Adding minkowski sum shape.

dtool/src/parser-inc/btBulletDynamicsCommon.h

@@ -51,6 +51,7 @@ class btManifoldArray;
 class btManifoldPoint;
 class btMatrix3x3;
 class btMotionState;
+class btMinkowskiSumShape;
 class btMultiSphereShape;
 class btOverlapFilterCallback;
 class btPairCachingGhostObject;

panda/src/bullet/Sources.pp

@@ -35,6 +35,7 @@
     bulletHelper.h bulletHelper.I \
     bulletHingeConstraint.h bulletHingeConstraint.I \
     bulletManifoldPoint.h bulletManifoldPoint.I \
+    bulletMinkowskiSumShape.h bulletMinkowskiSumShape.I \
     bulletMultiSphereShape.h bulletMultiSphereShape.I \
     bulletPersistentManifold.h bulletPersistentManifold.I \
     bulletPlaneShape.h bulletPlaneShape.I \
@@ -84,6 +85,7 @@
     bulletHelper.cxx \
     bulletHingeConstraint.cxx \
     bulletManifoldPoint.cxx \
+    bulletMinkowskiSumShape.cxx \
     bulletMultiSphereShape.cxx \
     bulletPersistentManifold.cxx \
     bulletPlaneShape.cxx \
@@ -133,6 +135,7 @@
     bulletHelper.h bulletHelper.I \
     bulletHingeConstraint.h bulletHingeConstraint.I \
     bulletManifoldPoint.h bulletManifoldPoint.I \
+    bulletMinkowskiSumShape.h bulletMinkowskiSumShape.I \
     bulletMultiSphereShape.h bulletMultiSphereShape.I \
     bulletPersistentManifold.h bulletPersistentManifold.I \
     bulletPlaneShape.h bulletPlaneShape.I \

panda/src/bullet/bulletMinkowskiSumShape.I

@@ -0,0 +1,128 @@
+// Filename: bulletMinkowskiSumShape.I
+// Created by:  enn0x (23Jan10)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::Destructor
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE BulletMinkowskiSumShape::
+~BulletMinkowskiSumShape() {
+
+  delete _shape;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::Copy Constructor
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE BulletMinkowskiSumShape::
+BulletMinkowskiSumShape(const BulletMinkowskiSumShape &copy) :
+  _shape(copy._shape),
+  _shape_a(copy._shape_a),
+  _shape_b(copy._shape_b) {
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::Copy Assignment Operator
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE void BulletMinkowskiSumShape::
+operator = (const BulletMinkowskiSumShape &copy) {
+  _shape = copy._shape;
+  _shape_a = copy._shape_a;
+  _shape_b = copy._shape_b;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::set_transform_a
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE void BulletMinkowskiSumShape::
+set_transform_a(const TransformState *ts) {
+
+  nassertv(ts);
+  _shape->setTransformA(TransformState_to_btTrans(ts));
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::set_transform_b
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE void BulletMinkowskiSumShape::
+set_transform_b(const TransformState *ts) {
+
+  nassertv(ts);
+  _shape->setTransformB(TransformState_to_btTrans(ts));
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::get_transform_a
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE CPT(TransformState) BulletMinkowskiSumShape::
+get_transform_a() const {
+
+  return btTrans_to_TransformState(_shape->getTransformA());
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::get_transform_b
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE CPT(TransformState) BulletMinkowskiSumShape::
+get_transform_b() const {
+
+  return btTrans_to_TransformState(_shape->GetTransformB());
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::get_shape_a
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE const BulletShape *BulletMinkowskiSumShape::
+get_shape_a() const {
+
+  return _shape_a;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::get_shape_b
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE const BulletShape *BulletMinkowskiSumShape::
+get_shape_b() const {
+
+  return _shape_b;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::get_margin
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PN_stdfloat BulletMinkowskiSumShape::
+get_margin() const {
+
+  return (PN_stdfloat)_shape->getMargin();
+}
+

panda/src/bullet/bulletMinkowskiSumShape.cxx

@@ -0,0 +1,50 @@
+// Filename: bulletMinkowskiSumShape.cxx
+// Created by:  enn0x (15Aug13)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#include "bulletMinkowskiSumShape.h"
+
+TypeHandle BulletMinkowskiSumShape::_type_handle;
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::Constructor
+//       Access: Published
+//  Description:
+////////////////////////////////////////////////////////////////////
+BulletMinkowskiSumShape::
+BulletMinkowskiSumShape(const BulletShape *shape_a, const BulletShape *shape_b) {
+
+  nassertv(shape_a->is_convex());
+  nassertv(shape_b->is_convex());
+
+  const btConvexShape *ptr_a = (const btConvexShape *)shape_a->ptr();
+  const btConvexShape *ptr_b = (const btConvexShape *)shape_b->ptr();
+
+  _shape = new btMinkowskiSumShape(ptr_a, ptr_b);
+  _shape->setUserPointer(this);
+
+  _shape_a = shape_a;
+  _shape_b = shape_b;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: BulletMinkowskiSumShape::ptr
+//       Access: Public
+//  Description:
+////////////////////////////////////////////////////////////////////
+btCollisionShape *BulletMinkowskiSumShape::
+ptr() const {
+
+  return _shape;
+}
+

panda/src/bullet/bulletMinkowskiSumShape.h

@@ -0,0 +1,81 @@
+// Filename: bulletMinkowskiSumShape.h
+// Created by:  enn0x (15Aug13)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef __BULLET_MINKOWSKI_SUM_SHAPE_H__
+#define __BULLET_MINKOWSKI_SUM_SHAPE_H__
+
+#include "pandabase.h"
+
+#include "bullet_includes.h"
+#include "bullet_utils.h"
+#include "bulletShape.h"
+
+#include "transformState.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : BulletMinkowskiSumShape
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDABULLET BulletMinkowskiSumShape : public BulletShape {
+
+PUBLISHED:
+  BulletMinkowskiSumShape(const BulletShape *shape_a, const BulletShape *shape_b);
+  INLINE BulletMinkowskiSumShape(const BulletMinkowskiSumShape &copy);
+  INLINE void operator = (const BulletMinkowskiSumShape &copy);
+  INLINE ~BulletMinkowskiSumShape();
+
+  INLINE void set_transform_a(const TransformState *ts);
+  INLINE void set_transform_b(const TransformState *ts);
+  INLINE CPT(TransformState) get_transform_a() const;
+  INLINE CPT(TransformState) get_transform_b() const;
+
+  INLINE const BulletShape *get_shape_a() const;
+  INLINE const BulletShape *get_shape_b() const;
+
+  INLINE PN_stdfloat get_margin() const;
+
+public:
+  virtual btCollisionShape *ptr() const;
+
+private:
+  btMinkowskiSumShape *_shape;
+
+  CPT(BulletShape) _shape_a;
+  CPT(BulletShape) _shape_b;
+
+////////////////////////////////////////////////////////////////////
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    BulletShape::init_type();
+    register_type(_type_handle, "BulletMinkowskiSumShape", 
+                  BulletShape::get_class_type());
+  }
+  virtual TypeHandle get_type() const {
+    return get_class_type();
+  }
+  virtual TypeHandle force_init_type() {
+    init_type();
+    return get_class_type();
+  }
+
+private:
+  static TypeHandle _type_handle;
+};
+
+#include "bulletMinkowskiSumShape.I"
+
+#endif // __BULLET_MINKOWSKI_SUM_SHAPE_H__

panda/src/bullet/bullet_includes.h

@@ -25,6 +25,7 @@
 #include "BulletCollision/CollisionDispatch/btManifoldResult.h"
 #include "BulletCollision/CollisionShapes/btConvexPointCloudShape.h"
 #include "BulletCollision/CollisionShapes/btHeightfieldTerrainShape.h"
+#include "BulletCollision/CollisionShapes/btMinkowskiSumShape.h"
 #include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
 #include "BulletCollision/Gimpact/btGImpactShape.h"
 #include "BulletDynamics/Character/btKinematicCharacterController.h"

panda/src/bullet/config_bullet.cxx

@@ -26,6 +26,7 @@
 #include "bulletConvexHullShape.h"
 #include "bulletConvexPointCloudShape.h"
 #include "bulletCylinderShape.h"
+#include "bulletMinkowskiSumShape.h"
 #include "bulletDebugNode.h"
 #include "bulletFilterCallbackData.h"
 #include "bulletGenericConstraint.h"
@@ -159,6 +160,7 @@ init_libbullet() {
   BulletConvexHullShape::init_type();
   BulletConvexPointCloudShape::init_type();
   BulletCylinderShape::init_type();
+  BulletMinkowskiSumShape::init_type();
   BulletDebugNode::init_type();
   BulletFilterCallbackData::init_type();
   BulletGenericConstraint::init_type();

panda/src/bullet/p3bullet_composite.cxx

@@ -24,6 +24,7 @@
 #include "bulletHeightfieldShape.cxx"
 #include "bulletHingeConstraint.cxx"
 #include "bulletManifoldPoint.cxx"
+#include "bulletMinkowskiSumShape.cxx"
 #include "bulletMultiSphereShape.cxx"
 #include "bulletPersistentManifold.cxx"
 #include "bulletPlaneShape.cxx"