Panda3D
bulletConvexPointCloudShape.cxx
Go to the documentation of this file.
1 /**
2  * PANDA 3D SOFTWARE
3  * Copyright (c) Carnegie Mellon University. All rights reserved.
4  *
5  * All use of this software is subject to the terms of the revised BSD
6  * license. You should have received a copy of this license along
7  * with this source code in a file named "LICENSE."
8  *
9  * @file bulletConvexPointCloudShape.cxx
10  * @author enn0x
11  * @date 2010-01-30
12  */
13 
15 
16 #include "bulletWorld.h"
17 
18 #include "bullet_utils.h"
19 
20 #include "geomVertexReader.h"
21 
22 TypeHandle BulletConvexPointCloudShape::_type_handle;
23 
24 /**
25  *
26  */
27 BulletConvexPointCloudShape::
28 BulletConvexPointCloudShape(const PTA_LVecBase3 &points, LVecBase3 scale) :
29  _scale(scale) {
30 
31  btVector3 btScale = LVecBase3_to_btVector3(scale);
32 
33  // Convert points
34  btVector3 *btPoints = new btVector3[points.size()];
35 
36  int i = 0;
37  PTA_LVecBase3::const_iterator it;
38  for (it=points.begin(); it!=points.end(); it++) {
39  btPoints[i] = LVecBase3_to_btVector3(*it);
40  i++;
41  }
42 
43  // Create shape
44  _shape = new btConvexPointCloudShape(btPoints, points.size(), btScale);
45  _shape->setUserPointer(this);
46 }
47 
48 /**
49  *
50  */
51 btCollisionShape *BulletConvexPointCloudShape::
52 ptr() const {
53 
54  return _shape;
55 }
56 
57 /**
58  *
59  */
60 BulletConvexPointCloudShape::
61 BulletConvexPointCloudShape(const Geom *geom, LVecBase3 scale) {
62 
63  btVector3 btScale = LVecBase3_to_btVector3(scale);
64  _scale = scale;
65 
66  // Collect points
67  pvector<LPoint3> points;
68 
69  CPT(GeomVertexData) vdata = geom->get_vertex_data();
70  GeomVertexReader reader = GeomVertexReader(vdata, InternalName::get_vertex());
71 
72  while (!reader.is_at_end()) {
73  points.push_back(reader.get_data3());
74  }
75 
76  // Convert points
77  btVector3 *btPoints = new btVector3[points.size()];
78 
79  int i = 0;
81  for (it=points.begin(); it!=points.end(); it++) {
82  btPoints[i] = LVecBase3_to_btVector3(*it);
83  i++;
84  }
85 
86  // Create
87  _shape = new btConvexPointCloudShape(btPoints, points.size(), btScale);
88  _shape->setUserPointer(this);
89 }
90 
91 /**
92  *
93  */
94 BulletConvexPointCloudShape::
95 BulletConvexPointCloudShape(const BulletConvexPointCloudShape &copy) {
96  LightMutexHolder holder(BulletWorld::get_global_lock());
97 
98  _scale = copy._scale;
99 
100  btVector3 *btPoints = copy._shape->getUnscaledPoints();
101  int numPoints = copy._shape->getNumPoints();
102  btVector3 btScale = LVecBase3_to_btVector3(_scale);
103 
104  _shape = new btConvexPointCloudShape(btPoints, numPoints, btScale);
105  _shape->setUserPointer(this);
106 }
107 
108 /**
109  *
110  */
111 int BulletConvexPointCloudShape::
112 get_num_points() const {
113  LightMutexHolder holder(BulletWorld::get_global_lock());
114 
115  return _shape->getNumPoints();
116 }
117 
118 /**
119  * Tells the BamReader how to create objects of type BulletShape.
120  */
123  BamReader::get_factory()->register_factory(get_class_type(), make_from_bam);
124 }
125 
126 /**
127  * Writes the contents of this object to the datagram for shipping out to a
128  * Bam file.
129  */
131 write_datagram(BamWriter *manager, Datagram &dg) {
132  BulletShape::write_datagram(manager, dg);
133 
134  // parameters to serialize: num points, points, scale
135  _scale.write_datagram(dg);
136 
137  dg.add_int32(get_num_points());
138  for (int i = 0; i < get_num_points(); ++i){
139  btVector3_to_LVector3(_shape->getUnscaledPoints()[i]).write_datagram(dg);
140  }
141 }
142 
143 /**
144  * This function is called by the BamReader's factory when a new object of
145  * type BulletShape is encountered in the Bam file. It should create the
146  * BulletShape and extract its information from the file.
147  */
148 TypedWritable *BulletConvexPointCloudShape::
149 make_from_bam(const FactoryParams &params) {
150  // create a default BulletConvexPointCloudShape
152  DatagramIterator scan;
153  BamReader *manager;
154 
155  parse_params(params, scan, manager);
156  param->fillin(scan, manager);
157 
158  return param;
159 }
160 
161 /**
162  * This internal function is called by make_from_bam to read in all of the
163  * relevant data from the BamFile for the new BulletShape.
164  */
165 void BulletConvexPointCloudShape::
166 fillin(DatagramIterator &scan, BamReader *manager) {
167  BulletShape::fillin(scan, manager);
168 
169  // parameters to serialize: num points, points, scale
170  _scale.read_datagram(scan);
171 
172  unsigned int num_points = scan.get_uint32();
173 
174  btVector3 *btPoints = new btVector3[num_points];
175  for (unsigned int i = 0; i < num_points; ++i) {
176  LPoint3 point;
177  point.read_datagram(scan);
178  btPoints[i] = LVecBase3_to_btVector3(point);
179  }
180 
181  // Create shape
182  _shape = new btConvexPointCloudShape(btPoints, num_points, LVecBase3_to_btVector3(_scale));
183  _shape->setUserPointer(this);
184 }
void parse_params(const FactoryParams &params, DatagramIterator &scan, BamReader *&manager)
Takes in a FactoryParams, passed from a WritableFactory into any TypedWritable's make function,...
Definition: bamReader.I:275
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
This is the fundamental interface for extracting binary objects from a Bam file, as generated by a Ba...
Definition: bamReader.h:110
static WritableFactory * get_factory()
Returns the global WritableFactory for generating TypedWritable objects.
Definition: bamReader.I:177
This is the fundamental interface for writing binary objects to a Bam file, to be extracted later by ...
Definition: bamWriter.h:63
virtual void write_datagram(BamWriter *manager, Datagram &dg)
Writes the contents of this object to the datagram for shipping out to a Bam file.
static void register_with_read_factory()
Tells the BamReader how to create objects of type BulletShape.
A class to retrieve the individual data elements previously stored in a Datagram.
uint32_t get_uint32()
Extracts an unsigned 32-bit integer.
An ordered list of data elements, formatted in memory for transmission over a socket or writing to a ...
Definition: datagram.h:38
void add_int32(int32_t value)
Adds a signed 32-bit integer to the datagram.
Definition: datagram.I:67
An instance of this class is passed to the Factory when requesting it to do its business and construc...
Definition: factoryParams.h:36
void register_factory(TypeHandle handle, CreateFunc *func, void *user_data=nullptr)
Registers a new kind of thing the Factory will be able to create.
Definition: factory.I:73
This defines the actual numeric vertex data stored in a Geom, in the structure defined by a particula...
This object provides a high-level interface for quickly reading a sequence of numeric values from a v...
bool is_at_end() const
Returns true if the reader is currently at the end of the list of vertices, false otherwise.
const LVecBase3 & get_data3()
Returns the data associated with the read row, expressed as a 3-component value, and advances the rea...
A container for geometry primitives.
Definition: geom.h:54
Similar to MutexHolder, but for a light mutex.
TypeHandle is the identifier used to differentiate C++ class types.
Definition: typeHandle.h:81
Base class for objects that can be written to and read from Bam files.
Definition: typedWritable.h:35
virtual void fillin(DatagramIterator &scan, BamReader *manager)
This internal function is intended to be called by each class's make_from_bam() method to read in all...
virtual void write_datagram(BamWriter *manager, Datagram &dg)
Writes the contents of this object to the datagram for shipping out to a Bam file.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.