Exposed CCD for PhysX.

dtool/src/parser-inc/NxPhysics.h

@@ -31,6 +31,7 @@ class NxCapsuleForceFieldShape;
 class NxCapsuleForceFieldShapeDesc;
 class NxCapsuleShape;
 class NxCapsuleShapeDesc;
+class NxCCDSkeleton;
 class NxConvexMesh;
 class NxConvexMeshDesc;
 class NxConvexForceFieldShape;
@@ -113,6 +114,7 @@ class NxConstraintDominance;
 class NxRemoteDebugger;
 class NxGroupsMask;
 class NxSceneStats2;
+class NxSimpleTriangleMesh;
 
 class NxSoftBody;
 class NxSoftBodyDesc;

dtool/src/parser-inc/btBulletDynamicsCommon.h

@@ -46,6 +46,7 @@ class btHingeConstraint;
 class btHinge2Constraint;
 class btIDebugDraw;
 class btKinematicCharacterController;
+class btManifoldArray;
 class btManifoldPoint;
 class btMatrix3x3;
 class btMotionState;

panda/src/physx/p3physx_composite.cxx

@@ -17,6 +17,7 @@
 #include "physxCapsuleForceFieldShapeDesc.cxx"
 #include "physxCapsuleShape.cxx"
 #include "physxCapsuleShapeDesc.cxx"
+#include "physxCcdSkeleton.cxx"
 #include "physxCloth.cxx"
 #include "physxClothDesc.cxx"
 #include "physxClothMesh.cxx"

panda/src/physx/physxCcdSkeleton.I

@@ -0,0 +1,59 @@
+// Filename: physxCcdSkeleton.I
+// Created by:  enn0x (13Oct09)
+//
+////////////////////////////////////////////////////////////////////
+//
+// 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: PhysxCcdSkeleton::Constructor
+//       Access: Public
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PhysxCcdSkeleton::
+PhysxCcdSkeleton() : PhysxObject() {
+
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeleton::Destructor
+//       Access: Public
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PhysxCcdSkeleton::
+~PhysxCcdSkeleton() {
+
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeleton::ls
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+INLINE void PhysxCcdSkeleton::
+ls() const {
+
+  ls(nout);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeleton::ls
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+INLINE void PhysxCcdSkeleton::
+ls(ostream &out, int indent_level) const {
+
+  indent(out, indent_level) << get_type().get_name()
+                            << " (at 0x" << this << ")\n";
+}
+

panda/src/physx/physxCcdSkeleton.cxx

@@ -0,0 +1,76 @@
+// Filename: physxCcdSkeleton.cxx
+// Created by:  enn0x (13Oct09)
+//
+////////////////////////////////////////////////////////////////////
+//
+// 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 "physxCcdSkeleton.h"
+#include "physxMeshPool.h"
+
+TypeHandle PhysxCcdSkeleton::_type_handle;
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeleton::link
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+void PhysxCcdSkeleton::
+link(NxCCDSkeleton *skeletonPtr) {
+
+  // Link self
+  PhysxManager::get_global_ptr()->_ccd_skeletons.add(this);
+  _ptr = skeletonPtr;
+  _error_type = ET_ok;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeleton::unlink
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+void PhysxCcdSkeleton::
+unlink() {
+
+  // Unlink self
+  _error_type = ET_released;
+  PhysxManager::get_global_ptr()->_ccd_skeletons.remove(this);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeleton::release
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+void PhysxCcdSkeleton::
+release() {
+
+  nassertv(_error_type == ET_ok);
+
+  unlink();
+  NxGetPhysicsSDK()->releaseCCDSkeleton(*_ptr);
+  _ptr = NULL;
+
+  //TODO PhysxMeshPool::release_ccd_skeleton(this);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxCcdSkeleton::get_reference_count
+//       Access: Published
+//  Description: Returns the reference count for shared meshes.
+////////////////////////////////////////////////////////////////////
+unsigned int PhysxCcdSkeleton::
+get_reference_count() const {
+
+  nassertr(_error_type == ET_ok, 0);
+
+  return _ptr->getReferenceCount();
+}
+

panda/src/physx/physxCcdSkeleton.h

@@ -0,0 +1,77 @@
+// Filename: physxCcdSkeleton.h
+// Created by:  enn0x (13Oct09)
+//
+////////////////////////////////////////////////////////////////////
+//
+// 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 PHYSXCCDSKELETON_H
+#define PHYSXCCDSKELETON_H
+
+#include "pandabase.h"
+
+#include "physxObject.h"
+#include "physx_includes.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : PhysxCcdSkeleton
+// Description : A Convex Mesh. Internally represented as a list of
+//               convex polygons. The number of polygons is
+//               limited to 256.
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAPHYSX PhysxCcdSkeleton : public PhysxObject {
+
+PUBLISHED:
+  unsigned int get_reference_count() const;
+
+////////////////////////////////////////////////////////////////////
+PUBLISHED:
+  void release();
+
+  INLINE void ls() const;
+  INLINE void ls(ostream &out, int indent_level=0) const;
+
+public:
+  INLINE PhysxCcdSkeleton();
+  INLINE ~PhysxCcdSkeleton();
+
+  INLINE NxCCDSkeleton *ptr() const { return _ptr; };
+
+  void link(NxCCDSkeleton *meshPtr);
+  void unlink();
+
+private:
+  NxCCDSkeleton *_ptr;
+
+////////////////////////////////////////////////////////////////////
+public:
+  static TypeHandle get_class_type() {
+    return _type_handle;
+  }
+  static void init_type() {
+    PhysxObject::init_type();
+    register_type(_type_handle, "PhysxCcdSkeleton", 
+                  PhysxObject::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 "physxCcdSkeleton.I"
+
+#endif // PHYSXCCDSKELETON_H

panda/src/physx/physxManager.cxx

@@ -319,6 +319,52 @@ get_soft_body_mesh(unsigned int idx) {
   return (PhysxSoftBodyMesh *)_softbody_meshes[idx];
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxManager::get_num_ccd_skeletons
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+unsigned int PhysxManager::
+get_num_ccd_skeletons() {
+
+  return _sdk->getNbCCDSkeletons();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxManager::create_ccd_skeleton
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+PhysxCcdSkeleton *PhysxManager::
+create_ccd_skeleton(PhysxTriangleMeshDesc &desc) {
+
+  nassertr(desc.is_valid(), NULL);
+  nassertr(desc.get_desc().numVertices < 64, NULL);
+
+  PhysxCcdSkeleton *skel = new PhysxCcdSkeleton();
+  nassertr(skel, NULL);
+
+  NxCCDSkeleton *skelPtr = _sdk->createCCDSkeleton(desc.get_desc());
+  nassertr(skelPtr, NULL);
+
+  skel->link(skelPtr);
+
+  return skel;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxManager::get_ccd_skeleton
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+PhysxCcdSkeleton *PhysxManager::
+get_ccd_skeleton(unsigned int idx) {
+
+  nassertr_always(idx < _sdk->getNbCCDSkeletons(), NULL);
+
+  return (PhysxCcdSkeleton *)_ccd_skeletons[idx];
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: PhysxManager::is_hardware_available
 //       Access: Published

panda/src/physx/physxManager.h

@@ -32,6 +32,8 @@ class PhysxConvexMesh;
 class PhysxClothMesh;
 class PhysxSoftBodyMesh;
 class PhysxOutputStream;
+class PhysxCcdSkeleton;
+class PhysxTriangleMeshDesc;
 
 ////////////////////////////////////////////////////////////////////
 //       Class : PhysxManager
@@ -84,6 +86,11 @@ PUBLISHED:
   PhysxSoftBodyMesh *get_soft_body_mesh(unsigned int idx);
   MAKE_SEQ(get_soft_body_meshes, get_num_soft_body_meshes, get_soft_body_mesh);
 
+  unsigned int get_num_ccd_skeletons();
+  PhysxCcdSkeleton *create_ccd_skeleton(PhysxTriangleMeshDesc &desc);
+  PhysxCcdSkeleton *get_ccd_skeleton(unsigned int idx);
+  MAKE_SEQ(get_ccd_skeletons, get_num_ccd_skeletons, get_ccd_skeleton);
+
   INLINE void ls() const;
   INLINE void ls(ostream &out, int indent_level=0) const;
 
@@ -96,6 +103,7 @@ public:
   PhysxObjectCollection<PhysxTriangleMesh> _triangle_meshes;
   PhysxObjectCollection<PhysxClothMesh> _cloth_meshes;
   PhysxObjectCollection<PhysxSoftBodyMesh> _softbody_meshes;
+  PhysxObjectCollection<PhysxCcdSkeleton> _ccd_skeletons;
 
   INLINE static NxVec3 vec3_to_nxVec3(const LVector3f &v);
   INLINE static LVector3f nxVec3_to_vec3(const NxVec3 &v);

panda/src/physx/physxShape.cxx

@@ -30,6 +30,7 @@
 #include "physxCapsule.h"
 #include "physxRay.h"
 #include "physxRaycastHit.h"
+#include "physxCcdSkeleton.h"
 
 TypeHandle PhysxShape::_type_handle;
 
@@ -461,3 +462,30 @@ raycast(const PhysxRay &worldRay, bool firstHit, bool smoothNormal) const {
   return PhysxRaycastHit(hit);
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxShape::set_ccd_skeleton
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+void PhysxShape::
+set_ccd_skeleton(PhysxCcdSkeleton *skel) {
+
+  nassertv(_error_type == ET_ok);
+
+  ptr()->setCCDSkeleton(skel->ptr());
+  _skel = skel;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxShape::get_ccd_skeleton
+//       Access: Published
+//  Description: 
+////////////////////////////////////////////////////////////////////
+PhysxCcdSkeleton *PhysxShape::
+get_ccd_skeleton() const {
+
+  nassertr(_error_type == ET_ok, NULL);
+
+  return _skel;
+}
+

panda/src/physx/physxShape.h

@@ -32,6 +32,7 @@ class PhysxBox;
 class PhysxCapsule;
 class PhysxRay;
 class PhysxRaycastHit;
+class PhysxCcdSkeleton;
 
 ////////////////////////////////////////////////////////////////////
 //       Class : PhysxShape
@@ -53,6 +54,7 @@ PUBLISHED:
   void set_material(const PhysxMaterial &material);
   void set_material_index(unsigned short idx);
   void set_groups_mask(const PhysxGroupsMask &mask);
+  void set_ccd_skeleton(PhysxCcdSkeleton *skel);
 
   const char *get_name() const;
   bool get_flag(const PhysxShapeFlag flag) const;
@@ -63,6 +65,7 @@ PUBLISHED:
   unsigned short get_material_index() const;
   PhysxGroupsMask get_groups_mask() const;
   PhysxBounds3 get_world_bounds() const;
+  PhysxCcdSkeleton *get_ccd_skeleton() const;
 
   bool check_overlap_aabb(const PhysxBounds3 &world_bounds) const;
   bool check_overlap_capsule(const PhysxCapsule &world_capsule) const;
@@ -86,6 +89,7 @@ protected:
 
 private:
   string _name;
+  PT(PhysxCcdSkeleton) _skel;
 
 ////////////////////////////////////////////////////////////////////
 public: