[Pyode-commits] pyode/src geoms.pyx,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv15555

Modified Files:
	geoms.pyx 
Log Message:
Doc strings updates. New method getAABB() to return the bounding box. New method placeable() that returns whether a geom is placeable or not. This is used for improved error checks (e.g. calling setPosition() on non-placeable geoms resulted in a crash).

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** geoms.pyx	12 Jul 2004 17:30:08 -0000	1.2
--- geoms.pyx	13 Jul 2004 16:44:18 -0000	1.3
***************
*** 54,65 ****
          self.attribs[name]=val
  
      def setBody(self, Body body):
          """setBody(body)
  
!         Associate the geom to a body or remove an association.
  
          @param body: The Body object or None.
          @type body: Body
          """
          
          if body==None:
--- 54,87 ----
          self.attribs[name]=val
  
+     def _id(self):
+         """_id() -> int
+ 
+         Return the internal id of the geom (dGeomID) as returned by
+         the dCreateXyz() functions.
+ 
+         This method has to be overwritten in derived methods.        
+         """
+         raise NotImplementedError, "Bug: The _id() method is not implemented."
+ 
+     def placeable(self):
+         """placeable() -> bool
+ 
+         Returns True if the geom object is a placeable geom.
+ 
+         This method has to be overwritten in derived methods.
+         """
+         return False
+ 
      def setBody(self, Body body):
          """setBody(body)
  
!         Set the body associated with a placeable geom.
  
          @param body: The Body object or None.
          @type body: Body
          """
+ 
+         if not self.placeable():
+             raise ValueError, "Non-placeable geoms cannot have a body associated to them."
          
          if body==None:
***************
*** 70,79 ****
--- 92,126 ----
  
      def getBody(self):
+         """getBody() -> Body
+ 
+         Get the body associated with this geom.
+         """
+         if not self.placeable():
+             return environment
+         
          return self.body
  
      def setPosition(self, pos):
+         """setPosition(pos)
+ 
+         Set the position of the geom. If the geom is attached to a body,
+         the body's position will also be changed.
+ 
+         @param pos: Position
+         @type pos: 3-sequence of floats
+         """
+         if not self.placeable():
+             raise ValueError, "Cannot set a position on non-placeable geoms."
          dGeomSetPosition(self.gid, pos[0], pos[1], pos[2])
  
      def getPosition(self):
+         """getPosition() -> 3-tuple
+ 
+         Get the current position of the geom. If the geom is attached to
+         a body the returned value is the body's position.
+         """
+         if not self.placeable():
+             raise ValueError, "Non-placeable geoms do not have a position."
+ 
          cdef dReal* p
          p = <dReal*>dGeomGetPosition(self.gid)
***************
*** 81,84 ****
--- 128,142 ----
  
      def setRotation(self, R):
+         """setRotation(R)
+ 
+         Set the orientation of the geom. If the geom is attached to a body,
+         the body's orientation will also be changed.
+ 
+         @param R: Rotation matrix
+         @type R: 9-sequence of floats
+         """
+         if not self.placeable():
+             raise ValueError, "Cannot set a rotation on non-placeable geoms."
+ 
          cdef dMatrix3 m
          m[0] = R[0]
***************
*** 97,106 ****
  
      def getRotation(self):
          cdef dReal* m
          m = <dReal*>dGeomGetRotation(self.gid)
          return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]
  
      def isSpace(self):
!         """Return 1 if the given geom is a space, or 0 if not."""
          return dGeomIsSpace(self.gid)
  
--- 155,185 ----
  
      def getRotation(self):
+         """getRotation() -> 9-tuple
+ 
+         Get the current orientation of the geom. If the geom is attached to
+         a body the returned value is the body's orientation.
+         """
+         if not self.placeable():
+             raise ValueError, "Non-placeable geoms do not have a rotation."
+ 
          cdef dReal* m
          m = <dReal*>dGeomGetRotation(self.gid)
          return [m[0],m[1],m[2],m[4],m[5],m[6],m[8],m[9],m[10]]
  
+     def getAABB(self):
+         """getAABB() -> 6-tuple
+ 
+         Return an axis aligned bounding box that surrounds the geom.
+         The return value is a 6-tuple (minx, maxx, miny, maxy, minz, maxz).
+         """
+         cdef dReal aabb[6]
+         
+         dGeomGetAABB(self.gid, aabb)
+         return (aabb[0], aabb[1], aabb[2], aabb[3], aabb[4], aabb[5])
+ 
      def isSpace(self):
!         """isSpace() -> bool
! 
!         Return 1 if the given geom is a space, or 0 if not."""
          return dGeomIsSpace(self.gid)
  
***************
*** 113,137 ****
  
      def setCollideBits(self, bits):
          dGeomSetCollideBits(self.gid, bits)
          
      def setCategoryBits(self, bits):
          dGeomSetCategoryBits(self.gid, bits)
  
      def getCollideBits(self):
          return dGeomGetCollideBits(self.gid)
  
      def getCategoryBits(self):
          return dGeomGetCategoryBits(self.gid)
      
      def enable(self):
!         """Enable the geom."""
          dGeomEnable(self.gid)
  
      def disable(self):
!         """Disable the geom."""
          dGeomDisable(self.gid)
  
      def isEnabled(self):
!         """Return True if the geom is enabled."""
          return dGeomIsEnabled(self.gid)
  
--- 192,244 ----
  
      def setCollideBits(self, bits):
+         """setCollideBits(bits)
+ 
+         Set the "collide" bitfields for this geom.
+ 
+         @param bits: Collide bit field
+         @type bits: int
+         """
          dGeomSetCollideBits(self.gid, bits)
          
      def setCategoryBits(self, bits):
+         """setCategoryBits(bits)
+ 
+         Set the "category" bitfields for this geom.
+ 
+         @param bits: Category bit field
+         @type bits: int
+         """
          dGeomSetCategoryBits(self.gid, bits)
  
      def getCollideBits(self):
+         """getCollideBits() -> int
+ 
+         Return the "collide" bitfields for this geom.
+         """
          return dGeomGetCollideBits(self.gid)
  
      def getCategoryBits(self):
+         """getCategoryBits() -> int
+ 
+         Return the "category" bitfields for this geom.
+         """
          return dGeomGetCategoryBits(self.gid)
      
      def enable(self):
!         """enable()
! 
!         Enable the geom."""
          dGeomEnable(self.gid)
  
      def disable(self):
!         """disable()
! 
!         Disable the geom."""
          dGeomDisable(self.gid)
  
      def isEnabled(self):
!         """isEnabled() -> bool
! 
!         Return True if the geom is enabled."""
          return dGeomIsEnabled(self.gid)
  
***************
*** 163,166 ****
--- 270,276 ----
          self.body = None
  
+     def placeable(self):
+         return True
+ 
      def _id(self):
          cdef long id
***************
*** 169,178 ****
--- 279,309 ----
  
      def setRadius(self, radius):
+         """setRadius(radius)
+ 
+         Set the radius of the sphere.
+ 
+         @param radius: New radius
+         @type radius: float
+         """
          dGeomSphereSetRadius(self.gid, radius)
  
      def getRadius(self):
+         """getRadius() -> float
+ 
+         Return the radius of the sphere.
+         """
          return dGeomSphereGetRadius(self.gid)
  
      def pointDepth(self, p):
+         """pointDepth() -> float
+ 
+         Return the depth of the point p in the sphere. Points inside
+         the geom will have positive depth, points outside it will have
+         negative depth, and points on the surface will have zero
+         depth.
+ 
+         @param p: Point
+         @type p: 3-sequence of floats
+         """
          return dGeomSpherePointDepth(self.gid, p[0], p[1], p[2])
  
***************
*** 201,204 ****
--- 332,338 ----
          self.body = None
  
+     def placeable(self):
+         return True
+ 
      def _id(self):
          cdef long id
***************
*** 215,218 ****
--- 349,362 ----
  
      def pointDepth(self, p):
+         """pointDepth() -> float
+ 
+         Return the depth of the point p in the box. Points inside the
+         geom will have positive depth, points outside it will have
+         negative depth, and points on the surface will have zero
+         depth.
+ 
+         @param p: Point
+         @type p: 3-sequence of floats
+         """
          return dGeomBoxPointDepth(self.gid, p[0], p[1], p[2])
  
***************
*** 259,270 ****
  
      def pointDepth(self, p):
!         return dGeomPlanePointDepth(self.gid, p[0], p[1], p[2])
  
!     def getBody(self):
!         return environment
  
!     def setBody(self, Body body):
!         if body!=None:
!             raise ValueError, "A GeomPlane cannot be associated to a body."
  
  
--- 403,417 ----
  
      def pointDepth(self, p):
!         """pointDepth() -> float
  
!         Return the depth of the point p in the plane. Points inside the
!         geom will have positive depth, points outside it will have
!         negative depth, and points on the surface will have zero
!         depth.
  
!         @param p: Point
!         @type p: 3-sequence of floats
!         """
!         return dGeomPlanePointDepth(self.gid, p[0], p[1], p[2])
  
  
***************
*** 292,295 ****
--- 439,444 ----
          self.body = None
  
+     def placeable(self):
+         return True
  
      def _id(self):
***************
*** 307,310 ****
--- 456,469 ----
  
      def pointDepth(self, p):
+         """pointDepth() -> float
+ 
+         Return the depth of the point p in the cylinder. Points inside the
+         geom will have positive depth, points outside it will have
+         negative depth, and points on the surface will have zero
+         depth.
+ 
+         @param p: Point
+         @type p: 3-sequence of floats
+         """
          return dGeomCCylinderPointDepth(self.gid, p[0], p[1], p[2])
  
***************
*** 376,380 ****
          _geom_c2py_lut[<long>self.gid]=self
  
- 
      def __init__(self, space=None):
          self.space = space
--- 535,538 ----
***************
*** 384,387 ****
--- 542,548 ----
          self.attribs={}
  
+     def placeable(self):
+         return True
+ 
      def _id(self):
          cdef long id
***************
*** 399,400 ****
--- 560,562 ----
          return self.geom
  
+