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btBulletWorldImporter support for loading of btCollisionObject from a .bullet file.

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minor compilation fix on PS3

Yippie, revision 2000!
This commit is contained in:
erwin.coumans
2010-02-13 00:43:42 +00:00
parent e71051e931
commit 1a87fbf2f0
3 changed files with 106 additions and 31 deletions
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123
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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@@ -353,7 +353,8 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
shapeMap.insert(shapeData,shape);
}
btHashMap<btHashPtr,btRigidBody*> bodyMap;
btHashMap<btHashPtr,btCollisionObject*> bodyMap;
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
{
@@ -409,18 +410,66 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
}
}
// for (i=0;i<bulletFile2->m_collisionObjects.size();i++)
// {
// btCollisionObjectData* colObjData = (btCollisionObjectData*)bulletFile2->m_collisionObjects[i];
// printf("bla");
// }
for (i=0;i<bulletFile2->m_collisionObjects.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btCollisionObjectDoubleData* colObjData = (btCollisionObjectDoubleData*)bulletFile2->m_collisionObjects[i];
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
startTransform.deSerializeDouble(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape);
bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");
}
} else
{
btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i];
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
startTransform.deSerializeFloat(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape);
bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");
}
}
printf("bla");
}
for (i=0;i<bulletFile2->m_constraints.size();i++)
{
btTypedConstraintData* constraintData = (btTypedConstraintData*)bulletFile2->m_constraints[i];
btRigidBody** rbAptr = bodyMap.find(constraintData->m_rbA);
btRigidBody** rbBptr = bodyMap.find(constraintData->m_rbB);
btCollisionObject** colAptr = bodyMap.find(constraintData->m_rbA);
btCollisionObject** colBptr = bodyMap.find(constraintData->m_rbB);
btRigidBody* rbA = 0;
btRigidBody* rbB = 0;
if (colAptr)
{
rbA = btRigidBody::upcast(*colAptr);
if (!rbA)
rbA = &getFixedBody();
}
if (colBptr)
{
rbB = btRigidBody::upcast(*colBptr);
if (!rbB)
rbB = &getFixedBody();
}
switch (constraintData->m_objectType)
{
@@ -431,33 +480,33 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btPoint2PointConstraintDoubleData* p2pData = (btPoint2PointConstraintDoubleData*)constraintData;
if (rbAptr && rbBptr)
if (rbA && rbB)
{
btVector3 pivotInA,pivotInB;
pivotInA.deSerializeDouble(p2pData->m_pivotInA);
pivotInB.deSerializeDouble(p2pData->m_pivotInB);
constraint = new btPoint2PointConstraint(**rbAptr,**rbBptr,pivotInA,pivotInB);
constraint = new btPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB);
} else
{
btVector3 pivotInA;
pivotInA.deSerializeDouble(p2pData->m_pivotInA);
constraint = new btPoint2PointConstraint(**rbAptr,pivotInA);
constraint = new btPoint2PointConstraint(*rbA,pivotInA);
}
} else
{
btPoint2PointConstraintFloatData* p2pData = (btPoint2PointConstraintFloatData*)constraintData;
if (rbAptr && rbBptr)
if (rbA&& rbB)
{
btVector3 pivotInA,pivotInB;
pivotInA.deSerializeFloat(p2pData->m_pivotInA);
pivotInB.deSerializeFloat(p2pData->m_pivotInB);
constraint = new btPoint2PointConstraint(**rbAptr,**rbBptr,pivotInA,pivotInB);
constraint = new btPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB);
} else
{
btVector3 pivotInA;
pivotInA.deSerializeFloat(p2pData->m_pivotInA);
constraint = new btPoint2PointConstraint(**rbAptr,pivotInA);
constraint = new btPoint2PointConstraint(*rbA,pivotInA);
}
}
@@ -473,17 +522,17 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btHingeConstraintDoubleData* hingeData = (btHingeConstraintDoubleData*)constraintData;
if (rbAptr && rbBptr)
if (rbA&& rbB)
{
btTransform rbAFrame,rbBFrame;
rbAFrame.deSerializeDouble(hingeData->m_rbAFrame);
rbBFrame.deSerializeDouble(hingeData->m_rbBFrame);
hinge = new btHingeConstraint(**rbAptr,**rbBptr,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0);
hinge = new btHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0);
} else
{
btTransform rbAFrame;
rbAFrame.deSerializeDouble(hingeData->m_rbAFrame);
hinge = new btHingeConstraint(**rbAptr,rbAFrame,hingeData->m_useReferenceFrameA!=0);
hinge = new btHingeConstraint(*rbA,rbAFrame,hingeData->m_useReferenceFrameA!=0);
}
if (hingeData->m_enableAngularMotor)
{
@@ -494,17 +543,17 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
} else
{
btHingeConstraintFloatData* hingeData = (btHingeConstraintFloatData*)constraintData;
if (rbAptr && rbBptr)
if (rbA&& rbB)
{
btTransform rbAFrame,rbBFrame;
rbAFrame.deSerializeFloat(hingeData->m_rbAFrame);
rbBFrame.deSerializeFloat(hingeData->m_rbBFrame);
hinge = new btHingeConstraint(**rbAptr,**rbBptr,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0);
hinge = new btHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0);
} else
{
btTransform rbAFrame;
rbAFrame.deSerializeFloat(hingeData->m_rbAFrame);
hinge = new btHingeConstraint(**rbAptr,rbAFrame,hingeData->m_useReferenceFrameA!=0);
hinge = new btHingeConstraint(*rbA,rbAFrame,hingeData->m_useReferenceFrameA!=0);
}
if (hingeData->m_enableAngularMotor)
{
@@ -525,17 +574,17 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
btConeTwistConstraintData* coneData = (btConeTwistConstraintData*)constraintData;
btConeTwistConstraint* coneTwist = 0;
if (rbAptr && rbBptr)
if (rbA&& rbB)
{
btTransform rbAFrame,rbBFrame;
rbAFrame.deSerializeFloat(coneData->m_rbAFrame);
rbBFrame.deSerializeFloat(coneData->m_rbBFrame);
coneTwist = new btConeTwistConstraint(**rbAptr,**rbBptr,rbAFrame,rbBFrame);
coneTwist = new btConeTwistConstraint(*rbA,*rbB,rbAFrame,rbBFrame);
} else
{
btTransform rbAFrame;
rbAFrame.deSerializeFloat(coneData->m_rbAFrame);
coneTwist = new btConeTwistConstraint(**rbAptr,rbAFrame);
coneTwist = new btConeTwistConstraint(*rbA,rbAFrame);
}
coneTwist->setLimit(coneData->m_swingSpan1,coneData->m_swingSpan2,coneData->m_twistSpan,coneData->m_limitSoftness,coneData->m_biasFactor,coneData->m_relaxationFactor);
coneTwist->setDamping(coneData->m_damping);
@@ -551,17 +600,17 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
btGeneric6DofConstraintData* dofData = (btGeneric6DofConstraintData*)constraintData;
btGeneric6DofConstraint* dof = 0;
if (rbAptr && rbBptr)
if (rbA&& rbB)
{
btTransform rbAFrame,rbBFrame;
rbAFrame.deSerializeFloat(dofData->m_rbAFrame);
rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
dof = new btGeneric6DofConstraint(**rbAptr,**rbBptr,rbAFrame,rbBFrame,dofData->m_useLinearReferenceFrameA!=0);
dof = new btGeneric6DofConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_useLinearReferenceFrameA!=0);
} else
{
btTransform rbBFrame;
rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
dof = new btGeneric6DofConstraint(**rbBptr,rbBFrame,dofData->m_useLinearReferenceFrameA!=0);
dof = new btGeneric6DofConstraint(*rbB,rbBFrame,dofData->m_useLinearReferenceFrameA!=0);
}
btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit;
angLowerLimit.deSerializeFloat(dofData->m_angularLowerLimit);
@@ -582,17 +631,17 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
{
btSliderConstraintData* sliderData = (btSliderConstraintData*)constraintData;
btSliderConstraint* slider = 0;
if (rbAptr && rbBptr)
if (rbA&& rbB)
{
btTransform rbAFrame,rbBFrame;
rbAFrame.deSerializeFloat(sliderData->m_rbAFrame);
rbBFrame.deSerializeFloat(sliderData->m_rbBFrame);
slider = new btSliderConstraint(**rbAptr,**rbBptr,rbAFrame,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0);
slider = new btSliderConstraint(*rbA,*rbB,rbAFrame,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0);
} else
{
btTransform rbBFrame;
rbBFrame.deSerializeFloat(sliderData->m_rbBFrame);
slider = new btSliderConstraint(**rbBptr,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0);
slider = new btSliderConstraint(*rbB,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0);
}
slider->setLowerLinLimit(sliderData->m_linearLowerLimit);
slider->setUpperLinLimit(sliderData->m_linearUpperLimit);
@@ -628,7 +677,14 @@ btTypedConstraint* btBulletWorldImporter::createUniversalD6Constraint(class bt
{
return 0;
}
btCollisionObject* btBulletWorldImporter::createCollisionObject(const btTransform& startTransform,btCollisionShape* shape)
{
return createRigidBody(false,0,startTransform,shape);
}
btRigidBody* btBulletWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape)
{
btVector3 localInertia;
@@ -715,3 +771,10 @@ btCompoundShape* btBulletWorldImporter::createCompoundShape()
return new btCompoundShape();
}
btRigidBody& btBulletWorldImporter::getFixedBody()
{
static btRigidBody s_fixed(0, 0,0);
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
return s_fixed;
}