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Add COLLADA physics support for GImpact (allowing dynamic moving rigid bodies using concave collision shapes) in ColladaDemo, and ColladaConverter (import and export)

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Note: ColladaConverter will export a btGImpactConvexDecompositionShape the same as a btCompoundShape, so importing an exported btGImpactConvexDecompositionShape (roundtrip) creates a btCompoundShape
This commit is contained in:
erwin.coumans
2009-01-19 04:18:02 +00:00
parent d1263be23f
commit 0e3b04d952
4 changed files with 107 additions and 16 deletions
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6
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -18,7 +18,7 @@ subject to the following restrictions:
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "BulletCollision/Gimpact/btGImpactCollisionAlgorithm.h"
//COLLADA_DOM and LibXML source code are included in Extras/ folder.
//COLLADA_DOM should compile under all platforms, and is enabled by default.
@@ -76,7 +76,7 @@ int main(int argc,char** argv)
/// Import Collada 1.4 Physics objects
/// also can pass filename in as argument
const char* filename = "jenga.dae";
const char* filename = "boxc4d.dae";
printf("argc=%i\n",argc);
{
for (int i=0;i<argc;i++)
@@ -109,6 +109,8 @@ void ColladaDemo::initPhysics(const char* filename)
btDefaultCollisionConfiguration* collisionConfiguration = new btDefaultCollisionConfiguration();
btCollisionDispatcher* dispatcher = new btCollisionDispatcher(collisionConfiguration);
btGImpactCollisionAlgorithm::registerAlgorithm(dispatcher);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
btBroadphaseInterface* pairCache = new btAxisSweep3(worldMin,worldMax);

100
Extras/BulletColladaConverter/ColladaConverter.cpp
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@@ -40,6 +40,8 @@ subject to the following restrictions:
//#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "LinearMath/btDefaultMotionState.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
#ifdef WIN32
#define snprintf _snprintf
@@ -358,13 +360,14 @@ bool ColladaConverter::convert()
// Find out how many groups we need to allocate space for
int numTriangleGroups = (int)meshElement->getTriangles_array().getCount();
int numPolygonGroups = (int)meshElement->getPolygons_array().getCount();
int totalGroups = numTriangleGroups + numPolygonGroups;
int numPolyList = (int)meshElement->getPolylist_array().getCount();
int totalGroups = numTriangleGroups + numPolygonGroups + numPolyList;
if (totalGroups == 0)
{
printf("No Triangles or Polygons found int Geometry %s \n", lib->getId() );
} else
{
printf("Found mesh geometry (%s): numTriangleGroups:%i numPolygonGroups:%i\n",lib->getId(),numTriangleGroups,numPolygonGroups);
printf("Found mesh geometry (%s): numTriangleGroups:%i numPolygonGroups :%i numPolyList=%i\n",lib->getId(),numTriangleGroups,numPolygonGroups,numPolyList);
}
@@ -1506,19 +1509,41 @@ void ColladaConverter::addConvexHull (btCollisionShape* shape, const char* conve
}
void
ColladaConverter::addConvexMesh (btCollisionShape* shape, const char* nodeName)
void ColladaConverter::addConvexMesh (btCollisionShape* shape, const char* nodeName)
{
printf("convex Triangle Mesh Shape\n");
printf("ERROR: Unsupported.\n");
}
void
ColladaConverter::addConcaveMesh(btCollisionShape* shape, const char* nodeName)
void ColladaConverter::addConcaveMesh(btCollisionShape* shape, const char* nodeName)
{
btTriangleMeshShape* meshShape = (btTriangleMeshShape*)shape;
btStridingMeshInterface* meshInterface = meshShape->getMeshInterface ();
addConcaveMeshInternal(meshInterface,nodeName);
}
void ColladaConverter::addGimpactMesh(btCollisionShape* shape, const char* shapeName)
{
btGImpactShapeInterface* meshShapeInterface = (btGImpactShapeInterface*) shape;
switch (meshShapeInterface->getGImpactShapeType())
{
case CONST_GIMPACT_TRIMESH_SHAPE:
{
btGImpactMeshShape* meshShape = (btGImpactMeshShape*) shape;
btStridingMeshInterface* meshInterface = meshShape->getMeshInterface ();
addConcaveMeshInternal(meshInterface,shapeName);
break;
}
default:
{
}
};
}
void ColladaConverter::addConcaveMeshInternal(btStridingMeshInterface* meshInterface , const char* nodeName)
{
domLibrary_geometries* geomLib = getDefaultGeomLib ();
domGeometry* geo = findGeometry (nodeName);
@@ -1758,6 +1783,43 @@ void ColladaConverter::buildShapeNew (btCollisionShape* shape, void* domTechniqu
gi->setUrl (shapeURL);
}
break;
case GIMPACT_SHAPE_PROXYTYPE:
{
btGImpactShapeInterface* meshShapeInterface = (btGImpactShapeInterface*) shape;
switch (meshShapeInterface->getGImpactShapeType())
{
case CONST_GIMPACT_TRIMESH_SHAPE:
{
addGimpactMesh (shape, shapeName);
char shapeURL[512];
snprintf(&shapeURL[0], 512, "#%s", shapeName);
domInstance_geometry* gi = (domInstance_geometry*)colladaShape->createAndPlace (COLLADA_ELEMENT_INSTANCE_GEOMETRY);
gi->setUrl (shapeURL);
break;
}
case CONST_GIMPACT_COMPOUND_SHAPE:
{
btGImpactCompoundShape* gimpactCompoundShape = (btGImpactCompoundShape*)shape;
for (int i = 0; i < gimpactCompoundShape->getNumChildShapes (); i++)
{
btCollisionShape* child_shape = gimpactCompoundShape->getChildShape(i);
char childShapeName[512];
sprintf(childShapeName,"%s-Child%d",shapeName,i);
buildShapeNew (child_shape, domTechniqueCommon, childShapeName,true, gimpactCompoundShape->getChildTransform(i));
}
break;
}
default:
{
}
};
}
break;
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
addConcaveMesh (shape, shapeName);
@@ -2086,8 +2148,7 @@ void ColladaConverter::addMaterial (btRigidBody* rb, const char* nodeName)
}
void
ColladaConverter::updateRigidBodyPosition (btRigidBody* body, domNode* node)
void ColladaConverter::updateRigidBodyPosition (btRigidBody* body, domNode* node)
{
// remove all translations
while (node->getTranslate_array().getCount())
@@ -2137,8 +2198,7 @@ ColladaConverter::updateRigidBodyPosition (btRigidBody* body, domNode* node)
}
}
void
ColladaConverter::updateRigidBodyVelocity (btRigidBody* body)
void ColladaConverter::updateRigidBodyVelocity (btRigidBody* body)
{
domInstance_rigid_bodyRef rigidBodyInstance = findRigid_body_instance (body);
if (!rigidBodyInstance)
@@ -2177,8 +2237,7 @@ ColladaConverter::updateRigidBodyVelocity (btRigidBody* body)
}
}
void
ColladaConverter::updateConstraint (btTypedConstraint* constraint, domRigid_constraint* rigidConstraint)
void ColladaConverter::updateConstraint (btTypedConstraint* constraint, domRigid_constraint* rigidConstraint)
{
if (constraint->getConstraintType() != D6_CONSTRAINT_TYPE)
return;
@@ -2365,6 +2424,9 @@ void ColladaConverter::syncOrAddRigidBody (btRigidBody* body)
if (shape->getShapeType () == TRIANGLE_MESH_SHAPE_PROXYTYPE) {
addConcaveMesh (shape, shapeName);
} else if (shape->getShapeType () == GIMPACT_SHAPE_PROXYTYPE)
{
addGimpactMesh (shape, shapeName);
} else if (!shape->isConvex () && !shape->isCompound() && (shape->getShapeType()!=STATIC_PLANE_PROXYTYPE)) {
printf("Unknown shape type. %d Skipping rigidbody.\n", shape->getShapeType());
return;
@@ -2699,6 +2761,15 @@ btCollisionShape* ColladaConverter::createBvhTriangleMeshShape(btTriangleMesh* t
return shape;
}
btCollisionShape* ColladaConverter::createGimpactShape(btTriangleMesh* trimesh)
{
btGImpactMeshShape* shape = new btGImpactMeshShape(trimesh);
shape->setMargin(0.f);
shape->updateBound();
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCollisionShape* ColladaConverter::createConvexTriangleMeshShape(btTriangleMesh* trimesh)
{
btCollisionShape* shape = new btConvexTriangleMeshShape(trimesh);
@@ -2970,8 +3041,9 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
if (rbOutput.m_isDynamics)
{
printf("moving concave <mesh> not supported, transformed into convex\n");
rbOutput.m_colShape = createConvexTriangleMeshShape(trimesh);
printf("moving concave <mesh> added\n");
//rbOutput.m_colShape = createConvexTriangleMeshShape(trimesh);
rbOutput.m_colShape = createGimpactShape(trimesh);
} else
{
printf("static concave triangle <mesh> added\n");

5
Extras/BulletColladaConverter/ColladaConverter.h
View File

@@ -141,6 +141,10 @@ protected:
void addConvexHull (btCollisionShape* shape, const char* nodeName);
void addConvexMesh (btCollisionShape* shape, const char* nodeName);
void addConcaveMesh(btCollisionShape* shape, const char* nodeName);
void addGimpactMesh(btCollisionShape* shape, const char* nodeName);
void addConcaveMeshInternal(class btStridingMeshInterface* meshInterface , const char* nodeName);
class domNode* addNode (btRigidBody* body, const char* nodeName, const char* shapeName);
class domRigid_constraint* addConstraint (btTypedConstraint* constraint, const char* constraintName);
class domInstance_rigid_constraint* addConstraintInstance (btTypedConstraint* constraint, const char* constraintName);
@@ -227,6 +231,7 @@ public:
virtual class btTriangleMesh* createTriangleMeshContainer();
virtual btCollisionShape* createBvhTriangleMeshShape(btTriangleMesh* trimesh);
virtual btCollisionShape* createConvexTriangleMeshShape(btTriangleMesh* trimesh);
virtual btCollisionShape* createGimpactShape(btTriangleMesh* trimesh);
virtual class btConvexHullShape* createConvexHullShape();
virtual class btCompoundShape* createCompoundShape();

12
src/BulletCollision/Gimpact/btGImpactShape.h
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@@ -881,6 +881,8 @@ Set of btGImpactMeshShapePart parts
*/
class btGImpactMeshShape : public btGImpactShapeInterface
{
btStridingMeshInterface* m_meshInterface;
protected:
btAlignedObjectArray<btGImpactMeshShapePart*> m_mesh_parts;
void buildMeshParts(btStridingMeshInterface * meshInterface)
@@ -907,6 +909,7 @@ protected:
public:
btGImpactMeshShape(btStridingMeshInterface * meshInterface)
{
m_meshInterface = meshInterface;
buildMeshParts(meshInterface);
}
@@ -922,6 +925,15 @@ public:
}
btStridingMeshInterface* getMeshInterface()
{
return m_meshInterface;
}
const btStridingMeshInterface* getMeshInterface() const
{
return m_meshInterface;
}
int getMeshPartCount() const
{