[Pyode-commits] pyode/src declarations.pyx,1.9,1.10 geoms.pyx,1.9,1.10 space.pyx,1.3,1.4 trimesh.pyx,1.2,1.3

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

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19168

Modified Files:
	declarations.pyx geoms.pyx space.pyx trimesh.pyx 
Log Message:
Split the Space class into 3 separate classes: SimpleSpace, HashSpace and QuadTreeSpace that each derive from SpaceBase. To remain backwards compatible there's a factory function called Space() that returns an appropriate space object.

Index: space.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/space.pyx,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** space.pyx	3 Aug 2004 07:19:13 -0000	1.3
--- space.pyx	5 Aug 2004 20:42:45 -0000	1.4
***************
*** 1,4 ****
! # Space
! cdef class Space(GeomObject):
      """Space class (container for geometry objects).
  
--- 1,4 ----
! # SpaceBase
! cdef class SpaceBase(GeomObject):
      """Space class (container for geometry objects).
  
***************
*** 25,43 ****
  #    cdef object geom_dict
  
!     def __new__(self, type=0):
!         if type==0:
!             self.sid = dSimpleSpaceCreate(0)
!         else:
!             self.sid = dHashSpaceCreate(0)
! 
!         # Copy the ID
!         self.gid = <dGeomID>self.sid
! 
!         dSpaceSetCleanup(self.sid, 0)
!         _geom_c2py_lut[<long>self.sid]=self
! 
!     def __init__(self, type=0):
          pass
! #        self.geom_dict = {}
  
      def __dealloc__(self):
--- 25,33 ----
  #    cdef object geom_dict
  
!     def __new__(self, *a, **kw):
          pass
! 
!     def __init__(self, *a, **kw):
!         raise NotImplementedError, "The SpaceBase class can't be used directly."
  
      def __dealloc__(self):
***************
*** 174,175 ****
--- 164,320 ----
      g2=_geom_c2py_lut[id2]
      callback(arg,g1,g2)
+ 
+ 
+ # SimpleSpace
+ cdef class SimpleSpace(SpaceBase):
+     """Simple space.
+ 
+     This does not do any collision culling - it simply checks every
+     possible pair of geoms for intersection, and reports the pairs
+     whose AABBs overlap. The time required to do intersection testing
+     for n objects is O(n**2). This should not be used for large numbers
+     of objects, but it can be the preferred algorithm for a small
+     number of objects. This is also useful for debugging potential
+     problems with the collision system.
+     """
+ 
+     def __new__(self, space=None):
+         cdef SpaceBase sp
+         cdef dSpaceID parentid
+ 
+         parentid = NULL
+         if space!=None:
+             sp = space
+             parentid = sp.sid
+         
+         self.sid = dSimpleSpaceCreate(parentid)
+ 
+         # Copy the ID
+         self.gid = <dGeomID>self.sid
+ 
+         dSpaceSetCleanup(self.sid, 0)
+         _geom_c2py_lut[<long>self.sid]=self
+ 
+     def __init__(self, space=None):
+         pass
+ 
+ # HashSpace
+ cdef class HashSpace(SpaceBase):
+     """Multi-resolution hash table space.
+ 
+     This uses an internal data structure that records how each geom
+     overlaps cells in one of several three dimensional grids. Each
+     grid has cubical cells of side lengths 2**i, where i is an integer
+     that ranges from a minimum to a maximum value. The time required
+     to do intersection testing for n objects is O(n) (as long as those
+     objects are not clustered together too closely), as each object
+     can be quickly paired with the objects around it.
+     """
+ 
+     def __new__(self, space=None):
+         cdef SpaceBase sp
+         cdef dSpaceID parentid
+ 
+         parentid = NULL
+         if space!=None:
+             sp = space
+             parentid = sp.sid
+         
+         self.sid = dHashSpaceCreate(parentid)
+ 
+         # Copy the ID
+         self.gid = <dGeomID>self.sid
+ 
+         dSpaceSetCleanup(self.sid, 0)
+         _geom_c2py_lut[<long>self.sid]=self
+ 
+     def __init__(self, space=None):
+         pass
+     
+     def setLevels(self, int minlevel, int maxlevel):
+         """setLevels(minlevel, maxlevel)
+ 
+         Sets the size of the smallest and largest cell used in the
+         hash table. The actual size will be 2^minlevel and 2^maxlevel
+         respectively.
+         """
+         
+         if minlevel>maxlevel:
+             raise ValueError, "minlevel (%d) must be less than or equal to maxlevel (%d)"%(minlevel, maxlevel)
+             
+         dHashSpaceSetLevels(self.sid, minlevel, maxlevel)
+ 
+     def getLevels(self):
+         """getLevels() -> (minlevel, maxlevel)
+ 
+         Gets the size of the smallest and largest cell used in the
+         hash table. The actual size is 2^minlevel and 2^maxlevel
+         respectively.
+         """
+         
+         cdef int minlevel
+         cdef int maxlevel
+         dHashSpaceGetLevels(self.sid, &minlevel, &maxlevel)
+         return (minlevel, maxlevel)
+ 
+ 
+ # QuadTreeSpace
+ cdef class QuadTreeSpace(SpaceBase):
+     """Quadtree space.
+ 
+     This uses a pre-allocated hierarchical grid-based AABB tree to
+     quickly cull collision checks. It's exceptionally quick for large
+     amounts of objects in landscape-shaped worlds. The amount of
+     memory used is 4**depth * 32 bytes.
+ 
+     Currently getGeom() is not implemented for the quadtree space.
+     """
+ 
+     def __new__(self, center, extents, depth, space=None):
+         cdef SpaceBase sp
+         cdef dSpaceID parentid
+         cdef dVector3 c
+         cdef dVector3 e
+ 
+         parentid = NULL
+         if space!=None:
+             sp = space
+             parentid = sp.sid
+ 
+         c[0] = center[0]
+         c[1] = center[1]
+         c[2] = center[2]
+         e[0] = extents[0]
+         e[1] = extents[1]
+         e[2] = extents[2]
+         self.sid = dQuadTreeSpaceCreate(parentid, c, e, depth)
+ 
+         # Copy the ID
+         self.gid = <dGeomID>self.sid
+ 
+         dSpaceSetCleanup(self.sid, 0)
+         _geom_c2py_lut[<long>self.sid]=self
+ 
+     def __init__(self, center, extents, depth, space=None):
+         pass
+ 
+ 
+ def Space(type=0):
+     """Space factory function.
+ 
+     Depending on the type argument this function either returns a
+     SimpleSpace (type=0) or a HashSpace (type=1).
+ 
+     This function is provided to remain compatible with previous
+     versions of PyODE where there was only one Space class.
+     
+      >>> space = Space(type=0)   # Create a SimpleSpace
+      >>> space = Space(type=1)   # Create a HashSpace
+     """
+     if type==0:
+         return SimpleSpace()
+     elif type==1:
+         return HashSpace()
+     else:
+         raise ValueError, "Unknown space type (%d)"%type
+     

Index: geoms.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/geoms.pyx,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** geoms.pyx	3 Aug 2004 07:17:25 -0000	1.9
--- geoms.pyx	5 Aug 2004 20:42:45 -0000	1.10
***************
*** 13,17 ****
  
      def __new__(self, space=None, radius=1.0):
!         cdef Space sp
          cdef dSpaceID sid
  
--- 13,17 ----
  
      def __new__(self, space=None, radius=1.0):
!         cdef SpaceBase sp
          cdef dSpaceID sid
  
***************
*** 82,86 ****
  
      def __new__(self, space=None, lengths=(1.0, 1.0, 1.0)):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 82,86 ----
  
      def __new__(self, space=None, lengths=(1.0, 1.0, 1.0)):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          
***************
*** 146,150 ****
  
      def __new__(self, space=None, normal=(0,0,1), dist=0):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 146,150 ----
  
      def __new__(self, space=None, normal=(0,0,1), dist=0):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          
***************
*** 206,210 ****
  
      def __new__(self, space=None, radius=0.5, length=1.0):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 206,210 ----
  
      def __new__(self, space=None, radius=0.5, length=1.0):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          
***************
*** 269,273 ****
  
      def __new__(self, space=None, rlen=1.0):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 269,273 ----
  
      def __new__(self, space=None, rlen=1.0):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          
***************
*** 324,328 ****
  
      def __new__(self, space=None):
!         cdef Space sp
          cdef dSpaceID sid
          
--- 324,328 ----
  
      def __new__(self, space=None):
!         cdef SpaceBase sp
          cdef dSpaceID sid
          

Index: declarations.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/declarations.pyx,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** declarations.pyx	3 Aug 2004 07:19:13 -0000	1.9
--- declarations.pyx	5 Aug 2004 20:42:45 -0000	1.10
***************
*** 292,299 ****
  
      # Space
!     dSpaceID dSimpleSpaceCreate(int space)
!     dSpaceID dHashSpaceCreate(int space)
! #    dSpaceID dSimpleSpaceCreate(dSpaceID space)
! #    dSpaceID dHashSpaceCreate(dSpaceID space)
  
      void dSpaceDestroy (dSpaceID)
--- 292,301 ----
  
      # Space
! #    dSpaceID dSimpleSpaceCreate(int space)
! #    dSpaceID dHashSpaceCreate(int space)
!     dSpaceID dSimpleSpaceCreate(dSpaceID space)
!     dSpaceID dHashSpaceCreate(dSpaceID space)
!     dSpaceID dQuadTreeSpaceCreate (dSpaceID space, dVector3 Center,
!                                    dVector3 Extents, int Depth)
  
      void dSpaceDestroy (dSpaceID)
***************
*** 304,307 ****
--- 306,310 ----
  
      void dHashSpaceSetLevels (dSpaceID space, int minlevel, int maxlevel)
+     void dHashSpaceGetLevels (dSpaceID space, int *minlevel, int *maxlevel)
  
      void dSpaceSetCleanup (dSpaceID space, int mode)

Index: trimesh.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/trimesh.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** trimesh.pyx	29 Jul 2004 20:57:38 -0000	1.2
--- trimesh.pyx	5 Aug 2004 20:42:45 -0000	1.3
***************
*** 21,25 ****
  
      def __new__(self, TriMeshData data not None, space=None):
!         cdef Space sp
          cdef dSpaceID sid
  
--- 21,25 ----
  
      def __new__(self, TriMeshData data not None, space=None):
!         cdef SpaceBase sp
          cdef dSpaceID sid