Panda3D
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00001 // Filename: odeUtil.h 00002 // Created by: joswilso (27Dec06) 00003 // 00004 //////////////////////////////////////////////////////////////////// 00005 // 00006 // PANDA 3D SOFTWARE 00007 // Copyright (c) Carnegie Mellon University. All rights reserved. 00008 // 00009 // All use of this software is subject to the terms of the revised BSD 00010 // license. You should have received a copy of this license along 00011 // with this source code in a file named "LICENSE." 00012 // 00013 //////////////////////////////////////////////////////////////////// 00014 00015 #ifndef ODEUTIL_H 00016 #define ODEUTIL_H 00017 00018 #include "pandabase.h" 00019 #include "typedObject.h" 00020 #include "luse.h" 00021 00022 #include "ode_includes.h" 00023 #include "odeJointCollection.h" 00024 #include "odeCollisionEntry.h" 00025 00026 #ifdef HAVE_PYTHON 00027 #include "py_panda.h" 00028 #endif 00029 00030 class OdeBody; 00031 class OdeJoint; 00032 class OdeGeom; 00033 00034 //////////////////////////////////////////////////////////////////// 00035 // Class : OdeUtil 00036 // Description : 00037 //////////////////////////////////////////////////////////////////// 00038 class EXPCL_PANDAODE OdeUtil { 00039 PUBLISHED: 00040 static OdeJoint get_connecting_joint(const OdeBody &body1, 00041 const OdeBody &body2); 00042 static OdeJointCollection get_connecting_joint_list(const OdeBody &body1, 00043 const OdeBody &body2); 00044 static int are_connected(const OdeBody &body1, 00045 const OdeBody &body2); 00046 static int are_connected_excluding(const OdeBody &body1, 00047 const OdeBody &body2, 00048 const int joint_type); 00049 static PT(OdeCollisionEntry) collide(const OdeGeom &geom1, const OdeGeom &geom2, 00050 const short int max_contacts = 150); 00051 #ifdef HAVE_PYTHON 00052 static int collide2(const OdeGeom &geom1, const OdeGeom &geom2, 00053 PyObject* arg, PyObject* callback); 00054 #endif 00055 static OdeGeom space_to_geom(const OdeSpace &space); 00056 00057 static dReal OC_infinity; 00058 00059 // RAU we can't access OC_infinity as constants are not exposed in python 00060 static dReal get_infinity() {return OC_infinity;}; 00061 00062 static int rand_get_seed() {return dRandGetSeed();}; 00063 00064 static void rand_set_seed(int s) {dRandSetSeed(s);}; 00065 00066 private: 00067 #ifdef HAVE_PYTHON 00068 static void near_callback(void*, dGeomID, dGeomID); 00069 static PyObject* _python_callback; 00070 #endif 00071 }; 00072 00073 #endif