Phase out OdeContactCollection

panda/src/ode/Sources.pp

@@ -29,7 +29,6 @@
     odeContact.I odeContact.h \
     odeAMotorJoint.I odeAMotorJoint.h \
     odeBallJoint.I odeBallJoint.h \
-    odeContactCollection.I odeContactCollection.h \
     odeContactJoint.I odeContactJoint.h \
     odeFixedJoint.I odeFixedJoint.h \
     odeHingeJoint.I odeHingeJoint.h \
@@ -62,7 +61,6 @@
     odeSpace.cxx \
     odeGeom.cxx \
     odeSurfaceParameters.cxx \
-    odeContactCollection.cxx \
     odeContactGeom.cxx odeContact.cxx \
     odeAMotorJoint.cxx odeBallJoint.cxx \
     odeContactJoint.cxx odeFixedJoint.cxx \
@@ -91,7 +89,6 @@
     odeGeom.I odeGeom.h \
     odeSurfaceParameters.I odeSurfaceParameters.h \
     odeContactGeom.I odeContactGeom.h \
-    odeContactCollection.I odeContactCollection.h \
     odeContact.I odeContact.h \
     odeAMotorJoint.I odeAMotorJoint.h \
     odeBallJoint.I odeBallJoint.h \

panda/src/ode/odeCollisionEntry.I

@@ -27,7 +27,7 @@ OdeCollisionEntry() {
 //  Description: Returns the first geom in the collision.
 ////////////////////////////////////////////////////////////////////
 INLINE const OdeGeom OdeCollisionEntry::
-get_geom1() {
+get_geom1() const {
   return OdeGeom(_geom1);
 }
 
@@ -37,7 +37,7 @@ get_geom1() {
 //  Description: Returns the second geom in the collision.
 ////////////////////////////////////////////////////////////////////
 INLINE const OdeGeom OdeCollisionEntry::
-get_geom2() {
+get_geom2() const {
   return OdeGeom(_geom2);
 }
 
@@ -47,7 +47,7 @@ get_geom2() {
 //  Description: Returns the first body in the collision.
 ////////////////////////////////////////////////////////////////////
 INLINE const OdeBody OdeCollisionEntry::
-get_body1() {
+get_body1() const {
   return OdeBody(_body1);
 }
 
@@ -57,7 +57,7 @@ get_body1() {
 //  Description: Returns the second body in the collision.
 ////////////////////////////////////////////////////////////////////
 INLINE const OdeBody OdeCollisionEntry::
-get_body2() {
+get_body2() const {
   return OdeBody(_body2);
 }
 
@@ -67,7 +67,7 @@ get_body2() {
 //  Description: Returns the number of contacts in the collision.
 ////////////////////////////////////////////////////////////////////
 INLINE const size_t OdeCollisionEntry::
-get_num_contacts() {
+get_num_contacts() const {
   return _num_contacts;
 }
 
@@ -77,7 +77,18 @@ get_num_contacts() {
 //  Description: Returns the nth contact geom in the collision.
 ////////////////////////////////////////////////////////////////////
 INLINE const OdeContactGeom OdeCollisionEntry::
-get_contact_geom(size_t n) {
+get_contact_geom(size_t n) const {
+  nassertr(n >= 0 && n < _num_contacts, OdeContactGeom());
+  return _contact_geoms[n];
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: OdeCollisionEntry::operator []
+//       Access: Published
+//  Description: Returns the nth contact geom in the collision.
+////////////////////////////////////////////////////////////////////
+INLINE const OdeContactGeom OdeCollisionEntry::
+operator [] (size_t n) const {
   nassertr(n >= 0 && n < _num_contacts, OdeContactGeom());
   return _contact_geoms[n];
 }
@@ -86,10 +97,33 @@ get_contact_geom(size_t n) {
 //     Function: OdeCollisionEntry::get_contact_point
 //       Access: Published
 //  Description: Returns the nth contact point in the collision.
+//               This does exactly the same as
+//               get_contact_geom(n).get_pos().
 ////////////////////////////////////////////////////////////////////
 INLINE const LPoint3f OdeCollisionEntry::
-get_contact_point(size_t n) {
+get_contact_point(size_t n) const {
   nassertr(n >= 0 && n < _num_contacts, LPoint3f::zero());
   return _contact_geoms[n].get_pos();
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: OdeCollisionEntry::operator bool
+//       Access: Published
+//  Description: An OdeCollisionEntry evaluates to False if it
+//               holds no contacts.
+////////////////////////////////////////////////////////////////////
+INLINE OdeCollisionEntry::
+operator bool () const {
+  return (_num_contacts != 0);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: OdeCollisionEntry::is_empty
+//       Access: Published
+//  Description: Returns true if the entry holds no contacts.
+////////////////////////////////////////////////////////////////////
+INLINE bool OdeCollisionEntry::
+is_empty() const {
+  return (_num_contacts == 0);
+}
+

panda/src/ode/odeCollisionEntry.h

@@ -20,6 +20,8 @@
 
 #include "odeContactGeom.h"
 
+class OdeUtil;
+
 ////////////////////////////////////////////////////////////////////
 //       Class : OdeCollisionEntry
 // Description : A class used to hold information about a collision
@@ -29,16 +31,20 @@ class EXPCL_PANDAODE OdeCollisionEntry : public TypedReferenceCount {
 PUBLISHED:
   virtual ~OdeCollisionEntry();
   
-  INLINE const OdeGeom get_geom1();
-  INLINE const OdeGeom get_geom2();
-  INLINE const OdeBody get_body1();
-  INLINE const OdeBody get_body2();
+  INLINE const OdeGeom get_geom1() const;
+  INLINE const OdeGeom get_geom2() const;
+  INLINE const OdeBody get_body1() const;
+  INLINE const OdeBody get_body2() const;
   
-  INLINE const size_t get_num_contacts();
-  INLINE const LPoint3f get_contact_point(size_t n);
-  INLINE const OdeContactGeom get_contact_geom(size_t n);
+  INLINE const size_t get_num_contacts() const;
+  INLINE const LPoint3f get_contact_point(size_t n) const;
+  INLINE const OdeContactGeom get_contact_geom(size_t n) const;
+  INLINE const OdeContactGeom operator [] (size_t n) const;
   MAKE_SEQ(get_contact_points, get_num_contacts, get_contact_point);
   MAKE_SEQ(get_contact_geoms, get_num_contacts, get_contact_geom);
+  
+  INLINE operator bool () const;
+  INLINE bool is_empty() const;
 
 private:
   INLINE OdeCollisionEntry();
@@ -66,6 +72,7 @@ private:
   static TypeHandle _type_handle;
 
   friend class OdeSpace;
+  friend class OdeUtil;
 };
 
 #include "odeCollisionEntry.I"

panda/src/ode/odeContactCollection.I

@@ -1,88 +0,0 @@
-// Filename: odeContactCollection.I
-// Created by:  pro-rsoft (17Dec08)
-//
-////////////////////////////////////////////////////////////////////
-//
-// 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: OdeContactCollection::Destructor
-//       Access: Published
-//  Description:
-////////////////////////////////////////////////////////////////////
-INLINE OdeContactCollection::
-~OdeContactCollection() {
-}
-
-////////////////////////////////////////////////////////////////////
-//     Function: OdeContactCollection::operator +=
-//       Access: Published
-//  Description: Appends the other list onto the end of this one.
-////////////////////////////////////////////////////////////////////
-INLINE void OdeContactCollection::
-operator += (const OdeContactCollection &other) {
-  add_contacts_from(other);
-}
-
-////////////////////////////////////////////////////////////////////
-//     Function: OdeContactCollection::operator +
-//       Access: Published
-//  Description: Returns a OdeContactCollection representing the
-//               concatenation of the two lists.
-////////////////////////////////////////////////////////////////////
-INLINE OdeContactCollection OdeContactCollection::
-operator + (const OdeContactCollection &other) const {
-  OdeContactCollection a(*this);
-  a += other;
-  return a;
-}
-
-////////////////////////////////////////////////////////////////////
-//     Function: OdeContactCollection::clear
-//       Access: Published
-//  Description: Clears the contact collection.
-////////////////////////////////////////////////////////////////////
-INLINE void OdeContactCollection::
-clear() {
-  _contacts.clear();
-}
-
-////////////////////////////////////////////////////////////////////
-//     Function: OdeContactCollection::is_empty
-//       Access: Published
-//  Description: Returns true if the collection is empty.
-////////////////////////////////////////////////////////////////////
-INLINE bool OdeContactCollection::
-is_empty() const {
-  return _contacts.empty();
-}
-
-////////////////////////////////////////////////////////////////////
-//     Function: OdeContactCollection::get_num_contacts
-//       Access: Published
-//  Description: Returns the number of Contacts in the collection.
-//               This is the same thing as size().
-////////////////////////////////////////////////////////////////////
-INLINE int OdeContactCollection::
-get_num_contacts() const {
-  return _contacts.size();
-}
-
-////////////////////////////////////////////////////////////////////
-//     Function: OdeContactCollection::size
-//       Access: Published
-//  Description: Returns the number of Contacts in the collection.
-//               This is the same thing as get_num_contacts().
-////////////////////////////////////////////////////////////////////
-INLINE int OdeContactCollection::
-size() const {
-  return _contacts.size();
-}
-

panda/src/ode/odeContactCollection.cxx

@@ -1,116 +0,0 @@
-// Filename: odeContactCollection.cxx
-// Created by:  pro-rsoft (17Dec08)
-//
-////////////////////////////////////////////////////////////////////
-//
-// 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 "odeContactCollection.h"
-
-OdeContactCollection::
-OdeContactCollection() {
-}
-
-OdeContactCollection::
-OdeContactCollection(const OdeContactCollection &copy) :
-  _contacts(copy._contacts) {
-}
-
-void OdeContactCollection::
-operator = (const OdeContactCollection &copy) {
-  _contacts = copy._contacts;
-}
-
-void OdeContactCollection::
-add_contact(PT(OdeContact) contact) {
-  _contacts.push_back(contact);
-}
-
-bool OdeContactCollection::
-remove_contact(PT(OdeContact) contact) {
-  int contact_index = -1;
-  for (int i = 0; contact_index == -1 && i < (int)_contacts.size(); i++) {
-    if (_contacts[i] == contact) {
-      contact_index = i;
-    }
-  }
-
-  if (contact_index == -1) {
-    // The indicated contact was not a member of the collection.
-    return false;
-  }
-
-  _contacts.erase(_contacts.begin() + contact_index);
-  return true;
-}
-
-void OdeContactCollection::
-add_contacts_from(const OdeContactCollection &other) {
-  int other_num_contacts = other.get_num_contacts();
-  for (int i = 0; i < other_num_contacts; i++) {
-    add_contact(other.get_contact(i));
-  }
-}
-
-void OdeContactCollection::
-remove_contacts_from(const OdeContactCollection &other) {
-  Contacts new_contacts;
-  int num_contacts = get_num_contacts();
-  for (int i = 0; i < num_contacts; i++) {
-    PT(OdeContact) contact = get_contact(i);
-    if (!other.has_contact(contact)) {
-      new_contacts.push_back(contact);
-    }
-  }
-  _contacts = new_contacts;
-}
-
-void OdeContactCollection::
-remove_duplicate_contacts() {
-  Contacts new_contacts;
-
-  int num_contacts = get_num_contacts();
-  for (int i = 0; i < num_contacts; i++) {
-    PT(OdeContact) contact = get_contact(i);
-    bool duplicated = false;
-
-    for (int j = 0; j < i && !duplicated; j++) {
-      duplicated = (contact == get_contact(j));
-    }
-
-    if (!duplicated) {
-      new_contacts.push_back(contact);
-    }
-  }
-
-  _contacts = new_contacts;
-}
-
-bool OdeContactCollection::
-has_contact(PT(OdeContact) contact) const {
-  for (int i = 0; i < get_num_contacts(); i++) {
-    if (contact == get_contact(i)) {
-      return true;
-    }
-  }
-  return false;
-}
-
-PT(OdeContact) OdeContactCollection::
-get_contact(int index) const {
-  nassertr(index >= 0 && index < (int)_contacts.size(), NULL);
-  return _contacts[index];
-}
-
-PT(OdeContact) OdeContactCollection::
-operator [] (int index) const {
-  return get_contact(index);
-}
-

panda/src/ode/odeContactCollection.h

@@ -1,57 +0,0 @@
-// Filename: odeContactCollection.h
-// Created by:  pro-rsoft (17Dec08)
-//
-////////////////////////////////////////////////////////////////////
-//
-// 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 ODECONTACTCOLLECTION_H
-#define ODECONTACTCOLLECTION_H
-
-#include "odeContact.h"
-
-////////////////////////////////////////////////////////////////////
-//       Class : OdeContactCollection
-// Description : This is a set of zero or more OdeContacts. It's
-//               handy for returning from functions that need to
-//               return multiple OdeContacts.
-////////////////////////////////////////////////////////////////////
-class EXPCL_PANDAODE OdeContactCollection {
-PUBLISHED:
-  OdeContactCollection();
-  OdeContactCollection(const OdeContactCollection &copy);
-  void operator = (const OdeContactCollection &copy);
-  INLINE ~OdeContactCollection();
-
-  void add_contact(PT(OdeContact) contact);
-  bool remove_contact(PT(OdeContact) contact);
-  void add_contacts_from(const OdeContactCollection &other);
-  void remove_contacts_from(const OdeContactCollection &other);
-  void remove_duplicate_contacts();
-  bool has_contact(PT(OdeContact) contact) const;
-  INLINE void clear();
-
-  INLINE bool is_empty() const;
-  INLINE int get_num_contacts() const;
-  PT(OdeContact) get_contact(int index) const;
-  MAKE_SEQ(get_contacts, get_num_contacts, get_contact);
-  PT(OdeContact) operator [] (int index) const;
-  INLINE int size() const;
-  INLINE void operator += (const OdeContactCollection &other);
-  INLINE OdeContactCollection operator + (const OdeContactCollection &other) const;
-
-private:  
-  typedef pvector<PT(OdeContact)> Contacts;
-  Contacts _contacts;
-};
-
-#include "odeContactCollection.I"
-#endif
-

panda/src/ode/odeContactGeom.h

@@ -23,6 +23,7 @@
 #include "odeGeom.h"
 
 class OdeSpace;
+class OdeUtil;
 
 ////////////////////////////////////////////////////////////////////
 //       Class : OdeContactGeom
@@ -31,6 +32,7 @@ class OdeSpace;
 class EXPCL_PANDAODE OdeContactGeom : public TypedReferenceCount {
   friend class OdeContact;
   friend class OdeSpace;
+  friend class OdeUtil;
 
 PUBLISHED:
   OdeContactGeom();

panda/src/ode/odeUtil.cxx

@@ -94,21 +94,25 @@ are_connected_excluding(const OdeBody &body1,
 //       Access: Public, Static
 //  Description: Given two geometry objects that potentially touch
 //               (geom1 and geom2), generate contact information
-//               for them. Returns a collection of OdeContacts.
+//               for them. Returns an OdeCollisionEntry.
 ////////////////////////////////////////////////////////////////////
-OdeContactCollection OdeUtil::
+PT(OdeCollisionEntry) OdeUtil::
 collide(const OdeGeom &geom1, const OdeGeom &geom2, const short int max_contacts) {
   dContactGeom *contact_list = (dContactGeom *)PANDA_MALLOC_ARRAY(max_contacts * sizeof(dContactGeom));
   int num_contacts = dCollide(geom1.get_id(), geom2.get_id(), max_contacts, contact_list, sizeof(contact_list));
-  OdeContactCollection contacts;
+  PT(OdeCollisionEntry) entry = new OdeCollisionEntry();
+  entry->_geom1 = geom1.get_id();
+  entry->_geom2 = geom2.get_id();
+  entry->_body1 = dGeomGetBody(geom1.get_id());
+  entry->_body2 = dGeomGetBody(geom2.get_id());
+  entry->_num_contacts = num_contacts;
+  entry->_contact_geoms = new OdeContactGeom[num_contacts];
   for (int i = 0; i < num_contacts; i++) {
-    PT(OdeContact) contact = new OdeContact();
-    contact->set_geom(OdeContactGeom(contact_list[i]));
-    contacts.add_contact(contact);
+    entry->_contact_geoms[i] = contact_list[i];
   }
   
   PANDA_FREE_ARRAY(contact_list);
-  return contacts;
+  return entry;
 }
 
 #ifdef HAVE_PYTHON
@@ -153,3 +157,4 @@ OdeGeom OdeUtil::
 space_to_geom(const OdeSpace &space) {
   return OdeGeom((dGeomID)space.get_id());
 }
+

panda/src/ode/odeUtil.h

@@ -21,7 +21,7 @@
 
 #include "ode_includes.h"
 #include "odeJointCollection.h"
-#include "odeContactCollection.h"
+#include "odeCollisionEntry.h"
 
 #ifdef HAVE_PYTHON
   #include "py_panda.h"
@@ -46,7 +46,7 @@ PUBLISHED:
   static int are_connected_excluding(const OdeBody &body1,
                                      const OdeBody &body2,
                                      const int joint_type);
-  static OdeContactCollection collide(const OdeGeom &geom1, const OdeGeom &geom2,
+  static PT(OdeCollisionEntry) collide(const OdeGeom &geom1, const OdeGeom &geom2,
                                       const short int max_contacts = 150);
   static int collide2(const OdeGeom &geom1, const OdeGeom &geom2,
                                        PyObject* arg, PyObject* callback);

panda/src/ode/pode_composite1.cxx

@@ -11,5 +11,4 @@
 #include "odeSurfaceParameters.cxx"
 #include "odeContactGeom.cxx"
 #include "odeContact.cxx"
-#include "odeContactCollection.cxx"