146 lines
3.9 KiB
C
146 lines
3.9 KiB
C
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/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file odeSpace.h
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* @author joswilso
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* @date 2006-12-27
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*/
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#ifndef ODESPACE_H
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#define ODESPACE_H
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#include "pandabase.h"
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#include "typedObject.h"
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#include "luse.h"
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#include "bitMask.h"
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// included for collision tests
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#include "odeWorld.h"
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#include "odeJointGroup.h"
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#include "ode_includes.h"
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class OdeGeom;
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class OdeTriMeshGeom;
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class OdeSimpleSpace;
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class OdeHashSpace;
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class OdeQuadTreeSpace;
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/**
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*
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*/
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class EXPCL_PANDAODE OdeSpace : public TypedObject {
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friend class OdeGeom;
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static const int MAX_CONTACTS;
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public:
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OdeSpace(dSpaceID id);
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PUBLISHED:
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virtual ~OdeSpace();
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void destroy();
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INLINE bool is_empty() const;
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INLINE void set_cleanup(int mode);
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INLINE int get_cleanup() const;
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int query(const OdeGeom& geom) const;
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int query(const OdeSpace& space) const;
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INLINE int get_num_geoms() const;
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INLINE void get_AABB(LVecBase3f &min, LVecBase3f &max) const;
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EXTENSION(INLINE PyObject *get_AA_bounds() const);
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INLINE int is_space();
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INLINE int get_class() const;
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INLINE void set_category_bits(const BitMask32 &bits);
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INLINE void set_collide_bits(const BitMask32 &bits);
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INLINE BitMask32 get_category_bits();
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INLINE BitMask32 get_collide_bits();
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INLINE void enable();
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INLINE void disable();
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INLINE int is_enabled();
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void set_auto_collide_world(OdeWorld&);
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void set_auto_collide_joint_group(OdeJointGroup&);
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void add(OdeGeom& geom);
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void add(OdeSpace& space);
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void remove(OdeGeom& geom);
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void remove(OdeSpace& space);
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void clean();
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OdeGeom get_geom(int i); // Not INLINE because of forward declaration
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// static int get_surface_type(OdeSpace * self, dGeomID o1);
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INLINE OdeSpace get_space() const;
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virtual void write(std::ostream &out = std::cout, unsigned int indent=0) const;
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operator bool () const;
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OdeSimpleSpace convert_to_simple_space() const;
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OdeHashSpace convert_to_hash_space() const;
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OdeQuadTreeSpace convert_to_quad_tree_space() const;
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EXTENSION(PyObject *convert() const);
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EXTENSION(INLINE PyObject *get_converted_geom(int i) const);
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EXTENSION(INLINE PyObject *get_converted_space() const);
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void auto_collide();
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EXTENSION(int collide(PyObject* arg, PyObject* near_callback));
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int set_collide_id(int collide_id, dGeomID id);
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int set_collide_id(OdeGeom& geom, int collide_id);
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void set_surface_type( int surface_type, dGeomID id);
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void set_surface_type(OdeGeom& geom, int surface_type);
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int get_surface_type(dGeomID o1);
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int get_surface_type(OdeGeom& geom);
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int get_collide_id(dGeomID o1);
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int get_collide_id(OdeGeom& geom);
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INLINE void set_collision_event(const std::string &event_name);
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INLINE std::string get_collision_event();
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public:
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static void auto_callback(void*, dGeomID, dGeomID);
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INLINE dSpaceID get_id() const;
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static OdeWorld* _static_auto_collide_world;
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static OdeSpace* _static_auto_collide_space;
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static dJointGroupID _static_auto_collide_joint_group;
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static int contactCount;
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std::string _collision_event;
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protected:
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dSpaceID _id;
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OdeWorld* _auto_collide_world;
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dJointGroupID _auto_collide_joint_group;
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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TypedObject::init_type();
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register_type(_type_handle, "OdeSpace",
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TypedObject::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {init_type(); return get_class_type();}
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private:
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static TypeHandle _type_handle;
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typedef pmap<dGeomID, int> GeomSurfaceMap;
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GeomSurfaceMap _geom_surface_map;
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typedef pmap<dGeomID, int> GeomCollideIdMap;
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GeomCollideIdMap _geom_collide_id_map;
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};
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#include "odeSpace.I"
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#endif
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