Dynamica export to Bullet .bullet file, and some fixes in Hull scaling (not using btCompoundShape::setLocalScaling but directly appying the scaling to the hull vertices, and caching the local scaling)

Extras/MayaPlugin/BulletMayaPlugin.vcproj

@@ -115,6 +115,7 @@
 		</Configuration>
 		<Configuration
 			Name="DebugDll|x64"
+			IntermediateDirectory="$(PlatformName)\$(ConfigurationName)"
 			ConfigurationType="1"
 			>
 			<Tool
@@ -270,6 +271,7 @@
 		</Configuration>
 		<Configuration
 			Name="ReleaseDll|x64"
+			IntermediateDirectory="$(PlatformName)\$(ConfigurationName)"
 			ConfigurationType="1"
 			>
 			<Tool
@@ -699,7 +701,7 @@
 				>
 			</File>
 			<File
-				RelativePath=".\colladaExport.cpp"
+				RelativePath=".\bulletExport.cpp"
 				>
 			</File>
 			<File
@@ -791,7 +793,7 @@
 				>
 			</File>
 			<File
-				RelativePath=".\colladaExport.h"
+				RelativePath=".\bulletExport.h"
 				>
 			</File>
 			<File

Extras/MayaPlugin/bt_convex_hull_shape.h

@@ -59,14 +59,48 @@ public:
         glPopMatrix();
     }
 
-    virtual void set_scale(vec3f const& s) {
+    virtual void set_scale(vec3f const& s1) {
-        shape()->setLocalScaling(btVector3(s[0], s[1], s[2]));
+ //       shape()->setLocalScaling(btVector3(s[0], s[1], s[2]));
+		btVector3 s(s1[0],s1[1],s1[2]);
+		
+		float delSq = 0.f;
+		for(int i = 0; i < 3; i++)
+		{
+			float del = s[i] - m_cachedScaling[i];
+			delSq += del * del;
+		}
+		if (delSq > FLT_EPSILON)
+		{
+//			btAssert(shape()->getType()==
+			btCompoundShape* compound =(btCompoundShape*)shape();
+			btConvexHullShape* child = (btConvexHullShape*)compound->getChildShape(0);
+/*
+			btTransform scaleTransf;
+			scaleTransf.setIdentity();
+			scaleTransf.getBasis()[0][0] = (s/m_cachedScaling)[0];
+			scaleTransf.getBasis()[1][1] = (s/m_cachedScaling)[1];
+			scaleTransf.getBasis()[2][2] = (s/m_cachedScaling)[2];
+			btTransform combinedTr = tr.inverse() * (scaleTransf * (tr * vtx));
+*/
+			const btTransform& tr = compound->getChildTransform(0);
+			for (int i=0;i<child->getNumPoints();i++)
+			{
+				btVector3 oldPoint = child->getUnscaledPoints()[i];
+				btVector3 parentPoint = tr*oldPoint;
+				btVector3 parentPointScaled = parentPoint*(s/m_cachedScaling);
+				btVector3 childPoint = tr.inverse()*parentPointScaled;
+				child->getUnscaledPoints()[i]=childPoint;
+			}
+			m_cachedScaling = s;
+		}
+
         update();
     }
 
     virtual void get_scale(vec3f& s) {
-        const btVector3& scale = shape()->getLocalScaling();
+//        const btVector3& scale = shape()->getLocalScaling();
-        s = vec3f(scale.x(), scale.y(), scale.z());
+//        s = vec3f(scale.x(), scale.y(), scale.z());
+        s = vec3f(m_cachedScaling.x(), m_cachedScaling.y(), m_cachedScaling.z());
     }
 
     virtual float volume()                  { return m_volume;  }
@@ -103,6 +137,12 @@ protected:
 
         m_ch_shape.reset(new btConvexHullShape((float const*)&(m_vertices[0]), num_vertices, sizeof(vec3f)));
         btCompoundShape *compound_shape = new btCompoundShape;
+//		btTransform childTransf;
+//		childTransf.setIdentity();
+//		childTransf.setOrigin(btVector3(m_center[0], m_center[1], m_center[2]));
+  //      compound_shape->addChildShape(childTransf, m_ch_shape.get());
+
+///*
         compound_shape->addChildShape(btTransform(btQuaternion(m_rotation[1],
                                                                m_rotation[2],
                                                                m_rotation[3],
@@ -111,7 +151,9 @@ protected:
                                                             m_center[1],
                                                             m_center[2])),
                                       m_ch_shape.get());
+//*/
         set_shape(compound_shape);
+		m_cachedScaling[0] = m_cachedScaling[1] = m_cachedScaling[2] = 1.f;
     }
 
     void update()
@@ -147,6 +189,7 @@ private:
     vec3f                           m_center;
     quatf                           m_rotation;
     vec3f                           m_local_inertia;
+	btVector3						m_cachedScaling;
 };
 
 #endif

Extras/MayaPlugin/bt_solver.cpp

@@ -21,30 +21,44 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
 
 Modified by Roman Ponomarev <rponom@gmail.com>
 01/22/2010 : Constraints reworked
+01/27/2010 : Replaced COLLADA export with Bullet binary export
 */
 
 //bt_solver.cpp
 
+#include "LinearMath/btSerializer.h"
 #include "bt_solver.h"
-#include "../BulletColladaConverter/ColladaConverter.h"
+//#include "../BulletColladaConverter/ColladaConverter.h"
+//#include "../Serialize/BulletFileLoader/btBulletFile.h"
 
 btVector3 minWorld(-10000,-10000,-10000);
 btVector3 maxWorld(10000,10000,10000);
 int maxNumObj=32768;
 
 
-void bt_solver_t::export_collada_file(const char* fileName)
+void bt_solver_t::export_bullet_file(const char* fileName)
 {
-	ColladaConverter tmpConverter(m_dynamicsWorld.get());
+//	ColladaConverter tmpConverter(m_dynamicsWorld.get());
-	tmpConverter.save(fileName);
+//	tmpConverter.save(fileName);
-
+	FILE* f2 = fopen(fileName,"wb");
+	if(f2 == NULL)
+	{
+	    fprintf(stderr,"Error: Can't open file %s for writing\n", fileName);
+		return;
+	}
+	int maxSerializeBufferSize = 1024*1024*5;
+	btDefaultSerializer*	serializer = new btDefaultSerializer(maxSerializeBufferSize);
+	m_dynamicsWorld->serialize(serializer);
+	fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
+	fclose(f2);
+	delete serializer;
 }
 
-void bt_solver_t::import_collada_file(const char* filename)
+void bt_solver_t::import_bullet_file(const char* filename)
 {
 //todo: need to create actual bodies etc
-	ColladaConverter tmpConverter(m_dynamicsWorld.get());
+//	ColladaConverter tmpConverter(m_dynamicsWorld.get());
-	tmpConverter.load(filename);
+//	tmpConverter.load(filename);
 }
 
 

Extras/MayaPlugin/bt_solver.h

@@ -21,6 +21,7 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
 
 Modified by Roman Ponomarev <rponom@gmail.com>
 01/22/2010 : Constraints reworked
+01/27/2010 : Replaced COLLADA export with Bullet binary export
 */
 
 //bt_solver.h
@@ -127,7 +128,7 @@ public:
     virtual void add_constraint(constraint_impl_t* c)
     {
         bt_constraint_t* btc = dynamic_cast<bt_constraint_t*>(c);
-        m_dynamicsWorld->addConstraint(btc->constraint());
+        m_dynamicsWorld->addConstraint(btc->constraint(), true);
     }
 
     virtual void remove_constraint(constraint_impl_t* c)
@@ -151,9 +152,9 @@ public:
         m_dynamicsWorld->stepSimulation(dt, 1000, 1.0f / 120.0f);
     }
 
-    virtual void export_collada_file(const char* fileName);
+    virtual void export_bullet_file(const char* fileName);
 
-    virtual void import_collada_file(const char* filename);
+    virtual void import_bullet_file(const char* filename);
 
 
 protected:

Extras/MayaPlugin/bulletExport.cpp

@@ -16,9 +16,11 @@ would be appreciated but is not required.
 not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 
+Modified by Roman Ponomarev <rponom@gmail.com>
+01/27/2010 : Replaced COLLADA export with Bullet binary export
 */
 
-#include "colladaExport.h"
+#include "bulletExport.h"
 #include "solver.h"
 #include "solver_impl.h"
 
@@ -35,6 +37,8 @@ extern "C" int strcasecmp (const char *, const char *);
 
 //////////////////////////////////////////////////////////////
 
+MString ObjTranslator::fExtension = "bullet";
+
 //////////////////////////////////////////////////////////////
 
 void* ObjTranslator::creator()
@@ -48,7 +52,7 @@ MStatus ObjTranslator::reader ( const MFileObject& file,
                                 const MString& options,
                                 FileAccessMode mode)
 {
-    fprintf(stderr, "COLLADA Physics import will be available very soon, please stay tuned.\n");
+    fprintf(stderr, "Bullet Physics import is not available yet\n");
     return MS::kFailure;
 }
 
@@ -76,7 +80,7 @@ MStatus ObjTranslator::writer ( const MFileObject& file,
 
 shared_ptr<solver_impl_t> solv = solver_t::get_solver();
 
-solv->export_collada_file(fname);
+solv->export_bullet_file(fname);
 
 return status;
 
@@ -97,7 +101,8 @@ bool ObjTranslator::haveWriteMethod () const
 
 MString ObjTranslator::defaultExtension () const
 {
-    return "dae";
+//    return MString("bullet");
+	return fExtension;
 }
 //////////////////////////////////////////////////////////////
 
@@ -109,7 +114,7 @@ MPxFileTranslator::MFileKind ObjTranslator::identifyFile (
     const char * name = fileName.name().asChar();
     int   nameLength = strlen(name);
     
-    if ((nameLength > 4) && !strcasecmp(name+nameLength-4, ".dae"))
+    if ((nameLength > 7) && !strcasecmp(name+nameLength-7, ".bullet"))
         return kCouldBeMyFileType;
     else
         return kNotMyFileType;

Extras/MayaPlugin/bulletExport.h

@@ -16,11 +16,13 @@ would be appreciated but is not required.
 not be misrepresented as being the original software.
 3. This notice may not be removed or altered from any source distribution.
 
+Modified by Roman Ponomarev <rponom@gmail.com>
+01/27/2010 : Replaced COLLADA export with Bullet binary export
 */
 
 
-#ifndef COLLADA_EXPORT_H
+#ifndef BULLET_EXPORT_H
-#define COLLADA_EXPORT_H
+#define BULLET_EXPORT_H
 
 #include <string.h> 
 #include <sys/types.h>
@@ -76,6 +78,9 @@ public:
     MFileKind       identifyFile ( const MFileObject& fileName,
                                    const char* buffer,
                                    short size) const;
+protected:
+	static MString	fExtension;
+
 private:
     MStatus         exportSelected();
     MStatus         exportAll();
@@ -85,5 +90,5 @@ private:
 };
 
 
-#endif //COLLADA_EXPORT_H
+#endif //BULLET_EXPORT_H
 

Extras/MayaPlugin/pluginMain.cpp

@@ -21,6 +21,7 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
 
 Modified by Roman Ponomarev <rponom@gmail.com>
 01/22/2010 : Constraints reworked
+01/27/2010 : Replaced COLLADA export with Bullet binary export
 */
 
 //pluginMain.cpp
@@ -45,10 +46,10 @@ Modified by Roman Ponomarev <rponom@gmail.com>
 #include "constraint/dSliderConstraintCmd.h" 
 #include "constraint/dsixdofConstraintCmd.h" 
 #include "mvl/util.h"
-#include "colladaExport.h"
+#include "bulletExport.h"
 
-const char *const colladaOptionScript = "colladaExportOptions";
+const char *const bulletOptionScript = "bulletExportOptions";
-const char *const colladaDefaultOptions =
+const char *const bulletDefaultOptions =
     "groups=1;"
     "ptgroups=1;"
     "materials=1;"
@@ -66,12 +67,12 @@ MStatus initializePlugin( MObject obj )
 
 
 // Register the translator with the system
-   status =  plugin.registerFileTranslator( "COLLADA Physics export", "none",
+   status =  plugin.registerFileTranslator( "Bullet Physics export", "none",
                                           ObjTranslator::creator,
-                                          (char *)colladaOptionScript,
+                                          (char *)bulletOptionScript,
-                                          (char *)colladaDefaultOptions );
+                                          (char *)bulletDefaultOptions );
 
-	MCHECKSTATUS(status,"registerFileTranslator COLLADA Physics export")
+	MCHECKSTATUS(status,"registerFileTranslator Bullet Physics export");
 
     
     //
@@ -226,8 +227,8 @@ MStatus uninitializePlugin( MObject obj )
     status = plugin.deregisterNode(rigidBodyNode::typeId);
     MCHECKSTATUS(status, "deregistering rigidBodyNode")
 
-    status =  plugin.deregisterFileTranslator( "COLLADA Physics export" );
+    status =  plugin.deregisterFileTranslator( "Bullet Physics export" );
-    MCHECKSTATUS(status,"deregistering COLLADA Physics export" )
+    MCHECKSTATUS(status,"deregistering Bullet Physics export" )
 
     solver_t::cleanup();
 

Extras/MayaPlugin/solver.cpp

@@ -21,6 +21,7 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
 
 Modified by Roman Ponomarev <rponom@gmail.com>
 01/22/2010 : Constraints reworked
+01/27/2010 : Replaced COLLADA export with Bullet binary export
 */
 
 //solver.cpp

Extras/MayaPlugin/solver_impl.h

@@ -21,6 +21,7 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
 
 Modified by Roman Ponomarev <rponom@gmail.com>
 01/22/2010 : Constraints reworked
+01/27/2010 : Replaced COLLADA export with Bullet binary export
 */
 
 //solver_impl.h
@@ -76,9 +77,9 @@ public:
 
     virtual void set_split_impulse(bool enabled) = 0;
 
-    virtual void export_collada_file(const char* fileName) = 0;
+    virtual void export_bullet_file(const char* fileName) = 0;
 
-    virtual void import_collada_file(const char* filename) = 0;
+    virtual void import_bullet_file(const char* filename) = 0;
 
     virtual void step_simulation(float dt) = 0;