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add initial support for soft body / cloth serialization, and updated SerializeDemo to load soft bodies/cloth.

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Serializes soft body nodes (vertices), links, faces, tetrahedra, materials, anchors with rigid bodies.
Some todo's are serialization of pose, constraints between soft bodies
This commit is contained in:
erwin.coumans
2010-12-01 05:55:08 +00:00
parent c6524b3fb5
commit 032c6bfe2c
18 changed files with 1257 additions and 461 deletions
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36
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -6,6 +6,7 @@
#include "BulletCollision/Gimpact/btGImpactShape.h"
//#define USE_INTERNAL_EDGE_UTILITY
#ifdef USE_INTERNAL_EDGE_UTILITY
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
@@ -476,6 +477,10 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
{
m_shapeMap.clear();
m_bodyMap.clear();
int i;
for (i=0;i<bulletFile2->m_bvhs.size();i++)
@@ -496,7 +501,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
btHashMap<btHashPtr,btCollisionShape*> shapeMap;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
{
@@ -505,7 +510,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
if (shape)
{
// printf("shapeMap.insert(%x,%x)\n",shapeData,shape);
shapeMap.insert(shapeData,shape);
m_shapeMap.insert(shapeData,shape);
}
if (shape&& shapeData->m_name)
@@ -516,7 +521,12 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
}
}
btHashMap<btHashPtr,btCollisionObject*> bodyMap;
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
{
@@ -526,7 +536,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
localInertia.setZero();
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
@@ -555,7 +565,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
bodyMap.insert(colObjData,body);
m_bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");
@@ -567,7 +577,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
localInertia.setZero();
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
@@ -594,7 +604,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
bodyMap.insert(colObjData,body);
m_bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");
@@ -607,7 +617,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btCollisionObjectDoubleData* colObjData = (btCollisionObjectDoubleData*)bulletFile2->m_collisionObjects[i];
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionShape);
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
@@ -625,7 +635,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
bodyMap.insert(colObjData,body);
m_bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");
@@ -634,7 +644,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
} else
{
btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i];
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionShape);
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
@@ -652,7 +662,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
bodyMap.insert(colObjData,body);
m_bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");
@@ -666,8 +676,8 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
for (i=0;i<bulletFile2->m_constraints.size();i++)
{
btTypedConstraintData* constraintData = (btTypedConstraintData*)bulletFile2->m_constraints[i];
btCollisionObject** colAptr = bodyMap.find(constraintData->m_rbA);
btCollisionObject** colBptr = bodyMap.find(constraintData->m_rbB);
btCollisionObject** colAptr = m_bodyMap.find(constraintData->m_rbA);
btCollisionObject** colBptr = m_bodyMap.find(constraintData->m_rbB);
btRigidBody* rbA = 0;
btRigidBody* rbB = 0;

5
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
View File

@@ -80,6 +80,9 @@ protected:
btHashMap<btHashString,btTypedConstraint*> m_nameConstraintMap;
btHashMap<btHashPtr,const char*> m_objectNameMap;
btHashMap<btHashPtr,btCollisionShape*> m_shapeMap;
btHashMap<btHashPtr,btCollisionObject*> m_bodyMap;
//methods
btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
@@ -106,7 +109,7 @@ public:
bool loadFileFromMemory(bParse::btBulletFile* file);
//call make sure bulletFile2 has been parsed, either using btBulletFile::parse or btBulletWorldImporter::loadFileFromMemory
bool convertAllObjects(bParse::btBulletFile* file);
virtual bool convertAllObjects(bParse::btBulletFile* file);
void setVerboseMode(bool verboseDumpAllTypes)
{