Additions to PhysX CCD support.

panda/src/physx/Sources.pp

@@ -30,6 +30,8 @@
     physxCapsuleForceFieldShapeDesc.I physxCapsuleForceFieldShapeDesc.h \
     physxCapsuleShape.I physxCapsuleShape.h \
     physxCapsuleShapeDesc.I physxCapsuleShapeDesc.h \
+    physxCcdSkeleton.I physxCcdSkeleton.h \
+    physxCcdSkeletonDesc.I physxCcdSkeletonDesc.h \
     physxCloth.I physxCloth.h \
     physxClothDesc.I physxClothDesc.h \
     physxClothMesh.I physxClothMesh.h \
@@ -157,6 +159,8 @@
     physxCapsuleForceFieldShapeDesc.cxx \
     physxCapsuleShape.cxx \
     physxCapsuleShapeDesc.cxx \
+    physxCcdSkeleton.cxx \
+    physxCcdSkeletonDesc.cxx \
     physxCloth.cxx \
     physxClothDesc.cxx \
     physxClothMesh.cxx \
@@ -284,6 +288,8 @@
     physxCapsuleForceFieldShapeDesc.I physxCapsuleForceFieldShapeDesc.h \
     physxCapsuleShape.I physxCapsuleShape.h \
     physxCapsuleShapeDesc.I physxCapsuleShapeDesc.h \
+    physxCcdSkeleton.I physxCcdSkeleton.h \
+    physxCcdSkeletonDesc.I physxCcdSkeletonDesc.h \
     physxCloth.I physxCloth.h \
     physxClothDesc.I physxClothDesc.h \
     physxClothMesh.I physxClothMesh.h \

panda/src/physx/config_physx.cxx

@@ -22,6 +22,7 @@
 #include "physxCapsuleController.h"
 #include "physxCapsuleForceFieldShape.h"
 #include "physxCapsuleShape.h"
+#include "physxCcdSkeleton.h"
 #include "physxCloth.h"
 #include "physxClothMesh.h"
 #include "physxClothNode.h"
@@ -123,6 +124,7 @@ init_libphysx() {
   PhysxCapsuleController::init_type();
   PhysxCapsuleForceFieldShape::init_type();
   PhysxCapsuleShape::init_type();
+  PhysxCcdSkeleton::init_type();
   PhysxCloth::init_type();
   PhysxClothMesh::init_type();
   PhysxClothNode::init_type();

panda/src/physx/p3physx_composite.cxx

@@ -18,6 +18,7 @@
 #include "physxCapsuleShape.cxx"
 #include "physxCapsuleShapeDesc.cxx"
 #include "physxCcdSkeleton.cxx"
+#include "physxCcdSkeletonDesc.cxx"
 #include "physxCloth.cxx"
 #include "physxClothDesc.cxx"
 #include "physxClothMesh.cxx"

panda/src/physx/physxCcdSkeleton.I

@@ -1,5 +1,5 @@
 // Filename: physxCcdSkeleton.I
-// Created by:  enn0x (13Oct09)
+// Created by:  enn0x (01May12)
 //
 ////////////////////////////////////////////////////////////////////
 //

panda/src/physx/physxCcdSkeleton.cxx

@@ -1,5 +1,5 @@
 // Filename: physxCcdSkeleton.cxx
-// Created by:  enn0x (13Oct09)
+// Created by:  enn0x (01May12)
 //
 ////////////////////////////////////////////////////////////////////
 //

panda/src/physx/physxCcdSkeleton.h

@@ -1,5 +1,5 @@
 // Filename: physxCcdSkeleton.h
-// Created by:  enn0x (13Oct09)
+// Created by:  enn0x (01May12)
 //
 ////////////////////////////////////////////////////////////////////
 //

panda/src/physx/physxCcdSkeletonDesc.I

@@ -0,0 +1,61 @@
+// Filename: physxCcdSkeletonDesc.I
+// Created by:  enn0x (01May12)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeletonDesc::Constructor
+//       Access: Public
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PhysxCcdSkeletonDesc::
+PhysxCcdSkeletonDesc() {
+
+  _desc.flags = 0;
+  _desc.pointStrideBytes = sizeof(NxVec3);
+  _desc.triangleStrideBytes = 3*sizeof(NxU32);
+  _desc.points = NULL;
+  _desc.triangles = NULL;
+
+  _vertices = NULL;
+  _triangles = NULL;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeletonDesc::Destructor
+//       Access: Public
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PhysxCcdSkeletonDesc::
+~PhysxCcdSkeletonDesc() {
+
+  if (_vertices) {
+    delete [] _vertices;
+  }
+
+  if (_triangles) {
+    delete [] _triangles;
+  }
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeletonDesc::is_valid
+//       Access: Published
+//  Description: Returns true if the descriptor is valid.
+////////////////////////////////////////////////////////////////////
+INLINE bool PhysxCcdSkeletonDesc::
+is_valid() const {
+
+  return _desc.isValid();
+}
+

panda/src/physx/physxCcdSkeletonDesc.cxx

@@ -0,0 +1,200 @@
+// Filename: physxCcdSkeletonDesc.cxx
+// Created by:  enn0x (01May12)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#include "physxCcdSkeletonDesc.h"
+#include "physxManager.h"
+
+#include "nodePathCollection.h"
+#include "geomNode.h"
+#include "geomVertexReader.h"
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeletonDesc::set_num_vertices
+//       Access: Published
+//  Description: Sets the number of vertices to be stored within
+//               this triangle mesh. The function allocates memory
+//               for the vertices, but it does not set any vertices.
+//
+//               This method must be called before any calls to
+//               set_vertex are done!
+////////////////////////////////////////////////////////////////////
+void PhysxCcdSkeletonDesc::
+set_num_vertices(unsigned int numVertices) {
+
+  if (_desc.points) {
+    delete [] _vertices;
+  }
+
+  _vertices = new NxVec3[numVertices];
+
+  _desc.numVertices = numVertices;
+  _desc.points = _vertices;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeletonDesc::set_vertex
+//       Access: Published
+//  Description: Sets a single vertex. You have to call the function
+//               set_num_vertices before you can call this function.
+////////////////////////////////////////////////////////////////////
+void PhysxCcdSkeletonDesc::
+set_vertex(unsigned int idx, const LPoint3f &vert) {
+
+  nassertv(_desc.numVertices > idx);
+  _vertices[idx] = PhysxManager::point3_to_nxVec3(vert);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeletonDesc::set_num_triangles
+//       Access: Published
+//  Description: Sets the number of triangles to be stored in this
+//               triangle mesh.
+//
+//               This method must be called before any calls to
+//               set_triangle are done!
+////////////////////////////////////////////////////////////////////
+void PhysxCcdSkeletonDesc::
+set_num_triangles(unsigned int numTriangles) {
+
+  if (_desc.triangles) {
+    delete [] _triangles;
+  }
+
+  _triangles = new NxU32[3 * numTriangles];
+
+  _desc.numTriangles = numTriangles;
+  _desc.triangles = _triangles;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeletonDesc::set_triangles
+//       Access: Published
+//  Description: Sets a single triangle, by providing the three
+//               indices i1, i2, i3.
+////////////////////////////////////////////////////////////////////
+void PhysxCcdSkeletonDesc::
+set_triangle(unsigned int idx,
+             unsigned int i1, unsigned int i2, unsigned int i3) {
+
+  nassertv(_desc.numTriangles > idx);
+
+  idx = 3 * idx;
+  _triangles[idx] = i1;
+  _triangles[idx + 1] = i2;
+  _triangles[idx + 2] = i3;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeletonDesc::get_desc
+//       Access: Public
+//  Description:
+////////////////////////////////////////////////////////////////////
+const NxSimpleTriangleMesh &PhysxCcdSkeletonDesc::
+get_desc() const {
+
+  return _desc;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeletonDesc::set_from_node_path
+//       Access: Published
+//  Description: A convenience method to set the mesh data from
+//               a NodePath in a single call. The method iterates
+//               over the NodePath geoms and collects data for
+//               the triangle mesh.
+//
+//               Do not use the following function when using this
+//               one:
+//               - set_num_vertices
+//               - set_vertex
+//               - set_num_triangles
+//               - set_triangle
+////////////////////////////////////////////////////////////////////
+void PhysxCcdSkeletonDesc::
+set_from_node_path(const NodePath &np) {
+
+  pvector<LPoint3f> dataVertices;
+  pvector<int> dataIndices;
+
+  // Collect data from NodePath
+  NodePathCollection npc = np.find_all_matches( "**/+GeomNode" );
+  for (int i=0; i<npc.get_num_paths(); i++) {
+    NodePath gnp = npc.get_path(i);
+    GeomNode *gnode = DCAST(GeomNode, gnp.node());
+
+    for (int j=0; j<gnode->get_num_geoms(); j++) {
+      CPT(Geom) geom = gnode->get_geom(j);
+
+      // Vertices
+      CPT(GeomVertexData) vdata = geom->get_vertex_data();
+      GeomVertexReader reader = GeomVertexReader(vdata, InternalName::get_vertex());
+
+      while (!reader.is_at_end()) {
+        dataVertices.push_back(reader.get_data3f());
+      }
+
+      // Indices
+      for (int k=0; k<geom->get_num_primitives(); k++) {
+
+        CPT(GeomPrimitive) prim = geom->get_primitive(k);
+        prim = prim->decompose();
+
+        for (int l=0; l<prim->get_num_primitives(); l++) {
+
+          int s = prim->get_primitive_start(l);
+          int e = prim->get_primitive_end(l);
+
+          for (int l=s; l<e; l++) {
+            dataIndices.push_back(prim->get_vertex(l));
+          }
+        }
+      }
+    }
+  }
+
+  // Set descriptor members
+  int i;
+
+  NxU32 numVertices = dataVertices.size();
+  NxU32 numTriangles = dataIndices.size() / 3;
+
+  _vertices = new NxVec3[numVertices];
+  _triangles = new NxU32[3 * numTriangles];
+
+  i = 0;
+  pvector<LPoint3f>::const_iterator vit;
+  for (vit=dataVertices.begin(); vit!=dataVertices.end(); vit++) {
+    LPoint3f v = *vit;
+
+    _vertices[i].x = v.get_x();
+    _vertices[i].y = v.get_y();
+    _vertices[i].z = v.get_z();
+    i++;
+  }
+
+  i = 0;
+  pvector<int>::const_iterator iit;
+  for(iit=dataIndices.begin(); iit!=dataIndices.end(); iit++) {
+    NxU32 idx = *iit;
+
+    _triangles[i] = idx;
+    i++;
+  }
+
+  _desc.numVertices = numVertices;
+  _desc.points = _vertices;
+  _desc.numTriangles = numTriangles;
+  _desc.triangles = _triangles;
+}
+

panda/src/physx/physxCcdSkeletonDesc.h

@@ -0,0 +1,56 @@
+// Filename: physxCcdSkeletonDesc.h
+// Created by:  enn0x (01May12)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef PHYSXCCDSKELETONDESC_H
+#define PHYSXCCDSKELETONDESC_H
+
+#include "pandabase.h"
+#include "nodePath.h"
+#include "luse.h"
+
+#include "physx_includes.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : PhysxCcdSkeletonDesc
+// Description :
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAPHYSX PhysxCcdSkeletonDesc {
+
+PUBLISHED:
+  INLINE PhysxCcdSkeletonDesc();
+  INLINE ~PhysxCcdSkeletonDesc();
+
+  INLINE bool is_valid() const;
+
+  void set_num_vertices(unsigned int n);
+  void set_vertex(unsigned int idx, const LPoint3f &vert);
+
+  void set_num_triangles(unsigned int n);
+  void set_triangle(unsigned int idx,
+                    unsigned int i1, unsigned int i2, unsigned int i3);
+
+  void set_from_node_path(const NodePath &np);
+
+public:
+  const NxSimpleTriangleMesh &get_desc() const;
+
+private:
+  NxVec3 *_vertices;
+  NxU32 *_triangles;
+  NxSimpleTriangleMesh _desc;
+};
+
+#include "physxCcdSkeletonDesc.I"
+
+#endif // PHYSXCCDSKELETONDESC_H

panda/src/physx/physxManager.cxx

@@ -336,7 +336,7 @@ get_num_ccd_skeletons() {
 //  Description: 
 ////////////////////////////////////////////////////////////////////
 PhysxCcdSkeleton *PhysxManager::
-create_ccd_skeleton(PhysxTriangleMeshDesc &desc) {
+create_ccd_skeleton(PhysxCcdSkeletonDesc &desc) {
 
   nassertr(desc.is_valid(), NULL);
   nassertr(desc.get_desc().numVertices < 64, NULL);

panda/src/physx/physxManager.h

@@ -33,7 +33,7 @@ class PhysxClothMesh;
 class PhysxSoftBodyMesh;
 class PhysxOutputStream;
 class PhysxCcdSkeleton;
-class PhysxTriangleMeshDesc;
+class PhysxCcdSkeletonDesc;
 
 ////////////////////////////////////////////////////////////////////
 //       Class : PhysxManager
@@ -87,7 +87,7 @@ PUBLISHED:
   MAKE_SEQ(get_soft_body_meshes, get_num_soft_body_meshes, get_soft_body_mesh);
 
   unsigned int get_num_ccd_skeletons();
-  PhysxCcdSkeleton *create_ccd_skeleton(PhysxTriangleMeshDesc &desc);
+  PhysxCcdSkeleton *create_ccd_skeleton(PhysxCcdSkeletonDesc &desc);
   PhysxCcdSkeleton *get_ccd_skeleton(unsigned int idx);
   MAKE_SEQ(get_ccd_skeletons, get_num_ccd_skeletons, get_ccd_skeleton);