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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)

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This commit is contained in:
rponom
2010-01-29 00:03:45 +00:00
parent ee3e231be5
commit 133bb63dd8
9 changed files with 109 additions and 36 deletions
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6
Extras/MayaPlugin/BulletMayaPlugin.vcproj
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@@ -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

51
Extras/MayaPlugin/bt_convex_hull_shape.h
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@@ -59,14 +59,48 @@ public:
glPopMatrix();
}
virtual void set_scale(vec3f const& s) {
shape()->setLocalScaling(btVector3(s[0], s[1], s[2]));
virtual void set_scale(vec3f const& s1) {
// 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();
s = vec3f(scale.x(), scale.y(), scale.z());
// const btVector3& scale = shape()->getLocalScaling();
// 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

30
Extras/MayaPlugin/bt_solver.cpp
View File

@@ -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());
tmpConverter.save(fileName);
// ColladaConverter tmpConverter(m_dynamicsWorld.get());
// 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());
tmpConverter.load(filename);
// ColladaConverter tmpConverter(m_dynamicsWorld.get());
// tmpConverter.load(filename);
}

7
Extras/MayaPlugin/bt_solver.h
View File

@@ -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:

15
Extras/MayaPlugin/colladaExport.cpp → Extras/MayaPlugin/bulletExport.cpp
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@@ -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;

11
Extras/MayaPlugin/colladaExport.h → Extras/MayaPlugin/bulletExport.h
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@@ -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
#define COLLADA_EXPORT_H
#ifndef BULLET_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

19
Extras/MayaPlugin/pluginMain.cpp
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@@ -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 colladaDefaultOptions =
const char *const bulletOptionScript = "bulletExportOptions";
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 *)colladaDefaultOptions );
(char *)bulletOptionScript,
(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" );
MCHECKSTATUS(status,"deregistering COLLADA Physics export" )
status = plugin.deregisterFileTranslator( "Bullet Physics export" );
MCHECKSTATUS(status,"deregistering Bullet Physics export" )
solver_t::cleanup();

1
Extras/MayaPlugin/solver.cpp
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@@ -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

5
Extras/MayaPlugin/solver_impl.h
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@@ -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;