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
18TypeHandle BulletMinkowskiSumShape::_type_handle;
19
20/**
21 *
22 */
23BulletMinkowskiSumShape::
24BulletMinkowskiSumShape(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 */
41BulletMinkowskiSumShape::
42BulletMinkowskiSumShape(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 */
58btCollisionShape *BulletMinkowskiSumShape::
59ptr() const {
60
61 return _shape;
62}
63
64/**
65 *
66 */
67void BulletMinkowskiSumShape::
68set_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 */
78void BulletMinkowskiSumShape::
79set_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 */
89CPT(TransformState) BulletMinkowskiSumShape::
90get_transform_a() const {
91 LightMutexHolder holder(BulletWorld::get_global_lock());
92
93 return btTrans_to_TransformState(_shape->getTransformA());
94}
95
96/**
97 *
98 */
99CPT(TransformState) BulletMinkowskiSumShape::
100get_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 */
109void BulletMinkowskiSumShape::
110register_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 */
119write_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 */
135complete_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 */
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 */
174TypedWritable *BulletMinkowskiSumShape::
175make_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 */
191void BulletMinkowskiSumShape::
192fillin(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().