addons/ODE/source/IoODESimpleSpace.c

   1 //metadoc ODESimpleSpace copyright Jonathan Wright, 2006
   2 //metadoc ODESimpleSpace license BSD revised
   3 /*metadoc ODESimpleSpace description
   4 ODESimpleSpace binding
   5 */
   6
   7 #include "IoODESimpleSpace.h"
   8 #include "IoODEPlane.h"
   9 #include "IoODEBox.h"
  10 #include "IoODEBody.h"
  11 #include "IoState.h"
  12 #include "IoSeq.h"
  13 #include "IoList.h"
  14 #include "IoMessage.h"
  15 #include "geom.h"
  16
  17 #define DATA(self) ((IoODESimpleSpaceData *)IoObject_dataPointer(self))
  18 #define SPACEID (DATA(self)->spaceId)
  19
  20 IoTag *IoODESimpleSpace_newTag(void *state)
  21 {
  22         IoTag *tag = IoTag_newWithName_("ODESimpleSpace");
  23         IoTag_state_(tag, state);
  24         IoTag_freeFunc_(tag, (IoTagFreeFunc *)IoODESimpleSpace_free);
  25         IoTag_cloneFunc_(tag, (IoTagCloneFunc *)IoODESimpleSpace_rawClone);
  26         return tag;
  27 }
  28
  29 IoODESimpleSpace *IoODESimpleSpace_proto(void *state)
  30 {
  31         IoObject *self = IoObject_new(state);
  32         IoObject_tag_(self, IoODESimpleSpace_newTag(state));
  33
  34         IoObject_setDataPointer_(self, calloc(1, sizeof(IoODESimpleSpaceData)));
  35
  36         SPACEID = 0;
  37
  38         IoState_registerProtoWithFunc_(state, self, IoODESimpleSpace_proto);
  39
  40         {
  41                 IoMethodTable methodTable[] = {
  42                 {"spaceId", IoODESimpleSpace_spaceId},
  43                 {"collide", IoODESimpleSpace_collide},
  44
  45                 {"plane", IoODESimpleSpace_plane},
  46                 {"box", IoODESimpleSpace_box},
  47
  48                 {NULL, NULL},
  49                 };
  50                 IoObject_addMethodTable_(self, methodTable);
  51         }
  52         return self;
  53 }
  54
  55 IoODESimpleSpace *IoODESimpleSpace_rawClone(IoODESimpleSpace *proto)
  56 {
  57         IoObject *self = IoObject_rawClonePrimitive(proto);
  58         IoObject_setDataPointer_(self, calloc(1, sizeof(IoODESimpleSpaceData)));
  59         SPACEID = dSimpleSpaceCreate(0);
  60         dSpaceSetCleanup(SPACEID, 0);
  61         return self;
  62 }
  63
  64 IoODESimpleSpace *IoODESimpleSpace_new(void *state)
  65 {
  66         IoODESimpleSpace *proto = IoState_protoWithInitFunction_(state, IoODESimpleSpace_proto);
  67         return IOCLONE(proto);
  68 }
  69
  70 void IoODESimpleSpace_free(IoODESimpleSpace *self)
  71 {
  72         if(SPACEID)
  73         {
  74                 dSpaceDestroy(SPACEID);
  75                 SPACEID = 0;
  76         }
  77
  78         free(IoObject_dataPointer(self));
  79 }
  80
  81 void IoODESimpleSpace_mark(IoODESimpleSpace *self)
  82 {
  83 }
  84
  85 /* ----------------------------------------------------------- */
  86
  87 dSpaceID IoODESimpleSpace_rawSimpleSpaceId(IoODESimpleSpace *self)
  88 {
  89         return SPACEID;
  90 }
  91
  92 /* ----------------------------------------------------------- */
  93
  94 void IoODESimpleSpace_assertHasSimpleSpaceId(IoODESimpleSpace *self, IoObject *locals, IoMessage *m)
  95 {
  96         IOASSERT(SPACEID, "ODE SimpleSpace cannot be used directly. Clone the space and use the clone.");
  97 }
  98
  99
 100 IoObject *IoODESimpleSpace_spaceId(IoODESimpleSpace *self, IoObject *locals, IoMessage *m)
 101 {
 102         return IONUMBER((long)SPACEID);
 103 }
 104
 105 IoObject *IoODESimpleSpace_plane(IoODESimpleSpace *self, IoObject *locals, IoMessage *m)
 106 {
 107         dReal a = IoMessage_locals_doubleArgAt_(m, locals, 0);
 108         dReal b = IoMessage_locals_doubleArgAt_(m, locals, 1);
 109         dReal c = IoMessage_locals_doubleArgAt_(m, locals, 2);
 110         dReal d = IoMessage_locals_doubleArgAt_(m, locals, 3);
 111         dGeomID geomId;
 112
 113         // Don't require a valid space. Plane can be used on the proto to create a plane without a space.
 114         //IoODESimpleSpace_assertHasSimpleSpaceId(self, locals, m);
 115
 116         geomId = dCreatePlane(SPACEID, a, b, c, d);
 117
 118         return IoODEPlane_new(IOSTATE, geomId);
 119 }
 120
 121 IoObject *IoODESimpleSpace_box(IoODESimpleSpace *self, IoObject *locals, IoMessage *m)
 122 {
 123         dReal lx = IoMessage_locals_doubleArgAt_(m, locals, 0);
 124         dReal ly = IoMessage_locals_doubleArgAt_(m, locals, 1);
 125         dReal lz = IoMessage_locals_doubleArgAt_(m, locals, 2);
 126
 127         dGeomID geomId;
 128
 129         // Don't require a valid space. Box can be used on the proto to create a box without a space.
 130         //IoODESimpleSpace_assertHasSimpleSpaceId(self, locals, m);
 131
 132         geomId = dCreateBox(SPACEID, lx, ly, lz);
 133
 134         return IoODEBox_new(IOSTATE, geomId);
 135 }
 136
 137 void nearCallback(void *data, dGeomID o1, dGeomID o2);
 138
 139 typedef struct
 140 {
 141         IoMessage *message;
 142         IoObject *locals;
 143         IoObject *target;
 144 } NearCallbackData;
 145
 146 IoObject *IoODESimpleSpace_collide(IoODESimpleSpace *self, IoObject *locals, IoMessage *m)
 147 {
 148         NearCallbackData data;
 149
 150         data.target = IoMessage_locals_valueArgAt_(m, locals, 0);
 151         data.message = IoMessage_locals_messageArgAt_(m, locals, 1);
 152         data.locals = locals;
 153
 154         IoODESimpleSpace_assertHasSimpleSpaceId(self, locals, m);
 155
 156         dSpaceCollide (SPACEID, &data, &nearCallback);
 157         return self;
 158 }
 159
 160 void nearCallback(void *data, dGeomID o1, dGeomID o2)
 161 {
 162         // This callback creates and disposes of a new mesage each time.
 163         // TODO: Reuse message objects to go faster and releave pressure on the GC.
 164         NearCallbackData *nearData = (NearCallbackData*)data;
 165
 166         IoMessage *self = IoMessage_deepCopyOf_(nearData->message);
 167
 168         IoMessage_addCachedArg_(self, IoODEGeom_geomFromId(IOSTATE, o1));
 169         IoMessage_addCachedArg_(self, IoODEGeom_geomFromId(IOSTATE, o2));
 170
 171         IoMessage_locals_performOn_(self, nearData->locals, nearData->target);
 172 }