more work on serialization, work-in-progress

Extras/Serialize/BulletFileLoader/CMakeLists.txt

@@ -14,4 +14,6 @@ bFile.cpp
 bFile.h
 btBulletFile.cpp 
 btBulletFile.h 
+btBulletFileLoader.cpp
+btBulletFileLoader.h
 )

Extras/Serialize/BulletFileLoader/autogenerated/bullet.h

@@ -27,6 +27,8 @@
 #include "bullet_btTransformData.h"
 #include "bullet_btCollisionShapeData.h"
 #include "bullet_btConvexInternalShapeData.h"
+#include "bullet_btPositionAndRadius.h"
+#include "bullet_btMultiSphereShapeData.h"
 #include "bullet_btCollisionObjectData.h"
 #include "bullet_btRigidBodyData.h"
 #endif//__BULLET_H__

Extras/Serialize/BulletFileLoader/autogenerated/bullet_Common.h

@@ -34,6 +34,8 @@ namespace Bullet {
     class btTransformData;
     class btCollisionShapeData;
     class btConvexInternalShapeData;
+    class btPositionAndRadius;
+    class btMultiSphereShapeData;
     class btCollisionObjectData;
     class btRigidBodyData;
 }

Extras/Serialize/BulletFileLoader/autogenerated/bullet_btMultiSphereShapeData.h

@@ -0,0 +1,43 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTMULTISPHERESHAPEDATA__H__
+#define __BULLET_BTMULTISPHERESHAPEDATA__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btConvexInternalShapeData.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btMultiSphereShapeData
+    {
+    public:
+        btConvexInternalShapeData m_convexInternalShapeData;
+        btPositionAndRadius *m_localPositionArrayPtr;
+        int m_localPositionArraySize;
+        char m_padding[4];
+    };
+}
+
+
+#endif//__BULLET_BTMULTISPHERESHAPEDATA__H__

Extras/Serialize/BulletFileLoader/autogenerated/bullet_btPositionAndRadius.h

@@ -0,0 +1,41 @@
+/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
+*
+* This software is provided 'as-is', without any express or implied
+* warranty.  In no event will the authors be held liable for any damages
+* arising from the use of this software.
+*
+* Permission is granted to anyone to use this software for any purpose,
+* including commercial applications, and to alter it and redistribute it
+* freely, subject to the following restrictions:
+*
+* 1. The origin of this software must not be misrepresented; you must not
+*    claim that you wrote the original software. If you use this software
+*    in a product, an acknowledgment in the product documentation would be
+*    appreciated but is not required.
+* 2. Altered source versions must be plainly marked as such, and must not be
+*    misrepresented as being the original software.
+* 3. This notice may not be removed or altered from any source distribution.
+*/
+// Auto generated from makesdna dna.c
+#ifndef __BULLET_BTPOSITIONANDRADIUS__H__
+#define __BULLET_BTPOSITIONANDRADIUS__H__
+
+
+// -------------------------------------------------- //
+#include "bullet_Common.h"
+#include "bullet_btVector3Data.h"
+
+namespace Bullet {
+
+
+    // ---------------------------------------------- //
+    class btPositionAndRadius
+    {
+    public:
+        btVector3Data m_pos;
+        btScalar m_radius;
+    };
+}
+
+
+#endif//__BULLET_BTPOSITIONANDRADIUS__H__

Extras/Serialize/BulletFileLoader/btBulletFileLoader.cpp

@@ -0,0 +1,255 @@
+
+#include "btBulletFileLoader.h"
+#include "btBulletFile.h"
+
+#include "btBulletDynamicsCommon.h"
+
+btBulletFileLoader::btBulletFileLoader(btDynamicsWorld* world)
+:m_dynamicsWorld(world),
+m_verboseDumpAllTypes(false)
+{
+}
+
+bool	btBulletFileLoader::loadFileFromMemory( char* fileName)
+{
+	bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile("testFile.bullet");
+
+	bool result = loadFileFromMemory(bulletFile2);
+
+	delete bulletFile2;
+	
+	return result;
+
+}
+
+
+
+bool	btBulletFileLoader::loadFileFromMemory( char* memoryBuffer, int len)
+{
+	bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(memoryBuffer,len);
+
+	bool result = loadFileFromMemory(bulletFile2);
+
+	delete bulletFile2;
+
+	return result;
+}
+
+
+bool	btBulletFileLoader::loadFileFromMemory(  bParse::btBulletFile* bulletFile2)
+{
+	
+
+	bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
+	
+	if (ok)
+		bulletFile2->parse(m_verboseDumpAllTypes);
+	else 
+		return false;
+	
+	if (m_verboseDumpAllTypes)
+	{
+		bulletFile2->dumpChunks(bulletFile2->getFileDNA());
+	}
+
+	int i;
+	btHashMap<btHashPtr,btCollisionShape*>	shapeMap;
+
+	for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
+	{
+		btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
+		switch (shapeData->m_shapeType)
+		{
+		case CYLINDER_SHAPE_PROXYTYPE:
+		case CAPSULE_SHAPE_PROXYTYPE:
+		case BOX_SHAPE_PROXYTYPE:
+		case SPHERE_SHAPE_PROXYTYPE:
+		case MULTI_SPHERE_SHAPE_PROXYTYPE:
+			{
+				btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
+				btVector3 implicitShapeDimensions;
+				implicitShapeDimensions.deSerialize(bsd->m_implicitShapeDimensions);
+				btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
+				btCollisionShape* shape = 0;
+				switch (shapeData->m_shapeType)
+				{
+					case BOX_SHAPE_PROXYTYPE:
+						{
+							shape = createBoxShape(implicitShapeDimensions+margin);
+							break;
+						}
+					case SPHERE_SHAPE_PROXYTYPE:
+						{
+							shape = createSphereShape(implicitShapeDimensions.getX());
+							break;
+						}
+					case CAPSULE_SHAPE_PROXYTYPE:
+						{
+							shape = createCapsuleShape(implicitShapeDimensions.getX(),implicitShapeDimensions.getY());
+							break;
+						}
+					case CYLINDER_SHAPE_PROXYTYPE:
+						{
+							btVector3 halfExtents = implicitShapeDimensions+margin;
+
+							shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
+							break;
+						}
+					case MULTI_SPHERE_SHAPE_PROXYTYPE:
+						{
+#if 1
+							btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
+							int numSpheres = mss->m_localPositionArraySize;
+
+							btAlignedObjectArray<btVector3> tmpPos;
+							btAlignedObjectArray<btScalar> radii;
+							radii.resize(numSpheres);
+							tmpPos.resize(numSpheres);
+
+							for (int i=0;i<numSpheres;i++)
+							{
+								tmpPos[i].deSerialize(mss->m_localPositionArrayPtr[i].m_pos);
+								radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
+							}
+
+							
+							shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
+#endif 
+							break;
+						}
+					default:
+						{
+							printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
+						}
+				}
+
+				if (shape)
+				{
+					shape->setMargin(bsd->m_collisionMargin);
+					btVector3 localScaling;
+					localScaling.deSerialize(bsd->m_localScaling);
+					shape->setLocalScaling(localScaling);
+					
+					shapeMap.insert(shapeData,shape);
+				}
+				break;
+			}
+		default:
+			{
+				printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
+			}
+		}
+		
+	}
+	for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
+	{
+		btRigidBodyData* colObjData = (btRigidBodyData*)bulletFile2->m_rigidBodies[i];
+		btScalar mass = colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f;
+		btVector3 localInertia;
+		localInertia.setZero();
+		btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
+		if (shapePtr && *shapePtr)
+		{
+			btTransform startTransform;
+			startTransform.deSerialize(colObjData->m_collisionObjectData.m_worldTransform);
+
+			btCollisionShape* shape = (btCollisionShape*)*shapePtr;
+			
+			if (mass)
+			{
+				shape->calculateLocalInertia(mass,localInertia);
+			}
+			
+			bool isDynamic = mass!=0.f;
+			createRigidBody(isDynamic,mass,startTransform,shape);
+			
+		} else
+		{
+			printf("error: no shape found\n");
+		}
+	}
+
+	for (i=0;i<bulletFile2->m_collisionObjects.size();i++)
+	{
+		btCollisionObjectData* colObjData = (btCollisionObjectData*)bulletFile2->m_collisionObjects[i];
+		printf("bla");
+	}
+	return false;
+}
+
+btTypedConstraint*			btBulletFileLoader::createUniversalD6Constraint(class btRigidBody* body0,class btRigidBody* otherBody,
+			btTransform& localAttachmentFrameRef,
+			btTransform& localAttachmentOther,
+			const btVector3& linearMinLimits,
+			const btVector3& linearMaxLimits,
+			const btVector3& angularMinLimits,
+			const btVector3& angularMaxLimits,
+			bool disableCollisionsBetweenLinkedBodies)
+{
+	return 0;
+}
+	
+btRigidBody*  btBulletFileLoader::createRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape)
+{
+	btVector3 localInertia;
+
+	if (mass)
+		shape->calculateLocalInertia(mass,localInertia);
+	
+	btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);	
+	body->setWorldTransform(startTransform);
+
+	m_dynamicsWorld->addRigidBody(body);
+	
+	return body;
+}
+
+btCollisionShape* btBulletFileLoader::createPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
+{
+	return 0;
+}
+btCollisionShape* btBulletFileLoader::createBoxShape(const btVector3& halfExtents)
+{
+	return new btBoxShape(halfExtents);
+}
+btCollisionShape* btBulletFileLoader::createSphereShape(btScalar radius)
+{
+	return new btSphereShape(radius);
+}
+
+btCollisionShape* btBulletFileLoader::createCapsuleShape(btScalar radius, btScalar height)
+{
+	return new btCapsuleShape(radius,height);
+}
+
+
+
+btCollisionShape* btBulletFileLoader::createCylinderShapeY(btScalar radius,btScalar height)
+{
+	return new btCylinderShape(btVector3(radius,height,radius));
+}
+btTriangleMesh*	btBulletFileLoader::createTriangleMeshContainer()
+{
+	return 0;
+}
+btCollisionShape* btBulletFileLoader::createBvhTriangleMeshShape(btTriangleMesh* trimesh)
+{
+	return 0;
+}
+btCollisionShape* btBulletFileLoader::createConvexTriangleMeshShape(btTriangleMesh* trimesh)
+{
+	return 0;
+}
+btCollisionShape* btBulletFileLoader::createGimpactShape(btTriangleMesh* trimesh)
+{
+	return 0;
+}
+btConvexHullShape* btBulletFileLoader::createConvexHullShape()
+{
+	return 0;
+}
+
+btCompoundShape* btBulletFileLoader::createCompoundShape()
+{
+	return 0;
+}

Extras/Serialize/BulletFileLoader/btBulletFileLoader.h

@@ -0,0 +1,96 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2010 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#ifndef BULLET_FILE_LOADER_H
+#define BULLET_FILE_LOADER_H
+
+#include "LinearMath/btTransform.h"
+#include "LinearMath/btVector3.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "LinearMath/btHashMap.h"
+
+class btBulletFile;
+class btCollisionShape;
+class btRigidBody;
+class btTypedConstraint;
+class btDynamicsWorld;
+struct ConstraintInput;
+class btRigidBodyColladaInfo;
+
+namespace bParse
+{
+	class btBulletFile;
+};
+
+
+class btBulletFileLoader
+{
+	btDynamicsWorld* m_dynamicsWorld;
+
+	bool m_verboseDumpAllTypes;
+
+public:
+	
+	btBulletFileLoader(btDynamicsWorld* world);
+
+	bool	loadFileFromMemory(char* fileName);
+
+	bool	loadFileFromMemory(char *memoryBuffer, int len);
+
+	bool	loadFileFromMemory(bParse::btBulletFile* file);
+
+	void	setVerboseMode(bool verboseDumpAllTypes)
+	{
+		m_verboseDumpAllTypes = verboseDumpAllTypes;
+	}
+
+	bool getVerboseMode() const
+	{
+		return m_verboseDumpAllTypes;
+	}
+	
+	///those virtuals are called by load
+	virtual btTypedConstraint*			createUniversalD6Constraint(
+		class btRigidBody* body0,class btRigidBody* otherBody,
+			btTransform& localAttachmentFrameRef,
+			btTransform& localAttachmentOther,
+			const btVector3& linearMinLimits,
+			const btVector3& linearMaxLimits,
+			const btVector3& angularMinLimits,
+			const btVector3& angularMaxLimits,
+			bool disableCollisionsBetweenLinkedBodies
+			);
+	
+	virtual btRigidBody*  createRigidBody(bool isDynamic, 
+		float mass, 
+		const btTransform& startTransform,
+		btCollisionShape* shape);
+
+	virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
+	virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
+	virtual btCollisionShape* createSphereShape(btScalar radius);
+	virtual btCollisionShape* createCapsuleShape(btScalar radius, btScalar height);
+	virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
+	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();
+
+};
+
+#endif //BULLET_FILE_LOADER_H