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bulletConvexPointCloudShape.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 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
22TypeHandle BulletConvexPointCloudShape::_type_handle;
23
24/**
25 *
26 */
27BulletConvexPointCloudShape::
28BulletConvexPointCloudShape(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 */
51btCollisionShape *BulletConvexPointCloudShape::
52ptr() const {
53
54 return _shape;
55}
56
57/**
58 *
59 */
60BulletConvexPointCloudShape::
61BulletConvexPointCloudShape(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 */
94BulletConvexPointCloudShape::
95BulletConvexPointCloudShape(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 */
111int BulletConvexPointCloudShape::
112get_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 */
125
126/**
127 * Writes the contents of this object to the datagram for shipping out to a
128 * Bam file.
129 */
131write_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 */
148TypedWritable *BulletConvexPointCloudShape::
149make_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 */
165void BulletConvexPointCloudShape::
166fillin(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...
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.
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.
This is our own Panda specialization on the default STL vector.
Definition pvector.h:42
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.