Panda3D
bulletMinkowskiSumShape.cxx
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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 bulletMinkowskiSumShape.cxx
10  * @author enn0x
11  * @date 2013-08-15
12  */
13 
15 
16 #include "bulletWorld.h"
17 
18 TypeHandle BulletMinkowskiSumShape::_type_handle;
19 
20 /**
21  *
22  */
23 BulletMinkowskiSumShape::
24 BulletMinkowskiSumShape(const BulletShape *shape_a, const BulletShape *shape_b) :
25  _shape_a(shape_a),
26  _shape_b(shape_b) {
27 
28  nassertv(shape_a->is_convex());
29  nassertv(shape_b->is_convex());
30 
31  const btConvexShape *ptr_a = (const btConvexShape *)shape_a->ptr();
32  const btConvexShape *ptr_b = (const btConvexShape *)shape_b->ptr();
33 
34  _shape = new btMinkowskiSumShape(ptr_a, ptr_b);
35  _shape->setUserPointer(this);
36 }
37 
38 /**
39  *
40  */
41 BulletMinkowskiSumShape::
42 BulletMinkowskiSumShape(const BulletMinkowskiSumShape &copy) {
43  LightMutexHolder holder(BulletWorld::get_global_lock());
44 
45  _shape_a = copy._shape_a;
46  _shape_b = copy._shape_b;
47 
48  const btConvexShape *ptr_a = (const btConvexShape *)_shape_a->ptr();
49  const btConvexShape *ptr_b = (const btConvexShape *)_shape_b->ptr();
50 
51  _shape = new btMinkowskiSumShape(ptr_a, ptr_b);
52  _shape->setUserPointer(this);
53 }
54 
55 /**
56  *
57  */
58 btCollisionShape *BulletMinkowskiSumShape::
59 ptr() const {
60 
61  return _shape;
62 }
63 
64 /**
65  *
66  */
67 void BulletMinkowskiSumShape::
68 set_transform_a(const TransformState *ts) {
69  LightMutexHolder holder(BulletWorld::get_global_lock());
70 
71  nassertv(ts);
72  _shape->setTransformA(TransformState_to_btTrans(ts));
73 }
74 
75 /**
76  *
77  */
78 void BulletMinkowskiSumShape::
79 set_transform_b(const TransformState *ts) {
80  LightMutexHolder holder(BulletWorld::get_global_lock());
81 
82  nassertv(ts);
83  _shape->setTransformB(TransformState_to_btTrans(ts));
84 }
85 
86 /**
87  *
88  */
89 CPT(TransformState) BulletMinkowskiSumShape::
90 get_transform_a() const {
91  LightMutexHolder holder(BulletWorld::get_global_lock());
92 
93  return btTrans_to_TransformState(_shape->getTransformA());
94 }
95 
96 /**
97  *
98  */
99 CPT(TransformState) BulletMinkowskiSumShape::
100 get_transform_b() const {
101  LightMutexHolder holder(BulletWorld::get_global_lock());
102 
103  return btTrans_to_TransformState(_shape->GetTransformB());
104 }
105 
106 /**
107  * Tells the BamReader how to create objects of type BulletShape.
108  */
109 void BulletMinkowskiSumShape::
110 register_with_read_factory() {
111  BamReader::get_factory()->register_factory(get_class_type(), make_from_bam);
112 }
113 
114 /**
115  * Writes the contents of this object to the datagram for shipping out to a
116  * Bam file.
117  */
119 write_datagram(BamWriter *manager, Datagram &dg) {
120  BulletShape::write_datagram(manager, dg);
121  dg.add_stdfloat(get_margin());
122 
123  // parameters to serialize: _shape_a, _shape_b, _transform_a, _transform_b
124  manager->write_pointer(dg, _shape_a);
125  manager->write_pointer(dg, _shape_b);
126  manager->write_pointer(dg, get_transform_a());
127  manager->write_pointer(dg, get_transform_b());
128 }
129 
130 /**
131  * Receives an array of pointers, one for each time manager->read_pointer()
132  * was called in fillin(). Returns the number of pointers processed.
133  */
135 complete_pointers(TypedWritable **p_list, BamReader *manager) {
136  int pi = BulletShape::complete_pointers(p_list, manager);
137 
138  _shape_a = DCAST(BulletShape, p_list[pi++]);
139  _shape_b = DCAST(BulletShape, p_list[pi++]);
140 
141  const TransformState *transform_a = DCAST(TransformState, p_list[pi++]);
142  const TransformState *transform_b = DCAST(TransformState, p_list[pi++]);
143 
144  const btConvexShape *ptr_a = (const btConvexShape *)_shape_a->ptr();
145  const btConvexShape *ptr_b = (const btConvexShape *)_shape_b->ptr();
146 
147  _shape = new btMinkowskiSumShape(ptr_a, ptr_b);
148  _shape->setUserPointer(this);
149  _shape->setMargin(_margin);
150 
151  set_transform_a(transform_a);
152  set_transform_b(transform_b);
153 
154  return pi;
155 }
156 
157 /**
158  * Some objects require all of their nested pointers to have been completed
159  * before the objects themselves can be completed. If this is the case,
160  * override this method to return true, and be careful with circular
161  * references (which would make the object unreadable from a bam file).
162  */
164 require_fully_complete() const {
165  // We require the shape pointers to be complete before we add them.
166  return true;
167 }
168 
169 /**
170  * This function is called by the BamReader's factory when a new object of
171  * type BulletShape is encountered in the Bam file. It should create the
172  * BulletShape and extract its information from the file.
173  */
174 TypedWritable *BulletMinkowskiSumShape::
175 make_from_bam(const FactoryParams &params) {
176  // create a default BulletMinkowskiSumShape
178  DatagramIterator scan;
179  BamReader *manager;
180 
181  parse_params(params, scan, manager);
182  param->fillin(scan, manager);
183 
184  return param;
185 }
186 
187 /**
188  * This internal function is called by make_from_bam to read in all of the
189  * relevant data from the BamFile for the new BulletShape.
190  */
191 void BulletMinkowskiSumShape::
192 fillin(DatagramIterator &scan, BamReader *manager) {
193  BulletShape::fillin(scan, manager);
194  nassertv(_shape == nullptr);
195 
196  _margin = scan.get_stdfloat();
197 
198  // parameters to serialize: _shape_a, _shape_b, _transform_a, _transform_b
199  manager->read_pointer(scan);
200  manager->read_pointer(scan);
201  manager->read_pointer(scan);
202  manager->read_pointer(scan);
203 }
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
CPT(TransformState) BulletMinkowskiSumShape
Tells the BamReader how to create objects of type BulletShape.
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
bool read_pointer(DatagramIterator &scan)
The interface for reading a pointer to another object from a Bam file.
Definition: bamReader.cxx:610
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
void write_pointer(Datagram &packet, const TypedWritable *dest)
The interface for writing a pointer to another object to a Bam file.
Definition: bamWriter.cxx:317
virtual bool require_fully_complete() const
Some objects require all of their nested pointers to have been completed before the objects themselve...
virtual void write_datagram(BamWriter *manager, Datagram &dg)
Writes the contents of this object to the datagram for shipping out to a Bam file.
virtual int complete_pointers(TypedWritable **plist, BamReader *manager)
Receives an array of pointers, one for each time manager->read_pointer() was called in fillin().
A class to retrieve the individual data elements previously stored in a Datagram.
PN_stdfloat get_stdfloat()
Extracts either a 32-bit or a 64-bit floating-point number, according to Datagram::set_stdfloat_doubl...
An ordered list of data elements, formatted in memory for transmission over a socket or writing to a ...
Definition: datagram.h:38
void add_stdfloat(PN_stdfloat value)
Adds either a 32-bit or a 64-bit floating-point number, according to set_stdfloat_double().
Definition: datagram.I:133
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
Similar to MutexHolder, but for a light mutex.
Indicates a coordinate-system transform on vertices.
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.
virtual int complete_pointers(TypedWritable **p_list, BamReader *manager)
Receives an array of pointers, one for each time manager->read_pointer() was called in fillin().