[Pyode-commits] pyode/src declarations.pyx,1.8,1.9 ode.pyx,1.8,1.9 space.pyx,1.2,1.3

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

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28697

Modified Files:
	declarations.pyx ode.pyx space.pyx 
Log Message:
1) The Space class is now derived from GeomObject (as a Space is meanwhile considered to be a geom object in ODE). 2) Added some missing Space methods.

Index: ode.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/ode.pyx,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** ode.pyx	31 Jul 2004 12:28:02 -0000	1.8
--- ode.pyx	3 Aug 2004 07:19:13 -0000	1.9
***************
*** 140,143 ****
--- 140,146 ----
  include "joints.pyx"
  
+ # Geom base
+ include "geomobject.pyx"
+ 
  # Space
  include "space.pyx"

Index: space.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/space.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** space.pyx	12 Jul 2004 17:30:08 -0000	1.2
--- space.pyx	3 Aug 2004 07:19:13 -0000	1.3
***************
*** 1,4 ****
  # Space
! cdef class Space:
      """Space class (container for geometry objects).
  
--- 1,4 ----
  # Space
! cdef class Space(GeomObject):
      """Space class (container for geometry objects).
  
***************
*** 16,20 ****
--- 16,24 ----
      """
  
+     # The id of the space. Actually this is a copy of the value in self.gid
+     # (as the Space is derived from GeomObject) which can be used without
+     # casting whenever a *space* id is required.
      cdef dSpaceID sid
+     
      # Dictionary with Geomobjects. Key is the ID (geom._id()) and the value
      # is the geom object (Python wrapper). This is used in collide_callback()
***************
*** 27,30 ****
--- 31,37 ----
              self.sid = dHashSpaceCreate(0)
  
+         # Copy the ID
+         self.gid = <dGeomID>self.sid
+ 
          dSpaceSetCleanup(self.sid, 0)
          _geom_c2py_lut[<long>self.sid]=self
***************
*** 35,40 ****
  
      def __dealloc__(self):
!         if self.sid!=NULL:
              dSpaceDestroy(self.sid)
  
  #    def _addgeom(self, geom):
--- 42,49 ----
  
      def __dealloc__(self):
!         if self.gid!=NULL:
              dSpaceDestroy(self.sid)
+             self.sid = NULL
+             self.gid = NULL
  
  #    def _addgeom(self, geom):
***************
*** 62,65 ****
--- 71,106 ----
          return id
  
+     def add(self, GeomObject geom):
+         """add(geom)
+ 
+         Add a geom to a space. This does nothing if the geom is
+         already in the space.
+ 
+         @param geom: Geom object to add
+         @type geom: GeomObject
+         """
+         
+         dSpaceAdd(self.sid, geom.gid)
+ 
+     def remove(self, GeomObject geom):
+         """remove(geom)
+ 
+         Remove a geom from a space.
+ 
+         @param geom: Geom object to remove
+         @type geom: GeomObject
+         """
+         dSpaceRemove(self.sid, geom.gid)
+ 
+     def query(self, GeomObject geom):
+         """query(geom) -> bool
+ 
+         Return True if the given geom is in the space.
+ 
+         @param geom: Geom object to check
+         @type geom: GeomObject
+         """
+         return dSpaceQuery(self.sid, geom.gid)
+ 
      def getNumGeoms(self):
          """getNumGeoms() -> int
***************
*** 69,72 ****
--- 110,133 ----
          return dSpaceGetNumGeoms(self.sid)
  
+     def getGeom(self, int idx):
+         """getGeom(idx) -> GeomObject
+ 
+         Return the geom with the given index contained within the space.
+ 
+         @param idx: Geom index (0,1,...,getNumGeoms()-1)
+         @type idx: int
+         """
+         cdef dGeomID gid
+ 
+         # Check the index
+         if idx<0 or idx>=dSpaceGetNumGeoms(self.sid):
+             raise IndexError, "geom index out of range"
+ 
+         gid = dSpaceGetGeom(self.sid, idx)
+         if <long>gid not in _geom_c2py_lut:
+             raise RuntimeError, "geom id cannot be translated to a Python object"
+ 
+         return _geom_c2py_lut[<long>gid]
+ 
      def collide(self, arg, callback):
          """Do collision detection.

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** declarations.pyx	31 Jul 2004 12:27:27 -0000	1.8
--- declarations.pyx	3 Aug 2004 07:19:13 -0000	1.9
***************
*** 300,303 ****
--- 300,304 ----
      void dSpaceAdd (dSpaceID, dGeomID)
      void dSpaceRemove (dSpaceID, dGeomID)
+     int dSpaceQuery (dSpaceID, dGeomID)
      void dSpaceCollide (dSpaceID space, void *data, dNearCallback *callback)
  
***************
*** 308,311 ****
--- 309,313 ----
  
      int dSpaceGetNumGeoms (dSpaceID)
+     dGeomID dSpaceGetGeom (dSpaceID, int i)
  
      # Geom