapeType() == COMPOUND_SHAPE_PROXYTYPE) {
// btCompoundShape does not define a copy constructor. Manually copy.
btCompoundShape *shape = new btCompoundShape;
@ -148,16 +150,168 @@ safe_to_flatten_below() const {
*
*/
void BulletBodyNode::
output(ostream &out) const {
do_output(ostream &out) const {
PandaNode::output(out);
out << " (" << get_num_shapes() << " shapes)";
out << " (" << _shapes.size() << " shapes)";
out << (is_active() ? " active" : " inactive");
out << (get_object()->isActive() ? " active" : " inactive");
if (is_static()) out << " static";
if (is_kinematic()) out << " kinematic";
if (get_object()->isStaticObject()) out << " static";
if (get_object()->isKinematicObject()) out << " kinematic";
}
/**
*
*/
void BulletBodyNode::
output(ostream &out) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
do_output(out);
}
/**
*
*/
void BulletBodyNode::
set_collision_flag(int flag, bool value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
int flags = get_object()->getCollisionFlags();
if (value == true) {
flags |= flag;
}
else {
flags &= ~(flag);
}
get_object()->setCollisionFlags(flags);
}
/**
*
*/
bool BulletBodyNode::
get_collision_flag(int flag) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (get_object()->getCollisionFlags() & flag) ? true : false;
}
/**
*
*/
bool BulletBodyNode::
is_static() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->isStaticObject();
}
/**
*
*/
bool BulletBodyNode::
is_kinematic() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->isKinematicObject();
}
/**
*
*/
PN_stdfloat BulletBodyNode::
get_restitution() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->getRestitution();
}
/**
*
*/
void BulletBodyNode::
set_restitution(PN_stdfloat restitution) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->setRestitution(restitution);
}
/**
*
*/
PN_stdfloat BulletBodyNode::
get_friction() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->getFriction();
}
/**
*
*/
void BulletBodyNode::
set_friction(PN_stdfloat friction) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->setFriction(friction);
}
#if BT_BULLET_VERSION >= 281
/**
*
*/
PN_stdfloat BulletBodyNode::
get_rolling_friction() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->getRollingFriction();
}
/**
*
*/
void BulletBodyNode::
set_rolling_friction(PN_stdfloat friction) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->setRollingFriction(friction);
}
#endif
/**
*
*/
bool BulletBodyNode::
has_anisotropic_friction() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->hasAnisotropicFriction();
}
/**
*
*/
int BulletBodyNode::
get_num_shapes() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _shapes.size();
}
/**
*
*/
BulletShape *BulletBodyNode::
get_shape(int idx) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(idx >= 0 && idx < (int)_shapes.size(), NULL);
return _shapes[idx];
}
/**
@ -165,6 +319,16 @@ output(ostream &out) const {
*/
void BulletBodyNode::
add_shape(BulletShape *bullet_shape, const TransformState *ts) {
LightMutexHolder holder(BulletWorld::get_global_lock());
do_add_shape(bullet_shape, ts);
}
/**
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletBodyNode::
do_add_shape(BulletShape *bullet_shape, const TransformState *ts) {
nassertv(get_object());
nassertv(ts);
@ -246,7 +410,7 @@ add_shape(BulletShape *bullet_shape, const TransformState *ts) {
// Restore the local scaling again
np.set_scale(scale);
shape_changed();
do_shape_changed();
}
/**
@ -254,6 +418,7 @@ add_shape(BulletShape *bullet_shape, const TransformState *ts) {
*/
void BulletBodyNode::
remove_shape(BulletShape *shape) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(get_object());
@ -312,7 +477,7 @@ remove_shape(BulletShape *shape) {
compound->removeChildShape(shape->ptr());
}
shape_changed();
do_shape_changed();
}
}
@ -333,6 +498,7 @@ is_identity(btTransform &trans) {
*/
LPoint3 BulletBodyNode::
get_shape_pos(int idx) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(idx >= 0 && idx < (int)_shapes.size(), LPoint3::zero());
@ -352,14 +518,17 @@ get_shape_pos(int idx) const {
*/
LMatrix4 BulletBodyNode::
get_shape_mat(int idx) const {
return get_shape_transform(idx)->get_mat();
LightMutexHolder holder(BulletWorld::get_global_lock());
return do_get_shape_transform(idx)->get_mat();
}
/**
*
*/
CPT(TransformState) BulletBodyNode::
get_shape_transform(int idx) const {
do_get_shape_transform(int idx) const {
nassertr(idx >= 0 && idx < (int)_shapes.size(), TransformState::make_identity());
btCollisionShape *root = get_object()->getCollisionShape();
@ -386,13 +555,25 @@ get_shape_transform(int idx) const {
return TransformState::make_identity();
}
/**
*
*/
CPT(TransformState) BulletBodyNode::
get_shape_transform(int idx) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return do_get_shape_transform(idx);
}
/**
* Hook which will be called whenever the total shape of a body changed. Used
* for example to update the mass properties (inertia) of a rigid body. The
* default implementation does nothing.
* Assumes the lock(bullet global lock) is held
*/
void BulletBodyNode::
shape_changed() {
do_shape_changed() {
}
@ -401,6 +582,7 @@ shape_changed() {
*/
void BulletBodyNode::
set_deactivation_time(PN_stdfloat dt) {
LightMutexHolder holder(BulletWorld::get_global_lock());
get_object()->setDeactivationTime(dt);
}
@ -410,6 +592,7 @@ set_deactivation_time(PN_stdfloat dt) {
*/
PN_stdfloat BulletBodyNode::
get_deactivation_time() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->getDeactivationTime();
}
@ -419,6 +602,7 @@ get_deactivation_time() const {
*/
bool BulletBodyNode::
is_active() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->isActive();
}
@ -428,6 +612,7 @@ is_active() const {
*/
void BulletBodyNode::
set_active(bool active, bool force) {
LightMutexHolder holder(BulletWorld::get_global_lock());
if (active) {
get_object()->activate(force);
@ -457,10 +642,12 @@ force_active(bool active) {
*/
void BulletBodyNode::
set_deactivation_enabled(bool enabled) {
LightMutexHolder holder(BulletWorld::get_global_lock());
// Don't change the state if it's currently active and we enable
// deactivation.
if (enabled != is_deactivation_enabled()) {
bool is_enabled = get_object()->getActivationState() != DISABLE_DEACTIVATION;
if (enabled != is_enabled) {
// It's OK to set to ACTIVE_TAG even if we don't mean to activate it; it
// will be disabled right away if the deactivation timer has run out.
@ -474,6 +661,7 @@ set_deactivation_enabled(bool enabled) {
*/
bool BulletBodyNode::
is_deactivation_enabled() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (get_object()->getActivationState() != DISABLE_DEACTIVATION);
}
@ -483,6 +671,7 @@ is_deactivation_enabled() const {
*/
bool BulletBodyNode::
check_collision_with(PandaNode *node) {
LightMutexHolder holder(BulletWorld::get_global_lock());
btCollisionObject *obj = BulletWorld::get_collision_object(node);
@ -499,6 +688,7 @@ check_collision_with(PandaNode *node) {
*/
LVecBase3 BulletBodyNode::
get_anisotropic_friction() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVecBase3(get_object()->getAnisotropicFriction());
}
@ -508,6 +698,7 @@ get_anisotropic_friction() const {
*/
void BulletBodyNode::
set_anisotropic_friction(const LVecBase3 &friction) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!friction.is_nan());
get_object()->setAnisotropicFriction(LVecBase3_to_btVector3(friction));
@ -518,6 +709,7 @@ set_anisotropic_friction(const LVecBase3 &friction) {
*/
bool BulletBodyNode::
has_contact_response() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->hasContactResponse();
}
@ -527,7 +719,8 @@ has_contact_response() const {
*/
PN_stdfloat BulletBodyNode::
get_contact_processing_threshold() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->getContactProcessingThreshold();
}
@ -537,6 +730,7 @@ get_contact_processing_threshold() const {
*/
void BulletBodyNode::
set_contact_processing_threshold(PN_stdfloat threshold) {
LightMutexHolder holder(BulletWorld::get_global_lock());
get_object()->setContactProcessingThreshold(threshold);
}
@ -546,6 +740,7 @@ set_contact_processing_threshold(PN_stdfloat threshold) {
*/
PN_stdfloat BulletBodyNode::
get_ccd_swept_sphere_radius() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->getCcdSweptSphereRadius();
}
@ -555,6 +750,7 @@ get_ccd_swept_sphere_radius() const {
*/
void BulletBodyNode::
set_ccd_swept_sphere_radius(PN_stdfloat radius) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->setCcdSweptSphereRadius(radius);
}
@ -564,6 +760,7 @@ set_ccd_swept_sphere_radius(PN_stdfloat radius) {
*/
PN_stdfloat BulletBodyNode::
get_ccd_motion_threshold() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->getCcdMotionThreshold();
}
@ -573,6 +770,7 @@ get_ccd_motion_threshold() const {
*/
void BulletBodyNode::
set_ccd_motion_threshold(PN_stdfloat threshold) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return get_object()->setCcdMotionThreshold(threshold);
}
@ -582,6 +780,7 @@ set_ccd_motion_threshold(PN_stdfloat threshold) {
*/
void BulletBodyNode::
add_shapes_from_collision_solids(CollisionNode *cnode) {
LightMutexHolder holder(BulletWorld::get_global_lock());
PT(BulletTriangleMesh) mesh = NULL;
@ -594,7 +793,7 @@ add_shapes_from_collision_solids(CollisionNode *cnode) {
CPT(CollisionSphere) sphere = DCAST(CollisionSphere, solid);
CPT(TransformState) ts = TransformState::make_pos(sphere->get_center());
add_shape(BulletSphereShape::make_from_solid(sphere), ts);
do_add_shape(BulletSphereShape::make_from_solid(sphere), ts);
}
// CollisionBox
@ -602,14 +801,14 @@ add_shapes_from_collision_solids(CollisionNode *cnode) {
CPT(CollisionBox) box = DCAST(CollisionBox, solid);
CPT(TransformState) ts = TransformState::make_pos(box->get_center());
add_shape(BulletBoxShape::make_from_solid(box), ts);
do_add_shape(BulletBoxShape::make_from_solid(box), ts);
}
// CollisionPlane
else if (CollisionPlane::get_class_type() == type) {
CPT(CollisionPlane) plane = DCAST(CollisionPlane, solid);
add_shape(BulletPlaneShape::make_from_solid(plane));
do_add_shape(BulletPlaneShape::make_from_solid(plane));
}
// CollisionGeom
@ -625,13 +824,13 @@ add_shapes_from_collision_solids(CollisionNode *cnode) {
LPoint3 p2 = polygon->get_point(i-1);
LPoint3 p3 = polygon->get_point(i);
mesh->add_triangle(p1, p2, p3, true);
mesh->do_add_triangle(p1, p2, p3, true);
}
}
}
if (mesh && mesh->get_num_triangles() > 0) {
add_shape(new BulletTriangleMeshShape(mesh, true));
if (mesh && mesh->do_get_num_triangles() > 0) {
do_add_shape(new BulletTriangleMeshShape(mesh, true));
}
}
@ -651,6 +850,7 @@ set_transform_dirty() {
*/
BoundingSphere BulletBodyNode::
get_shape_bounds() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
/*
btTransform tr;

31
panda/src/bullet/bulletBodyNode.h
View File

@ -42,8 +42,8 @@ PUBLISHED:
void add_shape(BulletShape *shape, const TransformState *xform=TransformState::make_identity());
void remove_shape(BulletShape *shape);
INLINE int get_num_shapes() const;
INLINE BulletShape *get_shape(int idx) const;
int get_num_shapes() const;
BulletShape *get_shape(int idx) const;
MAKE_SEQ(get_shapes, get_num_shapes, get_shape);
LPoint3 get_shape_pos(int idx) const;
@ -54,8 +54,8 @@ PUBLISHED:
void add_shapes_from_collision_solids(CollisionNode *cnode);
// Static and kinematic
INLINE bool is_static() const;
INLINE bool is_kinematic() const;
bool is_static() const;
bool is_kinematic() const;
INLINE void set_static(bool value);
INLINE void set_kinematic(bool value);
@ -92,19 +92,19 @@ PUBLISHED:
INLINE bool is_debug_enabled() const;
// Friction and Restitution
INLINE PN_stdfloat get_restitution() const;
INLINE void set_restitution(PN_stdfloat restitution);
PN_stdfloat get_restitution() const;
void set_restitution(PN_stdfloat restitution);
INLINE PN_stdfloat get_friction() const;
INLINE void set_friction(PN_stdfloat friction);
PN_stdfloat get_friction() const;
void set_friction(PN_stdfloat friction);
#if BT_BULLET_VERSION >= 281
INLINE PN_stdfloat get_rolling_friction() const;
INLINE void set_rolling_friction(PN_stdfloat friction);
PN_stdfloat get_rolling_friction() const;
void set_rolling_friction(PN_stdfloat friction);
MAKE_PROPERTY(rolling_friction, get_rolling_friction, set_rolling_friction);
#endif
INLINE bool has_anisotropic_friction() const;
bool has_anisotropic_friction() const;
void set_anisotropic_friction(const LVecBase3 &friction);
LVecBase3 get_anisotropic_friction() const;
@ -151,10 +151,11 @@ public:
virtual bool safe_to_flatten_below() const;
virtual void output(ostream &out) const;
virtual void do_output(ostream &out) const;
protected:
INLINE void set_collision_flag(int flag, bool value);
INLINE bool get_collision_flag(int flag) const;
void set_collision_flag(int flag, bool value);
bool get_collision_flag(int flag) const;
btCollisionShape *_shape;
@ -162,7 +163,9 @@ protected:
BulletShapes _shapes;
private:
virtual void shape_changed();
virtual void do_shape_changed();
void do_add_shape(BulletShape *shape, const TransformState *xform=TransformState::make_identity());
CPT(TransformState) do_get_shape_transform(int idx) const;
static bool is_identity(btTransform &trans);

17
panda/src/bullet/bulletBoxShape.I
View File

@ -28,20 +28,3 @@ INLINE BulletBoxShape::
delete _shape;
}
/**
*
*/
INLINE BulletBoxShape::
BulletBoxShape(const BulletBoxShape &copy) :
_shape(copy._shape), _half_extents(copy._half_extents) {
}
/**
*
*/
INLINE void BulletBoxShape::
operator = (const BulletBoxShape &copy) {
_shape = copy._shape;
_half_extents = copy._half_extents;
}

24
panda/src/bullet/bulletBoxShape.cxx
View File

@ -28,6 +28,28 @@ BulletBoxShape(const LVecBase3 &halfExtents) : _half_extents(halfExtents) {
_shape->setUserPointer(this);
}
/**
*
*/
BulletBoxShape::
BulletBoxShape(const BulletBoxShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_half_extents = copy._half_extents;
}
/**
*
*/
void BulletBoxShape::
operator = (const BulletBoxShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_half_extents = copy._half_extents;
}
/**
*
*/
@ -42,6 +64,7 @@ ptr() const {
*/
LVecBase3 BulletBoxShape::
get_half_extents_without_margin() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVecBase3(_shape->getHalfExtentsWithoutMargin());
}
@ -51,6 +74,7 @@ get_half_extents_without_margin() const {
*/
LVecBase3 BulletBoxShape::
get_half_extents_with_margin() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVecBase3(_shape->getHalfExtentsWithMargin());
}

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

@ -33,8 +33,8 @@ private:
PUBLISHED:
explicit BulletBoxShape(const LVecBase3 &halfExtents);
INLINE BulletBoxShape(const BulletBoxShape &copy);
INLINE void operator = (const BulletBoxShape &copy);
BulletBoxShape(const BulletBoxShape &copy);
void operator = (const BulletBoxShape &copy);
INLINE ~BulletBoxShape();
LVecBase3 get_half_extents_without_margin() const;

20
panda/src/bullet/bulletCapsuleShape.I
View File

@ -30,26 +30,6 @@ INLINE BulletCapsuleShape::
delete _shape;
}
/**
*
*/
INLINE BulletCapsuleShape::
BulletCapsuleShape(const BulletCapsuleShape &copy) :
_shape(copy._shape),
_radius(copy._radius),
_height(copy._height) {
}
/**
*
*/
INLINE void BulletCapsuleShape::
operator = (const BulletCapsuleShape &copy) {
_shape = copy._shape;
_radius = copy._radius;
_height = copy._height;
}
/**
* Returns the radius that was used to construct this capsule.
*/

27
panda/src/bullet/bulletCapsuleShape.cxx
View File

@ -38,9 +38,35 @@ BulletCapsuleShape(PN_stdfloat radius, PN_stdfloat height, BulletUpAxis up) :
break;
}
nassertv(_shape);
_shape->setUserPointer(this);
}
/**
*
*/
BulletCapsuleShape::
BulletCapsuleShape(const BulletCapsuleShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_radius = copy._radius;
_height = copy._height;
}
/**
*
*/
void BulletCapsuleShape::
operator = (const BulletCapsuleShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_radius = copy._radius;
_height = copy._height;
}
/**
*
*/
@ -122,6 +148,7 @@ fillin(DatagramIterator &scan, BamReader *manager) {
break;
}
nassertv(_shape);
_shape->setUserPointer(this);
_shape->setMargin(margin);
}

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

@ -30,8 +30,8 @@ private:
PUBLISHED:
explicit BulletCapsuleShape(PN_stdfloat radius, PN_stdfloat height, BulletUpAxis up=Z_up);
INLINE BulletCapsuleShape(const BulletCapsuleShape &copy);
INLINE void operator = (const BulletCapsuleShape &copy);
BulletCapsuleShape(const BulletCapsuleShape &copy);
void operator = (const BulletCapsuleShape &copy);
INLINE ~BulletCapsuleShape();
INLINE PN_stdfloat get_radius() const;

2
panda/src/bullet/bulletCharacterControllerNode.I
View File

@ -17,6 +17,8 @@
INLINE BulletCharacterControllerNode::
~BulletCharacterControllerNode() {
delete _character;
delete _ghost;
}
/**

46
panda/src/bullet/bulletCharacterControllerNode.cxx
View File

@ -77,6 +77,7 @@ BulletCharacterControllerNode(BulletShape *shape, PN_stdfloat step_height, const
*/
void BulletCharacterControllerNode::
set_linear_movement(const LVector3 &movement, bool is_local) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!movement.is_nan());
@ -89,18 +90,19 @@ set_linear_movement(const LVector3 &movement, bool is_local) {
*/
void BulletCharacterControllerNode::
set_angular_movement(PN_stdfloat omega) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_angular_movement = omega;
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletCharacterControllerNode::
sync_p2b(PN_stdfloat dt, int num_substeps) {
do_sync_p2b(PN_stdfloat dt, int num_substeps) {
// Synchronise global transform
transform_changed();
do_transform_changed();
// Angular rotation
btScalar angle = dt * deg_2_rad(_angular_movement);
@ -131,10 +133,10 @@ sync_p2b(PN_stdfloat dt, int num_substeps) {
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletCharacterControllerNode::
sync_b2p() {
do_sync_b2p() {
NodePath np = NodePath::any_path((PandaNode *)this);
LVecBase3 scale = np.get_net_transform()->get_scale();
@ -154,10 +156,10 @@ sync_b2p() {
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletCharacterControllerNode::
transform_changed() {
do_transform_changed() {
if (_sync_disable) return;
@ -187,10 +189,23 @@ transform_changed() {
_ghost->getWorldTransform().setBasis(m);
// Set scale
_shape->set_local_scale(scale);
_shape->do_set_local_scale(scale);
}
}
/**
*
*/
void BulletCharacterControllerNode::
transform_changed() {
if (_sync_disable) return;
LightMutexHolder holder(BulletWorld::get_global_lock());
do_transform_changed();
}
/**
*
*/
@ -205,6 +220,7 @@ get_shape() const {
*/
bool BulletCharacterControllerNode::
is_on_ground() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _character->onGround();
}
@ -214,6 +230,7 @@ is_on_ground() const {
*/
bool BulletCharacterControllerNode::
can_jump() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _character->canJump();
}
@ -223,6 +240,7 @@ can_jump() const {
*/
void BulletCharacterControllerNode::
do_jump() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_character->jump();
}
@ -232,6 +250,7 @@ do_jump() {
*/
void BulletCharacterControllerNode::
set_fall_speed(PN_stdfloat fall_speed) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_character->setFallSpeed((btScalar)fall_speed);
}
@ -241,6 +260,7 @@ set_fall_speed(PN_stdfloat fall_speed) {
*/
void BulletCharacterControllerNode::
set_jump_speed(PN_stdfloat jump_speed) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_character->setJumpSpeed((btScalar)jump_speed);
}
@ -250,6 +270,7 @@ set_jump_speed(PN_stdfloat jump_speed) {
*/
void BulletCharacterControllerNode::
set_max_jump_height(PN_stdfloat max_jump_height) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_character->setMaxJumpHeight((btScalar)max_jump_height);
}
@ -259,6 +280,7 @@ set_max_jump_height(PN_stdfloat max_jump_height) {
*/
void BulletCharacterControllerNode::
set_max_slope(PN_stdfloat max_slope) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_character->setMaxSlope((btScalar)max_slope);
}
@ -268,6 +290,7 @@ set_max_slope(PN_stdfloat max_slope) {
*/
PN_stdfloat BulletCharacterControllerNode::
get_max_slope() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_character->getMaxSlope();
}
@ -277,6 +300,8 @@ get_max_slope() const {
*/
PN_stdfloat BulletCharacterControllerNode::
get_gravity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION >= 285
return -(PN_stdfloat)_character->getGravity()[_up];
#else
@ -289,6 +314,8 @@ get_gravity() const {
*/
void BulletCharacterControllerNode::
set_gravity(PN_stdfloat gravity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION >= 285
_character->setGravity(up_vectors[_up] * -(btScalar)gravity);
#else
@ -301,6 +328,7 @@ set_gravity(PN_stdfloat gravity) {
*/
void BulletCharacterControllerNode::
set_use_ghost_sweep_test(bool value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _character->setUseGhostSweepTest(value);
}
}

6
panda/src/bullet/bulletCharacterControllerNode.h
View File

@ -64,8 +64,8 @@ public:
INLINE virtual btPairCachingGhostObject *get_ghost() const;
INLINE virtual btCharacterControllerInterface *get_character() const;
virtual void sync_p2b(PN_stdfloat dt, int num_substeps);
virtual void sync_b2p();
virtual void do_sync_p2b(PN_stdfloat dt, int num_substeps);
virtual void do_sync_b2p();
protected:
virtual void transform_changed();
@ -85,6 +85,8 @@ private:
bool _linear_movement_is_local;
PN_stdfloat _angular_movement;
void do_transform_changed();
public:
static TypeHandle get_class_type() {
return _type_handle;

20
panda/src/bullet/bulletConeShape.I
View File

@ -30,26 +30,6 @@ INLINE BulletConeShape::
delete _shape;
}
/**
*
*/
INLINE BulletConeShape::
BulletConeShape(const BulletConeShape &copy) :
_shape(copy._shape),
_radius(copy._radius),
_height(copy._height) {
}
/**
*
*/
INLINE void BulletConeShape::
operator = (const BulletConeShape &copy) {
_shape = copy._shape;
_radius = copy._radius;
_height = copy._height;
}
/**
* Returns the radius that was passed into the constructor.
*/

26
panda/src/bullet/bulletConeShape.cxx
View File

@ -38,9 +38,34 @@ BulletConeShape(PN_stdfloat radius, PN_stdfloat height, BulletUpAxis up) :
break;
}
nassertv(_shape);
_shape->setUserPointer(this);
}
/**
*
*/
BulletConeShape::
BulletConeShape(const BulletConeShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_radius = copy._radius;
_height = copy._height;
}
/**
*
*/
void BulletConeShape::
operator = (const BulletConeShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_radius = copy._radius;
_height = copy._height;
}
/**
*
*/
@ -122,6 +147,7 @@ fillin(DatagramIterator &scan, BamReader *manager) {
break;
}
nassertv(_shape);
_shape->setUserPointer(this);
_shape->setMargin(margin);
}

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

@ -30,8 +30,8 @@ private:
PUBLISHED:
explicit BulletConeShape(PN_stdfloat radius, PN_stdfloat height, BulletUpAxis up=Z_up);
INLINE BulletConeShape(const BulletConeShape &copy);
INLINE void operator = (const BulletConeShape &copy);
BulletConeShape(const BulletConeShape &copy);
void operator = (const BulletConeShape &copy);
INLINE ~BulletConeShape();
INLINE PN_stdfloat get_radius() const;

18
panda/src/bullet/bulletConeTwistConstraint.I
View File

@ -19,21 +19,3 @@ INLINE BulletConeTwistConstraint::
delete _constraint;
}
/**
*
*/
INLINE CPT(TransformState) BulletConeTwistConstraint::
get_frame_a() const {
return btTrans_to_TransformState(_constraint->getAFrame());
}
/**
*
*/
INLINE CPT(TransformState) BulletConeTwistConstraint::
get_frame_b() const {
return btTrans_to_TransformState(_constraint->getBFrame());
}

31
panda/src/bullet/bulletConeTwistConstraint.cxx
View File

@ -63,6 +63,7 @@ ptr() const {
*/
void BulletConeTwistConstraint::
set_limit(int index, PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
value = deg_2_rad(value);
@ -74,6 +75,7 @@ set_limit(int index, PN_stdfloat value) {
*/
void BulletConeTwistConstraint::
set_limit(PN_stdfloat swing1, PN_stdfloat swing2, PN_stdfloat twist, PN_stdfloat softness, PN_stdfloat bias, PN_stdfloat relaxation) {
LightMutexHolder holder(BulletWorld::get_global_lock());
swing1 = deg_2_rad(swing1);
swing2 = deg_2_rad(swing2);
@ -87,6 +89,7 @@ set_limit(PN_stdfloat swing1, PN_stdfloat swing2, PN_stdfloat twist, PN_stdfloat
*/
void BulletConeTwistConstraint::
set_damping(PN_stdfloat damping) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setDamping(damping);
}
@ -96,6 +99,7 @@ set_damping(PN_stdfloat damping) {
*/
PN_stdfloat BulletConeTwistConstraint::
get_fix_threshold() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _constraint->getFixThresh();
}
@ -105,6 +109,7 @@ get_fix_threshold() const {
*/
void BulletConeTwistConstraint::
set_fix_threshold(PN_stdfloat threshold) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setFixThresh(threshold);
}
@ -114,6 +119,7 @@ set_fix_threshold(PN_stdfloat threshold) {
*/
void BulletConeTwistConstraint::
enable_motor(bool enable) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->enableMotor(enable);
}
@ -123,6 +129,7 @@ enable_motor(bool enable) {
*/
void BulletConeTwistConstraint::
set_max_motor_impulse(PN_stdfloat max_impulse) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setMaxMotorImpulse(max_impulse);
}
@ -132,6 +139,7 @@ set_max_motor_impulse(PN_stdfloat max_impulse) {
*/
void BulletConeTwistConstraint::
set_max_motor_impulse_normalized(PN_stdfloat max_impulse) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setMaxMotorImpulseNormalized(max_impulse);
}
@ -141,6 +149,7 @@ set_max_motor_impulse_normalized(PN_stdfloat max_impulse) {
*/
void BulletConeTwistConstraint::
set_motor_target(const LQuaternion &quat) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setMotorTarget(LQuaternion_to_btQuat(quat));
}
@ -150,6 +159,7 @@ set_motor_target(const LQuaternion &quat) {
*/
void BulletConeTwistConstraint::
set_motor_target_in_constraint_space(const LQuaternion &quat) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setMotorTargetInConstraintSpace(LQuaternion_to_btQuat(quat));
}
@ -159,9 +169,30 @@ set_motor_target_in_constraint_space(const LQuaternion &quat) {
*/
void BulletConeTwistConstraint::
set_frames(const TransformState *ts_a, const TransformState *ts_b) {
LightMutexHolder holder(BulletWorld::get_global_lock());
btTransform frame_a = TransformState_to_btTrans(ts_a);
btTransform frame_b = TransformState_to_btTrans(ts_b);
_constraint->setFrames(frame_a, frame_b);
}
/**
*
*/
CPT(TransformState) BulletConeTwistConstraint::
get_frame_a() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_constraint->getAFrame());
}
/**
*
*/
CPT(TransformState) BulletConeTwistConstraint::
get_frame_b() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_constraint->getBFrame());
}

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

@ -53,8 +53,8 @@ PUBLISHED:
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;
CPT(TransformState) get_frame_a() const;
CPT(TransformState) get_frame_b() const;
MAKE_PROPERTY(fix_threshold, get_fix_threshold, set_fix_threshold);
MAKE_PROPERTY(frame_a, get_frame_a);

16
panda/src/bullet/bulletConvexHullShape.I
View File

@ -19,19 +19,3 @@ INLINE BulletConvexHullShape::
delete _shape;
}
/**
*
*/
INLINE BulletConvexHullShape::
BulletConvexHullShape(const BulletConvexHullShape &copy) :
_shape(copy._shape) {
}
/**
*
*/
INLINE void BulletConvexHullShape::
operator = (const BulletConvexHullShape &copy) {
_shape = copy._shape;
}

26
panda/src/bullet/bulletConvexHullShape.cxx
View File

@ -29,6 +29,26 @@ BulletConvexHullShape() {
_shape->setUserPointer(this);
}
/**
*
*/
BulletConvexHullShape::
BulletConvexHullShape(const BulletConvexHullShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
}
/**
*
*/
void BulletConvexHullShape::
operator = (const BulletConvexHullShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
}
/**
*
*/
@ -43,6 +63,7 @@ ptr() const {
*/
void BulletConvexHullShape::
add_point(const LPoint3 &p) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape->addPoint(LVecBase3_to_btVector3(p));
}
@ -52,6 +73,10 @@ add_point(const LPoint3 &p) {
*/
void BulletConvexHullShape::
add_array(const PTA_LVecBase3 &points) {
LightMutexHolder holder(BulletWorld::get_global_lock());
if (_shape)
delete _shape;
_shape = new btConvexHullShape(NULL, 0);
_shape->setUserPointer(this);
@ -75,6 +100,7 @@ add_array(const PTA_LVecBase3 &points) {
*/
void BulletConvexHullShape::
add_geom(const Geom *geom, const TransformState *ts) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(geom);
nassertv(ts);

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

@ -29,8 +29,8 @@
class EXPCL_PANDABULLET BulletConvexHullShape : public BulletShape {
PUBLISHED:
BulletConvexHullShape();
INLINE BulletConvexHullShape(const BulletConvexHullShape &copy);
INLINE void operator = (const BulletConvexHullShape &copy);
BulletConvexHullShape(const BulletConvexHullShape &copy);
void operator = (const BulletConvexHullShape &copy);
INLINE ~BulletConvexHullShape();
void add_point(const LPoint3 &p);

27
panda/src/bullet/bulletConvexPointCloudShape.I
View File

@ -28,30 +28,3 @@ INLINE BulletConvexPointCloudShape::
delete _shape;
}
/**
*
*/
INLINE BulletConvexPointCloudShape::
BulletConvexPointCloudShape(const BulletConvexPointCloudShape &copy) :
_scale(copy._scale),
_shape(copy._shape) {
}
/**
*
*/
INLINE void BulletConvexPointCloudShape::
operator = (const BulletConvexPointCloudShape &copy) {
_scale = copy._scale;
_shape = copy._shape;
}
/**
*
*/
INLINE int BulletConvexPointCloudShape::
get_num_points() const {
return _shape->getNumPoints();
}

32
panda/src/bullet/bulletConvexPointCloudShape.cxx
View File

@ -84,6 +84,38 @@ BulletConvexPointCloudShape(const Geom *geom, LVecBase3 scale) {
_shape->setUserPointer(this);
}
/**
*
*/
BulletConvexPointCloudShape::
BulletConvexPointCloudShape(const BulletConvexPointCloudShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_scale = copy._scale;
_shape = copy._shape;
}
/**
*
*/
void BulletConvexPointCloudShape::
operator = (const BulletConvexPointCloudShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_scale = copy._scale;
_shape = copy._shape;
}
/**
*
*/
int BulletConvexPointCloudShape::
get_num_points() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _shape->getNumPoints();
}
/**
* Tells the BamReader how to create objects of type BulletShape.
*/

6
panda/src/bullet/bulletConvexPointCloudShape.h
View File

@ -33,11 +33,11 @@ private:
PUBLISHED:
explicit BulletConvexPointCloudShape(const PTA_LVecBase3 &points, LVecBase3 scale=LVecBase3(1.));
explicit BulletConvexPointCloudShape(const Geom *geom, LVecBase3 scale=LVecBase3(1.));
INLINE BulletConvexPointCloudShape(const BulletConvexPointCloudShape &copy);
INLINE void operator = (const BulletConvexPointCloudShape &copy);
BulletConvexPointCloudShape(const BulletConvexPointCloudShape &copy);
void operator = (const BulletConvexPointCloudShape &copy);
INLINE ~BulletConvexPointCloudShape();
INLINE int get_num_points() const;
int get_num_points() const;
MAKE_PROPERTY(num_points, get_num_points);

44
panda/src/bullet/bulletCylinderShape.I
View File

@ -28,47 +28,3 @@ INLINE BulletCylinderShape::
delete _shape;
}
/**
*
*/
INLINE BulletCylinderShape::
BulletCylinderShape(const BulletCylinderShape &copy) :
_shape(copy._shape), _half_extents(copy._half_extents) {
}
/**
*
*/
INLINE void BulletCylinderShape::
operator = (const BulletCylinderShape &copy) {
_shape = copy._shape;
_half_extents = copy._half_extents;
}
/**
*
*/
INLINE PN_stdfloat BulletCylinderShape::
get_radius() const {
return (PN_stdfloat)_shape->getRadius();
}
/**
*
*/
INLINE LVecBase3 BulletCylinderShape::
get_half_extents_without_margin() const {
return btVector3_to_LVecBase3(_shape->getHalfExtentsWithoutMargin());
}
/**
*
*/
INLINE LVecBase3 BulletCylinderShape::
get_half_extents_with_margin() const {
return btVector3_to_LVecBase3(_shape->getHalfExtentsWithMargin());
}

55
panda/src/bullet/bulletCylinderShape.cxx
View File

@ -39,6 +39,7 @@ BulletCylinderShape(const LVector3 &half_extents, BulletUpAxis up) :
break;
}
nassertv(_shape);
_shape->setUserPointer(this);
}
@ -66,9 +67,32 @@ BulletCylinderShape(PN_stdfloat radius, PN_stdfloat height, BulletUpAxis up) {
break;
}
nassertv(_shape);
_shape->setUserPointer(this);
}
/**
*
*/
BulletCylinderShape::
BulletCylinderShape(const BulletCylinderShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_half_extents = copy._half_extents;
}
/**
*
*/
void BulletCylinderShape::
operator = (const BulletCylinderShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_half_extents = copy._half_extents;
}
/**
*
*/
@ -78,6 +102,36 @@ ptr() const {
return _shape;
}
/**
*
*/
PN_stdfloat BulletCylinderShape::
get_radius() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_shape->getRadius();
}
/**
*
*/
LVecBase3 BulletCylinderShape::
get_half_extents_without_margin() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVecBase3(_shape->getHalfExtentsWithoutMargin());
}
/**
*
*/
LVecBase3 BulletCylinderShape::
get_half_extents_with_margin() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVecBase3(_shape->getHalfExtentsWithMargin());
}
/**
* Tells the BamReader how to create objects of type BulletShape.
*/
@ -150,6 +204,7 @@ fillin(DatagramIterator &scan, BamReader *manager) {
break;
}
nassertv(_shape);
_shape->setUserPointer(this);
_shape->setMargin(margin);
}

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

@ -31,13 +31,13 @@ private:
PUBLISHED:
explicit BulletCylinderShape(PN_stdfloat radius, PN_stdfloat height, BulletUpAxis up=Z_up);
explicit BulletCylinderShape(const LVector3 &half_extents, BulletUpAxis up=Z_up);
INLINE BulletCylinderShape(const BulletCylinderShape &copy);
INLINE void operator = (const BulletCylinderShape &copy);
BulletCylinderShape(const BulletCylinderShape &copy);
void operator = (const BulletCylinderShape &copy);
INLINE ~BulletCylinderShape();
INLINE PN_stdfloat get_radius() const;
INLINE LVecBase3 get_half_extents_without_margin() const;
INLINE LVecBase3 get_half_extents_with_margin() const;
PN_stdfloat get_radius() const;
LVecBase3 get_half_extents_without_margin() const;
LVecBase3 get_half_extents_with_margin() const;
MAKE_PROPERTY(radius, get_radius);
MAKE_PROPERTY(half_extents_without_margin, get_half_extents_without_margin);

5
panda/src/bullet/bulletDebugNode.cxx
View File

@ -169,7 +169,7 @@ add_for_draw(CullTraverser *trav, CullTraverserData &data) {
PT(Geom) debug_triangles;
{
LightMutexHolder holder(_lock);
LightMutexHolder holder(BulletWorld::get_global_lock());
if (_debug_world == nullptr) {
return;
}
@ -270,8 +270,7 @@ add_for_draw(CullTraverser *trav, CullTraverserData &data) {
*
*/
void BulletDebugNode::
sync_b2p(btDynamicsWorld *world) {
LightMutexHolder holder(_lock);
do_sync_b2p(btDynamicsWorld *world) {
_debug_world = world;
_debug_stale = true;

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

@ -17,7 +17,6 @@
#include "pandabase.h"
#include "bullet_includes.h"
#include "lightMutex.h"
/**
*
@ -55,7 +54,7 @@ public:
virtual void add_for_draw(CullTraverser *trav, CullTraverserData &data);
private:
void sync_b2p(btDynamicsWorld *world);
void do_sync_b2p(btDynamicsWorld *world);
struct Line {
LVecBase3 _p0;
@ -101,7 +100,6 @@ private:
int _mode;
};
LightMutex _lock;
DebugDraw _drawer;
bool _debug_stale;

18
panda/src/bullet/bulletGenericConstraint.I
View File

@ -19,21 +19,3 @@ INLINE BulletGenericConstraint::
delete _constraint;
}
/**
*
*/
INLINE CPT(TransformState) BulletGenericConstraint::
get_frame_a() const {
return btTrans_to_TransformState(_constraint->getFrameOffsetA());
}
/**
*
*/
INLINE CPT(TransformState) BulletGenericConstraint::
get_frame_b() const {
return btTrans_to_TransformState(_constraint->getFrameOffsetB());
}

28
panda/src/bullet/bulletGenericConstraint.cxx
View File

@ -63,6 +63,7 @@ ptr() const {
*/
LVector3 BulletGenericConstraint::
get_axis(int axis) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(axis >= 0, LVector3::zero());
nassertr(axis <= 3, LVector3::zero());
@ -76,6 +77,7 @@ get_axis(int axis) const {
*/
PN_stdfloat BulletGenericConstraint::
get_pivot(int axis) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(axis >= 0, 0.0f);
nassertr(axis <= 3, 0.0f);
@ -89,6 +91,7 @@ get_pivot(int axis) const {
*/
PN_stdfloat BulletGenericConstraint::
get_angle(int axis) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(axis >= 0, 0.0f);
nassertr(axis <= 3, 0.0f);
@ -102,6 +105,7 @@ get_angle(int axis) const {
*/
void BulletGenericConstraint::
set_linear_limit(int axis, PN_stdfloat low, PN_stdfloat high) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(axis >= 0);
nassertv(axis <= 3);
@ -115,6 +119,7 @@ set_linear_limit(int axis, PN_stdfloat low, PN_stdfloat high) {
*/
void BulletGenericConstraint::
set_angular_limit(int axis, PN_stdfloat low, PN_stdfloat high) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(axis >= 0);
nassertv(axis <= 3);
@ -126,11 +131,32 @@ set_angular_limit(int axis, PN_stdfloat low, PN_stdfloat high) {
_constraint->setLimit(axis + 3, low, high);
}
/**
*
*/
CPT(TransformState) BulletGenericConstraint::
get_frame_a() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_constraint->getFrameOffsetA());
}
/**
*
*/
CPT(TransformState) BulletGenericConstraint::
get_frame_b() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_constraint->getFrameOffsetB());
}
/**
*
*/
BulletRotationalLimitMotor BulletGenericConstraint::
get_rotational_limit_motor(int axis) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return BulletRotationalLimitMotor(*_constraint->getRotationalLimitMotor(axis));
}
@ -140,6 +166,7 @@ get_rotational_limit_motor(int axis) {
*/
BulletTranslationalLimitMotor BulletGenericConstraint::
get_translational_limit_motor() {
LightMutexHolder holder(BulletWorld::get_global_lock());
return BulletTranslationalLimitMotor(*_constraint->getTranslationalLimitMotor());
}
@ -149,6 +176,7 @@ get_translational_limit_motor() {
*/
void BulletGenericConstraint::
set_frames(const TransformState *ts_a, const TransformState *ts_b) {
LightMutexHolder holder(BulletWorld::get_global_lock());
btTransform frame_a = TransformState_to_btTrans(ts_a);
btTransform frame_b = TransformState_to_btTrans(ts_b);

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

@ -57,8 +57,8 @@ PUBLISHED:
// 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;
CPT(TransformState) get_frame_a() const;
CPT(TransformState) get_frame_b() const;
MAKE_PROPERTY(translational_limit_motor, get_translational_limit_motor);
MAKE_PROPERTY(frame_a, get_frame_a);

20
panda/src/bullet/bulletGhostNode.I
View File

@ -20,23 +20,3 @@ INLINE BulletGhostNode::
delete _ghost;
}
/**
*
*/
INLINE int BulletGhostNode::
get_num_overlapping_nodes() const {
return _ghost->getNumOverlappingObjects();
}
/**
*
*/
INLINE PandaNode *BulletGhostNode::
get_overlapping_node(int idx) const {
nassertr(idx >=0 && idx < _ghost->getNumOverlappingObjects(), NULL);
btCollisionObject *object = _ghost->getOverlappingObject(idx);
return (object) ? (PandaNode *)object->getUserPointer() : NULL;
}

52
panda/src/bullet/bulletGhostNode.cxx
View File

@ -53,6 +53,7 @@ get_object() const {
*/
void BulletGhostNode::
parents_changed() {
LightMutexHolder holder(BulletWorld::get_global_lock());
Parents parents = get_parents();
for (size_t i = 0; i < parents.get_num_parents(); ++i) {
@ -73,10 +74,10 @@ parents_changed() {
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletGhostNode::
transform_changed() {
do_transform_changed() {
if (_sync_disable) return;
@ -98,27 +99,60 @@ transform_changed() {
if (!scale.almost_equal(LVecBase3(1.0f, 1.0f, 1.0f))) {
for (int i=0; i<get_num_shapes(); i++) {
PT(BulletShape) shape = _shapes[i];
shape->set_local_scale(scale);
shape->do_set_local_scale(scale);
}
}
}
}
}
/**
*
*/
void BulletGhostNode::
sync_p2b() {
transform_changed() {
transform_changed();
if (_sync_disable) return;
LightMutexHolder holder(BulletWorld::get_global_lock());
do_transform_changed();
}
/**
*
*/
int BulletGhostNode::
get_num_overlapping_nodes() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _ghost->getNumOverlappingObjects();
}
/**
*
*/
PandaNode *BulletGhostNode::
get_overlapping_node(int idx) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(idx >=0 && idx < _ghost->getNumOverlappingObjects(), NULL);
btCollisionObject *object = _ghost->getOverlappingObject(idx);
return (object) ? (PandaNode *)object->getUserPointer() : NULL;
}
/**
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletGhostNode::
sync_b2p() {
do_sync_p2b() {
do_transform_changed();
}
/**
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletGhostNode::
do_sync_b2p() {
NodePath np = NodePath::any_path((PandaNode *)this);
LVecBase3 scale = np.get_net_transform()->get_scale();

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

@ -34,8 +34,8 @@ PUBLISHED:
INLINE ~BulletGhostNode();
// Overlapping
INLINE int get_num_overlapping_nodes() const;
INLINE PandaNode *get_overlapping_node(int idx) const;
int get_num_overlapping_nodes() const;
PandaNode *get_overlapping_node(int idx) const;
MAKE_SEQ(get_overlapping_nodes, get_num_overlapping_nodes, get_overlapping_node);
MAKE_SEQ_PROPERTY(overlapping_nodes, get_num_overlapping_nodes, get_overlapping_node);
@ -43,8 +43,8 @@ PUBLISHED:
public:
virtual btCollisionObject *get_object() const;
void sync_p2b();
void sync_b2p();
void do_sync_p2b();
void do_sync_b2p();
protected:
virtual void parents_changed();
@ -57,6 +57,8 @@ private:
btPairCachingGhostObject *_ghost;
void do_transform_changed();
public:
static TypeHandle get_class_type() {
return _type_handle;

30
panda/src/bullet/bulletHeightfieldShape.I
View File

@ -32,33 +32,3 @@ INLINE BulletHeightfieldShape::
delete _shape;
delete [] _data;
}
/**
*
*/
INLINE BulletHeightfieldShape::
BulletHeightfieldShape(const BulletHeightfieldShape &copy) :
_shape(copy._shape),
_num_rows(copy._num_rows),
_num_cols(copy._num_cols),
_max_height(copy._max_height),
_up(copy._up) {
size_t size = (size_t)_num_rows * (size_t)_num_cols;
_data = new btScalar[size];
memcpy(_data, copy._data, size * sizeof(btScalar));
}
/**
*
*/
INLINE void BulletHeightfieldShape::
operator = (const BulletHeightfieldShape &copy) {
_shape = copy._shape;
_num_rows = copy._num_rows;
_num_cols = copy._num_cols;
size_t size = (size_t)_num_rows * (size_t)_num_cols;
_data = new btScalar[size];
memcpy(_data, copy._data, size * sizeof(btScalar));
}

40
panda/src/bullet/bulletHeightfieldShape.cxx
View File

@ -61,6 +61,7 @@ ptr() const {
*/
void BulletHeightfieldShape::
set_use_diamond_subdivision(bool flag) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _shape->setUseDiamondSubdivision(flag);
}
@ -104,6 +105,42 @@ BulletHeightfieldShape(Texture *tex, PN_stdfloat max_height, BulletUpAxis up) :
_shape->setUserPointer(this);
}
/**
*
*/
BulletHeightfieldShape::
BulletHeightfieldShape(const BulletHeightfieldShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_num_rows = copy._num_rows;
_num_cols = copy._num_cols;
_max_height = copy._max_height;
_up = copy._up;
size_t size = (size_t)_num_rows * (size_t)_num_cols;
_data = new btScalar[size];
memcpy(_data, copy._data, size * sizeof(btScalar));
}
/**
*
*/
void BulletHeightfieldShape::
operator = (const BulletHeightfieldShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_num_rows = copy._num_rows;
_num_cols = copy._num_cols;
_max_height = copy._max_height;
_up = copy._up;
size_t size = (size_t)_num_rows * (size_t)_num_cols;
_data = new btScalar[size];
memcpy(_data, copy._data, size * sizeof(btScalar));
}
/**
* Tells the BamReader how to create objects of type BulletShape.
*/
@ -169,8 +206,9 @@ fillin(DatagramIterator &scan, BamReader *manager) {
_num_cols = scan.get_int32();
size_t size = (size_t)_num_rows * (size_t)_num_cols;
delete[] _data;
delete [] _data;
_data = new float[size];
for (size_t i = 0; i < size; ++i) {
_data[i] = scan.get_stdfloat();
}

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

@ -34,8 +34,8 @@ private:
PUBLISHED:
explicit BulletHeightfieldShape(const PNMImage &image, PN_stdfloat max_height, BulletUpAxis up=Z_up);
explicit BulletHeightfieldShape(Texture *tex, PN_stdfloat max_height, BulletUpAxis up=Z_up);
INLINE BulletHeightfieldShape(const BulletHeightfieldShape &copy);
INLINE void operator = (const BulletHeightfieldShape &copy);
BulletHeightfieldShape(const BulletHeightfieldShape &copy);
void operator = (const BulletHeightfieldShape &copy);
INLINE ~BulletHeightfieldShape();
void set_use_diamond_subdivision(bool flag=true);

18
panda/src/bullet/bulletHingeConstraint.I
View File

@ -19,21 +19,3 @@ INLINE BulletHingeConstraint::
delete _constraint;
}
/**
*
*/
INLINE CPT(TransformState) BulletHingeConstraint::
get_frame_a() const {
return btTrans_to_TransformState(_constraint->getAFrame());
}
/**
*
*/
INLINE CPT(TransformState) BulletHingeConstraint::
get_frame_b() const {
return btTrans_to_TransformState(_constraint->getBFrame());
}

33
panda/src/bullet/bulletHingeConstraint.cxx
View File

@ -111,6 +111,7 @@ ptr() const {
*/
void BulletHingeConstraint::
set_angular_only(bool value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _constraint->setAngularOnly(value);
}
@ -120,6 +121,7 @@ set_angular_only(bool value) {
*/
bool BulletHingeConstraint::
get_angular_only() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _constraint->getAngularOnly();
}
@ -129,6 +131,7 @@ get_angular_only() const {
*/
void BulletHingeConstraint::
set_limit(PN_stdfloat low, PN_stdfloat high, PN_stdfloat softness, PN_stdfloat bias, PN_stdfloat relaxation) {
LightMutexHolder holder(BulletWorld::get_global_lock());
low = deg_2_rad(low);
high = deg_2_rad(high);
@ -141,6 +144,7 @@ set_limit(PN_stdfloat low, PN_stdfloat high, PN_stdfloat softness, PN_stdfloat b
*/
void BulletHingeConstraint::
set_axis(const LVector3 &axis) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!axis.is_nan());
@ -153,6 +157,7 @@ set_axis(const LVector3 &axis) {
*/
PN_stdfloat BulletHingeConstraint::
get_lower_limit() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return rad_2_deg(_constraint->getLowerLimit());
}
@ -162,6 +167,7 @@ get_lower_limit() const {
*/
PN_stdfloat BulletHingeConstraint::
get_upper_limit() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return rad_2_deg(_constraint->getUpperLimit());
}
@ -171,6 +177,7 @@ get_upper_limit() const {
*/
PN_stdfloat BulletHingeConstraint::
get_hinge_angle() {
LightMutexHolder holder(BulletWorld::get_global_lock());
return rad_2_deg(_constraint->getHingeAngle());
}
@ -184,6 +191,7 @@ get_hinge_angle() {
*/
void BulletHingeConstraint::
enable_angular_motor(bool enable, PN_stdfloat target_velocity, PN_stdfloat max_impulse) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->enableAngularMotor(enable, target_velocity, max_impulse);
}
@ -193,6 +201,7 @@ enable_angular_motor(bool enable, PN_stdfloat target_velocity, PN_stdfloat max_i
*/
void BulletHingeConstraint::
enable_motor(bool enable) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->enableMotor(enable);
}
@ -203,6 +212,7 @@ enable_motor(bool enable) {
*/
void BulletHingeConstraint::
set_max_motor_impulse(PN_stdfloat max_impulse) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setMaxMotorImpulse(max_impulse);
}
@ -212,6 +222,7 @@ set_max_motor_impulse(PN_stdfloat max_impulse) {
*/
void BulletHingeConstraint::
set_motor_target(const LQuaternion &quat, PN_stdfloat dt) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setMotorTarget(LQuaternion_to_btQuat(quat), dt);
}
@ -221,6 +232,7 @@ set_motor_target(const LQuaternion &quat, PN_stdfloat dt) {
*/
void BulletHingeConstraint::
set_motor_target(PN_stdfloat target_angle, PN_stdfloat dt) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setMotorTarget(target_angle, dt);
}
@ -230,9 +242,30 @@ set_motor_target(PN_stdfloat target_angle, PN_stdfloat dt) {
*/
void BulletHingeConstraint::
set_frames(const TransformState *ts_a, const TransformState *ts_b) {
LightMutexHolder holder(BulletWorld::get_global_lock());
btTransform frame_a = TransformState_to_btTrans(ts_a);
btTransform frame_b = TransformState_to_btTrans(ts_b);
_constraint->setFrames(frame_a, frame_b);
}
/**
*
*/
CPT(TransformState) BulletHingeConstraint::
get_frame_a() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_constraint->getAFrame());
}
/**
*
*/
CPT(TransformState) BulletHingeConstraint::
get_frame_b() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_constraint->getBFrame());
}

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

@ -69,8 +69,8 @@ PUBLISHED:
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;
CPT(TransformState) get_frame_a() const;
CPT(TransformState) get_frame_b() const;
MAKE_PROPERTY(hinge_angle, get_hinge_angle);
MAKE_PROPERTY(lower_limit, get_lower_limit);

225
panda/src/bullet/bulletManifoldPoint.I
View File

@ -18,228 +18,3 @@ INLINE BulletManifoldPoint::
~BulletManifoldPoint() {
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_lateral_friction_initialized(bool value) {
#if BT_BULLET_VERSION >= 285
if (value) {
_pt.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
} else {
_pt.m_contactPointFlags &= ~BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
}
#else
_pt.m_lateralFrictionInitialized = value;
#endif
}
/**
*
*/
INLINE bool BulletManifoldPoint::
get_lateral_friction_initialized() const {
#if BT_BULLET_VERSION >= 285
return (_pt.m_contactPointFlags & BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED) != 0;
#else
return _pt.m_lateralFrictionInitialized;
#endif
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_lateral_friction_dir1(const LVecBase3 &dir) {
_pt.m_lateralFrictionDir1 = LVecBase3_to_btVector3(dir);
}
/**
*
*/
INLINE LVector3 BulletManifoldPoint::
get_lateral_friction_dir1() const {
return btVector3_to_LVector3(_pt.m_lateralFrictionDir1);
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_lateral_friction_dir2(const LVecBase3 &dir) {
_pt.m_lateralFrictionDir2 = LVecBase3_to_btVector3(dir);
}
/**
*
*/
INLINE LVector3 BulletManifoldPoint::
get_lateral_friction_dir2() const {
return btVector3_to_LVector3(_pt.m_lateralFrictionDir2);
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_contact_motion1(PN_stdfloat value) {
_pt.m_contactMotion1 = (btScalar)value;
}
/**
*
*/
INLINE PN_stdfloat BulletManifoldPoint::
get_contact_motion1() const {
return (PN_stdfloat)_pt.m_contactMotion1;
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_contact_motion2(PN_stdfloat value) {
_pt.m_contactMotion2 = (btScalar)value;
}
/**
*
*/
INLINE PN_stdfloat BulletManifoldPoint::
get_contact_motion2() const {
return (PN_stdfloat)_pt.m_contactMotion2;
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_combined_friction(PN_stdfloat value) {
_pt.m_combinedFriction = (btScalar)value;
}
/**
*
*/
INLINE PN_stdfloat BulletManifoldPoint::
get_combined_friction() const {
return (PN_stdfloat)_pt.m_combinedFriction;
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_combined_restitution(PN_stdfloat value) {
_pt.m_combinedRestitution = (btScalar)value;
}
/**
*
*/
INLINE PN_stdfloat BulletManifoldPoint::
get_combined_restitution() const {
return (PN_stdfloat)_pt.m_combinedRestitution;
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_applied_impulse(PN_stdfloat value) {
_pt.m_appliedImpulse = (btScalar)value;
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_applied_impulse_lateral1(PN_stdfloat value) {
_pt.m_appliedImpulseLateral1 = (btScalar)value;
}
/**
*
*/
INLINE PN_stdfloat BulletManifoldPoint::
get_applied_impulse_lateral1() const {
return (PN_stdfloat)_pt.m_appliedImpulseLateral1;
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_applied_impulse_lateral2(PN_stdfloat value) {
_pt.m_appliedImpulseLateral2 = (btScalar)value;
}
/**
*
*/
INLINE PN_stdfloat BulletManifoldPoint::
get_applied_impulse_lateral2() const {
return (PN_stdfloat)_pt.m_appliedImpulseLateral2;
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_contact_cfm1(PN_stdfloat value) {
#if BT_BULLET_VERSION < 285
_pt.m_contactCFM1 = (btScalar)value;
#endif
}
/**
*
*/
INLINE PN_stdfloat BulletManifoldPoint::
get_contact_cfm1() const {
#if BT_BULLET_VERSION < 285
return (PN_stdfloat)_pt.m_contactCFM1;
#else
return 0;
#endif
}
/**
*
*/
INLINE void BulletManifoldPoint::
set_contact_cfm2(PN_stdfloat value) {
#if BT_BULLET_VERSION < 285
_pt.m_contactCFM2 = (btScalar)value;
#endif
}
/**
*
*/
INLINE PN_stdfloat BulletManifoldPoint::
get_contact_cfm2() const {
#if BT_BULLET_VERSION < 285
return (PN_stdfloat)_pt.m_contactCFM2;
#else
return 0;
#endif
}

266
panda/src/bullet/bulletManifoldPoint.cxx
View File

@ -46,6 +46,7 @@ operator=(const BulletManifoldPoint& other) {
*/
int BulletManifoldPoint::
get_life_time() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _pt.getLifeTime();
}
@ -55,6 +56,7 @@ get_life_time() const {
*/
PN_stdfloat BulletManifoldPoint::
get_distance() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_pt.getDistance();
}
@ -64,6 +66,7 @@ get_distance() const {
*/
PN_stdfloat BulletManifoldPoint::
get_applied_impulse() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_pt.getAppliedImpulse();
}
@ -73,6 +76,7 @@ get_applied_impulse() const {
*/
LPoint3 BulletManifoldPoint::
get_position_world_on_a() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_pt.getPositionWorldOnA());
}
@ -82,6 +86,7 @@ get_position_world_on_a() const {
*/
LPoint3 BulletManifoldPoint::
get_position_world_on_b() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_pt.getPositionWorldOnB());
}
@ -91,6 +96,7 @@ get_position_world_on_b() const {
*/
LVector3 BulletManifoldPoint::
get_normal_world_on_b() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_pt.m_normalWorldOnB);
}
@ -100,6 +106,7 @@ get_normal_world_on_b() const {
*/
LPoint3 BulletManifoldPoint::
get_local_point_a() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_pt.m_localPointA);
}
@ -109,6 +116,7 @@ get_local_point_a() const {
*/
LPoint3 BulletManifoldPoint::
get_local_point_b() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_pt.m_localPointB);
}
@ -118,6 +126,7 @@ get_local_point_b() const {
*/
int BulletManifoldPoint::
get_part_id0() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _pt.m_partId0;
}
@ -127,6 +136,7 @@ get_part_id0() const {
*/
int BulletManifoldPoint::
get_part_id1() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _pt.m_partId1;
}
@ -136,6 +146,7 @@ get_part_id1() const {
*/
int BulletManifoldPoint::
get_index0() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _pt.m_index0;
}
@ -145,6 +156,261 @@ get_index0() const {
*/
int BulletManifoldPoint::
get_index1() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _pt.m_index1;
}
/**
*
*/
void BulletManifoldPoint::
set_lateral_friction_initialized(bool value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION >= 285
if (value) {
_pt.m_contactPointFlags |= BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
} else {
_pt.m_contactPointFlags &= ~BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED;
}
#else
_pt.m_lateralFrictionInitialized = value;
#endif
}
/**
*
*/
bool BulletManifoldPoint::
get_lateral_friction_initialized() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION >= 285
return (_pt.m_contactPointFlags & BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED) != 0;
#else
return _pt.m_lateralFrictionInitialized;
#endif
}
/**
*
*/
void BulletManifoldPoint::
set_lateral_friction_dir1(const LVecBase3 &dir) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_pt.m_lateralFrictionDir1 = LVecBase3_to_btVector3(dir);
}
/**
*
*/
LVector3 BulletManifoldPoint::
get_lateral_friction_dir1() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_pt.m_lateralFrictionDir1);
}
/**
*
*/
void BulletManifoldPoint::
set_lateral_friction_dir2(const LVecBase3 &dir) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_pt.m_lateralFrictionDir2 = LVecBase3_to_btVector3(dir);
}
/**
*
*/
LVector3 BulletManifoldPoint::
get_lateral_friction_dir2() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_pt.m_lateralFrictionDir2);
}
/**
*
*/
void BulletManifoldPoint::
set_contact_motion1(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_pt.m_contactMotion1 = (btScalar)value;
}
/**
*
*/
PN_stdfloat BulletManifoldPoint::
get_contact_motion1() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_pt.m_contactMotion1;
}
/**
*
*/
void BulletManifoldPoint::
set_contact_motion2(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_pt.m_contactMotion2 = (btScalar)value;
}
/**
*
*/
PN_stdfloat BulletManifoldPoint::
get_contact_motion2() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_pt.m_contactMotion2;
}
/**
*
*/
void BulletManifoldPoint::
set_combined_friction(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_pt.m_combinedFriction = (btScalar)value;
}
/**
*
*/
PN_stdfloat BulletManifoldPoint::
get_combined_friction() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_pt.m_combinedFriction;
}
/**
*
*/
void BulletManifoldPoint::
set_combined_restitution(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_pt.m_combinedRestitution = (btScalar)value;
}
/**
*
*/
PN_stdfloat BulletManifoldPoint::
get_combined_restitution() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_pt.m_combinedRestitution;
}
/**
*
*/
void BulletManifoldPoint::
set_applied_impulse(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_pt.m_appliedImpulse = (btScalar)value;
}
/**
*
*/
void BulletManifoldPoint::
set_applied_impulse_lateral1(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_pt.m_appliedImpulseLateral1 = (btScalar)value;
}
/**
*
*/
PN_stdfloat BulletManifoldPoint::
get_applied_impulse_lateral1() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_pt.m_appliedImpulseLateral1;
}
/**
*
*/
void BulletManifoldPoint::
set_applied_impulse_lateral2(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_pt.m_appliedImpulseLateral2 = (btScalar)value;
}
/**
*
*/
PN_stdfloat BulletManifoldPoint::
get_applied_impulse_lateral2() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_pt.m_appliedImpulseLateral2;
}
/**
*
*/
void BulletManifoldPoint::
set_contact_cfm1(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION < 285
_pt.m_contactCFM1 = (btScalar)value;
#endif
}
/**
*
*/
PN_stdfloat BulletManifoldPoint::
get_contact_cfm1() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION < 285
return (PN_stdfloat)_pt.m_contactCFM1;
#else
return 0;
#endif
}
/**
*
*/
void BulletManifoldPoint::
set_contact_cfm2(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION < 285
_pt.m_contactCFM2 = (btScalar)value;
#endif
}
/**
*
*/
PN_stdfloat BulletManifoldPoint::
get_contact_cfm2() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION < 285
return (PN_stdfloat)_pt.m_contactCFM2;
#else
return 0;
#endif
}

46
panda/src/bullet/bulletManifoldPoint.h
View File

@ -43,30 +43,30 @@ PUBLISHED:
int get_index0() const;
int get_index1() const;
INLINE void set_lateral_friction_initialized(bool value);
INLINE void set_lateral_friction_dir1(const LVecBase3 &dir);
INLINE void set_lateral_friction_dir2(const LVecBase3 &dir);
INLINE void set_contact_motion1(PN_stdfloat value);
INLINE void set_contact_motion2(PN_stdfloat value);
INLINE void set_combined_friction(PN_stdfloat value);
INLINE void set_combined_restitution(PN_stdfloat value);
INLINE void set_applied_impulse(PN_stdfloat value);
INLINE void set_applied_impulse_lateral1(PN_stdfloat value);
INLINE void set_applied_impulse_lateral2(PN_stdfloat value);
INLINE void set_contact_cfm1(PN_stdfloat value);
INLINE void set_contact_cfm2(PN_stdfloat value);
void set_lateral_friction_initialized(bool value);
void set_lateral_friction_dir1(const LVecBase3 &dir);
void set_lateral_friction_dir2(const LVecBase3 &dir);
void set_contact_motion1(PN_stdfloat value);
void set_contact_motion2(PN_stdfloat value);
void set_combined_friction(PN_stdfloat value);
void set_combined_restitution(PN_stdfloat value);
void set_applied_impulse(PN_stdfloat value);
void set_applied_impulse_lateral1(PN_stdfloat value);
void set_applied_impulse_lateral2(PN_stdfloat value);
void set_contact_cfm1(PN_stdfloat value);
void set_contact_cfm2(PN_stdfloat value);
INLINE bool get_lateral_friction_initialized() const;
INLINE LVector3 get_lateral_friction_dir1() const;
INLINE LVector3 get_lateral_friction_dir2() const;
INLINE PN_stdfloat get_contact_motion1() const;
INLINE PN_stdfloat get_contact_motion2() const;
INLINE PN_stdfloat get_combined_friction() const;
INLINE PN_stdfloat get_combined_restitution() const;
INLINE PN_stdfloat get_applied_impulse_lateral1() const;
INLINE PN_stdfloat get_applied_impulse_lateral2() const;
INLINE PN_stdfloat get_contact_cfm1() const;
INLINE PN_stdfloat get_contact_cfm2() const;
bool get_lateral_friction_initialized() const;
LVector3 get_lateral_friction_dir1() const;
LVector3 get_lateral_friction_dir2() const;
PN_stdfloat get_contact_motion1() const;
PN_stdfloat get_contact_motion2() const;
PN_stdfloat get_combined_friction() const;
PN_stdfloat get_combined_restitution() const;
PN_stdfloat get_applied_impulse_lateral1() const;
PN_stdfloat get_applied_impulse_lateral2() const;
PN_stdfloat get_contact_cfm1() const;
PN_stdfloat get_contact_cfm2() const;
MAKE_PROPERTY(life_time, get_life_time);
MAKE_PROPERTY(distance, get_distance);

58
panda/src/bullet/bulletMinkowskiSumShape.I
View File

@ -30,64 +30,6 @@ INLINE BulletMinkowskiSumShape::
delete _shape;
}
/**
*
*/
INLINE BulletMinkowskiSumShape::
BulletMinkowskiSumShape(const BulletMinkowskiSumShape &copy) :
_shape(copy._shape),
_shape_a(copy._shape_a),
_shape_b(copy._shape_b) {
}
/**
*
*/
INLINE void BulletMinkowskiSumShape::
operator = (const BulletMinkowskiSumShape &copy) {
_shape = copy._shape;
_shape_a = copy._shape_a;
_shape_b = copy._shape_b;
}
/**
*
*/
INLINE void BulletMinkowskiSumShape::
set_transform_a(const TransformState *ts) {
nassertv(ts);
_shape->setTransformA(TransformState_to_btTrans(ts));
}
/**
*
*/
INLINE void BulletMinkowskiSumShape::
set_transform_b(const TransformState *ts) {
nassertv(ts);
_shape->setTransformB(TransformState_to_btTrans(ts));
}
/**
*
*/
INLINE CPT(TransformState) BulletMinkowskiSumShape::
get_transform_a() const {
return btTrans_to_TransformState(_shape->getTransformA());
}
/**
*
*/
INLINE CPT(TransformState) BulletMinkowskiSumShape::
get_transform_b() const {
return btTrans_to_TransformState(_shape->GetTransformB());
}
/**
*
*/

66
panda/src/bullet/bulletMinkowskiSumShape.cxx
View File

@ -33,6 +33,30 @@ BulletMinkowskiSumShape(const BulletShape *shape_a, const BulletShape *shape_b)
_shape->setUserPointer(this);
}
/**
*
*/
BulletMinkowskiSumShape::
BulletMinkowskiSumShape(const BulletMinkowskiSumShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_shape_a = copy._shape_a;
_shape_b = copy._shape_b;
}
/**
*
*/
void BulletMinkowskiSumShape::
operator = (const BulletMinkowskiSumShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_shape_a = copy._shape_a;
_shape_b = copy._shape_b;
}
/**
*
*/
@ -42,6 +66,48 @@ ptr() const {
return _shape;
}
/**
*
*/
void BulletMinkowskiSumShape::
set_transform_a(const TransformState *ts) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(ts);
_shape->setTransformA(TransformState_to_btTrans(ts));
}
/**
*
*/
void BulletMinkowskiSumShape::
set_transform_b(const TransformState *ts) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(ts);
_shape->setTransformB(TransformState_to_btTrans(ts));
}
/**
*
*/
CPT(TransformState) BulletMinkowskiSumShape::
get_transform_a() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_shape->getTransformA());
}
/**
*
*/
CPT(TransformState) BulletMinkowskiSumShape::
get_transform_b() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_shape->GetTransformB());
}
/**
* Tells the BamReader how to create objects of type BulletShape.
*/

12
panda/src/bullet/bulletMinkowskiSumShape.h
View File

@ -32,14 +32,14 @@ private:
PUBLISHED:
explicit BulletMinkowskiSumShape(const BulletShape *shape_a, const BulletShape *shape_b);
INLINE BulletMinkowskiSumShape(const BulletMinkowskiSumShape &copy);
INLINE void operator = (const BulletMinkowskiSumShape &copy);
BulletMinkowskiSumShape(const BulletMinkowskiSumShape &copy);
void operator = (const BulletMinkowskiSumShape &copy);
INLINE ~BulletMinkowskiSumShape();
INLINE void set_transform_a(const TransformState *ts);
INLINE void set_transform_b(const TransformState *ts);
INLINE CPT(TransformState) get_transform_a() const;
INLINE CPT(TransformState) get_transform_b() const;
void set_transform_a(const TransformState *ts);
void set_transform_b(const TransformState *ts);
CPT(TransformState) get_transform_a() const;
CPT(TransformState) get_transform_b() const;
INLINE const BulletShape *get_shape_a() const;
INLINE const BulletShape *get_shape_b() const;

45
panda/src/bullet/bulletMultiSphereShape.I
View File

@ -19,48 +19,3 @@ INLINE BulletMultiSphereShape::
delete _shape;
}
/**
*
*/
INLINE BulletMultiSphereShape::
BulletMultiSphereShape(const BulletMultiSphereShape &copy) :
_shape(copy._shape) {
}
/**
*
*/
INLINE void BulletMultiSphereShape::
operator = (const BulletMultiSphereShape &copy) {
_shape = copy._shape;
}
/**
*
*/
INLINE int BulletMultiSphereShape::
get_sphere_count() const {
return _shape->getSphereCount();
}
/**
*
*/
INLINE LPoint3 BulletMultiSphereShape::
get_sphere_pos(int index) const {
nassertr(index >=0 && index <_shape->getSphereCount(), LPoint3::zero());
return btVector3_to_LPoint3(_shape->getSpherePosition(index));
}
/**
*
*/
INLINE PN_stdfloat BulletMultiSphereShape::
get_sphere_radius(int index) const {
nassertr(index >=0 && index <_shape->getSphereCount(), 0.0);
return (PN_stdfloat)_shape->getSphereRadius(index);
}

52
panda/src/bullet/bulletMultiSphereShape.cxx
View File

@ -42,6 +42,26 @@ BulletMultiSphereShape(const PTA_LVecBase3 &points, const PTA_stdfloat &radii) {
_shape->setUserPointer(this);
}
/**
*
*/
BulletMultiSphereShape::
BulletMultiSphereShape(const BulletMultiSphereShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
}
/**
*
*/
void BulletMultiSphereShape::
operator = (const BulletMultiSphereShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
}
/**
*
*/
@ -51,6 +71,38 @@ ptr() const {
return _shape;
}
/**
*
*/
int BulletMultiSphereShape::
get_sphere_count() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _shape->getSphereCount();
}
/**
*
*/
LPoint3 BulletMultiSphereShape::
get_sphere_pos(int index) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(index >=0 && index <_shape->getSphereCount(), LPoint3::zero());
return btVector3_to_LPoint3(_shape->getSpherePosition(index));
}
/**
*
*/
PN_stdfloat BulletMultiSphereShape::
get_sphere_radius(int index) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(index >=0 && index <_shape->getSphereCount(), 0.0);
return (PN_stdfloat)_shape->getSphereRadius(index);
}
/**
* Tells the BamReader how to create objects of type BulletShape.
*/

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

@ -31,13 +31,13 @@ private:
PUBLISHED:
explicit BulletMultiSphereShape(const PTA_LVecBase3 &points, const PTA_stdfloat &radii);
INLINE BulletMultiSphereShape(const BulletMultiSphereShape &copy);
INLINE void operator = (const BulletMultiSphereShape &copy);
BulletMultiSphereShape(const BulletMultiSphereShape &copy);
void operator = (const BulletMultiSphereShape &copy);
INLINE ~BulletMultiSphereShape();
INLINE int get_sphere_count() const;
INLINE LPoint3 get_sphere_pos(int index) const;
INLINE PN_stdfloat get_sphere_radius(int index) const;
int get_sphere_count() const;
LPoint3 get_sphere_pos(int index) const;
PN_stdfloat get_sphere_radius(int index) const;
MAKE_PROPERTY(sphere_count, get_sphere_count);
MAKE_SEQ_PROPERTY(sphere_pos, get_sphere_count, get_sphere_pos);

7
panda/src/bullet/bulletPersistentManifold.cxx
View File

@ -27,6 +27,7 @@ BulletPersistentManifold(btPersistentManifold *manifold) : _manifold(manifold) {
*/
PN_stdfloat BulletPersistentManifold::
get_contact_breaking_threshold() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_manifold->getContactBreakingThreshold();
}
@ -36,6 +37,7 @@ get_contact_breaking_threshold() const {
*/
PN_stdfloat BulletPersistentManifold::
get_contact_processing_threshold() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_manifold->getContactProcessingThreshold();
}
@ -45,6 +47,7 @@ get_contact_processing_threshold() const {
*/
void BulletPersistentManifold::
clear_manifold() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_manifold->clearManifold();
}
@ -54,6 +57,7 @@ clear_manifold() {
*/
PandaNode *BulletPersistentManifold::
get_node0() {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION >= 281
const btCollisionObject *obj = _manifold->getBody0();
@ -69,6 +73,7 @@ get_node0() {
*/
PandaNode *BulletPersistentManifold::
get_node1() {
LightMutexHolder holder(BulletWorld::get_global_lock());
#if BT_BULLET_VERSION >= 281
const btCollisionObject *obj = _manifold->getBody1();
@ -84,6 +89,7 @@ get_node1() {
*/
int BulletPersistentManifold::
get_num_manifold_points() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _manifold->getNumContacts();
}
@ -93,6 +99,7 @@ get_num_manifold_points() const {
*/
BulletManifoldPoint *BulletPersistentManifold::
get_manifold_point(int idx) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(idx < _manifold->getNumContacts(), NULL)

34
panda/src/bullet/bulletPlaneShape.I
View File

@ -19,37 +19,3 @@ INLINE BulletPlaneShape::
delete _shape;
}
/**
*
*/
INLINE BulletPlaneShape::
BulletPlaneShape(const BulletPlaneShape &copy) :
_shape(copy._shape) {
}
/**
*
*/
INLINE void BulletPlaneShape::
operator = (const BulletPlaneShape &copy) {
_shape = copy._shape;
}
/**
*
*/
INLINE PN_stdfloat BulletPlaneShape::
get_plane_constant() const {
return (PN_stdfloat)_shape->getPlaneConstant();
}
/**
*
*/
INLINE LVector3 BulletPlaneShape::
get_plane_normal() const {
return btVector3_to_LVector3(_shape->getPlaneNormal());
}

40
panda/src/bullet/bulletPlaneShape.cxx
View File

@ -27,6 +27,26 @@ BulletPlaneShape(const LVector3 &normal, PN_stdfloat constant) {
_shape->setUserPointer(this);
}
/**
*
*/
BulletPlaneShape::
BulletPlaneShape(const BulletPlaneShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
}
/**
*
*/
void BulletPlaneShape::
operator = (const BulletPlaneShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
}
/**
*
*/
@ -36,6 +56,26 @@ ptr() const {
return _shape;
}
/**
*
*/
PN_stdfloat BulletPlaneShape::
get_plane_constant() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_shape->getPlaneConstant();
}
/**
*
*/
LVector3 BulletPlaneShape::
get_plane_normal() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_shape->getPlaneNormal());
}
/**
*
*/

8
panda/src/bullet/bulletPlaneShape.h
View File

@ -33,12 +33,12 @@ private:
PUBLISHED:
explicit BulletPlaneShape(const LVector3 &normal, PN_stdfloat constant);
INLINE BulletPlaneShape(const BulletPlaneShape &copy);
INLINE void operator = (const BulletPlaneShape &copy);
BulletPlaneShape(const BulletPlaneShape &copy);
void operator = (const BulletPlaneShape &copy);
INLINE ~BulletPlaneShape();
INLINE LVector3 get_plane_normal() const;
INLINE PN_stdfloat get_plane_constant() const;
LVector3 get_plane_normal() const;
PN_stdfloat get_plane_constant() const;
static BulletPlaneShape *make_from_solid(const CollisionPlane *solid);

35
panda/src/bullet/bulletRigidBodyNode.I
View File

@ -20,38 +20,3 @@ INLINE BulletRigidBodyNode::
delete _rigid;
}
/**
*
*/
INLINE void BulletRigidBodyNode::
set_linear_damping(PN_stdfloat value) {
_rigid->setDamping(value, _rigid->getAngularDamping());
}
/**
*
*/
INLINE void BulletRigidBodyNode::
set_angular_damping(PN_stdfloat value) {
_rigid->setDamping(_rigid->getLinearDamping(), value);
}
/**
*
*/
INLINE PN_stdfloat BulletRigidBodyNode::
get_linear_damping() const {
return (PN_stdfloat)_rigid->getLinearDamping();
}
/**
*
*/
INLINE PN_stdfloat BulletRigidBodyNode::
get_angular_damping() const {
return (PN_stdfloat)_rigid->getAngularDamping();
}

146
panda/src/bullet/bulletRigidBodyNode.cxx
View File

@ -48,9 +48,11 @@ BulletRigidBodyNode(const char *name) : BulletBodyNode(name) {
*/
BulletRigidBodyNode::
BulletRigidBodyNode(const BulletRigidBodyNode &copy) :
BulletBodyNode(copy),
_motion(copy._motion)
BulletBodyNode(copy)
{
LightMutexHolder holder(BulletWorld::get_global_lock());
_motion = copy._motion;
_rigid = new btRigidBody(*copy._rigid);
_rigid->setUserPointer(this);
_rigid->setCollisionShape(_shape);
@ -64,6 +66,7 @@ BulletRigidBodyNode(const BulletRigidBodyNode &copy) :
*/
PandaNode *BulletRigidBodyNode::
make_copy() const {
return new BulletRigidBodyNode(*this);
}
@ -72,10 +75,11 @@ make_copy() const {
*/
void BulletRigidBodyNode::
output(ostream &out) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
BulletBodyNode::output(out);
BulletBodyNode::do_output(out);
out << " mass=" << get_mass();
out << " mass=" << do_get_mass();
}
/**
@ -93,10 +97,10 @@ get_object() const {
* The default implementation does nothing.
*/
void BulletRigidBodyNode::
shape_changed() {
do_shape_changed() {
set_mass(get_mass());
transform_changed();
do_set_mass(do_get_mass());
do_transform_changed();
}
/**
@ -104,9 +108,10 @@ shape_changed() {
* automatically computed from the shape of the body. Setting a value of zero
* for mass will make the body static. A value of zero can be considered an
* infinite mass.
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletRigidBodyNode::
set_mass(PN_stdfloat mass) {
do_set_mass(PN_stdfloat mass) {
btScalar bt_mass = mass;
btVector3 bt_inertia(0.0, 0.0, 0.0);
@ -119,12 +124,26 @@ set_mass(PN_stdfloat mass) {
_rigid->updateInertiaTensor();
}
/**
* Sets the mass of a rigid body. This also modifies the inertia, which is
* automatically computed from the shape of the body. Setting a value of zero
* for mass will make the body static. A value of zero can be considered an
* infinite mass.
*/
void BulletRigidBodyNode::
set_mass(PN_stdfloat mass) {
LightMutexHolder holder(BulletWorld::get_global_lock());
do_set_mass(mass);
}
/**
* Returns the total mass of a rigid body. A value of zero means that the
* body is staic, i.e. has an infinite mass.
* Assumes the lock(bullet global lock) is held by the caller
*/
PN_stdfloat BulletRigidBodyNode::
get_mass() const {
do_get_mass() const {
btScalar inv_mass = _rigid->getInvMass();
btScalar mass = (inv_mass == btScalar(0.0)) ? btScalar(0.0) : btScalar(1.0) / inv_mass;
@ -132,11 +151,24 @@ get_mass() const {
return mass;
}
/**
* Returns the total mass of a rigid body. A value of zero means that the
* body is staic, i.e. has an infinite mass.
*/
PN_stdfloat BulletRigidBodyNode::
get_mass() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return do_get_mass();
}
/**
* Returns the inverse mass of a rigid body.
*/
PN_stdfloat BulletRigidBodyNode::
get_inv_mass() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_rigid->getInvMass();
}
@ -153,6 +185,7 @@ get_inv_mass() const {
*/
void BulletRigidBodyNode::
set_inertia(const LVecBase3 &inertia) {
LightMutexHolder holder(BulletWorld::get_global_lock());
btVector3 inv_inertia(
inertia.get_x() == 0.0 ? btScalar(0.0) : btScalar(1.0 / inertia.get_x()),
@ -171,6 +204,7 @@ set_inertia(const LVecBase3 &inertia) {
*/
LVector3 BulletRigidBodyNode::
get_inertia() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
btVector3 inv_inertia = _rigid->getInvInertiaDiagLocal();
LVector3 inertia(
@ -187,6 +221,7 @@ get_inertia() const {
*/
LVector3 BulletRigidBodyNode::
get_inv_inertia_diag_local() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_rigid->getInvInertiaDiagLocal());
}
@ -196,6 +231,7 @@ get_inv_inertia_diag_local() const {
*/
LMatrix3 BulletRigidBodyNode::
get_inv_inertia_tensor_world() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btMatrix3x3_to_LMatrix3(_rigid->getInvInertiaTensorWorld());
}
@ -205,6 +241,7 @@ get_inv_inertia_tensor_world() const {
*/
void BulletRigidBodyNode::
apply_force(const LVector3 &force, const LPoint3 &pos) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv_always(!force.is_nan());
nassertv_always(!pos.is_nan());
@ -218,6 +255,7 @@ apply_force(const LVector3 &force, const LPoint3 &pos) {
*/
void BulletRigidBodyNode::
apply_central_force(const LVector3 &force) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv_always(!force.is_nan());
@ -229,6 +267,7 @@ apply_central_force(const LVector3 &force) {
*/
void BulletRigidBodyNode::
apply_torque(const LVector3 &torque) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv_always(!torque.is_nan());
@ -240,6 +279,7 @@ apply_torque(const LVector3 &torque) {
*/
void BulletRigidBodyNode::
apply_torque_impulse(const LVector3 &torque) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv_always(!torque.is_nan());
@ -251,6 +291,7 @@ apply_torque_impulse(const LVector3 &torque) {
*/
void BulletRigidBodyNode::
apply_impulse(const LVector3 &impulse, const LPoint3 &pos) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv_always(!impulse.is_nan());
nassertv_always(!pos.is_nan());
@ -264,6 +305,7 @@ apply_impulse(const LVector3 &impulse, const LPoint3 &pos) {
*/
void BulletRigidBodyNode::
apply_central_impulse(const LVector3 &impulse) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv_always(!impulse.is_nan());
@ -271,10 +313,10 @@ apply_central_impulse(const LVector3 &impulse) {
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletRigidBodyNode::
transform_changed() {
do_transform_changed() {
if (_motion.sync_disabled()) return;
@ -289,7 +331,7 @@ transform_changed() {
_motion.set_net_transform(ts);
// For dynamic or static bodies we directly apply the new transform.
if (!is_kinematic()) {
if (!(get_object()->isKinematicObject())) {
btTransform trans = TransformState_to_btTrans(ts);
_rigid->setCenterOfMassTransform(trans);
}
@ -317,18 +359,31 @@ transform_changed() {
*
*/
void BulletRigidBodyNode::
sync_p2b() {
transform_changed() {
if (is_kinematic()) {
transform_changed();
if (_motion.sync_disabled()) return;
LightMutexHolder holder(BulletWorld::get_global_lock());
do_transform_changed();
}
/**
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletRigidBodyNode::
do_sync_p2b() {
if (get_object()->isKinematicObject()) {
do_transform_changed();
}
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletRigidBodyNode::
sync_b2p() {
do_sync_b2p() {
_motion.sync_b2p((PandaNode *)this);
}
@ -338,6 +393,7 @@ sync_b2p() {
*/
LVector3 BulletRigidBodyNode::
get_linear_velocity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_rigid->getLinearVelocity());
}
@ -347,6 +403,7 @@ get_linear_velocity() const {
*/
LVector3 BulletRigidBodyNode::
get_angular_velocity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_rigid->getAngularVelocity());
}
@ -356,6 +413,7 @@ get_angular_velocity() const {
*/
void BulletRigidBodyNode::
set_linear_velocity(const LVector3 &velocity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv_always(!velocity.is_nan());
@ -367,17 +425,59 @@ set_linear_velocity(const LVector3 &velocity) {
*/
void BulletRigidBodyNode::
set_angular_velocity(const LVector3 &velocity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv_always(!velocity.is_nan());
_rigid->setAngularVelocity(LVecBase3_to_btVector3(velocity));
}
/**
*
*/
void BulletRigidBodyNode::
set_linear_damping(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_rigid->setDamping(value, _rigid->getAngularDamping());
}
/**
*
*/
void BulletRigidBodyNode::
set_angular_damping(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_rigid->setDamping(_rigid->getLinearDamping(), value);
}
/**
*
*/
PN_stdfloat BulletRigidBodyNode::
get_linear_damping() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_rigid->getLinearDamping();
}
/**
*
*/
PN_stdfloat BulletRigidBodyNode::
get_angular_damping() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_rigid->getAngularDamping();
}
/**
*
*/
void BulletRigidBodyNode::
clear_forces() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_rigid->clearForces();
}
@ -387,6 +487,7 @@ clear_forces() {
*/
PN_stdfloat BulletRigidBodyNode::
get_linear_sleep_threshold() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _rigid->getLinearSleepingThreshold();
}
@ -396,6 +497,7 @@ get_linear_sleep_threshold() const {
*/
PN_stdfloat BulletRigidBodyNode::
get_angular_sleep_threshold() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _rigid->getAngularSleepingThreshold();
}
@ -405,6 +507,7 @@ get_angular_sleep_threshold() const {
*/
void BulletRigidBodyNode::
set_linear_sleep_threshold(PN_stdfloat threshold) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_rigid->setSleepingThresholds(threshold, _rigid->getAngularSleepingThreshold());
}
@ -414,6 +517,7 @@ set_linear_sleep_threshold(PN_stdfloat threshold) {
*/
void BulletRigidBodyNode::
set_angular_sleep_threshold(PN_stdfloat threshold) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_rigid->setSleepingThresholds(_rigid->getLinearSleepingThreshold(), threshold);
}
@ -423,6 +527,7 @@ set_angular_sleep_threshold(PN_stdfloat threshold) {
*/
void BulletRigidBodyNode::
set_gravity(const LVector3 &gravity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv_always(!gravity.is_nan());
@ -434,6 +539,7 @@ set_gravity(const LVector3 &gravity) {
*/
LVector3 BulletRigidBodyNode::
get_gravity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_rigid->getGravity());
}
@ -443,6 +549,7 @@ get_gravity() const {
*/
LVector3 BulletRigidBodyNode::
get_linear_factor() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_rigid->getLinearFactor());
}
@ -452,6 +559,7 @@ get_linear_factor() const {
*/
LVector3 BulletRigidBodyNode::
get_angular_factor() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_rigid->getAngularFactor());
}
@ -461,6 +569,7 @@ get_angular_factor() const {
*/
void BulletRigidBodyNode::
set_linear_factor(const LVector3 &factor) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_rigid->setLinearFactor(LVecBase3_to_btVector3(factor));
}
@ -470,6 +579,7 @@ set_linear_factor(const LVector3 &factor) {
*/
void BulletRigidBodyNode::
set_angular_factor(const LVector3 &factor) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_rigid->setAngularFactor(LVecBase3_to_btVector3(factor));
}
@ -479,6 +589,7 @@ set_angular_factor(const LVector3 &factor) {
*/
LVector3 BulletRigidBodyNode::
get_total_force() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_rigid->getTotalForce());
}
@ -488,6 +599,7 @@ get_total_force() const {
*/
LVector3 BulletRigidBodyNode::
get_total_torque() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_rigid->getTotalTorque());
}

18
panda/src/bullet/bulletRigidBodyNode.h
View File

@ -50,10 +50,10 @@ PUBLISHED:
void set_angular_velocity(const LVector3 &velocity);
// Damping
INLINE PN_stdfloat get_linear_damping() const;
INLINE PN_stdfloat get_angular_damping() const;
INLINE void set_linear_damping(PN_stdfloat value);
INLINE void set_angular_damping(PN_stdfloat value);
PN_stdfloat get_linear_damping() const;
PN_stdfloat get_angular_damping() const;
void set_linear_damping(PN_stdfloat value);
void set_angular_damping(PN_stdfloat value);
// Forces
void clear_forces();
@ -108,14 +108,18 @@ public:
virtual void output(ostream &out) const;
void sync_p2b();
void sync_b2p();
void do_sync_p2b();
void do_sync_b2p();
protected:
virtual void transform_changed();
private:
virtual void shape_changed();
virtual void do_shape_changed();
void do_transform_changed();
void do_set_mass(PN_stdfloat mass);
PN_stdfloat do_get_mass() const;
// The motion state is used for synchronisation between Bullet and the
// Panda3D scene graph.

159
panda/src/bullet/bulletRotationalLimitMotor.I
View File

@ -14,162 +14,7 @@
/**
*
*/
INLINE bool BulletRotationalLimitMotor::
is_limited() const {
INLINE BulletRotationalLimitMotor::
~BulletRotationalLimitMotor() {
return _motor.isLimited();
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_motor_enabled(bool enabled) {
_motor.m_enableMotor = enabled;
}
/**
*
*/
INLINE bool BulletRotationalLimitMotor::
get_motor_enabled() const {
return _motor.m_enableMotor;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_low_limit(PN_stdfloat limit) {
_motor.m_loLimit = (btScalar)limit;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_high_limit(PN_stdfloat limit) {
_motor.m_hiLimit = (btScalar)limit;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_target_velocity(PN_stdfloat velocity) {
_motor.m_targetVelocity = (btScalar)velocity;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_max_motor_force(PN_stdfloat force) {
_motor.m_maxMotorForce = (btScalar)force;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_max_limit_force(PN_stdfloat force) {
_motor.m_maxLimitForce = (btScalar)force;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_damping(PN_stdfloat damping) {
_motor.m_damping = (btScalar)damping;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_softness(PN_stdfloat softness) {
_motor.m_limitSoftness = (btScalar)softness;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_bounce(PN_stdfloat bounce) {
_motor.m_bounce = (btScalar)bounce;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_normal_cfm(PN_stdfloat cfm) {
_motor.m_normalCFM = (btScalar)cfm;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_stop_cfm(PN_stdfloat cfm) {
_motor.m_stopCFM = (btScalar)cfm;
}
/**
*
*/
INLINE void BulletRotationalLimitMotor::
set_stop_erp(PN_stdfloat erp) {
_motor.m_stopERP = (btScalar)erp;
}
/**
* Retrieves the current value of angle: 0 = free, 1 = at low limit, 2 = at
* high limit.
*/
INLINE int BulletRotationalLimitMotor::
get_current_limit() const {
return _motor.m_currentLimit;
}
/**
*
*/
INLINE PN_stdfloat BulletRotationalLimitMotor::
get_current_error() const {
return (PN_stdfloat)_motor.m_currentLimitError;
}
/**
*
*/
INLINE PN_stdfloat BulletRotationalLimitMotor::
get_current_position() const {
return (PN_stdfloat)_motor.m_currentPosition;
}
/**
*
*/
INLINE PN_stdfloat BulletRotationalLimitMotor::
get_accumulated_impulse() const {
return (PN_stdfloat)_motor.m_accumulatedImpulse;
}

176
panda/src/bullet/bulletRotationalLimitMotor.cxx
View File

@ -34,7 +34,179 @@ BulletRotationalLimitMotor(const BulletRotationalLimitMotor &copy)
/**
*
*/
BulletRotationalLimitMotor::
~BulletRotationalLimitMotor() {
bool BulletRotationalLimitMotor::
is_limited() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _motor.isLimited();
}
/**
*
*/
void BulletRotationalLimitMotor::
set_motor_enabled(bool enabled) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_enableMotor = enabled;
}
/**
*
*/
bool BulletRotationalLimitMotor::
get_motor_enabled() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _motor.m_enableMotor;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_low_limit(PN_stdfloat limit) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_loLimit = (btScalar)limit;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_high_limit(PN_stdfloat limit) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_hiLimit = (btScalar)limit;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_target_velocity(PN_stdfloat velocity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_targetVelocity = (btScalar)velocity;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_max_motor_force(PN_stdfloat force) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_maxMotorForce = (btScalar)force;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_max_limit_force(PN_stdfloat force) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_maxLimitForce = (btScalar)force;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_damping(PN_stdfloat damping) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_damping = (btScalar)damping;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_softness(PN_stdfloat softness) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_limitSoftness = (btScalar)softness;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_bounce(PN_stdfloat bounce) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_bounce = (btScalar)bounce;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_normal_cfm(PN_stdfloat cfm) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_normalCFM = (btScalar)cfm;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_stop_cfm(PN_stdfloat cfm) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_stopCFM = (btScalar)cfm;
}
/**
*
*/
void BulletRotationalLimitMotor::
set_stop_erp(PN_stdfloat erp) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_stopERP = (btScalar)erp;
}
/**
* Retrieves the current value of angle: 0 = free, 1 = at low limit, 2 = at
* high limit.
*/
int BulletRotationalLimitMotor::
get_current_limit() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _motor.m_currentLimit;
}
/**
*
*/
PN_stdfloat BulletRotationalLimitMotor::
get_current_error() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_motor.m_currentLimitError;
}
/**
*
*/
PN_stdfloat BulletRotationalLimitMotor::
get_current_position() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_motor.m_currentPosition;
}
/**
*
*/
PN_stdfloat BulletRotationalLimitMotor::
get_accumulated_impulse() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_motor.m_accumulatedImpulse;
}

38
panda/src/bullet/bulletRotationalLimitMotor.h
View File

@ -28,27 +28,27 @@ class EXPCL_PANDABULLET BulletRotationalLimitMotor {
PUBLISHED:
BulletRotationalLimitMotor(const BulletRotationalLimitMotor &copy);
~BulletRotationalLimitMotor();
INLINE ~BulletRotationalLimitMotor();
INLINE void set_motor_enabled(bool enable);
INLINE void set_low_limit(PN_stdfloat limit);
INLINE void set_high_limit(PN_stdfloat limit);
INLINE void set_target_velocity(PN_stdfloat velocity);
INLINE void set_max_motor_force(PN_stdfloat force);
INLINE void set_max_limit_force(PN_stdfloat force);
INLINE void set_damping(PN_stdfloat damping);
INLINE void set_softness(PN_stdfloat softness);
INLINE void set_bounce(PN_stdfloat bounce);
INLINE void set_normal_cfm(PN_stdfloat cfm);
INLINE void set_stop_cfm(PN_stdfloat cfm);
INLINE void set_stop_erp(PN_stdfloat erp);
void set_motor_enabled(bool enable);
void set_low_limit(PN_stdfloat limit);
void set_high_limit(PN_stdfloat limit);
void set_target_velocity(PN_stdfloat velocity);
void set_max_motor_force(PN_stdfloat force);
void set_max_limit_force(PN_stdfloat force);
void set_damping(PN_stdfloat damping);
void set_softness(PN_stdfloat softness);
void set_bounce(PN_stdfloat bounce);
void set_normal_cfm(PN_stdfloat cfm);
void set_stop_cfm(PN_stdfloat cfm);
void set_stop_erp(PN_stdfloat erp);
INLINE bool is_limited() const;
INLINE bool get_motor_enabled() const;
INLINE int get_current_limit() const;
INLINE PN_stdfloat get_current_error() const;
INLINE PN_stdfloat get_current_position() const;
INLINE PN_stdfloat get_accumulated_impulse() const;
bool is_limited() const;
bool get_motor_enabled() const;
int get_current_limit() const;
PN_stdfloat get_current_error() const;
PN_stdfloat get_current_position() const;
PN_stdfloat get_accumulated_impulse() const;
MAKE_PROPERTY(limited, is_limited);
MAKE_PROPERTY(motor_enabled, get_motor_enabled, set_motor_enabled);

63
panda/src/bullet/bulletShape.I
View File

@ -18,66 +18,3 @@ INLINE BulletShape::
~BulletShape() {
}
/**
*
*/
INLINE bool BulletShape::
is_polyhedral() const {
return ptr()->isPolyhedral();
}
/**
*
*/
INLINE bool BulletShape::
is_convex() const {
return ptr()->isConvex();
}
/**
*
*/
INLINE bool BulletShape::
is_convex_2d() const {
return ptr()->isConvex2d();
}
/**
*
*/
INLINE bool BulletShape::
is_concave() const {
return ptr()->isConcave();
}
/**
*
*/
INLINE bool BulletShape::
is_infinite() const {
return ptr()->isInfinite();
}
/**
*
*/
INLINE bool BulletShape::
is_non_moving() const {
return ptr()->isNonMoving();
}
/**
*
*/
INLINE bool BulletShape::
is_soft_body() const {
return ptr()->isSoftBody();
}

89
panda/src/bullet/bulletShape.cxx
View File

@ -21,6 +21,7 @@ TypeHandle BulletShape::_type_handle;
*/
const char *BulletShape::
get_name() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return ptr()->getName();
}
@ -30,6 +31,7 @@ get_name() const {
*/
PN_stdfloat BulletShape::
get_margin() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return ptr()->getMargin();
}
@ -39,6 +41,7 @@ get_margin() const {
*/
void BulletShape::
set_margin(PN_stdfloat margin) {
LightMutexHolder holder(BulletWorld::get_global_lock());
ptr()->setMargin(margin);
}
@ -48,18 +51,29 @@ set_margin(PN_stdfloat margin) {
*/
LVecBase3 BulletShape::
get_local_scale() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVecBase3(ptr()->getLocalScaling());
}
/**
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletShape::
do_set_local_scale(const LVecBase3 &scale) {
nassertv(!scale.is_nan());
ptr()->setLocalScaling(LVecBase3_to_btVector3(scale));
}
/**
*
*/
void BulletShape::
set_local_scale(const LVecBase3 &scale) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!scale.is_nan());
ptr()->setLocalScaling(LVecBase3_to_btVector3(scale));
do_set_local_scale(scale);
}
/**
@ -67,6 +81,7 @@ set_local_scale(const LVecBase3 &scale) {
*/
BoundingSphere BulletShape::
get_shape_bounds() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
/*
btTransform tr;
@ -87,3 +102,73 @@ cout << "origin " << aabbMin.x() << " " << aabbMin.y() << " " << aabbMin.z() <<
return bounds;
}
/**
*
*/
bool BulletShape::
is_polyhedral() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return ptr()->isPolyhedral();
}
/**
*
*/
bool BulletShape::
is_convex() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return ptr()->isConvex();
}
/**
*
*/
bool BulletShape::
is_convex_2d() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return ptr()->isConvex2d();
}
/**
*
*/
bool BulletShape::
is_concave() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return ptr()->isConcave();
}
/**
*
*/
bool BulletShape::
is_infinite() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return ptr()->isInfinite();
}
/**
*
*/
bool BulletShape::
is_non_moving() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return ptr()->isNonMoving();
}
/**
*
*/
bool BulletShape::
is_soft_body() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return ptr()->isSoftBody();
}

15
panda/src/bullet/bulletShape.h
View File

@ -31,13 +31,13 @@ protected:
PUBLISHED:
INLINE virtual ~BulletShape();
INLINE bool is_polyhedral() const;
INLINE bool is_convex() const;
INLINE bool is_convex_2d() const;
INLINE bool is_concave() const;
INLINE bool is_infinite() const;
INLINE bool is_non_moving() const;
INLINE bool is_soft_body() const;
bool is_polyhedral() const;
bool is_convex() const;
bool is_convex_2d() const;
bool is_concave() const;
bool is_infinite() const;
bool is_non_moving() const;
bool is_soft_body() const;
void set_margin(PN_stdfloat margin);
const char *get_name() const;
@ -61,6 +61,7 @@ public:
virtual btCollisionShape *ptr() const = 0;
LVecBase3 get_local_scale() const;
void set_local_scale(const LVecBase3 &scale);
void do_set_local_scale(const LVecBase3 &scale);
public:
static TypeHandle get_class_type() {

18
panda/src/bullet/bulletSliderConstraint.I
View File

@ -19,21 +19,3 @@ INLINE BulletSliderConstraint::
delete _constraint;
}
/**
*
*/
INLINE CPT(TransformState) BulletSliderConstraint::
get_frame_a() const {
return btTrans_to_TransformState(_constraint->getFrameOffsetA());
}
/**
*
*/
INLINE CPT(TransformState) BulletSliderConstraint::
get_frame_b() const {
return btTrans_to_TransformState(_constraint->getFrameOffsetB());
}

43
panda/src/bullet/bulletSliderConstraint.cxx
View File

@ -65,6 +65,7 @@ ptr() const {
*/
PN_stdfloat BulletSliderConstraint::
get_lower_linear_limit() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_constraint->getLowerLinLimit();
}
@ -74,6 +75,7 @@ get_lower_linear_limit() const {
*/
PN_stdfloat BulletSliderConstraint::
get_upper_linear_limit() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_constraint->getUpperLinLimit();
}
@ -83,6 +85,7 @@ get_upper_linear_limit() const {
*/
PN_stdfloat BulletSliderConstraint::
get_lower_angular_limit() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return rad_2_deg(_constraint->getLowerAngLimit());
}
@ -92,6 +95,7 @@ get_lower_angular_limit() const {
*/
PN_stdfloat BulletSliderConstraint::
get_upper_angular_limit() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return rad_2_deg(_constraint->getUpperAngLimit());
}
@ -101,6 +105,7 @@ get_upper_angular_limit() const {
*/
void BulletSliderConstraint::
set_lower_linear_limit(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setLowerLinLimit((btScalar)value);
}
@ -110,6 +115,7 @@ set_lower_linear_limit(PN_stdfloat value) {
*/
void BulletSliderConstraint::
set_upper_linear_limit(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setUpperLinLimit((btScalar)value);
}
@ -119,6 +125,7 @@ set_upper_linear_limit(PN_stdfloat value) {
*/
void BulletSliderConstraint::
set_lower_angular_limit(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setLowerAngLimit((btScalar)deg_2_rad(value));
}
@ -128,6 +135,7 @@ set_lower_angular_limit(PN_stdfloat value) {
*/
void BulletSliderConstraint::
set_upper_angular_limit(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setUpperAngLimit((btScalar)deg_2_rad(value));
}
@ -137,6 +145,7 @@ set_upper_angular_limit(PN_stdfloat value) {
*/
PN_stdfloat BulletSliderConstraint::
get_linear_pos() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_constraint->getLinearPos();
}
@ -146,6 +155,7 @@ get_linear_pos() const {
*/
PN_stdfloat BulletSliderConstraint::
get_angular_pos() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_constraint->getAngularPos();
}
@ -155,6 +165,7 @@ get_angular_pos() const {
*/
void BulletSliderConstraint::
set_powered_linear_motor(bool on) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setPoweredLinMotor(on);
}
@ -164,6 +175,7 @@ set_powered_linear_motor(bool on) {
*/
void BulletSliderConstraint::
set_target_linear_motor_velocity(PN_stdfloat target_velocity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setTargetLinMotorVelocity((btScalar)target_velocity);
}
@ -173,6 +185,7 @@ set_target_linear_motor_velocity(PN_stdfloat target_velocity) {
*/
void BulletSliderConstraint::
set_max_linear_motor_force(PN_stdfloat max_force) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setMaxLinMotorForce((btScalar)max_force);
}
@ -182,6 +195,7 @@ set_max_linear_motor_force(PN_stdfloat max_force) {
*/
bool BulletSliderConstraint::
get_powered_linear_motor() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _constraint->getPoweredLinMotor();
}
@ -191,6 +205,7 @@ get_powered_linear_motor() const {
*/
PN_stdfloat BulletSliderConstraint::
get_target_linear_motor_velocity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_constraint->getTargetLinMotorVelocity();
}
@ -200,6 +215,7 @@ get_target_linear_motor_velocity() const {
*/
PN_stdfloat BulletSliderConstraint::
get_max_linear_motor_force() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_constraint->getMaxLinMotorForce();
}
@ -209,6 +225,7 @@ get_max_linear_motor_force() const {
*/
void BulletSliderConstraint::
set_powered_angular_motor(bool on) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setPoweredAngMotor(on);
}
@ -218,6 +235,7 @@ set_powered_angular_motor(bool on) {
*/
void BulletSliderConstraint::
set_target_angular_motor_velocity(PN_stdfloat target_velocity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setTargetAngMotorVelocity((btScalar)target_velocity);
}
@ -227,6 +245,7 @@ set_target_angular_motor_velocity(PN_stdfloat target_velocity) {
*/
void BulletSliderConstraint::
set_max_angular_motor_force(PN_stdfloat max_force) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_constraint->setMaxAngMotorForce((btScalar)max_force);
}
@ -236,6 +255,7 @@ set_max_angular_motor_force(PN_stdfloat max_force) {
*/
bool BulletSliderConstraint::
get_powered_angular_motor() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _constraint->getPoweredAngMotor();
}
@ -245,6 +265,7 @@ get_powered_angular_motor() const {
*/
PN_stdfloat BulletSliderConstraint::
get_target_angular_motor_velocity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_constraint->getTargetAngMotorVelocity();
}
@ -254,6 +275,7 @@ get_target_angular_motor_velocity() const {
*/
PN_stdfloat BulletSliderConstraint::
get_max_angular_motor_force() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_constraint->getMaxAngMotorForce();
}
@ -263,9 +285,30 @@ get_max_angular_motor_force() const {
*/
void BulletSliderConstraint::
set_frames(const TransformState *ts_a, const TransformState *ts_b) {
LightMutexHolder holder(BulletWorld::get_global_lock());
btTransform frame_a = TransformState_to_btTrans(ts_a);
btTransform frame_b = TransformState_to_btTrans(ts_b);
_constraint->setFrames(frame_a, frame_b);
}
/**
*
*/
CPT(TransformState) BulletSliderConstraint::
get_frame_a() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_constraint->getFrameOffsetA());
}
/**
*
*/
CPT(TransformState) BulletSliderConstraint::
get_frame_b() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_TransformState(_constraint->getFrameOffsetB());
}

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

@ -70,8 +70,8 @@ PUBLISHED:
// 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;
CPT(TransformState) get_frame_a() const;
CPT(TransformState) get_frame_b() const;
MAKE_PROPERTY(linear_pos, get_linear_pos);
MAKE_PROPERTY(angular_pos, get_angular_pos);

436
panda/src/bullet/bulletSoftBodyConfig.I
View File

@ -18,439 +18,3 @@ INLINE BulletSoftBodyConfig::
~BulletSoftBodyConfig() {
}
/**
* Getter for property kVCF.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_velocities_correction_factor() const {
return (PN_stdfloat)_cfg.kVCF;
}
/**
* Setter for property kVCF.
*/
INLINE void BulletSoftBodyConfig::
set_velocities_correction_factor(PN_stdfloat value) {
_cfg.kVCF = (btScalar)value;
}
/**
* Getter for property kDP.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_damping_coefficient() const {
return (PN_stdfloat)_cfg.kDP;
}
/**
* Setter for property kDP.
*/
INLINE void BulletSoftBodyConfig::
set_damping_coefficient(PN_stdfloat value) {
_cfg.kDP = (btScalar)value;
}
/**
* Getter for property kDG.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_drag_coefficient() const {
return (PN_stdfloat)_cfg.kDG;
}
/**
* Setter for property kDG.
*/
INLINE void BulletSoftBodyConfig::
set_drag_coefficient(PN_stdfloat value) {
_cfg.kDG = (btScalar)value;
}
/**
* Getter for property kLF.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_lift_coefficient() const {
return (PN_stdfloat)_cfg.kLF;
}
/**
* Setter for property kLF.
*/
INLINE void BulletSoftBodyConfig::
set_lift_coefficient(PN_stdfloat value) {
_cfg.kLF = (btScalar)value;
}
/**
* Getter for property kPR.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_pressure_coefficient() const {
return (PN_stdfloat)_cfg.kPR;
}
/**
* Setter for property kPR.
*/
INLINE void BulletSoftBodyConfig::
set_pressure_coefficient(PN_stdfloat value) {
_cfg.kPR = (btScalar)value;
}
/**
* Getter for property kVC.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_volume_conservation_coefficient() const {
return (PN_stdfloat)_cfg.kVC;
}
/**
* Setter for property kVC.
*/
INLINE void BulletSoftBodyConfig::
set_volume_conservation_coefficient(PN_stdfloat value) {
_cfg.kVC = (btScalar)value;
}
/**
* Getter for property kDF.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_dynamic_friction_coefficient() const {
return (PN_stdfloat)_cfg.kDF;
}
/**
* Setter for property kDF.
*/
INLINE void BulletSoftBodyConfig::
set_dynamic_friction_coefficient(PN_stdfloat value) {
_cfg.kDF = (btScalar)value;
}
/**
* Getter for property kMT.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_pose_matching_coefficient() const {
return (PN_stdfloat)_cfg.kMT;
}
/**
* Setter for property kMT.
*/
INLINE void BulletSoftBodyConfig::
set_pose_matching_coefficient(PN_stdfloat value) {
_cfg.kMT = (btScalar)value;
}
/**
* Getter for property kCHR.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_rigid_contacts_hardness() const {
return (PN_stdfloat)_cfg.kCHR;
}
/**
* Setter for property kCHR.
*/
INLINE void BulletSoftBodyConfig::
set_rigid_contacts_hardness(PN_stdfloat value) {
_cfg.kCHR = (btScalar)value;
}
/**
* Getter for property kKHR.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_kinetic_contacts_hardness() const {
return (PN_stdfloat)_cfg.kKHR;
}
/**
* Setter for property kKHR.
*/
INLINE void BulletSoftBodyConfig::
set_kinetic_contacts_hardness(PN_stdfloat value) {
_cfg.kKHR = (btScalar)value;
}
/**
* Getter for property kSHR.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_soft_contacts_hardness() const {
return (PN_stdfloat)_cfg.kSHR;
}
/**
* Setter for property kSHR.
*/
INLINE void BulletSoftBodyConfig::
set_soft_contacts_hardness(PN_stdfloat value) {
_cfg.kSHR = (btScalar)value;
}
/**
* Getter for property kAHR.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_anchors_hardness() const {
return (PN_stdfloat)_cfg.kAHR;
}
/**
* Setter for property kAHR.
*/
INLINE void BulletSoftBodyConfig::
set_anchors_hardness(PN_stdfloat value) {
_cfg.kAHR = (btScalar)value;
}
/**
* Getter for property kSRHR_CL.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_rigid_hardness() const {
return (PN_stdfloat)_cfg.kSRHR_CL;
}
/**
* Setter for property kSRHR_CL.
*/
INLINE void BulletSoftBodyConfig::
set_soft_vs_rigid_hardness(PN_stdfloat value) {
_cfg.kSRHR_CL = (btScalar)value;
}
/**
* Getter for property kSKHR_CL.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_kinetic_hardness() const {
return (PN_stdfloat)_cfg.kSKHR_CL;
}
/**
* Setter for property kSKHR_CL.
*/
INLINE void BulletSoftBodyConfig::
set_soft_vs_kinetic_hardness(PN_stdfloat value) {
_cfg.kSKHR_CL = (btScalar)value;
}
/**
* Getter for property kSSHR_CL.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_soft_hardness() const {
return (PN_stdfloat)_cfg.kSSHR_CL;
}
/**
* Setter for property kSSHR_CL.
*/
INLINE void BulletSoftBodyConfig::
set_soft_vs_soft_hardness(PN_stdfloat value) {
_cfg.kSSHR_CL = (btScalar)value;
}
/**
* Getter for property kSR_SPLT_CL.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_rigid_impulse_split() const {
return (PN_stdfloat)_cfg.kSR_SPLT_CL;
}
/**
* Setter for property kSR_SPLT_CL.
*/
INLINE void BulletSoftBodyConfig::
set_soft_vs_rigid_impulse_split(PN_stdfloat value) {
_cfg.kSR_SPLT_CL = (btScalar)value;
}
/**
* Getter for property kSK_SPLT_CL.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_kinetic_impulse_split() const {
return (PN_stdfloat)_cfg.kSK_SPLT_CL;
}
/**
* Setter for property kSK_SPLT_CL.
*/
INLINE void BulletSoftBodyConfig::
set_soft_vs_kinetic_impulse_split(PN_stdfloat value) {
_cfg.kSK_SPLT_CL = (btScalar)value;
}
/**
* Getter for property kSS_SPLT_CL.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_soft_impulse_split() const {
return (PN_stdfloat)_cfg.kSS_SPLT_CL;
}
/**
* Setter for property kSS_SPLT_CL.
*/
INLINE void BulletSoftBodyConfig::
set_soft_vs_soft_impulse_split(PN_stdfloat value) {
_cfg.kSS_SPLT_CL = (btScalar)value;
}
/**
* Getter for property maxvolume.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_maxvolume() const {
return (PN_stdfloat)_cfg.maxvolume;
}
/**
* Setter for property maxvolume.
*/
INLINE void BulletSoftBodyConfig::
set_maxvolume(PN_stdfloat value) {
_cfg.maxvolume = (btScalar)value;
}
/**
* Getter for property timescale.
*/
INLINE PN_stdfloat BulletSoftBodyConfig::
get_timescale() const {
return (PN_stdfloat)_cfg.timescale;
}
/**
* Setter for property timescale.
*/
INLINE void BulletSoftBodyConfig::
set_timescale(PN_stdfloat value) {
_cfg.timescale = (btScalar)value;
}
/**
* Getter for property piterations.
*/
INLINE int BulletSoftBodyConfig::
get_positions_solver_iterations() const {
return _cfg.piterations;
}
/**
* Setter for property piterations.
*/
INLINE void BulletSoftBodyConfig::
set_positions_solver_iterations(int value) {
nassertv(value > 0);
_cfg.piterations = value;
}
/**
* Getter for property viterations.
*/
INLINE int BulletSoftBodyConfig::
get_velocities_solver_iterations() const {
return _cfg.viterations;
}
/**
* Setter for property viterations.
*/
INLINE void BulletSoftBodyConfig::
set_velocities_solver_iterations(int value) {
nassertv(value > 0);
_cfg.viterations = value;
}
/**
* Getter for property diterations.
*/
INLINE int BulletSoftBodyConfig::
get_drift_solver_iterations() const {
return _cfg.diterations;
}
/**
* Setter for property diterations.
*/
INLINE void BulletSoftBodyConfig::
set_drift_solver_iterations(int value) {
nassertv(value > 0);
_cfg.diterations = value;
}
/**
* Getter for property citerations.
*/
INLINE int BulletSoftBodyConfig::
get_cluster_solver_iterations() const {
return _cfg.citerations;
}
/**
* Setter for property citerations.
*/
INLINE void BulletSoftBodyConfig::
set_cluster_solver_iterations(int value) {
nassertv(value > 0);
_cfg.citerations = value;
}

489
panda/src/bullet/bulletSoftBodyConfig.cxx
View File

@ -26,6 +26,7 @@ BulletSoftBodyConfig(btSoftBody::Config &cfg) : _cfg(cfg) {
*/
void BulletSoftBodyConfig::
clear_all_collision_flags() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.collisions = 0;
}
@ -35,6 +36,7 @@ clear_all_collision_flags() {
*/
void BulletSoftBodyConfig::
set_collision_flag(CollisionFlag flag, bool value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
if (value == true) {
_cfg.collisions |= flag;
@ -49,6 +51,7 @@ set_collision_flag(CollisionFlag flag, bool value) {
*/
bool BulletSoftBodyConfig::
get_collision_flag(CollisionFlag flag) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (_cfg.collisions & flag) ? true : false;
}
@ -58,6 +61,7 @@ get_collision_flag(CollisionFlag flag) const {
*/
void BulletSoftBodyConfig::
set_aero_model(AeroModel value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.aeromodel = (btSoftBody::eAeroModel::_)value;
}
@ -67,6 +71,491 @@ set_aero_model(AeroModel value) {
*/
BulletSoftBodyConfig::AeroModel BulletSoftBodyConfig::
get_aero_model() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (AeroModel)_cfg.aeromodel;
}
/**
* Getter for property kVCF.
*/
PN_stdfloat BulletSoftBodyConfig::
get_velocities_correction_factor() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kVCF;
}
/**
* Setter for property kVCF.
*/
void BulletSoftBodyConfig::
set_velocities_correction_factor(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kVCF = (btScalar)value;
}
/**
* Getter for property kDP.
*/
PN_stdfloat BulletSoftBodyConfig::
get_damping_coefficient() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kDP;
}
/**
* Setter for property kDP.
*/
void BulletSoftBodyConfig::
set_damping_coefficient(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kDP = (btScalar)value;
}
/**
* Getter for property kDG.
*/
PN_stdfloat BulletSoftBodyConfig::
get_drag_coefficient() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kDG;
}
/**
* Setter for property kDG.
*/
void BulletSoftBodyConfig::
set_drag_coefficient(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kDG = (btScalar)value;
}
/**
* Getter for property kLF.
*/
PN_stdfloat BulletSoftBodyConfig::
get_lift_coefficient() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kLF;
}
/**
* Setter for property kLF.
*/
void BulletSoftBodyConfig::
set_lift_coefficient(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kLF = (btScalar)value;
}
/**
* Getter for property kPR.
*/
PN_stdfloat BulletSoftBodyConfig::
get_pressure_coefficient() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kPR;
}
/**
* Setter for property kPR.
*/
void BulletSoftBodyConfig::
set_pressure_coefficient(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kPR = (btScalar)value;
}
/**
* Getter for property kVC.
*/
PN_stdfloat BulletSoftBodyConfig::
get_volume_conservation_coefficient() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kVC;
}
/**
* Setter for property kVC.
*/
void BulletSoftBodyConfig::
set_volume_conservation_coefficient(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kVC = (btScalar)value;
}
/**
* Getter for property kDF.
*/
PN_stdfloat BulletSoftBodyConfig::
get_dynamic_friction_coefficient() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kDF;
}
/**
* Setter for property kDF.
*/
void BulletSoftBodyConfig::
set_dynamic_friction_coefficient(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kDF = (btScalar)value;
}
/**
* Getter for property kMT.
*/
PN_stdfloat BulletSoftBodyConfig::
get_pose_matching_coefficient() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kMT;
}
/**
* Setter for property kMT.
*/
void BulletSoftBodyConfig::
set_pose_matching_coefficient(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kMT = (btScalar)value;
}
/**
* Getter for property kCHR.
*/
PN_stdfloat BulletSoftBodyConfig::
get_rigid_contacts_hardness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kCHR;
}
/**
* Setter for property kCHR.
*/
void BulletSoftBodyConfig::
set_rigid_contacts_hardness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kCHR = (btScalar)value;
}
/**
* Getter for property kKHR.
*/
PN_stdfloat BulletSoftBodyConfig::
get_kinetic_contacts_hardness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kKHR;
}
/**
* Setter for property kKHR.
*/
void BulletSoftBodyConfig::
set_kinetic_contacts_hardness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kKHR = (btScalar)value;
}
/**
* Getter for property kSHR.
*/
PN_stdfloat BulletSoftBodyConfig::
get_soft_contacts_hardness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kSHR;
}
/**
* Setter for property kSHR.
*/
void BulletSoftBodyConfig::
set_soft_contacts_hardness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kSHR = (btScalar)value;
}
/**
* Getter for property kAHR.
*/
PN_stdfloat BulletSoftBodyConfig::
get_anchors_hardness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kAHR;
}
/**
* Setter for property kAHR.
*/
void BulletSoftBodyConfig::
set_anchors_hardness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kAHR = (btScalar)value;
}
/**
* Getter for property kSRHR_CL.
*/
PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_rigid_hardness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kSRHR_CL;
}
/**
* Setter for property kSRHR_CL.
*/
void BulletSoftBodyConfig::
set_soft_vs_rigid_hardness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kSRHR_CL = (btScalar)value;
}
/**
* Getter for property kSKHR_CL.
*/
PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_kinetic_hardness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kSKHR_CL;
}
/**
* Setter for property kSKHR_CL.
*/
void BulletSoftBodyConfig::
set_soft_vs_kinetic_hardness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kSKHR_CL = (btScalar)value;
}
/**
* Getter for property kSSHR_CL.
*/
PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_soft_hardness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kSSHR_CL;
}
/**
* Setter for property kSSHR_CL.
*/
void BulletSoftBodyConfig::
set_soft_vs_soft_hardness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kSSHR_CL = (btScalar)value;
}
/**
* Getter for property kSR_SPLT_CL.
*/
PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_rigid_impulse_split() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kSR_SPLT_CL;
}
/**
* Setter for property kSR_SPLT_CL.
*/
void BulletSoftBodyConfig::
set_soft_vs_rigid_impulse_split(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kSR_SPLT_CL = (btScalar)value;
}
/**
* Getter for property kSK_SPLT_CL.
*/
PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_kinetic_impulse_split() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kSK_SPLT_CL;
}
/**
* Setter for property kSK_SPLT_CL.
*/
void BulletSoftBodyConfig::
set_soft_vs_kinetic_impulse_split(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kSK_SPLT_CL = (btScalar)value;
}
/**
* Getter for property kSS_SPLT_CL.
*/
PN_stdfloat BulletSoftBodyConfig::
get_soft_vs_soft_impulse_split() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.kSS_SPLT_CL;
}
/**
* Setter for property kSS_SPLT_CL.
*/
void BulletSoftBodyConfig::
set_soft_vs_soft_impulse_split(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.kSS_SPLT_CL = (btScalar)value;
}
/**
* Getter for property maxvolume.
*/
PN_stdfloat BulletSoftBodyConfig::
get_maxvolume() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.maxvolume;
}
/**
* Setter for property maxvolume.
*/
void BulletSoftBodyConfig::
set_maxvolume(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.maxvolume = (btScalar)value;
}
/**
* Getter for property timescale.
*/
PN_stdfloat BulletSoftBodyConfig::
get_timescale() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_cfg.timescale;
}
/**
* Setter for property timescale.
*/
void BulletSoftBodyConfig::
set_timescale(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_cfg.timescale = (btScalar)value;
}
/**
* Getter for property piterations.
*/
int BulletSoftBodyConfig::
get_positions_solver_iterations() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _cfg.piterations;
}
/**
* Setter for property piterations.
*/
void BulletSoftBodyConfig::
set_positions_solver_iterations(int value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(value > 0);
_cfg.piterations = value;
}
/**
* Getter for property viterations.
*/
int BulletSoftBodyConfig::
get_velocities_solver_iterations() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _cfg.viterations;
}
/**
* Setter for property viterations.
*/
void BulletSoftBodyConfig::
set_velocities_solver_iterations(int value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(value > 0);
_cfg.viterations = value;
}
/**
* Getter for property diterations.
*/
int BulletSoftBodyConfig::
get_drift_solver_iterations() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _cfg.diterations;
}
/**
* Setter for property diterations.
*/
void BulletSoftBodyConfig::
set_drift_solver_iterations(int value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(value > 0);
_cfg.diterations = value;
}
/**
* Getter for property citerations.
*/
int BulletSoftBodyConfig::
get_cluster_solver_iterations() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _cfg.citerations;
}
/**
* Setter for property citerations.
*/
void BulletSoftBodyConfig::
set_cluster_solver_iterations(int value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(value > 0);
_cfg.citerations = value;
}

96
panda/src/bullet/bulletSoftBodyConfig.h
View File

@ -51,55 +51,55 @@ PUBLISHED:
void set_aero_model(AeroModel value);
AeroModel get_aero_model() const;
INLINE void set_velocities_correction_factor(PN_stdfloat value);
INLINE void set_damping_coefficient(PN_stdfloat value);
INLINE void set_drag_coefficient(PN_stdfloat value);
INLINE void set_lift_coefficient(PN_stdfloat value);
INLINE void set_pressure_coefficient(PN_stdfloat value);
INLINE void set_volume_conservation_coefficient(PN_stdfloat value);
INLINE void set_dynamic_friction_coefficient(PN_stdfloat value);
INLINE void set_pose_matching_coefficient(PN_stdfloat value);
INLINE void set_rigid_contacts_hardness(PN_stdfloat value);
INLINE void set_kinetic_contacts_hardness(PN_stdfloat value);
INLINE void set_soft_contacts_hardness(PN_stdfloat value);
INLINE void set_anchors_hardness(PN_stdfloat value);
INLINE void set_soft_vs_rigid_hardness(PN_stdfloat value);
INLINE void set_soft_vs_kinetic_hardness(PN_stdfloat value);
INLINE void set_soft_vs_soft_hardness(PN_stdfloat value);
INLINE void set_soft_vs_rigid_impulse_split(PN_stdfloat value);
INLINE void set_soft_vs_kinetic_impulse_split(PN_stdfloat value);
INLINE void set_soft_vs_soft_impulse_split(PN_stdfloat value);
INLINE void set_maxvolume(PN_stdfloat value);
INLINE void set_timescale(PN_stdfloat value);
INLINE void set_positions_solver_iterations(int value);
INLINE void set_velocities_solver_iterations(int value);
INLINE void set_drift_solver_iterations( int value);
INLINE void set_cluster_solver_iterations(int value);
void set_velocities_correction_factor(PN_stdfloat value);
void set_damping_coefficient(PN_stdfloat value);
void set_drag_coefficient(PN_stdfloat value);
void set_lift_coefficient(PN_stdfloat value);
void set_pressure_coefficient(PN_stdfloat value);
void set_volume_conservation_coefficient(PN_stdfloat value);
void set_dynamic_friction_coefficient(PN_stdfloat value);
void set_pose_matching_coefficient(PN_stdfloat value);
void set_rigid_contacts_hardness(PN_stdfloat value);
void set_kinetic_contacts_hardness(PN_stdfloat value);
void set_soft_contacts_hardness(PN_stdfloat value);
void set_anchors_hardness(PN_stdfloat value);
void set_soft_vs_rigid_hardness(PN_stdfloat value);
void set_soft_vs_kinetic_hardness(PN_stdfloat value);
void set_soft_vs_soft_hardness(PN_stdfloat value);
void set_soft_vs_rigid_impulse_split(PN_stdfloat value);
void set_soft_vs_kinetic_impulse_split(PN_stdfloat value);
void set_soft_vs_soft_impulse_split(PN_stdfloat value);
void set_maxvolume(PN_stdfloat value);
void set_timescale(PN_stdfloat value);
void set_positions_solver_iterations(int value);
void set_velocities_solver_iterations(int value);
void set_drift_solver_iterations( int value);
void set_cluster_solver_iterations(int value);
INLINE PN_stdfloat get_velocities_correction_factor() const;
INLINE PN_stdfloat get_damping_coefficient() const;
INLINE PN_stdfloat get_drag_coefficient() const;
INLINE PN_stdfloat get_lift_coefficient() const;
INLINE PN_stdfloat get_pressure_coefficient() const;
INLINE PN_stdfloat get_volume_conservation_coefficient() const;
INLINE PN_stdfloat get_dynamic_friction_coefficient() const;
INLINE PN_stdfloat get_pose_matching_coefficient() const;
INLINE PN_stdfloat get_rigid_contacts_hardness() const;
INLINE PN_stdfloat get_kinetic_contacts_hardness() const;
INLINE PN_stdfloat get_soft_contacts_hardness() const;
INLINE PN_stdfloat get_anchors_hardness() const;
INLINE PN_stdfloat get_soft_vs_rigid_hardness() const;
INLINE PN_stdfloat get_soft_vs_kinetic_hardness() const;
INLINE PN_stdfloat get_soft_vs_soft_hardness() const;
INLINE PN_stdfloat get_soft_vs_rigid_impulse_split() const;
INLINE PN_stdfloat get_soft_vs_kinetic_impulse_split() const;
INLINE PN_stdfloat get_soft_vs_soft_impulse_split() const;
INLINE PN_stdfloat get_maxvolume() const;
INLINE PN_stdfloat get_timescale() const;
INLINE int get_positions_solver_iterations() const;
INLINE int get_velocities_solver_iterations() const;
INLINE int get_drift_solver_iterations() const;
INLINE int get_cluster_solver_iterations() const;
PN_stdfloat get_velocities_correction_factor() const;
PN_stdfloat get_damping_coefficient() const;
PN_stdfloat get_drag_coefficient() const;
PN_stdfloat get_lift_coefficient() const;
PN_stdfloat get_pressure_coefficient() const;
PN_stdfloat get_volume_conservation_coefficient() const;
PN_stdfloat get_dynamic_friction_coefficient() const;
PN_stdfloat get_pose_matching_coefficient() const;
PN_stdfloat get_rigid_contacts_hardness() const;
PN_stdfloat get_kinetic_contacts_hardness() const;
PN_stdfloat get_soft_contacts_hardness() const;
PN_stdfloat get_anchors_hardness() const;
PN_stdfloat get_soft_vs_rigid_hardness() const;
PN_stdfloat get_soft_vs_kinetic_hardness() const;
PN_stdfloat get_soft_vs_soft_hardness() const;
PN_stdfloat get_soft_vs_rigid_impulse_split() const;
PN_stdfloat get_soft_vs_kinetic_impulse_split() const;
PN_stdfloat get_soft_vs_soft_impulse_split() const;
PN_stdfloat get_maxvolume() const;
PN_stdfloat get_timescale() const;
int get_positions_solver_iterations() const;
int get_velocities_solver_iterations() const;
int get_drift_solver_iterations() const;
int get_cluster_solver_iterations() const;
MAKE_PROPERTY(aero_model, get_aero_model, set_aero_model);
MAKE_PROPERTY(velocities_correction_factor, get_velocities_correction_factor, set_velocities_correction_factor);

63
panda/src/bullet/bulletSoftBodyMaterial.I
View File

@ -30,66 +30,3 @@ empty() {
return BulletSoftBodyMaterial(material);
}
/**
*
*/
INLINE btSoftBody::Material &BulletSoftBodyMaterial::
get_material() const {
return _material;
}
/**
* Getter for the property m_kLST.
*/
INLINE PN_stdfloat BulletSoftBodyMaterial::
get_linear_stiffness() const {
return (PN_stdfloat)_material.m_kLST;
}
/**
* Setter for the property m_kLST.
*/
INLINE void BulletSoftBodyMaterial::
set_linear_stiffness(PN_stdfloat value) {
_material.m_kLST = (btScalar)value;
}
/**
* Getter for the property m_kAST.
*/
INLINE PN_stdfloat BulletSoftBodyMaterial::
get_angular_stiffness() const {
return (PN_stdfloat)_material.m_kAST;
}
/**
* Setter for the property m_kAST.
*/
INLINE void BulletSoftBodyMaterial::
set_angular_stiffness(PN_stdfloat value) {
_material.m_kAST = (btScalar)value;
}
/**
* Getter for the property m_kVST.
*/
INLINE PN_stdfloat BulletSoftBodyMaterial::
get_volume_preservation() const {
return (PN_stdfloat)_material.m_kVST;
}
/**
* Setter for the property m_kVST.
*/
INLINE void BulletSoftBodyMaterial::
set_volume_preservation(PN_stdfloat value) {
_material.m_kVST = (btScalar)value;
}

69
panda/src/bullet/bulletSoftBodyMaterial.cxx
View File

@ -20,3 +20,72 @@ BulletSoftBodyMaterial::
BulletSoftBodyMaterial(btSoftBody::Material &material) : _material(material) {
}
/**
*
*/
btSoftBody::Material &BulletSoftBodyMaterial::
get_material() const {
return _material;
}
/**
* Getter for the property m_kLST.
*/
PN_stdfloat BulletSoftBodyMaterial::
get_linear_stiffness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_material.m_kLST;
}
/**
* Setter for the property m_kLST.
*/
void BulletSoftBodyMaterial::
set_linear_stiffness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_material.m_kLST = (btScalar)value;
}
/**
* Getter for the property m_kAST.
*/
PN_stdfloat BulletSoftBodyMaterial::
get_angular_stiffness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_material.m_kAST;
}
/**
* Setter for the property m_kAST.
*/
void BulletSoftBodyMaterial::
set_angular_stiffness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_material.m_kAST = (btScalar)value;
}
/**
* Getter for the property m_kVST.
*/
PN_stdfloat BulletSoftBodyMaterial::
get_volume_preservation() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_material.m_kVST;
}
/**
* Setter for the property m_kVST.
*/
void BulletSoftBodyMaterial::
set_volume_preservation(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_material.m_kVST = (btScalar)value;
}

14
panda/src/bullet/bulletSoftBodyMaterial.h
View File

@ -27,14 +27,14 @@ PUBLISHED:
INLINE ~BulletSoftBodyMaterial();
INLINE static BulletSoftBodyMaterial empty();
INLINE PN_stdfloat get_linear_stiffness() const;
INLINE void set_linear_stiffness(PN_stdfloat value);
PN_stdfloat get_linear_stiffness() const;
void set_linear_stiffness(PN_stdfloat value);
INLINE PN_stdfloat get_angular_stiffness() const;
INLINE void set_angular_stiffness(PN_stdfloat value);
INLINE PN_stdfloat get_volume_preservation() const;
INLINE void set_volume_preservation(PN_stdfloat value);
PN_stdfloat get_angular_stiffness() const;
void set_angular_stiffness(PN_stdfloat value);
PN_stdfloat get_volume_preservation() const;
void set_volume_preservation(PN_stdfloat value);
MAKE_PROPERTY(linear_stiffness, get_linear_stiffness, set_linear_stiffness);
MAKE_PROPERTY(angular_stiffness, get_angular_stiffness, set_angular_stiffness);

53
panda/src/bullet/bulletSoftBodyNode.I
View File

@ -40,56 +40,3 @@ empty() {
return BulletSoftBodyNodeElement(node);
}
/**
*
*/
INLINE LPoint3 BulletSoftBodyNodeElement::
get_pos() const {
return btVector3_to_LPoint3(_node.m_x);
}
/**
*
*/
INLINE LVector3 BulletSoftBodyNodeElement::
get_normal() const {
return btVector3_to_LVector3(_node.m_n);
}
/**
*
*/
INLINE LVector3 BulletSoftBodyNodeElement::
get_velocity() const {
return btVector3_to_LVector3(_node.m_v);
}
/**
*
*/
INLINE PN_stdfloat BulletSoftBodyNodeElement::
get_inv_mass() const {
return (PN_stdfloat)_node.m_im;
}
/**
*
*/
INLINE PN_stdfloat BulletSoftBodyNodeElement::
get_area() const {
return (PN_stdfloat)_node.m_area;
}
/**
*
*/
INLINE int BulletSoftBodyNodeElement::
is_attached() const {
return (PN_stdfloat)_node.m_battach;
}

148
panda/src/bullet/bulletSoftBodyNode.cxx
View File

@ -66,6 +66,7 @@ get_object() const {
*/
BulletSoftBodyConfig BulletSoftBodyNode::
get_cfg() {
LightMutexHolder holder(BulletWorld::get_global_lock());
return BulletSoftBodyConfig(_soft->m_cfg);
}
@ -75,6 +76,7 @@ get_cfg() {
*/
BulletSoftBodyWorldInfo BulletSoftBodyNode::
get_world_info() {
LightMutexHolder holder(BulletWorld::get_global_lock());
return BulletSoftBodyWorldInfo(*(_soft->m_worldInfo));
}
@ -84,6 +86,7 @@ get_world_info() {
*/
int BulletSoftBodyNode::
get_num_materials() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _soft->m_materials.size();
}
@ -93,8 +96,9 @@ get_num_materials() const {
*/
BulletSoftBodyMaterial BulletSoftBodyNode::
get_material(int idx) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(idx >= 0 && idx < get_num_materials(), BulletSoftBodyMaterial::empty());
nassertr(idx >= 0 && idx < _soft->m_materials.size(), BulletSoftBodyMaterial::empty());
btSoftBody::Material *material = _soft->m_materials[idx];
return BulletSoftBodyMaterial(*material);
@ -105,6 +109,7 @@ get_material(int idx) const {
*/
BulletSoftBodyMaterial BulletSoftBodyNode::
append_material() {
LightMutexHolder holder(BulletWorld::get_global_lock());
btSoftBody::Material *material = _soft->appendMaterial();
nassertr(material, BulletSoftBodyMaterial::empty());
@ -117,6 +122,7 @@ append_material() {
*/
int BulletSoftBodyNode::
get_num_nodes() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _soft->m_nodes.size();
}
@ -126,6 +132,7 @@ get_num_nodes() const {
*/
BulletSoftBodyNodeElement BulletSoftBodyNode::
get_node(int idx) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(idx >=0 && idx < get_num_nodes(), BulletSoftBodyNodeElement::empty());
return BulletSoftBodyNodeElement(_soft->m_nodes[idx]);
@ -136,6 +143,7 @@ get_node(int idx) const {
*/
void BulletSoftBodyNode::
generate_bending_constraints(int distance, BulletSoftBodyMaterial *material) {
LightMutexHolder holder(BulletWorld::get_global_lock());
if (material) {
_soft->generateBendingConstraints(distance, &(material->get_material()));
@ -150,6 +158,7 @@ generate_bending_constraints(int distance, BulletSoftBodyMaterial *material) {
*/
void BulletSoftBodyNode::
randomize_constraints() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->randomizeConstraints();
}
@ -159,9 +168,10 @@ randomize_constraints() {
*/
void BulletSoftBodyNode::
transform_changed() {
if (_sync_disable) return;
LightMutexHolder holder(BulletWorld::get_global_lock());
NodePath np = NodePath::any_path((PandaNode *)this);
CPT(TransformState) ts = np.get_net_transform();
@ -174,7 +184,7 @@ transform_changed() {
btTransform trans = TransformState_to_btTrans(ts);
// Offset between current approx center and current initial transform
btVector3 pos = LVecBase3_to_btVector3(this->get_aabb().get_approx_center());
btVector3 pos = LVecBase3_to_btVector3(this->do_get_aabb().get_approx_center());
btVector3 origin = _soft->m_initialWorldTransform.getOrigin();
btVector3 offset = pos - origin;
@ -205,16 +215,16 @@ transform_changed() {
*
*/
void BulletSoftBodyNode::
sync_p2b() {
do_sync_p2b() {
// transform_changed(); Disabled for now...
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletSoftBodyNode::
sync_b2p() {
do_sync_b2p() {
// Render softbody
if (_geom) {
@ -266,7 +276,7 @@ sync_b2p() {
// Update the synchronized transform with the current approximate center of
// the soft body
LVecBase3 pos = this->get_aabb().get_approx_center();
LVecBase3 pos = this->do_get_aabb().get_approx_center();
CPT(TransformState) ts = TransformState::make_pos(pos);
NodePath np = NodePath::any_path((PandaNode *)this);
@ -291,6 +301,19 @@ sync_b2p() {
*/
int BulletSoftBodyNode::
get_closest_node_index(LVecBase3 point, bool local) {
LightMutexHolder holder(BulletWorld::get_global_lock());
return do_get_closest_node_index(point, local);
}
/**
* Returns the index of the node which is closest to the given point. The
* distance between each node and the given point is computed in world space
* if local=false, and in local space if local=true.
* Assumes the lock(bullet global lock) is held by the caller
*/
int BulletSoftBodyNode::
do_get_closest_node_index(LVecBase3 point, bool local) {
btScalar max_dist_sqr = 1e30;
btVector3 point_x = LVecBase3_to_btVector3(point);
@ -322,11 +345,12 @@ get_closest_node_index(LVecBase3 point, bool local) {
*/
void BulletSoftBodyNode::
link_geom(Geom *geom) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(geom->get_vertex_data()->has_column(InternalName::get_vertex()));
nassertv(geom->get_vertex_data()->has_column(InternalName::get_normal()));
sync_p2b();
do_sync_p2b();
_geom = geom;
@ -349,7 +373,7 @@ link_geom(Geom *geom) {
while (!vertices.is_at_end()) {
LVecBase3 point = vertices.get_data3();
int node_idx = get_closest_node_index(point, true);
int node_idx = do_get_closest_node_index(point, true);
indices.set_data1i(node_idx);
}
}
@ -359,6 +383,7 @@ link_geom(Geom *geom) {
*/
void BulletSoftBodyNode::
unlink_geom() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_geom = NULL;
}
@ -368,6 +393,7 @@ unlink_geom() {
*/
void BulletSoftBodyNode::
link_curve(NurbsCurveEvaluator *curve) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(curve->get_num_vertices() == _soft->m_nodes.size());
@ -379,6 +405,7 @@ link_curve(NurbsCurveEvaluator *curve) {
*/
void BulletSoftBodyNode::
unlink_curve() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_curve = NULL;
}
@ -388,6 +415,7 @@ unlink_curve() {
*/
void BulletSoftBodyNode::
link_surface(NurbsSurfaceEvaluator *surface) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(surface->get_num_u_vertices() * surface->get_num_v_vertices() == _soft->m_nodes.size());
@ -399,6 +427,7 @@ link_surface(NurbsSurfaceEvaluator *surface) {
*/
void BulletSoftBodyNode::
unlink_surface() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_surface = NULL;
}
@ -408,6 +437,16 @@ unlink_surface() {
*/
BoundingBox BulletSoftBodyNode::
get_aabb() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return do_get_aabb();
}
/**
*
*/
BoundingBox BulletSoftBodyNode::
do_get_aabb() const {
btVector3 pMin;
btVector3 pMax;
@ -425,6 +464,7 @@ get_aabb() const {
*/
void BulletSoftBodyNode::
set_volume_mass(PN_stdfloat mass) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->setVolumeMass(mass);
}
@ -434,6 +474,7 @@ set_volume_mass(PN_stdfloat mass) {
*/
void BulletSoftBodyNode::
set_total_mass(PN_stdfloat mass, bool fromfaces) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->setTotalMass(mass, fromfaces);
}
@ -443,6 +484,7 @@ set_total_mass(PN_stdfloat mass, bool fromfaces) {
*/
void BulletSoftBodyNode::
set_volume_density(PN_stdfloat density) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->setVolumeDensity(density);
}
@ -452,6 +494,7 @@ set_volume_density(PN_stdfloat density) {
*/
void BulletSoftBodyNode::
set_total_density(PN_stdfloat density) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->setTotalDensity(density);
}
@ -461,6 +504,7 @@ set_total_density(PN_stdfloat density) {
*/
void BulletSoftBodyNode::
set_mass(int node, PN_stdfloat mass) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->setMass(node, mass);
}
@ -470,6 +514,7 @@ set_mass(int node, PN_stdfloat mass) {
*/
PN_stdfloat BulletSoftBodyNode::
get_mass(int node) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _soft->getMass(node);
}
@ -479,6 +524,7 @@ get_mass(int node) const {
*/
PN_stdfloat BulletSoftBodyNode::
get_total_mass() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _soft->getTotalMass();
}
@ -488,6 +534,7 @@ get_total_mass() const {
*/
PN_stdfloat BulletSoftBodyNode::
get_volume() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _soft->getVolume();
}
@ -497,6 +544,7 @@ get_volume() const {
*/
void BulletSoftBodyNode::
add_force(const LVector3 &force) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!force.is_nan());
_soft->addForce(LVecBase3_to_btVector3(force));
@ -507,6 +555,7 @@ add_force(const LVector3 &force) {
*/
void BulletSoftBodyNode::
add_force(const LVector3 &force, int node) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!force.is_nan());
_soft->addForce(LVecBase3_to_btVector3(force), node);
@ -517,6 +566,7 @@ add_force(const LVector3 &force, int node) {
*/
void BulletSoftBodyNode::
set_velocity(const LVector3 &velocity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!velocity.is_nan());
_soft->setVelocity(LVecBase3_to_btVector3(velocity));
@ -527,6 +577,7 @@ set_velocity(const LVector3 &velocity) {
*/
void BulletSoftBodyNode::
add_velocity(const LVector3 &velocity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!velocity.is_nan());
_soft->addVelocity(LVecBase3_to_btVector3(velocity));
@ -537,6 +588,7 @@ add_velocity(const LVector3 &velocity) {
*/
void BulletSoftBodyNode::
add_velocity(const LVector3 &velocity, int node) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!velocity.is_nan());
_soft->addVelocity(LVecBase3_to_btVector3(velocity), node);
@ -547,6 +599,7 @@ add_velocity(const LVector3 &velocity, int node) {
*/
void BulletSoftBodyNode::
generate_clusters(int k, int maxiterations) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->generateClusters(k, maxiterations);
}
@ -556,6 +609,7 @@ generate_clusters(int k, int maxiterations) {
*/
void BulletSoftBodyNode::
release_clusters() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->releaseClusters();
}
@ -565,6 +619,7 @@ release_clusters() {
*/
void BulletSoftBodyNode::
release_cluster(int index) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->releaseCluster(index);
}
@ -574,6 +629,7 @@ release_cluster(int index) {
*/
int BulletSoftBodyNode::
get_num_clusters() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _soft->clusterCount();
}
@ -583,6 +639,7 @@ get_num_clusters() const {
*/
LVecBase3 BulletSoftBodyNode::
cluster_com(int cluster) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVecBase3(_soft->clusterCom(cluster));
}
@ -592,6 +649,7 @@ cluster_com(int cluster) const {
*/
void BulletSoftBodyNode::
set_pose(bool bvolume, bool bframe) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_soft->setPose(bvolume, bframe);
}
@ -601,11 +659,12 @@ set_pose(bool bvolume, bool bframe) {
*/
void BulletSoftBodyNode::
append_anchor(int node, BulletRigidBodyNode *body, bool disable) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(node < _soft->m_nodes.size())
nassertv(body);
body->sync_p2b();
body->do_sync_p2b();
btRigidBody *ptr = (btRigidBody *)body->get_object();
_soft->appendAnchor(node, ptr, disable);
@ -616,12 +675,13 @@ append_anchor(int node, BulletRigidBodyNode *body, bool disable) {
*/
void BulletSoftBodyNode::
append_anchor(int node, BulletRigidBodyNode *body, const LVector3 &pivot, bool disable) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(node < _soft->m_nodes.size())
nassertv(body);
nassertv(!pivot.is_nan());
body->sync_p2b();
body->do_sync_p2b();
btRigidBody *ptr = (btRigidBody *)body->get_object();
_soft->appendAnchor(node, ptr, LVecBase3_to_btVector3(pivot), disable);
@ -642,6 +702,7 @@ BulletSoftBodyNodeElement(btSoftBody::Node &node) : _node(node) {
*/
int BulletSoftBodyNode::
get_point_index(LVecBase3 p, PTA_LVecBase3 points) {
LightMutexHolder holder(BulletWorld::get_global_lock());
PN_stdfloat eps = 1.0e-6f; // TODO make this a config option
@ -979,6 +1040,7 @@ make_tet_mesh(BulletSoftBodyWorldInfo &info, const char *ele, const char *face,
*/
void BulletSoftBodyNode::
append_linear_joint(BulletBodyNode *body, int cluster, PN_stdfloat erp, PN_stdfloat cfm, PN_stdfloat split) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(body);
@ -998,6 +1060,7 @@ append_linear_joint(BulletBodyNode *body, int cluster, PN_stdfloat erp, PN_stdfl
*/
void BulletSoftBodyNode::
append_linear_joint(BulletBodyNode *body, const LPoint3 &pos, PN_stdfloat erp, PN_stdfloat cfm, PN_stdfloat split) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(body);
@ -1017,6 +1080,7 @@ append_linear_joint(BulletBodyNode *body, const LPoint3 &pos, PN_stdfloat erp, P
*/
void BulletSoftBodyNode::
append_angular_joint(BulletBodyNode *body, const LVector3 &axis, PN_stdfloat erp, PN_stdfloat cfm, PN_stdfloat split, BulletSoftBodyControl *control) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(body);
@ -1037,6 +1101,7 @@ append_angular_joint(BulletBodyNode *body, const LVector3 &axis, PN_stdfloat erp
*/
void BulletSoftBodyNode::
set_wind_velocity(const LVector3 &velocity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!velocity.is_nan());
_soft->setWindVelocity(LVecBase3_to_btVector3(velocity));
@ -1047,6 +1112,67 @@ set_wind_velocity(const LVector3 &velocity) {
*/
LVector3 BulletSoftBodyNode::
get_wind_velocity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_soft->getWindVelocity());
}
/**
*
*/
LPoint3 BulletSoftBodyNodeElement::
get_pos() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_node.m_x);
}
/**
*
*/
LVector3 BulletSoftBodyNodeElement::
get_normal() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_node.m_n);
}
/**
*
*/
LVector3 BulletSoftBodyNodeElement::
get_velocity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_node.m_v);
}
/**
*
*/
PN_stdfloat BulletSoftBodyNodeElement::
get_inv_mass() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_node.m_im;
}
/**
*
*/
PN_stdfloat BulletSoftBodyNodeElement::
get_area() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_node.m_area;
}
/**
*
*/
int BulletSoftBodyNodeElement::
is_attached() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_node.m_battach;
}

19
panda/src/bullet/bulletSoftBodyNode.h
View File

@ -43,12 +43,12 @@ PUBLISHED:
INLINE ~BulletSoftBodyNodeElement();
INLINE static BulletSoftBodyNodeElement empty();
INLINE LPoint3 get_pos() const;
INLINE LVector3 get_velocity() const;
INLINE LVector3 get_normal() const;
INLINE PN_stdfloat get_inv_mass() const;
INLINE PN_stdfloat get_area() const;
INLINE int is_attached() const;
LPoint3 get_pos() const;
LVector3 get_velocity() const;
LVector3 get_normal() const;
PN_stdfloat get_inv_mass() const;
PN_stdfloat get_area() const;
int is_attached() const;
MAKE_PROPERTY(pos, get_pos);
MAKE_PROPERTY(velocity, get_velocity);
@ -221,8 +221,8 @@ PUBLISHED:
public:
virtual btCollisionObject *get_object() const;
void sync_p2b();
void sync_b2p();
void do_sync_p2b();
void do_sync_b2p();
protected:
virtual void transform_changed();
@ -240,6 +240,9 @@ private:
static int get_point_index(LVecBase3 p, PTA_LVecBase3 points);
static int next_line(const char *buffer);
BoundingBox do_get_aabb() const;
int do_get_closest_node_index(LVecBase3 point, bool local);
public:
static TypeHandle get_class_type() {
return _type_handle;

1
panda/src/bullet/bulletSoftBodyShape.cxx
View File

@ -40,6 +40,7 @@ ptr() const {
*/
BulletSoftBodyNode *BulletSoftBodyShape::
get_body() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
if (_shape->m_body) {
return (BulletSoftBodyNode *)_shape->m_body->getUserPointer();

11
panda/src/bullet/bulletSoftBodyWorldInfo.cxx
View File

@ -26,6 +26,7 @@ BulletSoftBodyWorldInfo(btSoftBodyWorldInfo &info) : _info(info) {
*/
void BulletSoftBodyWorldInfo::
garbage_collect(int lifetime) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_sparsesdf.GarbageCollect(lifetime);
}
@ -35,6 +36,7 @@ garbage_collect(int lifetime) {
*/
void BulletSoftBodyWorldInfo::
set_air_density(PN_stdfloat density) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.air_density = (btScalar)density;
}
@ -44,6 +46,7 @@ set_air_density(PN_stdfloat density) {
*/
void BulletSoftBodyWorldInfo::
set_water_density(PN_stdfloat density) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.water_density = (btScalar)density;
}
@ -53,6 +56,7 @@ set_water_density(PN_stdfloat density) {
*/
void BulletSoftBodyWorldInfo::
set_water_offset(PN_stdfloat offset) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.water_offset = (btScalar)offset;
}
@ -62,6 +66,7 @@ set_water_offset(PN_stdfloat offset) {
*/
void BulletSoftBodyWorldInfo::
set_water_normal(const LVector3 &normal) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!normal.is_nan());
_info.water_normal.setValue(normal.get_x(), normal.get_y(), normal.get_z());
@ -72,6 +77,7 @@ set_water_normal(const LVector3 &normal) {
*/
void BulletSoftBodyWorldInfo::
set_gravity(const LVector3 &gravity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!gravity.is_nan());
_info.m_gravity.setValue(gravity.get_x(), gravity.get_y(), gravity.get_z());
@ -82,6 +88,7 @@ set_gravity(const LVector3 &gravity) {
*/
PN_stdfloat BulletSoftBodyWorldInfo::
get_air_density() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.air_density;
}
@ -91,6 +98,7 @@ get_air_density() const {
*/
PN_stdfloat BulletSoftBodyWorldInfo::
get_water_density() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.water_density;
}
@ -100,6 +108,7 @@ get_water_density() const {
*/
PN_stdfloat BulletSoftBodyWorldInfo::
get_water_offset() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.water_offset;
}
@ -109,6 +118,7 @@ get_water_offset() const {
*/
LVector3 BulletSoftBodyWorldInfo::
get_water_normal() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_info.water_normal);
}
@ -118,6 +128,7 @@ get_water_normal() const {
*/
LVector3 BulletSoftBodyWorldInfo::
get_gravity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_info.m_gravity);
}

18
panda/src/bullet/bulletSphereShape.I
View File

@ -20,24 +20,6 @@ INLINE BulletSphereShape::
delete _shape;
}
/**
*
*/
INLINE BulletSphereShape::
BulletSphereShape(const BulletSphereShape &copy) :
_shape(copy._shape),
_radius(copy._radius) {
}
/**
*
*/
INLINE void BulletSphereShape::
operator = (const BulletSphereShape &copy) {
_shape = copy._shape;
_radius = copy._radius;
}
/**
* Returns the radius that was used to construct this sphere.
*/

23
panda/src/bullet/bulletSphereShape.cxx
View File

@ -25,6 +25,29 @@ BulletSphereShape(PN_stdfloat radius) : _radius(radius) {
_shape->setUserPointer(this);
}
/**
*
*/
BulletSphereShape::
BulletSphereShape(const BulletSphereShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_radius = copy._radius;
}
/**
*
*/
void BulletSphereShape::
operator = (const BulletSphereShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_shape = copy._shape;
_radius = copy._radius;
}
/**
*
*/

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

@ -32,8 +32,8 @@ private:
PUBLISHED:
explicit BulletSphereShape(PN_stdfloat radius);
INLINE BulletSphereShape(const BulletSphereShape &copy);
INLINE void operator = (const BulletSphereShape &copy);
BulletSphereShape(const BulletSphereShape &copy);
void operator = (const BulletSphereShape &copy);
INLINE ~BulletSphereShape();
INLINE PN_stdfloat get_radius() const;

4
panda/src/bullet/bulletSphericalConstraint.cxx
View File

@ -61,6 +61,7 @@ ptr() const {
*/
void BulletSphericalConstraint::
set_pivot_a(const LPoint3 &pivot_a) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!pivot_a.is_nan());
_constraint->setPivotA(LVecBase3_to_btVector3(pivot_a));
@ -71,6 +72,7 @@ set_pivot_a(const LPoint3 &pivot_a) {
*/
void BulletSphericalConstraint::
set_pivot_b(const LPoint3 &pivot_b) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!pivot_b.is_nan());
_constraint->setPivotB(LVecBase3_to_btVector3(pivot_b));
@ -81,6 +83,7 @@ set_pivot_b(const LPoint3 &pivot_b) {
*/
LPoint3 BulletSphericalConstraint::
get_pivot_in_a() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_constraint->getPivotInA());
}
@ -90,6 +93,7 @@ get_pivot_in_a() const {
*/
LPoint3 BulletSphericalConstraint::
get_pivot_in_b() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_constraint->getPivotInB());
}

161
panda/src/bullet/bulletTranslationalLimitMotor.I
View File

@ -14,164 +14,7 @@
/**
*
*/
INLINE bool BulletTranslationalLimitMotor::
is_limited(int axis) const {
INLINE BulletTranslationalLimitMotor::
~BulletTranslationalLimitMotor() {
nassertr((0 <= axis) && (axis <= 2), false);
return _motor.isLimited(axis);
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_motor_enabled(int axis, bool enabled) {
nassertv((0 <= axis) && (axis <= 2));
_motor.m_enableMotor[axis] = enabled;
}
/**
*
*/
INLINE bool BulletTranslationalLimitMotor::
get_motor_enabled(int axis) const {
nassertr((0 <= axis) && (axis <= 2), false);
return _motor.m_enableMotor[axis];
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_low_limit(const LVecBase3 &limit) {
nassertv(!limit.is_nan());
_motor.m_lowerLimit = LVecBase3_to_btVector3(limit);
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_high_limit(const LVecBase3 &limit) {
nassertv(!limit.is_nan());
_motor.m_upperLimit = LVecBase3_to_btVector3(limit);
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_target_velocity(const LVecBase3 &velocity) {
nassertv(!velocity.is_nan());
_motor.m_targetVelocity = LVecBase3_to_btVector3(velocity);
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_max_motor_force(const LVecBase3 &force) {
nassertv(!force.is_nan());
_motor.m_maxMotorForce = LVecBase3_to_btVector3(force);
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_damping(PN_stdfloat damping) {
_motor.m_damping = (btScalar)damping;
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_softness(PN_stdfloat softness) {
_motor.m_limitSoftness = (btScalar)softness;
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_restitution(PN_stdfloat restitution) {
_motor.m_restitution = (btScalar)restitution;
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_normal_cfm(const LVecBase3 &cfm) {
nassertv(!cfm.is_nan());
_motor.m_normalCFM = LVecBase3_to_btVector3(cfm);
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_stop_cfm(const LVecBase3 &cfm) {
nassertv(!cfm.is_nan());
_motor.m_stopCFM = LVecBase3_to_btVector3(cfm);
}
/**
*
*/
INLINE void BulletTranslationalLimitMotor::
set_stop_erp(const LVecBase3 &erp) {
nassertv(!erp.is_nan());
_motor.m_stopERP = LVecBase3_to_btVector3(erp);
}
/**
* Retrieves the current value of angle: 0 = free, 1 = at low limit, 2 = at
* high limit.
*/
INLINE int BulletTranslationalLimitMotor::
get_current_limit(int axis) const {
nassertr((0 <= axis) && (axis <= 2), false);
return _motor.m_currentLimit[axis];
}
/**
*
*/
INLINE LVector3 BulletTranslationalLimitMotor::
get_current_error() const {
return btVector3_to_LVector3(_motor.m_currentLimitError);
}
/**
*
*/
INLINE LPoint3 BulletTranslationalLimitMotor::
get_current_diff() const {
return btVector3_to_LPoint3(_motor.m_currentLinearDiff);
}
/**
*
*/
INLINE LVector3 BulletTranslationalLimitMotor::
get_accumulated_impulse() const {
return btVector3_to_LVector3(_motor.m_accumulatedImpulse);
}

179
panda/src/bullet/bulletTranslationalLimitMotor.cxx
View File

@ -34,7 +34,182 @@ BulletTranslationalLimitMotor(const BulletTranslationalLimitMotor &copy)
/**
*
*/
BulletTranslationalLimitMotor::
~BulletTranslationalLimitMotor() {
bool BulletTranslationalLimitMotor::
is_limited(int axis) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr((0 <= axis) && (axis <= 2), false);
return _motor.isLimited(axis);
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_motor_enabled(int axis, bool enabled) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv((0 <= axis) && (axis <= 2));
_motor.m_enableMotor[axis] = enabled;
}
/**
*
*/
bool BulletTranslationalLimitMotor::
get_motor_enabled(int axis) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr((0 <= axis) && (axis <= 2), false);
return _motor.m_enableMotor[axis];
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_low_limit(const LVecBase3 &limit) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!limit.is_nan());
_motor.m_lowerLimit = LVecBase3_to_btVector3(limit);
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_high_limit(const LVecBase3 &limit) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!limit.is_nan());
_motor.m_upperLimit = LVecBase3_to_btVector3(limit);
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_target_velocity(const LVecBase3 &velocity) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!velocity.is_nan());
_motor.m_targetVelocity = LVecBase3_to_btVector3(velocity);
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_max_motor_force(const LVecBase3 &force) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!force.is_nan());
_motor.m_maxMotorForce = LVecBase3_to_btVector3(force);
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_damping(PN_stdfloat damping) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_damping = (btScalar)damping;
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_softness(PN_stdfloat softness) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_limitSoftness = (btScalar)softness;
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_restitution(PN_stdfloat restitution) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_motor.m_restitution = (btScalar)restitution;
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_normal_cfm(const LVecBase3 &cfm) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!cfm.is_nan());
_motor.m_normalCFM = LVecBase3_to_btVector3(cfm);
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_stop_cfm(const LVecBase3 &cfm) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!cfm.is_nan());
_motor.m_stopCFM = LVecBase3_to_btVector3(cfm);
}
/**
*
*/
void BulletTranslationalLimitMotor::
set_stop_erp(const LVecBase3 &erp) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!erp.is_nan());
_motor.m_stopERP = LVecBase3_to_btVector3(erp);
}
/**
* Retrieves the current value of angle: 0 = free, 1 = at low limit, 2 = at
* high limit.
*/
int BulletTranslationalLimitMotor::
get_current_limit(int axis) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr((0 <= axis) && (axis <= 2), false);
return _motor.m_currentLimit[axis];
}
/**
*
*/
LVector3 BulletTranslationalLimitMotor::
get_current_error() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_motor.m_currentLimitError);
}
/**
*
*/
LPoint3 BulletTranslationalLimitMotor::
get_current_diff() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_motor.m_currentLinearDiff);
}
/**
*
*/
LVector3 BulletTranslationalLimitMotor::
get_accumulated_impulse() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_motor.m_accumulatedImpulse);
}

36
panda/src/bullet/bulletTranslationalLimitMotor.h
View File

@ -28,26 +28,26 @@ class EXPCL_PANDABULLET BulletTranslationalLimitMotor {
PUBLISHED:
BulletTranslationalLimitMotor(const BulletTranslationalLimitMotor &copy);
~BulletTranslationalLimitMotor();
INLINE ~BulletTranslationalLimitMotor();
INLINE void set_motor_enabled(int axis, bool enable);
INLINE void set_low_limit(const LVecBase3 &limit);
INLINE void set_high_limit(const LVecBase3 &limit);
INLINE void set_target_velocity(const LVecBase3 &velocity);
INLINE void set_max_motor_force(const LVecBase3 &force);
INLINE void set_damping(PN_stdfloat damping);
INLINE void set_softness(PN_stdfloat softness);
INLINE void set_restitution(PN_stdfloat restitution);
INLINE void set_normal_cfm(const LVecBase3 &cfm);
INLINE void set_stop_erp(const LVecBase3 &erp);
INLINE void set_stop_cfm(const LVecBase3 &cfm);
void set_motor_enabled(int axis, bool enable);
void set_low_limit(const LVecBase3 &limit);
void set_high_limit(const LVecBase3 &limit);
void set_target_velocity(const LVecBase3 &velocity);
void set_max_motor_force(const LVecBase3 &force);
void set_damping(PN_stdfloat damping);
void set_softness(PN_stdfloat softness);
void set_restitution(PN_stdfloat restitution);
void set_normal_cfm(const LVecBase3 &cfm);
void set_stop_erp(const LVecBase3 &erp);
void set_stop_cfm(const LVecBase3 &cfm);
INLINE bool is_limited(int axis) const;
INLINE bool get_motor_enabled(int axis) const;
INLINE int get_current_limit(int axis) const;
INLINE LVector3 get_current_error() const;
INLINE LPoint3 get_current_diff() const;
INLINE LVector3 get_accumulated_impulse() const;
bool is_limited(int axis) const;
bool get_motor_enabled(int axis) const;
int get_current_limit(int axis) const;
LVector3 get_current_error() const;
LPoint3 get_current_diff() const;
LVector3 get_accumulated_impulse() const;
MAKE_PROPERTY(current_error, get_current_error);
MAKE_PROPERTY(current_diff, get_current_diff);

28
panda/src/bullet/bulletTriangleMesh.I
View File

@ -19,34 +19,6 @@ ptr() const {
return (btStridingMeshInterface *)&_mesh;
}
/**
* Returns the number of vertices in this triangle mesh.
*/
INLINE size_t BulletTriangleMesh::
get_num_vertices() const {
return _vertices.size();
}
/**
* Returns the vertex at the given vertex index.
*/
INLINE LPoint3 BulletTriangleMesh::
get_vertex(size_t index) const {
nassertr(index < _vertices.size(), LPoint3::zero());
const btVector3 &vertex = _vertices[index];
return LPoint3(vertex[0], vertex[1], vertex[2]);
}
/**
* Returns the vertex indices making up the given triangle index.
*/
INLINE LVecBase3i BulletTriangleMesh::
get_triangle(size_t index) const {
index *= 3;
nassertr(index + 2 < _indices.size(), LVecBase3i::zero());
return LVecBase3i(_indices[index], _indices[index + 1], _indices[index + 2]);
}
/**
*
*/

81
panda/src/bullet/bulletTriangleMesh.cxx
View File

@ -36,12 +36,58 @@ BulletTriangleMesh()
_mesh.addIndexedMesh(mesh);
}
/**
* Returns the number of vertices in this triangle mesh.
*/
size_t BulletTriangleMesh::
get_num_vertices() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _vertices.size();
}
/**
* Returns the vertex at the given vertex index.
*/
LPoint3 BulletTriangleMesh::
get_vertex(size_t index) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(index < _vertices.size(), LPoint3::zero());
const btVector3 &vertex = _vertices[index];
return LPoint3(vertex[0], vertex[1], vertex[2]);
}
/**
* Returns the vertex indices making up the given triangle index.
*/
LVecBase3i BulletTriangleMesh::
get_triangle(size_t index) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
index *= 3;
nassertr(index + 2 < _indices.size(), LVecBase3i::zero());
return LVecBase3i(_indices[index], _indices[index + 1], _indices[index + 2]);
}
/**
* Returns the number of triangles in this triangle mesh.
* Assumes the lock(bullet global lock) is held by the caller
*/
size_t BulletTriangleMesh::
do_get_num_triangles() const {
return _indices.size() / 3;
}
/**
* Returns the number of triangles in this triangle mesh.
*/
size_t BulletTriangleMesh::
get_num_triangles() const {
return _indices.size() / 3;
LightMutexHolder holder(BulletWorld::get_global_lock());
return do_get_num_triangles();
}
/**
@ -51,6 +97,8 @@ get_num_triangles() const {
*/
void BulletTriangleMesh::
preallocate(int num_verts, int num_indices) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_vertices.reserve(num_verts);
_indices.reserve(num_indices);
@ -66,9 +114,11 @@ preallocate(int num_verts, int num_indices) {
* add duplicate vertices if they already exist in the triangle mesh, within
* the tolerance specified by set_welding_distance(). This comes at a
* significant performance cost, especially for large meshes.
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletTriangleMesh::
add_triangle(const LPoint3 &p0, const LPoint3 &p1, const LPoint3 &p2, bool remove_duplicate_vertices) {
do_add_triangle(const LPoint3 &p0, const LPoint3 &p1, const LPoint3 &p2, bool remove_duplicate_vertices) {
nassertv(!p0.is_nan());
nassertv(!p1.is_nan());
nassertv(!p2.is_nan());
@ -96,6 +146,21 @@ add_triangle(const LPoint3 &p0, const LPoint3 &p1, const LPoint3 &p2, bool remov
mesh.m_triangleIndexBase = (unsigned char *)&_indices[0];
}
/**
* Adds a triangle with the indicated coordinates.
*
* If remove_duplicate_vertices is true, it will make sure that it does not
* add duplicate vertices if they already exist in the triangle mesh, within
* the tolerance specified by set_welding_distance(). This comes at a
* significant performance cost, especially for large meshes.
*/
void BulletTriangleMesh::
add_triangle(const LPoint3 &p0, const LPoint3 &p1, const LPoint3 &p2, bool remove_duplicate_vertices) {
LightMutexHolder holder(BulletWorld::get_global_lock());
do_add_triangle(p0, p1, p2, remove_duplicate_vertices);
}
/**
* Sets the square of the distance at which vertices will be merged
* together when adding geometry with remove_duplicate_vertices set to true.
@ -105,6 +170,8 @@ add_triangle(const LPoint3 &p0, const LPoint3 &p1, const LPoint3 &p2, bool remov
*/
void BulletTriangleMesh::
set_welding_distance(PN_stdfloat distance) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_welding_distance = distance;
}
@ -114,6 +181,8 @@ set_welding_distance(PN_stdfloat distance) {
*/
PN_stdfloat BulletTriangleMesh::
get_welding_distance() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _welding_distance;
}
@ -129,6 +198,8 @@ get_welding_distance() const {
*/
void BulletTriangleMesh::
add_geom(const Geom *geom, bool remove_duplicate_vertices, const TransformState *ts) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(geom);
nassertv(ts);
@ -241,6 +312,8 @@ add_geom(const Geom *geom, bool remove_duplicate_vertices, const TransformState
*/
void BulletTriangleMesh::
add_array(const PTA_LVecBase3 &points, const PTA_int &indices, bool remove_duplicate_vertices) {
LightMutexHolder holder(BulletWorld::get_global_lock());
btIndexedMesh &mesh = _mesh.getIndexedMeshArray()[0];
_indices.reserve(_indices.size() + indices.size());
@ -279,7 +352,9 @@ add_array(const PTA_LVecBase3 &points, const PTA_int &indices, bool remove_dupli
*/
void BulletTriangleMesh::
output(ostream &out) const {
out << get_type() << ", " << get_num_triangles() << " triangles";
LightMutexHolder holder(BulletWorld::get_global_lock());
out << get_type() << ", " << _indices.size() / 3 << " triangles";
}
/**

12
panda/src/bullet/bulletTriangleMesh.h
View File

@ -55,10 +55,16 @@ PUBLISHED:
virtual void write(ostream &out, int indent_level) const;
public:
INLINE size_t get_num_vertices() const;
INLINE LPoint3 get_vertex(size_t index) const;
size_t get_num_vertices() const;
LPoint3 get_vertex(size_t index) const;
INLINE LVecBase3i get_triangle(size_t index) const;
LVecBase3i get_triangle(size_t index) const;
size_t do_get_num_triangles() const;
void do_add_triangle(const LPoint3 &p0,
const LPoint3 &p1,
const LPoint3 &p2,
bool remove_duplicate_vertices=false);
PUBLISHED:
MAKE_PROPERTY(welding_distance, get_welding_distance, set_welding_distance);

21
panda/src/bullet/bulletTriangleMeshShape.I
View File

@ -11,27 +11,6 @@
* @date 2010-02-09
*/
/**
*
*/
INLINE BulletTriangleMeshShape::
BulletTriangleMeshShape(const BulletTriangleMeshShape &copy) :
_bvh_shape(copy._bvh_shape),
_gimpact_shape(copy._gimpact_shape),
_mesh(copy._mesh) {
}
/**
*
*/
INLINE void BulletTriangleMeshShape::
operator = (const BulletTriangleMeshShape &copy) {
_bvh_shape = copy._bvh_shape;
_gimpact_shape = copy._gimpact_shape;
_mesh = copy._mesh;
}
/**
*
*/

28
panda/src/bullet/bulletTriangleMeshShape.cxx
View File

@ -36,6 +36,7 @@ BulletTriangleMeshShape() :
/**
* The parameters 'compress' and 'bvh' are only used if 'dynamic' is set to
* FALSE.
* Assumes the lock(bullet global lock) is held by the caller
*/
BulletTriangleMeshShape::
BulletTriangleMeshShape(BulletTriangleMesh *mesh, bool dynamic, bool compress, bool bvh) :
@ -50,7 +51,7 @@ BulletTriangleMeshShape(BulletTriangleMesh *mesh, bool dynamic, bool compress, b
}
// Assert that mesh has at least one triangle
if (mesh->get_num_triangles() == 0) {
if (mesh->do_get_num_triangles() == 0) {
bullet_cat.warning() << "mesh has zero triangles! adding degenerated triangle." << endl;
mesh->add_triangle(LPoint3::zero(), LPoint3::zero(), LPoint3::zero());
}
@ -78,6 +79,30 @@ BulletTriangleMeshShape(BulletTriangleMesh *mesh, bool dynamic, bool compress, b
}
}
/**
*
*/
BulletTriangleMeshShape::
BulletTriangleMeshShape(const BulletTriangleMeshShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_bvh_shape = copy._bvh_shape;
_gimpact_shape = copy._gimpact_shape;
_mesh = copy._mesh;
}
/**
*
*/
void BulletTriangleMeshShape::
operator = (const BulletTriangleMeshShape &copy) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_bvh_shape = copy._bvh_shape;
_gimpact_shape = copy._gimpact_shape;
_mesh = copy._mesh;
}
/**
*
*/
@ -100,6 +125,7 @@ ptr() const {
*/
void BulletTriangleMeshShape::
refit_tree(const LPoint3 &aabb_min, const LPoint3 &aabb_max) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!aabb_max.is_nan());
nassertv(!aabb_max.is_nan());

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

@ -32,8 +32,8 @@ private:
PUBLISHED:
explicit BulletTriangleMeshShape(BulletTriangleMesh *mesh, bool dynamic, bool compress=true, bool bvh=true);
INLINE BulletTriangleMeshShape(const BulletTriangleMeshShape &copy);
INLINE void operator = (const BulletTriangleMeshShape &copy);
BulletTriangleMeshShape(const BulletTriangleMeshShape &copy);
void operator = (const BulletTriangleMeshShape &copy);
INLINE ~BulletTriangleMeshShape();
void refit_tree(const LPoint3 &aabb_min, const LPoint3 &aabb_max);

117
panda/src/bullet/bulletVehicle.I
View File

@ -18,6 +18,7 @@ INLINE BulletVehicle::
~BulletVehicle() {
delete _vehicle;
delete _raycaster;
}
/**
@ -40,119 +41,3 @@ get_tuning() {
return _tuning;
}
/**
* Returns the number of wheels this vehicle has.
*/
INLINE int BulletVehicle::
get_num_wheels() const {
return _vehicle->getNumWheels();
}
/**
*
*/
void BulletVehicleTuning::
set_suspension_stiffness(PN_stdfloat value) {
_.m_suspensionStiffness = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_suspension_compression(PN_stdfloat value) {
_.m_suspensionCompression = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_suspension_damping(PN_stdfloat value) {
_.m_suspensionDamping = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_max_suspension_travel_cm(PN_stdfloat value) {
_.m_maxSuspensionTravelCm = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_friction_slip(PN_stdfloat value) {
_.m_frictionSlip = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_max_suspension_force(PN_stdfloat value) {
_.m_maxSuspensionForce = (btScalar)value;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_suspension_stiffness() const {
return (PN_stdfloat)_.m_suspensionStiffness;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_suspension_compression() const {
return (PN_stdfloat)_.m_suspensionCompression;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_suspension_damping() const {
return (PN_stdfloat)_.m_suspensionDamping;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_max_suspension_travel_cm() const {
return (PN_stdfloat)_.m_maxSuspensionTravelCm;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_friction_slip() const {
return (PN_stdfloat)_.m_frictionSlip;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_max_suspension_force() const {
return (PN_stdfloat)_.m_maxSuspensionForce;
}

173
panda/src/bullet/bulletVehicle.cxx
View File

@ -39,6 +39,7 @@ BulletVehicle(BulletWorld *world, BulletRigidBodyNode *chassis) {
*/
void BulletVehicle::
set_coordinate_system(BulletUpAxis up) {
LightMutexHolder holder(BulletWorld::get_global_lock());
switch (up) {
case X_up:
@ -62,18 +63,30 @@ set_coordinate_system(BulletUpAxis up) {
*/
LVector3 BulletVehicle::
get_forward_vector() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_vehicle->getForwardVector());
}
/**
* Returns the chassis of this vehicle. The chassis is a rigid body node.
* Assumes the lock(bullet global lock) is held by the caller
*/
BulletRigidBodyNode *BulletVehicle::
do_get_chassis() {
btRigidBody *bodyPtr = _vehicle->getRigidBody();
return (bodyPtr) ? (BulletRigidBodyNode *)bodyPtr->getUserPointer() : NULL;
}
/**
* Returns the chassis of this vehicle. The chassis is a rigid body node.
*/
BulletRigidBodyNode *BulletVehicle::
get_chassis() {
LightMutexHolder holder(BulletWorld::get_global_lock());
btRigidBody *bodyPtr = _vehicle->getRigidBody();
return (bodyPtr) ? (BulletRigidBodyNode *)bodyPtr->getUserPointer() : NULL;
return do_get_chassis();
}
/**
@ -82,6 +95,7 @@ get_chassis() {
*/
PN_stdfloat BulletVehicle::
get_current_speed_km_hour() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_vehicle->getCurrentSpeedKmHour();
}
@ -91,6 +105,7 @@ get_current_speed_km_hour() const {
*/
void BulletVehicle::
reset_suspension() {
LightMutexHolder holder(BulletWorld::get_global_lock());
_vehicle->resetSuspension();
}
@ -100,8 +115,9 @@ reset_suspension() {
*/
PN_stdfloat BulletVehicle::
get_steering_value(int idx) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(idx < get_num_wheels(), 0.0f);
nassertr(idx < _vehicle->getNumWheels(), 0.0f);
return rad_2_deg(_vehicle->getSteeringValue(idx));
}
@ -110,8 +126,9 @@ get_steering_value(int idx) const {
*/
void BulletVehicle::
set_steering_value(PN_stdfloat steering, int idx) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(idx < get_num_wheels());
nassertv(idx < _vehicle->getNumWheels());
_vehicle->setSteeringValue(deg_2_rad(steering), idx);
}
@ -120,8 +137,9 @@ set_steering_value(PN_stdfloat steering, int idx) {
*/
void BulletVehicle::
apply_engine_force(PN_stdfloat force, int idx) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(idx < get_num_wheels());
nassertv(idx < _vehicle->getNumWheels());
_vehicle->applyEngineForce(force, idx);
}
@ -130,8 +148,9 @@ apply_engine_force(PN_stdfloat force, int idx) {
*/
void BulletVehicle::
set_brake(PN_stdfloat brake, int idx) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(idx < get_num_wheels());
nassertv(idx < _vehicle->getNumWheels());
_vehicle->setBrake(brake, idx);
}
@ -140,6 +159,7 @@ set_brake(PN_stdfloat brake, int idx) {
*/
void BulletVehicle::
set_pitch_control(PN_stdfloat pitch) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_vehicle->setPitchControl(pitch);
}
@ -149,6 +169,7 @@ set_pitch_control(PN_stdfloat pitch) {
*/
BulletWheel BulletVehicle::
create_wheel() {
LightMutexHolder holder(BulletWorld::get_global_lock());
btVector3 pos(0.0, 0.0, 0.0);
btVector3 direction = get_axis(_vehicle->getUpAxis());
@ -182,24 +203,35 @@ get_axis(int idx) {
}
}
/**
* Returns the number of wheels this vehicle has.
*/
int BulletVehicle::
get_num_wheels() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _vehicle->getNumWheels();
}
/**
* Returns the BulletWheel with index idx. Causes an AssertionError if idx is
* equal or larger than the number of wheels.
*/
BulletWheel BulletVehicle::
get_wheel(int idx) const {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertr(idx < get_num_wheels(), BulletWheel::empty());
nassertr(idx < _vehicle->getNumWheels(), BulletWheel::empty());
return BulletWheel(_vehicle->getWheelInfo(idx));
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletVehicle::
sync_b2p() {
do_sync_b2p() {
for (int i=0; i < get_num_wheels(); i++) {
for (int i=0; i < _vehicle->getNumWheels(); i++) {
btWheelInfo info = _vehicle->getWheelInfo(i);
PandaNode *node = (PandaNode *)info.m_clientInfo;
@ -216,3 +248,124 @@ sync_b2p() {
}
}
}
/**
*
*/
void BulletVehicleTuning::
set_suspension_stiffness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_.m_suspensionStiffness = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_suspension_compression(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_.m_suspensionCompression = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_suspension_damping(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_.m_suspensionDamping = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_max_suspension_travel_cm(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_.m_maxSuspensionTravelCm = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_friction_slip(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_.m_frictionSlip = (btScalar)value;
}
/**
*
*/
void BulletVehicleTuning::
set_max_suspension_force(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_.m_maxSuspensionForce = (btScalar)value;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_suspension_stiffness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_.m_suspensionStiffness;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_suspension_compression() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_.m_suspensionCompression;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_suspension_damping() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_.m_suspensionDamping;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_max_suspension_travel_cm() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_.m_maxSuspensionTravelCm;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_friction_slip() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_.m_frictionSlip;
}
/**
*
*/
PN_stdfloat BulletVehicleTuning::
get_max_suspension_force() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_.m_maxSuspensionForce;
}

29
panda/src/bullet/bulletVehicle.h
View File

@ -32,19 +32,19 @@ class BulletWheel;
class EXPCL_PANDABULLET BulletVehicleTuning {
PUBLISHED:
INLINE void set_suspension_stiffness(PN_stdfloat value);
INLINE void set_suspension_compression(PN_stdfloat value);
INLINE void set_suspension_damping(PN_stdfloat value);
INLINE void set_max_suspension_travel_cm(PN_stdfloat value);
INLINE void set_friction_slip(PN_stdfloat value);
INLINE void set_max_suspension_force(PN_stdfloat value);
void set_suspension_stiffness(PN_stdfloat value);
void set_suspension_compression(PN_stdfloat value);
void set_suspension_damping(PN_stdfloat value);
void set_max_suspension_travel_cm(PN_stdfloat value);
void set_friction_slip(PN_stdfloat value);
void set_max_suspension_force(PN_stdfloat value);
INLINE PN_stdfloat get_suspension_stiffness() const;
INLINE PN_stdfloat get_suspension_compression() const;
INLINE PN_stdfloat get_suspension_damping() const;
INLINE PN_stdfloat get_max_suspension_travel_cm() const;
INLINE PN_stdfloat get_friction_slip() const;
INLINE PN_stdfloat get_max_suspension_force() const;
PN_stdfloat get_suspension_stiffness() const;
PN_stdfloat get_suspension_compression() const;
PN_stdfloat get_suspension_damping() const;
PN_stdfloat get_max_suspension_travel_cm() const;
PN_stdfloat get_friction_slip() const;
PN_stdfloat get_max_suspension_force() const;
MAKE_PROPERTY(suspension_stiffness, get_suspension_stiffness, set_suspension_stiffness);
MAKE_PROPERTY(suspension_compression, get_suspension_compression, set_suspension_compression);
@ -87,7 +87,7 @@ PUBLISHED:
// Wheels
BulletWheel create_wheel();
INLINE int get_num_wheels() const;
int get_num_wheels() const;
BulletWheel get_wheel(int idx) const;
MAKE_SEQ(get_wheels, get_num_wheels, get_wheel);
@ -102,8 +102,9 @@ PUBLISHED:
public:
INLINE btRaycastVehicle *get_vehicle() const;
BulletRigidBodyNode *do_get_chassis();
void sync_b2p();
void do_sync_b2p();
private:
btRaycastVehicle *_vehicle;

71
panda/src/bullet/bulletWheel.I
View File

@ -40,74 +40,3 @@ empty() {
return BulletWheel(info);
}
/**
*
*/
INLINE bool BulletWheelRaycastInfo::
is_in_contact() const {
return _info.m_isInContact;
}
/**
*
*/
INLINE PN_stdfloat BulletWheelRaycastInfo::
get_suspension_length() const {
return _info.m_suspensionLength;
}
/**
*
*/
INLINE LPoint3 BulletWheelRaycastInfo::
get_contact_point_ws() const {
return btVector3_to_LPoint3(_info.m_contactPointWS);
}
/**
*
*/
INLINE LPoint3 BulletWheelRaycastInfo::
get_hard_point_ws() const {
return btVector3_to_LPoint3(_info.m_hardPointWS);
}
/**
*
*/
INLINE LVector3 BulletWheelRaycastInfo::
get_contact_normal_ws() const {
return btVector3_to_LVector3(_info.m_contactNormalWS);
}
/**
*
*/
INLINE LVector3 BulletWheelRaycastInfo::
get_wheel_direction_ws() const {
return btVector3_to_LVector3(_info.m_wheelDirectionWS);
}
/**
*
*/
INLINE LVector3 BulletWheelRaycastInfo::
get_wheel_axle_ws() const {
return btVector3_to_LVector3(_info.m_wheelAxleWS);
}
/**
*
*/
INLINE PandaNode *BulletWheelRaycastInfo::
get_ground_object() const {
return _info.m_groundObject ? (PandaNode *)_info.m_groundObject : NULL;
}

128
panda/src/bullet/bulletWheel.cxx
View File

@ -34,6 +34,7 @@ BulletWheelRaycastInfo(btWheelInfo::RaycastInfo &info) : _info(info) {
*/
BulletWheelRaycastInfo BulletWheel::
get_raycast_info() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return BulletWheelRaycastInfo(_info.m_raycastInfo);
}
@ -43,6 +44,7 @@ get_raycast_info() const {
*/
PN_stdfloat BulletWheel::
get_suspension_rest_length() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.getSuspensionRestLength();
}
@ -52,6 +54,7 @@ get_suspension_rest_length() const {
*/
void BulletWheel::
set_suspension_stiffness(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_suspensionStiffness = (btScalar)value;
}
@ -61,6 +64,7 @@ set_suspension_stiffness(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_suspension_stiffness() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_suspensionStiffness;
}
@ -71,6 +75,7 @@ get_suspension_stiffness() const {
*/
void BulletWheel::
set_max_suspension_travel_cm(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_maxSuspensionTravelCm = (btScalar)value;
}
@ -80,6 +85,7 @@ set_max_suspension_travel_cm(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_max_suspension_travel_cm() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_maxSuspensionTravelCm;
}
@ -89,6 +95,7 @@ get_max_suspension_travel_cm() const {
*/
void BulletWheel::
set_friction_slip(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_frictionSlip = (btScalar)value;
}
@ -98,6 +105,7 @@ set_friction_slip(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_friction_slip() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_frictionSlip;
}
@ -107,6 +115,7 @@ get_friction_slip() const {
*/
void BulletWheel::
set_max_suspension_force(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_maxSuspensionForce = (btScalar)value;
}
@ -116,6 +125,7 @@ set_max_suspension_force(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_max_suspension_force() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_maxSuspensionForce;
}
@ -125,6 +135,7 @@ get_max_suspension_force() const {
*/
void BulletWheel::
set_wheels_damping_compression(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_wheelsDampingCompression = (btScalar)value;
}
@ -134,6 +145,7 @@ set_wheels_damping_compression(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_wheels_damping_compression() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_wheelsDampingCompression;
}
@ -143,6 +155,7 @@ get_wheels_damping_compression() const {
*/
void BulletWheel::
set_wheels_damping_relaxation(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_wheelsDampingRelaxation = (btScalar)value;
}
@ -152,6 +165,7 @@ set_wheels_damping_relaxation(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_wheels_damping_relaxation() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_wheelsDampingRelaxation;
}
@ -164,6 +178,7 @@ get_wheels_damping_relaxation() const {
*/
void BulletWheel::
set_roll_influence(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_rollInfluence = (btScalar)value;
}
@ -174,6 +189,7 @@ set_roll_influence(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_roll_influence() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_rollInfluence;
}
@ -183,6 +199,7 @@ get_roll_influence() const {
*/
void BulletWheel::
set_wheel_radius(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_wheelsRadius = (btScalar)value;
}
@ -192,6 +209,7 @@ set_wheel_radius(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_wheel_radius() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_wheelsRadius;
}
@ -201,6 +219,7 @@ get_wheel_radius() const {
*/
void BulletWheel::
set_steering(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_steering = (btScalar)value;
}
@ -210,6 +229,7 @@ set_steering(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_steering() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_steering;
}
@ -219,6 +239,7 @@ get_steering() const {
*/
void BulletWheel::
set_rotation(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_rotation = (btScalar)value;
}
@ -228,6 +249,7 @@ set_rotation(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_rotation() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_rotation;
}
@ -237,6 +259,7 @@ get_rotation() const {
*/
void BulletWheel::
set_delta_rotation(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_deltaRotation = (btScalar)value;
}
@ -246,6 +269,7 @@ set_delta_rotation(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_delta_rotation() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_deltaRotation;
}
@ -255,6 +279,7 @@ get_delta_rotation() const {
*/
void BulletWheel::
set_engine_force(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_engineForce = (btScalar)value;
}
@ -264,6 +289,7 @@ set_engine_force(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_engine_force() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_engineForce;
}
@ -273,6 +299,7 @@ get_engine_force() const {
*/
void BulletWheel::
set_brake(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_brake = (btScalar)value;
}
@ -282,6 +309,7 @@ set_brake(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_brake() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_brake;
}
@ -291,6 +319,7 @@ get_brake() const {
*/
void BulletWheel::
set_skid_info(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_skidInfo = (btScalar)value;
}
@ -300,6 +329,7 @@ set_skid_info(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_skid_info() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_skidInfo;
}
@ -309,6 +339,7 @@ get_skid_info() const {
*/
void BulletWheel::
set_wheels_suspension_force(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_wheelsSuspensionForce = (btScalar)value;
}
@ -318,6 +349,7 @@ set_wheels_suspension_force(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_wheels_suspension_force() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_wheelsSuspensionForce;
}
@ -327,6 +359,7 @@ get_wheels_suspension_force() const {
*/
void BulletWheel::
set_suspension_relative_velocity(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_suspensionRelativeVelocity = (btScalar)value;
}
@ -336,6 +369,7 @@ set_suspension_relative_velocity(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_suspension_relative_velocity() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_suspensionRelativeVelocity;
}
@ -345,6 +379,7 @@ get_suspension_relative_velocity() const {
*/
void BulletWheel::
set_clipped_inv_connection_point_cs(PN_stdfloat value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_clippedInvContactDotSuspension = (btScalar)value;
}
@ -354,6 +389,7 @@ set_clipped_inv_connection_point_cs(PN_stdfloat value) {
*/
PN_stdfloat BulletWheel::
get_clipped_inv_connection_point_cs() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (PN_stdfloat)_info.m_clippedInvContactDotSuspension;
}
@ -363,6 +399,7 @@ get_clipped_inv_connection_point_cs() const {
*/
void BulletWheel::
set_chassis_connection_point_cs(const LPoint3 &pos) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!pos.is_nan());
_info.m_chassisConnectionPointCS = LVecBase3_to_btVector3(pos);
@ -373,6 +410,7 @@ set_chassis_connection_point_cs(const LPoint3 &pos) {
*/
LPoint3 BulletWheel::
get_chassis_connection_point_cs() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_info.m_chassisConnectionPointCS);
}
@ -383,6 +421,7 @@ get_chassis_connection_point_cs() const {
*/
void BulletWheel::
set_wheel_direction_cs(const LVector3 &dir) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!dir.is_nan());
_info.m_wheelDirectionCS = LVecBase3_to_btVector3(dir);
@ -393,6 +432,7 @@ set_wheel_direction_cs(const LVector3 &dir) {
*/
LVector3 BulletWheel::
get_wheel_direction_cs() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_info.m_wheelDirectionCS);
}
@ -402,6 +442,7 @@ get_wheel_direction_cs() const {
*/
void BulletWheel::
set_wheel_axle_cs(const LVector3 &axle) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!axle.is_nan());
_info.m_wheelAxleCS = LVecBase3_to_btVector3(axle);
@ -412,6 +453,7 @@ set_wheel_axle_cs(const LVector3 &axle) {
*/
LVector3 BulletWheel::
get_wheel_axle_cs() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_info.m_wheelAxleCS);
}
@ -421,6 +463,7 @@ get_wheel_axle_cs() const {
*/
void BulletWheel::
set_world_transform(const LMatrix4 &mat) {
LightMutexHolder holder(BulletWorld::get_global_lock());
nassertv(!mat.is_nan());
_info.m_worldTransform = LMatrix4_to_btTrans(mat);
@ -431,6 +474,7 @@ set_world_transform(const LMatrix4 &mat) {
*/
LMatrix4 BulletWheel::
get_world_transform() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btTrans_to_LMatrix4(_info.m_worldTransform);
}
@ -440,6 +484,7 @@ get_world_transform() const {
*/
void BulletWheel::
set_front_wheel(bool value) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_bIsFrontWheel = value;
}
@ -449,6 +494,7 @@ set_front_wheel(bool value) {
*/
bool BulletWheel::
is_front_wheel() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _info.m_bIsFrontWheel;
}
@ -458,6 +504,7 @@ is_front_wheel() const {
*/
void BulletWheel::
set_node(PandaNode *node) {
LightMutexHolder holder(BulletWorld::get_global_lock());
_info.m_clientInfo = (void *)node;
}
@ -468,6 +515,87 @@ set_node(PandaNode *node) {
*/
PandaNode *BulletWheel::
get_node() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return (_info.m_clientInfo == NULL) ? NULL : (PandaNode *)_info.m_clientInfo;
}
/**
*
*/
bool BulletWheelRaycastInfo::
is_in_contact() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _info.m_isInContact;
}
/**
*
*/
PN_stdfloat BulletWheelRaycastInfo::
get_suspension_length() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _info.m_suspensionLength;
}
/**
*
*/
LPoint3 BulletWheelRaycastInfo::
get_contact_point_ws() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_info.m_contactPointWS);
}
/**
*
*/
LPoint3 BulletWheelRaycastInfo::
get_hard_point_ws() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LPoint3(_info.m_hardPointWS);
}
/**
*
*/
LVector3 BulletWheelRaycastInfo::
get_contact_normal_ws() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_info.m_contactNormalWS);
}
/**
*
*/
LVector3 BulletWheelRaycastInfo::
get_wheel_direction_ws() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_info.m_wheelDirectionWS);
}
/**
*
*/
LVector3 BulletWheelRaycastInfo::
get_wheel_axle_ws() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return btVector3_to_LVector3(_info.m_wheelAxleWS);
}
/**
*
*/
PandaNode *BulletWheelRaycastInfo::
get_ground_object() const {
LightMutexHolder holder(BulletWorld::get_global_lock());
return _info.m_groundObject ? (PandaNode *)_info.m_groundObject : NULL;
}

16
panda/src/bullet/bulletWheel.h
View File

@ -30,14 +30,14 @@ class EXPCL_PANDABULLET BulletWheelRaycastInfo {
PUBLISHED:
INLINE ~BulletWheelRaycastInfo();
INLINE bool is_in_contact() const;
INLINE PN_stdfloat get_suspension_length() const;
INLINE LVector3 get_contact_normal_ws() const;
INLINE LVector3 get_wheel_direction_ws() const;
INLINE LVector3 get_wheel_axle_ws() const;
INLINE LPoint3 get_contact_point_ws() const;
INLINE LPoint3 get_hard_point_ws() const;
INLINE PandaNode *get_ground_object() const;
bool is_in_contact() const;
PN_stdfloat get_suspension_length() const;
LVector3 get_contact_normal_ws() const;
LVector3 get_wheel_direction_ws() const;
LVector3 get_wheel_axle_ws() const;
LPoint3 get_contact_point_ws() const;
LPoint3 get_hard_point_ws() const;
PandaNode *get_ground_object() const;
MAKE_PROPERTY(in_contact, is_in_contact);
MAKE_PROPERTY(suspension_length, get_suspension_length);

135
panda/src/bullet/bulletWorld.I
View File

@ -50,19 +50,6 @@ INLINE BulletWorld::
delete _broadphase;
}
/**
*
*/
INLINE void BulletWorld::
set_debug_node(BulletDebugNode *node) {
nassertv(node);
if (node != _debug) {
clear_debug_node();
_debug = node;
_world->setDebugDrawer(&(_debug->_drawer));
}
}
/**
*
*/
@ -108,125 +95,3 @@ get_dispatcher() const {
return _dispatcher;
}
/**
*
*/
INLINE int BulletWorld::
get_num_rigid_bodies() const {
return _bodies.size();
}
/**
*
*/
INLINE BulletRigidBodyNode *BulletWorld::
get_rigid_body(int idx) const {
nassertr(idx >= 0 && idx < (int)_bodies.size(), NULL);
return _bodies[idx];
}
/**
*
*/
INLINE int BulletWorld::
get_num_soft_bodies() const {
return _softbodies.size();
}
/**
*
*/
INLINE BulletSoftBodyNode *BulletWorld::
get_soft_body(int idx) const {
nassertr(idx >= 0 && idx < (int)_softbodies.size(), NULL);
return _softbodies[idx];
}
/**
*
*/
INLINE int BulletWorld::
get_num_ghosts() const {
return _ghosts.size();
}
/**
*
*/
INLINE BulletGhostNode *BulletWorld::
get_ghost(int idx) const {
nassertr(idx >= 0 && idx < (int)_ghosts.size(), NULL);
return _ghosts[idx];
}
/**
*
*/
INLINE int BulletWorld::
get_num_characters() const {
return _characters.size();
}
/**
*
*/
INLINE BulletBaseCharacterControllerNode *BulletWorld::
get_character(int idx) const {
nassertr(idx >= 0 && idx < (int)_characters.size(), NULL);
return _characters[idx];
}
/**
*
*/
INLINE int BulletWorld::
get_num_vehicles() const {
return _vehicles.size();
}
/**
*
*/
INLINE BulletVehicle *BulletWorld::
get_vehicle(int idx) const {
nassertr(idx >= 0 && idx < (int)_vehicles.size(), NULL);
return _vehicles[idx];
}
/**
*
*/
INLINE int BulletWorld::
get_num_constraints() const {
return _constraints.size();
}
/**
*
*/
INLINE BulletConstraint *BulletWorld::
get_constraint(int idx) const {
nassertr(idx >= 0 && idx < (int)_constraints.size(), NULL);
return _constraints[idx];
}
/**
*
*/
INLINE int BulletWorld::
get_num_manifolds() const {
return _world->getDispatcher()->getNumManifolds();
}

436
panda/src/bullet/bulletWorld.cxx
View File

@ -118,6 +118,17 @@ BulletWorld() {
_world->getSolverInfo().m_numIterations = bullet_solver_iterations;
}
/**
*
*/
LightMutex &BulletWorld::
get_global_lock() {
static LightMutex lock;
return lock;
}
/**
*
*/
@ -127,13 +138,33 @@ get_world_info() {
return BulletSoftBodyWorldInfo(_info);
}
/**
*
*/
void BulletWorld::
set_debug_node(BulletDebugNode *node) {
LightMutexHolder holder(get_global_lock());
nassertv(node);
if (node != _debug) {
if (_debug != nullptr) {
_debug->_debug_stale = false;
_debug->_debug_world = nullptr;
}
_debug = node;
_world->setDebugDrawer(&(_debug->_drawer));
}
}
/**
* Removes a debug node that has been assigned to this BulletWorld.
*/
void BulletWorld::
clear_debug_node() {
LightMutexHolder holder(get_global_lock());
if (_debug != nullptr) {
LightMutexHolder holder(_debug->_lock);
_debug->_debug_stale = false;
_debug->_debug_world = nullptr;
_world->setDebugDrawer(nullptr);
@ -146,6 +177,7 @@ clear_debug_node() {
*/
void BulletWorld::
set_gravity(const LVector3 &gravity) {
LightMutexHolder holder(get_global_lock());
_world->setGravity(LVecBase3_to_btVector3(gravity));
_info.m_gravity.setValue(gravity.get_x(), gravity.get_y(), gravity.get_z());
@ -156,6 +188,7 @@ set_gravity(const LVector3 &gravity) {
*/
void BulletWorld::
set_gravity(PN_stdfloat gx, PN_stdfloat gy, PN_stdfloat gz) {
LightMutexHolder holder(get_global_lock());
_world->setGravity(btVector3((btScalar)gx, (btScalar)gy, (btScalar)gz));
_info.m_gravity.setValue((btScalar)gx, (btScalar)gy, (btScalar)gz);
@ -166,6 +199,7 @@ set_gravity(PN_stdfloat gx, PN_stdfloat gy, PN_stdfloat gz) {
*/
const LVector3 BulletWorld::
get_gravity() const {
LightMutexHolder holder(get_global_lock());
return btVector3_to_LVector3(_world->getGravity());
}
@ -175,6 +209,7 @@ get_gravity() const {
*/
int BulletWorld::
do_physics(PN_stdfloat dt, int max_substeps, PN_stdfloat stepsize) {
LightMutexHolder holder(get_global_lock());
_pstat_physics.start();
@ -182,7 +217,7 @@ do_physics(PN_stdfloat dt, int max_substeps, PN_stdfloat stepsize) {
// Synchronize Panda to Bullet
_pstat_p2b.start();
sync_p2b(dt, num_substeps);
do_sync_p2b(dt, num_substeps);
_pstat_p2b.stop();
// Simulation
@ -192,13 +227,13 @@ do_physics(PN_stdfloat dt, int max_substeps, PN_stdfloat stepsize) {
// Synchronize Bullet to Panda
_pstat_b2p.start();
sync_b2p();
do_sync_b2p();
_info.m_sparsesdf.GarbageCollect(bullet_gc_lifetime);
_pstat_b2p.stop();
// Render debug
if (_debug) {
_debug->sync_b2p(_world);
_debug->do_sync_b2p(_world);
}
_pstat_physics.stop();
@ -207,52 +242,52 @@ do_physics(PN_stdfloat dt, int max_substeps, PN_stdfloat stepsize) {
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
sync_p2b(PN_stdfloat dt, int num_substeps) {
do_sync_p2b(PN_stdfloat dt, int num_substeps) {
for (int i=0; i < get_num_rigid_bodies(); i++) {
get_rigid_body(i)->sync_p2b();
for (int i=0; i < _bodies.size(); i++) {
_bodies[i]->do_sync_p2b();
}
for (int i=0; i < get_num_soft_bodies(); i++) {
get_soft_body(i)->sync_p2b();
for (int i=0; i < _softbodies.size(); i++) {
_softbodies[i]->do_sync_p2b();
}
for (int i=0; i < get_num_ghosts(); i++) {
get_ghost(i)->sync_p2b();
for (int i=0; i < _ghosts.size(); i++) {
_ghosts[i]->do_sync_p2b();
}
for (int i=0; i < get_num_characters(); i++) {
get_character(i)->sync_p2b(dt, num_substeps);
for (int i=0; i < _characters.size(); i++) {
_characters[i]->do_sync_p2b(dt, num_substeps);
}
}
/**
*
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
sync_b2p() {
do_sync_b2p() {
for (int i=0; i < get_num_vehicles(); i++) {
get_vehicle(i)->sync_b2p();
for (int i=0; i < _vehicles.size(); i++) {
_vehicles[i]->do_sync_b2p();
}
for (int i=0; i < get_num_rigid_bodies(); i++) {
get_rigid_body(i)->sync_b2p();
for (int i=0; i < _bodies.size(); i++) {
_bodies[i]->do_sync_b2p();
}
for (int i=0; i < get_num_soft_bodies(); i++) {
get_soft_body(i)->sync_b2p();
for (int i=0; i < _softbodies.size(); i++) {
_softbodies[i]->do_sync_b2p();
}
for (int i=0; i < get_num_ghosts(); i++) {
get_ghost(i)->sync_b2p();
for (int i=0; i < _ghosts.size(); i++) {
_ghosts[i]->do_sync_b2p();
}
for (int i=0; i < get_num_characters(); i++) {
get_character(i)->sync_b2p();
for (int i=0; i < _characters.size(); i++) {
_characters[i]->do_sync_b2p();
}
}
@ -261,24 +296,25 @@ sync_b2p() {
*/
void BulletWorld::
attach(TypedObject *object) {
LightMutexHolder holder(get_global_lock());
if (object->is_of_type(BulletGhostNode::get_class_type())) {
attach_ghost(DCAST(BulletGhostNode, object));
do_attach_ghost(DCAST(BulletGhostNode, object));
}
else if (object->is_of_type(BulletRigidBodyNode::get_class_type())) {
attach_rigid_body(DCAST(BulletRigidBodyNode, object));
do_attach_rigid_body(DCAST(BulletRigidBodyNode, object));
}
else if (object->is_of_type(BulletSoftBodyNode::get_class_type())) {
attach_soft_body(DCAST(BulletSoftBodyNode, object));
do_attach_soft_body(DCAST(BulletSoftBodyNode, object));
}
else if (object->is_of_type(BulletBaseCharacterControllerNode::get_class_type())) {
attach_character(DCAST(BulletBaseCharacterControllerNode, object));
do_attach_character(DCAST(BulletBaseCharacterControllerNode, object));
}
else if (object->is_of_type(BulletVehicle::get_class_type())) {
attach_vehicle(DCAST(BulletVehicle, object));
do_attach_vehicle(DCAST(BulletVehicle, object));
}
else if (object->is_of_type(BulletConstraint::get_class_type())) {
attach_constraint(DCAST(BulletConstraint, object));
do_attach_constraint(DCAST(BulletConstraint, object));
}
else {
bullet_cat->error() << "not a bullet world object!" << endl;
@ -290,24 +326,25 @@ attach(TypedObject *object) {
*/
void BulletWorld::
remove(TypedObject *object) {
LightMutexHolder holder(get_global_lock());
if (object->is_of_type(BulletGhostNode::get_class_type())) {
remove_ghost(DCAST(BulletGhostNode, object));
do_remove_ghost(DCAST(BulletGhostNode, object));
}
else if (object->is_of_type(BulletRigidBodyNode::get_class_type())) {
remove_rigid_body(DCAST(BulletRigidBodyNode, object));
do_remove_rigid_body(DCAST(BulletRigidBodyNode, object));
}
else if (object->is_of_type(BulletSoftBodyNode::get_class_type())) {
remove_soft_body(DCAST(BulletSoftBodyNode, object));
do_remove_soft_body(DCAST(BulletSoftBodyNode, object));
}
else if (object->is_of_type(BulletBaseCharacterControllerNode::get_class_type())) {
remove_character(DCAST(BulletBaseCharacterControllerNode, object));
do_remove_character(DCAST(BulletBaseCharacterControllerNode, object));
}
else if (object->is_of_type(BulletVehicle::get_class_type())) {
remove_vehicle(DCAST(BulletVehicle, object));
do_remove_vehicle(DCAST(BulletVehicle, object));
}
else if (object->is_of_type(BulletConstraint::get_class_type())) {
remove_constraint(DCAST(BulletConstraint, object));
do_remove_constraint(DCAST(BulletConstraint, object));
}
else {
bullet_cat->error() << "not a bullet world object!" << endl;
@ -319,6 +356,127 @@ remove(TypedObject *object) {
*/
void BulletWorld::
attach_rigid_body(BulletRigidBodyNode *node) {
LightMutexHolder holder(get_global_lock());
do_attach_rigid_body(node);
}
/**
* Deprecated.! Please use BulletWorld::remove
*/
void BulletWorld::
remove_rigid_body(BulletRigidBodyNode *node) {
LightMutexHolder holder(get_global_lock());
do_remove_rigid_body(node);
}
/**
* Deprecated! Please use BulletWorld::attach
*/
void BulletWorld::
attach_soft_body(BulletSoftBodyNode *node) {
LightMutexHolder holder(get_global_lock());
do_attach_soft_body(node);
}
/**
* Deprecated.! Please use BulletWorld::remove
*/
void BulletWorld::
remove_soft_body(BulletSoftBodyNode *node) {
LightMutexHolder holder(get_global_lock());
do_remove_soft_body(node);
}
/**
* Deprecated! Please use BulletWorld::attach
*/
void BulletWorld::
attach_ghost(BulletGhostNode *node) {
LightMutexHolder holder(get_global_lock());
do_attach_ghost(node);
}
/**
* Deprecated.! Please use BulletWorld::remove
*/
void BulletWorld::
remove_ghost(BulletGhostNode *node) {
LightMutexHolder holder(get_global_lock());
do_remove_ghost(node);
}
/**
* Deprecated! Please use BulletWorld::attach
*/
void BulletWorld::
attach_character(BulletBaseCharacterControllerNode *node) {
LightMutexHolder holder(get_global_lock());
do_attach_character(node);
}
/**
* Deprecated.! Please use BulletWorld::remove
*/
void BulletWorld::
remove_character(BulletBaseCharacterControllerNode *node) {
LightMutexHolder holder(get_global_lock());
do_remove_character(node);
}
/**
* Deprecated! Please use BulletWorld::attach
*/
void BulletWorld::
attach_vehicle(BulletVehicle *vehicle) {
LightMutexHolder holder(get_global_lock());
do_attach_vehicle(vehicle);
}
/**
* Deprecated.! Please use BulletWorld::remove
*/
void BulletWorld::
remove_vehicle(BulletVehicle *vehicle) {
LightMutexHolder holder(get_global_lock());
do_remove_vehicle(vehicle);
}
/**
* Attaches a single constraint to a world. Collision checks between the
* linked objects will be disabled if the second parameter is set to TRUE.
*/
void BulletWorld::
attach_constraint(BulletConstraint *constraint, bool linked_collision) {
LightMutexHolder holder(get_global_lock());
do_attach_constraint(constraint, linked_collision);
}
/**
* Deprecated.! Please use BulletWorld::remove
*/
void BulletWorld::
remove_constraint(BulletConstraint *constraint) {
LightMutexHolder holder(get_global_lock());
do_remove_constraint(constraint);
}
/**
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
do_attach_rigid_body(BulletRigidBodyNode *node) {
nassertv(node);
@ -338,10 +496,10 @@ attach_rigid_body(BulletRigidBodyNode *node) {
}
/**
* Deprecated.! Please use BulletWorld::remove
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
remove_rigid_body(BulletRigidBodyNode *node) {
do_remove_rigid_body(BulletRigidBodyNode *node) {
nassertv(node);
@ -361,10 +519,10 @@ remove_rigid_body(BulletRigidBodyNode *node) {
}
/**
* Deprecated! Please use BulletWorld::attach
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
attach_soft_body(BulletSoftBodyNode *node) {
do_attach_soft_body(BulletSoftBodyNode *node) {
nassertv(node);
@ -388,10 +546,10 @@ attach_soft_body(BulletSoftBodyNode *node) {
}
/**
* Deprecated.! Please use BulletWorld::remove
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
remove_soft_body(BulletSoftBodyNode *node) {
do_remove_soft_body(BulletSoftBodyNode *node) {
nassertv(node);
@ -411,10 +569,10 @@ remove_soft_body(BulletSoftBodyNode *node) {
}
/**
* Deprecated! Please use BulletWorld::attach
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
attach_ghost(BulletGhostNode *node) {
do_attach_ghost(BulletGhostNode *node) {
nassertv(node);
@ -452,10 +610,10 @@ enum CollisionFilterGroups {
}
/**
* Deprecated.! Please use BulletWorld::remove
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
remove_ghost(BulletGhostNode *node) {
do_remove_ghost(BulletGhostNode *node) {
nassertv(node);
@ -475,10 +633,10 @@ remove_ghost(BulletGhostNode *node) {
}
/**
* Deprecated! Please use BulletWorld::attach
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
attach_character(BulletBaseCharacterControllerNode *node) {
do_attach_character(BulletBaseCharacterControllerNode *node) {
nassertv(node);
@ -501,10 +659,10 @@ attach_character(BulletBaseCharacterControllerNode *node) {
}
/**
* Deprecated.! Please use BulletWorld::remove
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
remove_character(BulletBaseCharacterControllerNode *node) {
do_remove_character(BulletBaseCharacterControllerNode *node) {
nassertv(node);
@ -523,10 +681,10 @@ remove_character(BulletBaseCharacterControllerNode *node) {
}
/**
* Deprecated! Please use BulletWorld::attach
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
attach_vehicle(BulletVehicle *vehicle) {
do_attach_vehicle(BulletVehicle *vehicle) {
nassertv(vehicle);
@ -544,14 +702,14 @@ attach_vehicle(BulletVehicle *vehicle) {
}
/**
* Deprecated.! Please use BulletWorld::remove
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
remove_vehicle(BulletVehicle *vehicle) {
do_remove_vehicle(BulletVehicle *vehicle) {
nassertv(vehicle);
remove_rigid_body(vehicle->get_chassis());
do_remove_rigid_body(vehicle->do_get_chassis());
BulletVehicles::iterator found;
PT(BulletVehicle) ptvehicle = vehicle;
@ -569,9 +727,10 @@ remove_vehicle(BulletVehicle *vehicle) {
/**
* Attaches a single constraint to a world. Collision checks between the
* linked objects will be disabled if the second parameter is set to TRUE.
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
attach_constraint(BulletConstraint *constraint, bool linked_collision) {
do_attach_constraint(BulletConstraint *constraint, bool linked_collision) {
nassertv(constraint);
@ -589,10 +748,10 @@ attach_constraint(BulletConstraint *constraint, bool linked_collision) {
}
/**
* Deprecated.! Please use BulletWorld::remove
* Assumes the lock(bullet global lock) is held by the caller
*/
void BulletWorld::
remove_constraint(BulletConstraint *constraint) {
do_remove_constraint(BulletConstraint *constraint) {
nassertv(constraint);
@ -609,11 +768,148 @@ remove_constraint(BulletConstraint *constraint) {
}
}
/**
*
*/
int BulletWorld::
get_num_rigid_bodies() const {
LightMutexHolder holder(get_global_lock());
return _bodies.size();
}
/**
*
*/
BulletRigidBodyNode *BulletWorld::
get_rigid_body(int idx) const {
LightMutexHolder holder(get_global_lock());
nassertr(idx >= 0 && idx < (int)_bodies.size(), NULL);
return _bodies[idx];
}
/**
*
*/
int BulletWorld::
get_num_soft_bodies() const {
LightMutexHolder holder(get_global_lock());
return _softbodies.size();
}
/**
*
*/
BulletSoftBodyNode *BulletWorld::
get_soft_body(int idx) const {
LightMutexHolder holder(get_global_lock());
nassertr(idx >= 0 && idx < (int)_softbodies.size(), NULL);
return _softbodies[idx];
}
/**
*
*/
int BulletWorld::
get_num_ghosts() const {
LightMutexHolder holder(get_global_lock());
return _ghosts.size();
}
/**
*
*/
BulletGhostNode *BulletWorld::
get_ghost(int idx) const {
LightMutexHolder holder(get_global_lock());
nassertr(idx >= 0 && idx < (int)_ghosts.size(), NULL);
return _ghosts[idx];
}
/**
*
*/
int BulletWorld::
get_num_characters() const {
LightMutexHolder holder(get_global_lock());
return _characters.size();
}
/**
*
*/
BulletBaseCharacterControllerNode *BulletWorld::
get_character(int idx) const {
LightMutexHolder holder(get_global_lock());
nassertr(idx >= 0 && idx < (int)_characters.size(), NULL);
return _characters[idx];
}
/**
*
*/
int BulletWorld::
get_num_vehicles() const {
LightMutexHolder holder(get_global_lock());
return _vehicles.size();
}
/**
*
*/
BulletVehicle *BulletWorld::
get_vehicle(int idx) const {
LightMutexHolder holder(get_global_lock());
nassertr(idx >= 0 && idx < (int)_vehicles.size(), NULL);
return _vehicles[idx];
}
/**
*
*/
int BulletWorld::
get_num_constraints() const {
LightMutexHolder holder(get_global_lock());
return _constraints.size();
}
/**
*
*/
BulletConstraint *BulletWorld::
get_constraint(int idx) const {
LightMutexHolder holder(get_global_lock());
nassertr(idx >= 0 && idx < (int)_constraints.size(), NULL);
return _constraints[idx];
}
/**
*
*/
int BulletWorld::
get_num_manifolds() const {
LightMutexHolder holder(get_global_lock());
return _world->getDispatcher()->getNumManifolds();
}
/**
*
*/
BulletClosestHitRayResult BulletWorld::
ray_test_closest(const LPoint3 &from_pos, const LPoint3 &to_pos, const CollideMask &mask) const {
LightMutexHolder holder(get_global_lock());
nassertr(!from_pos.is_nan(), BulletClosestHitRayResult::empty());
nassertr(!to_pos.is_nan(), BulletClosestHitRayResult::empty());
@ -631,6 +927,7 @@ ray_test_closest(const LPoint3 &from_pos, const LPoint3 &to_pos, const CollideMa
*/
BulletAllHitsRayResult BulletWorld::
ray_test_all(const LPoint3 &from_pos, const LPoint3 &to_pos, const CollideMask &mask) const {
LightMutexHolder holder(get_global_lock());
nassertr(!from_pos.is_nan(), BulletAllHitsRayResult::empty());
nassertr(!to_pos.is_nan(), BulletAllHitsRayResult::empty());
@ -648,13 +945,16 @@ ray_test_all(const LPoint3 &from_pos, const LPoint3 &to_pos, const CollideMask &
*/
BulletClosestHitSweepResult BulletWorld::
sweep_test_closest(BulletShape *shape, const TransformState &from_ts, const TransformState &to_ts, const CollideMask &mask, PN_stdfloat penetration) const {
LightMutexHolder holder(get_global_lock());
nassertr(shape, BulletClosestHitSweepResult::empty());
nassertr(shape->is_convex(), BulletClosestHitSweepResult::empty());
const btConvexShape *convex = (const btConvexShape *) shape->ptr();
nassertr(convex->isConvex(), BulletClosestHitSweepResult::empty());
nassertr(!from_ts.is_invalid(), BulletClosestHitSweepResult::empty());
nassertr(!to_ts.is_invalid(), BulletClosestHitSweepResult::empty());
const btConvexShape *convex = (const btConvexShape *) shape->ptr();
const btVector3 from_pos = LVecBase3_to_btVector3(from_ts.get_pos());
const btVector3 to_pos = LVecBase3_to_btVector3(to_ts.get_pos());
const btTransform from_trans = LMatrix4_to_btTrans(from_ts.get_mat());
@ -671,6 +971,7 @@ sweep_test_closest(BulletShape *shape, const TransformState &from_ts, const Tran
*/
bool BulletWorld::
filter_test(PandaNode *node0, PandaNode *node1) const {
LightMutexHolder holder(get_global_lock());
nassertr(node0, false);
nassertr(node1, false);
@ -702,6 +1003,7 @@ filter_test(PandaNode *node0, PandaNode *node1) const {
*/
BulletContactResult BulletWorld::
contact_test(PandaNode *node, bool use_filter) const {
LightMutexHolder holder(get_global_lock());
btCollisionObject *obj = get_collision_object(node);
@ -727,6 +1029,7 @@ contact_test(PandaNode *node, bool use_filter) const {
*/
BulletContactResult BulletWorld::
contact_test_pair(PandaNode *node0, PandaNode *node1) const {
LightMutexHolder holder(get_global_lock());
btCollisionObject *obj0 = get_collision_object(node0);
btCollisionObject *obj1 = get_collision_object(node1);
@ -746,6 +1049,7 @@ contact_test_pair(PandaNode *node0, PandaNode *node1) const {
*/
BulletPersistentManifold *BulletWorld::
get_manifold(int idx) const {
LightMutexHolder holder(get_global_lock());
nassertr(idx < get_num_manifolds(), NULL);
@ -780,6 +1084,7 @@ get_collision_object(PandaNode *node) {
*/
void BulletWorld::
set_group_collision_flag(unsigned int group1, unsigned int group2, bool enable) {
LightMutexHolder holder(get_global_lock());
if (bullet_filter_algorithm != FA_groups_mask) {
bullet_cat.warning() << "filter algorithm is not 'groups-mask'" << endl;
@ -794,6 +1099,7 @@ set_group_collision_flag(unsigned int group1, unsigned int group2, bool enable)
*/
bool BulletWorld::
get_group_collision_flag(unsigned int group1, unsigned int group2) const {
LightMutexHolder holder(get_global_lock());
return _filter_cb2._collide[group1].get_bit(group2);
}
@ -803,6 +1109,7 @@ get_group_collision_flag(unsigned int group1, unsigned int group2) const {
*/
void BulletWorld::
set_contact_added_callback(CallbackObject *obj) {
LightMutexHolder holder(get_global_lock());
_world->getSolverInfo().m_solverMode |= SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
_world->getSolverInfo().m_solverMode |= SOLVER_USE_2_FRICTION_DIRECTIONS;
@ -816,6 +1123,7 @@ set_contact_added_callback(CallbackObject *obj) {
*/
void BulletWorld::
clear_contact_added_callback() {
LightMutexHolder holder(get_global_lock());
_world->getSolverInfo().m_solverMode &= ~SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION;
_world->getSolverInfo().m_solverMode &= ~SOLVER_USE_2_FRICTION_DIRECTIONS;
@ -829,6 +1137,7 @@ clear_contact_added_callback() {
*/
void BulletWorld::
set_tick_callback(CallbackObject *obj, bool is_pretick) {
LightMutexHolder holder(get_global_lock());
nassertv(obj != NULL);
_tick_callback_obj = obj;
@ -840,6 +1149,7 @@ set_tick_callback(CallbackObject *obj, bool is_pretick) {
*/
void BulletWorld::
clear_tick_callback() {
LightMutexHolder holder(get_global_lock());
_tick_callback_obj = NULL;
_world->setInternalTickCallback(NULL);
@ -866,6 +1176,7 @@ tick_callback(btDynamicsWorld *world, btScalar timestep) {
*/
void BulletWorld::
set_filter_callback(CallbackObject *obj) {
LightMutexHolder holder(get_global_lock());
nassertv(obj != NULL);
@ -881,6 +1192,7 @@ set_filter_callback(CallbackObject *obj) {
*/
void BulletWorld::
clear_filter_callback() {
LightMutexHolder holder(get_global_lock());
_filter_cb3._filter_callback_obj = NULL;
}

65
panda/src/bullet/bulletWorld.h
View File

@ -37,6 +37,7 @@
#include "callbackObject.h"
#include "collideMask.h"
#include "luse.h"
#include "lightMutex.h"
class BulletPersistentManifold;
class BulletShape;
@ -62,48 +63,43 @@ PUBLISHED:
BulletSoftBodyWorldInfo get_world_info();
// Debug
INLINE void set_debug_node(BulletDebugNode *node);
void set_debug_node(BulletDebugNode *node);
void clear_debug_node();
INLINE BulletDebugNode *get_debug_node() const;
INLINE bool has_debug_node() const;
// AttachRemove
void attach(TypedObject *object);
void remove(TypedObject *object);
void attach_constraint(BulletConstraint *constraint, bool linked_collision=false);
void remove(TypedObject *object);
// Ghost object
INLINE int get_num_ghosts() const;
INLINE BulletGhostNode *get_ghost(int idx) const;
int get_num_ghosts() const;
BulletGhostNode *get_ghost(int idx) const;
MAKE_SEQ(get_ghosts, get_num_ghosts, get_ghost);
// Rigid body
INLINE int get_num_rigid_bodies() const;
INLINE BulletRigidBodyNode *get_rigid_body(int idx) const;
int get_num_rigid_bodies() const;
BulletRigidBodyNode *get_rigid_body(int idx) const;
MAKE_SEQ(get_rigid_bodies, get_num_rigid_bodies, get_rigid_body);
// Soft body
INLINE int get_num_soft_bodies() const;
INLINE BulletSoftBodyNode *get_soft_body(int idx) const;
int get_num_soft_bodies() const;
BulletSoftBodyNode *get_soft_body(int idx) const;
MAKE_SEQ(get_soft_bodies, get_num_soft_bodies, get_soft_body);
// Character controller
INLINE int get_num_characters() const;
INLINE BulletBaseCharacterControllerNode *get_character(int idx) const;
int get_num_characters() const;
BulletBaseCharacterControllerNode *get_character(int idx) const;
MAKE_SEQ(get_characters, get_num_characters, get_character);
// Vehicle
void attach_vehicle(BulletVehicle *vehicle);
void remove_vehicle(BulletVehicle *vehicle);
INLINE int get_num_vehicles() const;
INLINE BulletVehicle *get_vehicle(int idx) const;
int get_num_vehicles() const;
BulletVehicle *get_vehicle(int idx) const;
MAKE_SEQ(get_vehicles, get_num_vehicles, get_vehicle);
// Constraint
INLINE int get_num_constraints() const;
INLINE BulletConstraint *get_constraint(int idx) const;
int get_num_constraints() const;
BulletConstraint *get_constraint(int idx) const;
MAKE_SEQ(get_constraints, get_num_constraints, get_constraint);
// Raycast and other queries
@ -130,7 +126,7 @@ PUBLISHED:
bool filter_test(PandaNode *node0, PandaNode *node1) const;
// Manifolds
INLINE int get_num_manifolds() const;
int get_num_manifolds() const;
BulletPersistentManifold *get_manifold(int idx) const;
MAKE_SEQ(get_manifolds, get_num_manifolds, get_manifold);
@ -171,7 +167,7 @@ PUBLISHED:
MAKE_SEQ_PROPERTY(constraints, get_num_constraints, get_constraint);
MAKE_SEQ_PROPERTY(manifolds, get_num_manifolds, get_manifold);
PUBLISHED: // Deprecated methods, will become private soon
PUBLISHED: // Deprecated methods, will be removed soon
void attach_ghost(BulletGhostNode *node);
void remove_ghost(BulletGhostNode *node);
@ -184,6 +180,9 @@ PUBLISHED: // Deprecated methods, will become private soon
void attach_character(BulletBaseCharacterControllerNode *node);
void remove_character(BulletBaseCharacterControllerNode *node);
void attach_vehicle(BulletVehicle *vehicle);
void remove_vehicle(BulletVehicle *vehicle);
void remove_constraint(BulletConstraint *constraint);
public:
@ -193,9 +192,29 @@ public:
INLINE btBroadphaseInterface *get_broadphase() const;
INLINE btDispatcher *get_dispatcher() const;
static LightMutex &get_global_lock();
private:
void sync_p2b(PN_stdfloat dt, int num_substeps);
void sync_b2p();
void do_sync_p2b(PN_stdfloat dt, int num_substeps);
void do_sync_b2p();
void do_attach_ghost(BulletGhostNode *node);
void do_remove_ghost(BulletGhostNode *node);
void do_attach_rigid_body(BulletRigidBodyNode *node);
void do_remove_rigid_body(BulletRigidBodyNode *node);
void do_attach_soft_body(BulletSoftBodyNode *node);
void do_remove_soft_body(BulletSoftBodyNode *node);
void do_attach_character(BulletBaseCharacterControllerNode *node);
void do_remove_character(BulletBaseCharacterControllerNode *node);
void do_attach_vehicle(BulletVehicle *vehicle);
void do_remove_vehicle(BulletVehicle *vehicle);
void do_attach_constraint(BulletConstraint *constraint, bool linked_collision=false);
void do_remove_constraint(BulletConstraint *constraint);
static void tick_callback(btDynamicsWorld *world, btScalar timestep);