[Pyode-commits] pyode/src geomobject.pyx,NONE,1.1 geoms.pyx,1.8,1.9

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

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28293

Modified Files:
	geoms.pyx 
Added Files:
	geomobject.pyx 
Log Message:
Moved the geom base out of geoms.pyx into its own file geomobject.pyx so that the Space class can also use it as base class.

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** geoms.pyx	29 Jul 2004 20:17:13 -0000	1.8
--- geoms.pyx	3 Aug 2004 07:17:25 -0000	1.9
***************
*** 1,248 ****
! # Each geom object has to insert itself into the global dictionary
! # _geom_c2py_lut (key:address - value:Python object).
! # This lookup table is used in the near callback to translate the C
! # pointers into corresponding Python wrapper objects.
! #
! # Additionally, each geom object must have a method _id() that returns
! # the ODE geom id. This is used during collision detection.
! # 
! # ##########################
! # # Obsolete:
! # #
! # # Each geom object has to register itself at its space as the
! # # space keeps a dictionary that's used as lookup table to translate
! # # C pointers into Python objects (this is used in the near callback).
! 
! 
! # Geom base class
! cdef class GeomObject:
!     """This is the abstract base class for all geom objects.
!     """
!     
!     # The id of the geom object as returned by dCreateXxxx()
!     cdef dGeomID gid
!     # The space in which the geom was placed (or None). This reference
!     # is kept so that the space won't be destroyed while there are still
!     # geoms around that might use it. 
!     cdef object space
!     # The body that the geom was attached to (or None).
!     cdef object body
! 
!     # A dictionary with user defined attributes
!     cdef object attribs
! 
!     def __new__(self, *a, **kw):
!         self.gid = NULL
!         self.space = None
!         self.body = None
!         self.attribs = {}
! 
!     def __init__(self, *a, **kw):
!         raise NotImplementedError, "The GeomObject base class can't be used directly."
! 
!     def __dealloc__(self):
!         if self.gid!=NULL:
!             dGeomDestroy(self.gid)
! 
!     def __getattr__(self, name):
!         if name in self.attribs:
!             return self.attribs[name]
!         else:
!             raise AttributeError, "geom has no attribute '%s'."%name
! 
!     def __setattr__(self, name, val):
!         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:
!             dGeomSetBody(self.gid, NULL)
!         else:
!             dGeomSetBody(self.gid, body.bid)
!         self.body = body
! 
!     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)
!         return (p[0],p[1],p[2])
! 
!     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]
!         m[1] = R[1]
!         m[2] = R[2]
!         m[3] = 0
!         m[4] = R[3]
!         m[5] = R[4]
!         m[6] = R[5]
!         m[7] = 0
!         m[8] = R[6]
!         m[9] = R[7]
!         m[10] = R[8]
!         m[11] = 0
!         dGeomSetRotation(self.gid, m)
! 
!     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)
! 
!     def getSpace(self):
!         """getSpace() -> Space
! 
!         Return the space that the given geometry is contained in,
!         or return None if it is not contained in any space."""        
!         return self.space
! 
!     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)
! 
! 
! ######################################################################
  
  # GeomSphere
--- 1,3 ----
! # Geom objects
  
  # GeomSphere

--- NEW FILE: geomobject.pyx ---
# Each geom object has to insert itself into the global dictionary
# _geom_c2py_lut (key:address - value:Python object).
# This lookup table is used in the near callback to translate the C
# pointers into corresponding Python wrapper objects.
#
# Additionally, each geom object must have a method _id() that returns
# the ODE geom id. This is used during collision detection.
# 
# ##########################
# # Obsolete:
# #
# # Each geom object has to register itself at its space as the
# # space keeps a dictionary that's used as lookup table to translate
# # C pointers into Python objects (this is used in the near callback).


# Geom base class
cdef class GeomObject:
    """This is the abstract base class for all geom objects.
    """
    
    # The id of the geom object as returned by dCreateXxxx()
    cdef dGeomID gid
    # The space in which the geom was placed (or None). This reference
    # is kept so that the space won't be destroyed while there are still
    # geoms around that might use it. 
    cdef object space
    # The body that the geom was attached to (or None).
    cdef object body

    # A dictionary with user defined attributes
    cdef object attribs

    def __new__(self, *a, **kw):
        self.gid = NULL
        self.space = None
        self.body = None
        self.attribs = {}

    def __init__(self, *a, **kw):
        raise NotImplementedError, "The GeomObject base class can't be used directly."

    def __dealloc__(self):
        if self.gid!=NULL:
            dGeomDestroy(self.gid)
            self.gid = NULL

    def __getattr__(self, name):
        if name in self.attribs:
            return self.attribs[name]
        else:
            raise AttributeError, "geom has no attribute '%s'."%name

    def __setattr__(self, name, val):
        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:
            dGeomSetBody(self.gid, NULL)
        else:
            dGeomSetBody(self.gid, body.bid)
        self.body = body

    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)
        return (p[0],p[1],p[2])

    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]
        m[1] = R[1]
        m[2] = R[2]
        m[3] = 0
        m[4] = R[3]
        m[5] = R[4]
        m[6] = R[5]
        m[7] = 0
        m[8] = R[6]
        m[9] = R[7]
        m[10] = R[8]
        m[11] = 0
        dGeomSetRotation(self.gid, m)

    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)

    def getSpace(self):
        """getSpace() -> Space

        Return the space that the given geometry is contained in,
        or return None if it is not contained in any space."""        
        return self.space

    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)