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Allow btBulletWorldImporter to convert/export a .bullet file to XML

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Add first version of btBulletXmlWorldImporter, still incomplete but it can read some files
Fix false assert in btSequentialImpulseConstraintSolver
This commit is contained in:
erwin.coumans
2012-09-21 22:47:11 +00:00
parent 7494463be8
commit 214579ec60
30 changed files with 8741 additions and 1552 deletions
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2
Demos/BulletDinoDemo/CMakeLists.txt
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@@ -52,7 +52,7 @@ ${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
)
LINK_LIBRARIES(
LibOpenGLSupport LibBulletDynamics LibBulletCollision LibLinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY}
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glU_LIBRARY}
)
ADD_EXECUTABLE(BulletDino

2
Demos/CMakeLists.txt
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@@ -11,7 +11,7 @@ IF (USE_GLUT)
IF(BUILD_CPU_DEMOS)
SET(SharedDemoSubdirs
OpenGL AllBulletDemos ConvexDecompositionDemo
CcdPhysicsDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
CcdPhysicsDemo BulletXmlImportDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
RagdollDemo ForkLiftDemo BasicDemo RollingFrictionDemo RaytestDemo VoronoiFractureDemo GyroscopicDemo FractureDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
UserCollisionAlgorithm CharacterDemo SoftDemo
CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo

2
Demos/RollingFrictionDemo/RollingFrictionDemo.cpp
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@@ -141,7 +141,7 @@ void RollingFrictionDemo::initPhysics()
{
///create a few basic rigid bodies
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(100.),btScalar(50.),btScalar(100.)));
m_collisionShapes.push_back(groundShape);

5
Demos/SerializeDemo/SerializeDemo.cpp
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@@ -754,8 +754,9 @@ void SerializeDemo::initPhysics()
#else
m_fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
#endif //DESERIALIZE_SOFT_BODIES
// fileLoader->setVerboseMode(true);
//m_fileLoader->setVerboseMode(bParse::FD_VERBOSE_EXPORT_XML);
if (!m_fileLoader->loadFile("testFile.bullet"))

12
Extras/Serialize/BlenderSerialize/bBlenderFile.cpp
View File

@@ -60,9 +60,9 @@ bMain* bBlenderFile::getMain()
// ----------------------------------------------------- //
void bBlenderFile::parseData()
{
printf ("Building datablocks\n");
printf ("Chunk size = %d\n",CHUNK_HEADER_LEN);
printf ("File chunk size = %d\n", ChunkUtils::getOffset(mFlags));
// printf ("Building datablocks\n");
// printf ("Chunk size = %d\n",CHUNK_HEADER_LEN);
// printf ("File chunk size = %d\n", ChunkUtils::getOffset(mFlags));
const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0;
@@ -166,15 +166,15 @@ void bBlenderFile::writeDNA(FILE* fp)
}
}
void bBlenderFile::parse(bool verboseDumpAllTypes)
void bBlenderFile::parse(int verboseMode)
{
if (VOID_IS_8)
{
parseInternal(verboseDumpAllTypes,(char*)DNAstr64,DNAlen64);
parseInternal(verboseMode,(char*)DNAstr64,DNAlen64);
}
else
{
parseInternal(verboseDumpAllTypes,(char*)DNAstr,DNAlen);
parseInternal(verboseMode,(char*)DNAstr,DNAlen);
}
}

2
Extras/Serialize/BlenderSerialize/bBlenderFile.h
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@@ -51,7 +51,7 @@ namespace bParse {
// experimental
virtual int write(const char* fileName, bool fixupPointers = false);
virtual void parse(bool verboseDumpAllTypes);
virtual void parse(int verboseMode);
virtual void parseData();

1
Extras/Serialize/BulletFileLoader/bDNA.cpp
View File

@@ -347,7 +347,6 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
// ----------------------------------------------------- //
void bDNA::init(char *data, int len, bool swap)
{
printf("swap = %d\n",swap);
int *intPtr=0;short *shtPtr=0;
char *cp = 0;int dataLen =0;long nr=0;
intPtr = (int*)data;

165
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@@ -21,11 +21,32 @@ subject to the following restrictions:
#include <stdlib.h>
#include "bDefines.h"
#include "LinearMath/btSerializer.h"
#include "LinearMath/btAlignedAllocator.h"
#include "LinearMath/btMinMax.h"
#define SIZEOFBLENDERHEADER 12
#define MAX_ARRAY_LENGTH 512
using namespace bParse;
#define MAX_STRLEN 1024
const char* getCleanName(const char* memName, char* buffer)
{
int slen = strlen(memName);
assert(slen<MAX_STRLEN);
slen=btMin(slen,MAX_STRLEN);
for (int i=0;i<slen;i++)
{
if (memName[i]==']'||memName[i]=='[')
{
buffer[i] = 0;//'_';
} else
{
buffer[i] = memName[i];
}
}
buffer[slen]=0;
return buffer;
}
int numallocs = 0;
@@ -119,7 +140,6 @@ void bFile::parseHeader()
if (strncmp(header, m_headerString, 6)!=0)
{
memcpy(header, m_headerString, SIZEOFBLENDERHEADER);
printf ("Invalid %s file...",header);
return;
}
@@ -131,8 +151,9 @@ void bFile::parseHeader()
char *ver = header+9;
mVersion = atoi(ver);
if (mVersion <= 241)
printf ("Warning, %d not fully tested : <= 242\n", mVersion);
{
//printf("Warning, %d not fully tested : <= 242\n", mVersion);
}
int littleEndian= 1;
littleEndian= ((char*)&littleEndian)[0];
@@ -157,16 +178,6 @@ void bFile::parseHeader()
mFlags |= FD_ENDIAN_SWAP;
printf ("%s\n",header);
printf ("\nsizeof(void*) == %d\n",int(sizeof(void*)));
const char* endStr = ((mFlags & FD_ENDIAN_SWAP)!=0) ? "yes" : "no";
printf ("Swapping endian? %s\n",endStr);
const char* bitStr = (mFlags &FD_FILE_64)!=0 ? "64 bit" : "32bit";
printf ("File format is %s\n",bitStr);
const char* varStr = (mFlags & FD_BITS_VARIES)!=0 ? "yes" : "no";
printf ("Varing pointer sizes? %s\n",varStr);
mFlags |= FD_OK;
}
@@ -177,7 +188,7 @@ bool bFile::ok()
}
// ----------------------------------------------------- //
void bFile::parseInternal(bool verboseDumpAllTypes, char* memDna,int memDnaLength)
void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
{
if ( (mFlags &FD_OK) ==0)
return;
@@ -223,7 +234,7 @@ void bFile::parseInternal(bool verboseDumpAllTypes, char* memDna,int memDnaLengt
}
if (!dna.oldPtr || !dna.len)
{
printf("Failed to find DNA1+SDNA pair\n");
//printf("Failed to find DNA1+SDNA pair\n");
mFlags &= ~FD_OK;
return;
}
@@ -244,16 +255,14 @@ void bFile::parseInternal(bool verboseDumpAllTypes, char* memDna,int memDnaLengt
}
if ((mFlags&FD_BROKEN_DNA)!=0)
{
printf("warning: fixing some broken DNA version\n");
//printf("warning: fixing some broken DNA version\n");
}
}
if (verboseDumpAllTypes)
{
if (verboseMode & FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS)
mFileDNA->dumpTypeDefinitions();
}
mMemoryDNA = new bDNA();
int littleEndian= 1;
@@ -268,24 +277,24 @@ void bFile::parseInternal(bool verboseDumpAllTypes, char* memDna,int memDnaLengt
if (mMemoryDNA->getNumNames() != mFileDNA->getNumNames())
{
mFlags |= FD_VERSION_VARIES;
printf ("Warning, file DNA is different than built in, performance is reduced. Best to re-export file with a matching version/platform");
//printf ("Warning, file DNA is different than built in, performance is reduced. Best to re-export file with a matching version/platform");
}
// as long as it kept up to date it will be ok!!
if (mMemoryDNA->lessThan(mFileDNA))
{
printf ("Warning, file DNA is newer than built in.");
//printf ("Warning, file DNA is newer than built in.");
}
mFileDNA->initCmpFlags(mMemoryDNA);
parseData();
resolvePointers(verboseDumpAllTypes);//verboseDumpAllBlocks);
resolvePointers(verboseMode);
updateOldPointers();
printf("numAllocs = %d\n",numallocs);
}
@@ -876,7 +885,7 @@ void bFile::resolvePointersMismatch()
///this loop only works fine if the Blender DNA structure of the file matches the headerfiles
void bFile::resolvePointersChunk(const bChunkInd& dataChunk, bool verboseDumpAllBlocks)
void bFile::resolvePointersChunk(const bChunkInd& dataChunk, int verboseMode)
{
bParse::bDNA* fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
@@ -887,13 +896,13 @@ void bFile::resolvePointersChunk(const bChunkInd& dataChunk, bool verboseDumpAll
char* cur = (char*)findLibPointer(dataChunk.oldPtr);
for (int block=0; block<dataChunk.nr; block++)
{
resolvePointersStructRecursive(cur,dataChunk.dna_nr, verboseDumpAllBlocks,1);
resolvePointersStructRecursive(cur,dataChunk.dna_nr, verboseMode,1);
cur += oldLen;
}
}
void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verboseDumpAllBlocks,int recursion)
int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verboseMode,int recursion)
{
bParse::bDNA* fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
@@ -910,6 +919,7 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
int elementLength = oldStruct[1];
oldStruct+=2;
int totalSize = 0;
for (int ele=0; ele<elementLength; ele++, oldStruct+=2)
{
@@ -926,13 +936,38 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
{
void **array= (void**)elemPtr;
for (int a=0; a<arrayLen; a++)
{
if (verboseMode & FD_VERBOSE_EXPORT_XML)
{
for (int i=0;i<recursion;i++)
{
printf(" ");
}
//skip the *
printf("<%s type=\"pointer\"> ",&memName[1]);
printf("%d ", array[a]);
printf("</%s>\n",&memName[1]);
}
array[a] = findLibPointer(array[a]);
}
}
else
{
void** ptrptr = (void**) elemPtr;
void* ptr = *ptrptr;
if (verboseMode & FD_VERBOSE_EXPORT_XML)
{
for (int i=0;i<recursion;i++)
{
printf(" ");
}
printf("<%s type=\"pointer\"> ",&memName[1]);
printf("%d ", ptr);
printf("</%s>\n",&memName[1]);
}
ptr = findLibPointer(ptr);
if (ptr)
{
// printf("Fixup pointer at 0x%x from 0x%x to 0x%x!\n",ptrptr,*ptrptr,ptr);
@@ -960,27 +995,44 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
int revType = fileDna->getReverseType(oldStruct[0]);
if (oldStruct[0]>=firstStructType) //revType != -1 &&
{
if (verboseDumpAllBlocks)
char cleanName[MAX_STRLEN];
getCleanName(memName,cleanName);
int arrayLen = fileDna->getArraySizeNew(oldStruct[1]);
int byteOffset = 0;
if (verboseMode & FD_VERBOSE_EXPORT_XML)
{
for (int i=0;i<recursion;i++)
{
printf(" ");
}
printf("<%s type=\"%s\">\n",memName,memType);
if (arrayLen>1)
{
printf("<%s type=\"%s\" count=%d>\n",cleanName,memType, arrayLen);
} else
{
printf("<%s type=\"%s\">\n",cleanName,memType);
}
}
resolvePointersStructRecursive(elemPtr,revType, verboseDumpAllBlocks,recursion+1);
if (verboseDumpAllBlocks)
for (int i=0;i<arrayLen;i++)
{
byteOffset += resolvePointersStructRecursive(elemPtr+byteOffset,revType, verboseMode,recursion+1);
}
if (verboseMode & FD_VERBOSE_EXPORT_XML)
{
for (int i=0;i<recursion;i++)
{
printf(" ");
}
printf("</%s>\n",memName);
printf("</%s>\n",cleanName);
}
} else
{
//export a simple type
if (verboseDumpAllBlocks)
if (verboseMode & FD_VERBOSE_EXPORT_XML)
{
if (arrayLen>MAX_ARRAY_LENGTH)
@@ -1001,17 +1053,20 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
dbPtr = &dbarray[0];
if (dbPtr)
{
char cleanName[MAX_STRLEN];
getCleanName(memName,cleanName);
int i;
getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr);
for (i=0;i<recursion;i++)
printf(" ");
if (arrayLen==1)
printf("<%s type=\"%s\">",memName,memType);
printf("<%s type=\"%s\">",cleanName,memType);
else
printf("<%s type=\"%s\" count=%d>",memName,memType,arrayLen);
printf("<%s type=\"%s\" count=%d>",cleanName,memType,arrayLen);
for (i=0;i<arrayLen;i++)
printf(" %d ",dbPtr[i]);
printf("</%s>\n",memName);
printf("</%s>\n",cleanName);
}
} else
{
@@ -1026,13 +1081,20 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr);
for (i=0;i<recursion;i++)
printf(" ");
char cleanName[MAX_STRLEN];
getCleanName(memName,cleanName);
if (arrayLen==1)
{
printf("<%s type=\"%s\">",memName,memType);
}
else
printf("<%s type=\"%s\" count=%d>",memName,memType,arrayLen);
{
printf("<%s type=\"%s\" count=%d>",cleanName,memType,arrayLen);
}
for (i=0;i<arrayLen;i++)
printf(" %f ",dbPtr[i]);
printf("</%s>\n",memName);
printf("</%s>\n",cleanName);
}
}
}
@@ -1042,18 +1104,20 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
}
int size = fileDna->getElementSize(oldStruct[0], oldStruct[1]);
totalSize += size;
elemPtr+=size;
}
return totalSize;
}
///Resolve pointers replaces the original pointers in structures, and linked lists by the new in-memory structures
void bFile::resolvePointers(bool verboseDumpAllBlocks)
void bFile::resolvePointers(int verboseMode)
{
bParse::bDNA* fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
printf("resolvePointers start\n");
//char *dataPtr = mFileBuffer+mDataStart;
if (1) //mFlags & (FD_BITS_VARIES | FD_VERSION_VARIES))
@@ -1062,6 +1126,13 @@ void bFile::resolvePointers(bool verboseDumpAllBlocks)
}
{
if (verboseMode & FD_VERBOSE_EXPORT_XML)
{
printf("<?xml version=\"1.0\" encoding=\"utf-8\"?>\n");
int numitems = m_chunks.size();
printf("<bullet_physics version=%d itemcount = %d>\n", btGetVersion(), numitems);
}
for (int i=0;i<m_chunks.size();i++)
{
const bChunkInd& dataChunk = m_chunks.at(i);
@@ -1072,21 +1143,25 @@ void bFile::resolvePointers(bool verboseDumpAllBlocks)
short int* oldStruct = fileDna->getStruct(dataChunk.dna_nr);
char* oldType = fileDna->getType(oldStruct[0]);
if (verboseDumpAllBlocks)
printf("<%s>\n",oldType);
if (verboseMode & FD_VERBOSE_EXPORT_XML)
printf(" <%s pointer=%d>\n",oldType,dataChunk.oldPtr);
resolvePointersChunk(dataChunk, verboseDumpAllBlocks);
resolvePointersChunk(dataChunk, verboseMode);
if (verboseDumpAllBlocks)
printf("</%s>\n",oldType);
if (verboseMode & FD_VERBOSE_EXPORT_XML)
printf(" </%s>\n",oldType);
} else
{
//printf("skipping mStruct\n");
}
}
if (verboseMode & FD_VERBOSE_EXPORT_XML)
{
printf("</bullet_physics>\n");
}
}
printf("resolvePointers end\n");
}

18
Extras/Serialize/BulletFileLoader/bFile.h
View File

@@ -36,7 +36,13 @@ namespace bParse {
FD_BROKEN_DNA = 128
};
enum bFileVerboseMode
{
FD_VERBOSE_EXPORT_XML = 1,
FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS = 2,
FD_VERBOSE_DUMP_CHUNKS = 4,
FD_VERBOSE_DUMP_FILE_INFO=8,
};
// ----------------------------------------------------- //
class bFile
{
@@ -80,9 +86,9 @@ namespace bParse {
virtual void parseData() = 0;
void resolvePointersMismatch();
void resolvePointersChunk(const bChunkInd& dataChunk, bool verboseDumpAllBlocks);
void resolvePointersChunk(const bChunkInd& dataChunk, int verboseMode);
void resolvePointersStructRecursive(char *strcPtr, int old_dna, bool verboseDumpAllBlocks, int recursion);
int resolvePointersStructRecursive(char *strcPtr, int old_dna, int verboseMode, int recursion);
//void swapPtr(char *dst, char *src);
void parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bool fixupPointers);
@@ -101,7 +107,7 @@ namespace bParse {
char* readStruct(char *head, class bChunkInd& chunk);
char *getAsString(int code);
void parseInternal(bool verboseDumpAllTypes, char* memDna,int memDnaLength);
void parseInternal(int verboseMode, char* memDna,int memDnaLength);
public:
bFile(const char *filename, const char headerString[7]);
@@ -132,7 +138,7 @@ namespace bParse {
bool ok();
virtual void parse(bool verboseDumpAllTypes) = 0;
virtual void parse(int verboseMode) = 0;
virtual int write(const char* fileName, bool fixupPointers=false) = 0;
@@ -141,7 +147,7 @@ namespace bParse {
virtual void writeDNA(FILE* fp) = 0;
void updateOldPointers();
void resolvePointers(bool verboseDumpAllBlocks);
void resolvePointers(int verboseMode);
void dumpChunks(bDNA* dna);

16
Extras/Serialize/BulletFileLoader/btBulletFile.cpp
View File

@@ -114,9 +114,9 @@ btBulletFile::~btBulletFile()
// ----------------------------------------------------- //
void btBulletFile::parseData()
{
printf ("Building datablocks");
printf ("Chunk size = %d",CHUNK_HEADER_LEN);
printf ("File chunk size = %d",ChunkUtils::getOffset(mFlags));
// printf ("Building datablocks");
// printf ("Chunk size = %d",CHUNK_HEADER_LEN);
// printf ("File chunk size = %d",ChunkUtils::getOffset(mFlags));
const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
@@ -282,7 +282,7 @@ void btBulletFile::writeDNA(FILE* fp)
}
void btBulletFile::parse(bool verboseDumpAllTypes)
void btBulletFile::parse(int verboseMode)
{
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
if (VOID_IS_8)
@@ -293,7 +293,7 @@ void btBulletFile::parse(bool verboseDumpAllTypes)
delete m_DnaCopy;
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64,16);
memcpy(m_DnaCopy,sBulletDNAstr64,sBulletDNAlen64);
parseInternal(verboseDumpAllTypes,(char*)sBulletDNAstr64,sBulletDNAlen64);
parseInternal(verboseMode,(char*)sBulletDNAstr64,sBulletDNAlen64);
#else
btAssert(0);
#endif
@@ -306,7 +306,7 @@ void btBulletFile::parse(bool verboseDumpAllTypes)
delete m_DnaCopy;
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen,16);
memcpy(m_DnaCopy,sBulletDNAstr,sBulletDNAlen);
parseInternal(verboseDumpAllTypes,m_DnaCopy,sBulletDNAlen);
parseInternal(verboseMode,m_DnaCopy,sBulletDNAlen);
#else
btAssert(0);
#endif
@@ -318,7 +318,7 @@ void btBulletFile::parse(bool verboseDumpAllTypes)
delete m_DnaCopy;
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64,16);
memcpy(m_DnaCopy,sBulletDNAstr64,sBulletDNAlen64);
parseInternal(verboseDumpAllTypes,m_DnaCopy,sBulletDNAlen64);
parseInternal(verboseMode,m_DnaCopy,sBulletDNAlen64);
}
else
{
@@ -326,7 +326,7 @@ void btBulletFile::parse(bool verboseDumpAllTypes)
delete m_DnaCopy;
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen,16);
memcpy(m_DnaCopy,sBulletDNAstr,sBulletDNAlen);
parseInternal(verboseDumpAllTypes,m_DnaCopy,sBulletDNAlen);
parseInternal(verboseMode,m_DnaCopy,sBulletDNAlen);
}
#endif//BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
}

2
Extras/Serialize/BulletFileLoader/btBulletFile.h
View File

@@ -67,7 +67,7 @@ namespace bParse {
// experimental
virtual int write(const char* fileName, bool fixupPointers=false);
virtual void parse(bool verboseDumpAllTypes);
virtual void parse(int verboseMode);
virtual void parseData();

2
Extras/Serialize/BulletWorldImporter/CMakeLists.txt
View File

@@ -7,6 +7,8 @@ ADD_LIBRARY(
BulletWorldImporter
btBulletWorldImporter.cpp
btBulletWorldImporter.h
btWorldImporter.cpp
btWorldImporter.h
)
SET_TARGET_PROPERTIES(BulletWorldImporter PROPERTIES VERSION ${BULLET_VERSION})

1309
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

File diff suppressed because it is too large Load Diff

154
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
View File

@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2010 Erwin Coumans http://continuousphysics.com/Bullet/
Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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.
@@ -17,34 +17,12 @@ subject to the following restrictions:
#ifndef BULLET_WORLD_IMPORTER_H
#define BULLET_WORLD_IMPORTER_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btHashMap.h"
#include "btWorldImporter.h"
class btBulletFile;
class btCollisionShape;
class btCollisionObject;
class btRigidBody;
class btTypedConstraint;
class btDynamicsWorld;
struct ConstraintInput;
class btRigidBodyColladaInfo;
struct btCollisionShapeData;
class btTriangleIndexVertexArray;
class btStridingMeshInterface;
struct btStridingMeshInterfaceData;
class btGImpactMeshShape;
class btOptimizedBvh;
struct btTriangleInfoMap;
class btBvhTriangleMeshShape;
class btPoint2PointConstraint;
class btHingeConstraint;
class btConeTwistConstraint;
class btGeneric6DofConstraint;
class btGeneric6DofSpringConstraint;
class btSliderConstraint;
@@ -59,53 +37,9 @@ namespace bParse
///The btBulletWorldImporter is a starting point to import .bullet files.
///note that not all data is converted yet. You are expected to override or modify this class.
///See Bullet/Demos/SerializeDemo for a derived class that extract btSoftBody objects too.
class btBulletWorldImporter
class btBulletWorldImporter : public btWorldImporter
{
protected:
btDynamicsWorld* m_dynamicsWorld;
bool m_verboseDumpAllTypes;
btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
btAlignedObjectArray<btTypedConstraint*> m_allocatedConstraints;
btAlignedObjectArray<btOptimizedBvh*> m_allocatedBvhs;
btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;
btAlignedObjectArray<char*> m_allocatedNames;
btAlignedObjectArray<int*> m_indexArrays;
btAlignedObjectArray<short int*> m_shortIndexArrays;
btAlignedObjectArray<unsigned char*> m_charIndexArrays;
btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
btHashMap<btHashPtr,btOptimizedBvh*> m_bvhMap;
btHashMap<btHashPtr,btTriangleInfoMap*> m_timMap;
btHashMap<btHashString,btCollisionShape*> m_nameShapeMap;
btHashMap<btHashString,btRigidBody*> m_nameBodyMap;
btHashMap<btHashString,btTypedConstraint*> m_nameConstraintMap;
btHashMap<btHashPtr,const char*> m_objectNameMap;
btHashMap<btHashPtr,btCollisionShape*> m_shapeMap;
btHashMap<btHashPtr,btCollisionObject*> m_bodyMap;
//methods
static btRigidBody& getFixedBody();
char* duplicateName(const char* name);
public:
@@ -113,10 +47,6 @@ public:
virtual ~btBulletWorldImporter();
///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
///make sure you don't use the dynamics world containing objects after you call this method
virtual void deleteAllData();
bool loadFile(const char* fileName);
///the memoryBuffer might be modified (for example if endian swaps are necessary)
@@ -127,82 +57,8 @@ public:
//call make sure bulletFile2 has been parsed, either using btBulletFile::parse or btBulletWorldImporter::loadFileFromMemory
virtual bool convertAllObjects(bParse::btBulletFile* file);
void setVerboseMode(bool verboseDumpAllTypes)
{
m_verboseDumpAllTypes = verboseDumpAllTypes;
}
bool getVerboseMode() const
{
return m_verboseDumpAllTypes;
}
// query for data
int getNumCollisionShapes() const;
btCollisionShape* getCollisionShapeByIndex(int index);
int getNumRigidBodies() const;
btCollisionObject* getRigidBodyByIndex(int index) const;
int getNumConstraints() const;
btTypedConstraint* getConstraintByIndex(int index) const;
int getNumBvhs() const;
btOptimizedBvh* getBvhByIndex(int index) const;
int getNumTriangleInfoMaps() const;
btTriangleInfoMap* getTriangleInfoMapByIndex(int index) const;
// queris involving named objects
btCollisionShape* getCollisionShapeByName(const char* name);
btRigidBody* getRigidBodyByName(const char* name);
btTypedConstraint* getConstraintByName(const char* name);
const char* getNameForPointer(const void* ptr) const;
///those virtuals are called by load and can be overridden by the user
//bodies
virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
virtual btCollisionObject* createCollisionObject( const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
///shapes
virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
virtual btCollisionShape* createSphereShape(btScalar radius);
virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
virtual class btConvexHullShape* createConvexHullShape();
virtual class btCompoundShape* createCompoundShape();
virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
///acceleration and connectivity structures
virtual btOptimizedBvh* createOptimizedBvh();
virtual btTriangleInfoMap* createTriangleInfoMap();
///constraints
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA=false);
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA=false);
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
};

1357
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp Normal file
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189
Extras/Serialize/BulletWorldImporter/btWorldImporter.h Normal file
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@@ -0,0 +1,189 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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 BT_WORLD_IMPORTER_H
#define BT_WORLD_IMPORTER_H
#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btHashMap.h"
class btCollisionShape;
class btCollisionObject;
class btRigidBody;
class btTypedConstraint;
class btDynamicsWorld;
struct ConstraintInput;
class btRigidBodyColladaInfo;
struct btCollisionShapeData;
class btTriangleIndexVertexArray;
class btStridingMeshInterface;
struct btStridingMeshInterfaceData;
class btGImpactMeshShape;
class btOptimizedBvh;
struct btTriangleInfoMap;
class btBvhTriangleMeshShape;
class btPoint2PointConstraint;
class btHingeConstraint;
class btConeTwistConstraint;
class btGeneric6DofConstraint;
class btGeneric6DofSpringConstraint;
class btSliderConstraint;
class btTypedConstraintData;
struct btRigidBodyFloatData;
class btWorldImporter
{
protected:
btDynamicsWorld* m_dynamicsWorld;
int m_verboseMode;
btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
btAlignedObjectArray<btTypedConstraint*> m_allocatedConstraints;
btAlignedObjectArray<btOptimizedBvh*> m_allocatedBvhs;
btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;
btAlignedObjectArray<char*> m_allocatedNames;
btAlignedObjectArray<int*> m_indexArrays;
btAlignedObjectArray<short int*> m_shortIndexArrays;
btAlignedObjectArray<unsigned char*> m_charIndexArrays;
btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
btHashMap<btHashPtr,btOptimizedBvh*> m_bvhMap;
btHashMap<btHashPtr,btTriangleInfoMap*> m_timMap;
btHashMap<btHashString,btCollisionShape*> m_nameShapeMap;
btHashMap<btHashString,btRigidBody*> m_nameBodyMap;
btHashMap<btHashString,btTypedConstraint*> m_nameConstraintMap;
btHashMap<btHashPtr,const char*> m_objectNameMap;
btHashMap<btHashPtr,btCollisionShape*> m_shapeMap;
btHashMap<btHashPtr,btCollisionObject*> m_bodyMap;
//methods
static btRigidBody& getFixedBody();
char* duplicateName(const char* name);
btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
void convertConstraint(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, bool isDoublePrecisionData, int fileVersion);
void convertRigidBody(btRigidBodyFloatData* colObjData);
public:
btWorldImporter(btDynamicsWorld* world);
virtual ~btWorldImporter();
///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
///make sure you don't use the dynamics world containing objects after you call this method
virtual void deleteAllData();
void setVerboseMode(int verboseMode)
{
m_verboseMode = verboseMode;
}
int getVerboseMode() const
{
return m_verboseMode;
}
// query for data
int getNumCollisionShapes() const;
btCollisionShape* getCollisionShapeByIndex(int index);
int getNumRigidBodies() const;
btCollisionObject* getRigidBodyByIndex(int index) const;
int getNumConstraints() const;
btTypedConstraint* getConstraintByIndex(int index) const;
int getNumBvhs() const;
btOptimizedBvh* getBvhByIndex(int index) const;
int getNumTriangleInfoMaps() const;
btTriangleInfoMap* getTriangleInfoMapByIndex(int index) const;
// queris involving named objects
btCollisionShape* getCollisionShapeByName(const char* name);
btRigidBody* getRigidBodyByName(const char* name);
btTypedConstraint* getConstraintByName(const char* name);
const char* getNameForPointer(const void* ptr) const;
///those virtuals are called by load and can be overridden by the user
//bodies
virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
virtual btCollisionObject* createCollisionObject( const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
///shapes
virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
virtual btCollisionShape* createSphereShape(btScalar radius);
virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
virtual class btConvexHullShape* createConvexHullShape();
virtual class btCompoundShape* createCompoundShape();
virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
///acceleration and connectivity structures
virtual btOptimizedBvh* createOptimizedBvh();
virtual btTriangleInfoMap* createTriangleInfoMap();
///constraints
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA=false);
virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA=false);
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
};
#endif //BT_WORLD_IMPORTER_H

47
Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt Normal file
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@@ -0,0 +1,47 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
)
ADD_LIBRARY(
BulletXmlWorldImporter
btBulletXmlWorldImporter.cpp
btBulletXmlWorldImporter.h
string_split.cpp
string_split.h
tinyxml.cpp
tinyxml.h
tinystr.cpp
tinystr.h
tinyxmlerror.cpp
tinyxmlparser.cpp
)
SET_TARGET_PROPERTIES(BulletXmlWorldImporter PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletXmlWorldImporter PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(BulletXmlWorldImporter BulletWorldImporter BulletDynamics BulletCollision BulletFileLoader LinearMath)
ENDIF (BUILD_SHARED_LIBS)
IF (INSTALL_EXTRA_LIBS)
IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
#FILES_MATCHING requires CMake 2.6
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletXmlWorldImporter DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletXmlWorldImporter DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(BulletXmlWorldImporter PROPERTIES FRAMEWORK true)
SET_TARGET_PROPERTIES(BulletXmlWorldImporter PROPERTIES PUBLIC_HEADER "btBulletXmlWorldImporter.h")
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
ENDIF (INSTALL_EXTRA_LIBS)

767
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp Normal file
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@@ -0,0 +1,767 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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.
*/
#include "btBulletXmlWorldImporter.h"
#include "tinyxml.h"
#include "btBulletDynamicsCommon.h"
#include "string_split.h"
btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
:btWorldImporter(world),
m_fileVersion(-1)
{
}
btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
{
}
static int get_double_attribute_by_name(const TiXmlElement* pElement, const char* attribName,double* value)
{
if ( !pElement )
return 0;
const TiXmlAttribute* pAttrib=pElement->FirstAttribute();
while (pAttrib)
{
if (pAttrib->Name()==attribName)
if (pAttrib->QueryDoubleValue(value)==TIXML_SUCCESS)
return 1;
pAttrib=pAttrib->Next();
}
return 0;
}
static int get_int_attribute_by_name(const TiXmlElement* pElement, const char* attribName,int* value)
{
if ( !pElement )
return 0;
const TiXmlAttribute* pAttrib=pElement->FirstAttribute();
while (pAttrib)
{
if (!stricmp(pAttrib->Name(),attribName))
if (pAttrib->QueryIntValue(value)==TIXML_SUCCESS)
return 1;
// if (pAttrib->QueryDoubleValue(&dval)==TIXML_SUCCESS) printf( " d=%1.1f", dval);
pAttrib=pAttrib->Next();
}
return 0;
}
void stringToFloatArray(const std::string& string, btAlignedObjectArray<float>& floats)
{
btAlignedObjectArray<std::string> pieces;
bullet_utils::split( pieces, string, " ");
for (unsigned int i = 0; i < pieces.size(); ++i)
{
assert(pieces[i]!="");
floats.push_back((float)atof(pieces[i].c_str()));
}
}
static btVector3FloatData TextToVector3Data(const char* txt)
{
btAssert(txt);
btAlignedObjectArray<float> floats;
stringToFloatArray(txt, floats);
assert(floats.size()==4);
btVector3FloatData vec4;
vec4.m_floats[0] = floats[0];
vec4.m_floats[1] = floats[1];
vec4.m_floats[2] = floats[2];
vec4.m_floats[3] = floats[3];
return vec4;
}
void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors)
{
TiXmlNode* flNode = pParent->FirstChild("m_floats");
btAssert(flNode);
while (flNode && flNode->FirstChild())
{
TiXmlText* pText = flNode->FirstChild()->ToText();
// printf("value = %s\n",pText->Value());
btVector3FloatData vec4 = TextToVector3Data(pText->Value());
vectors.push_back(vec4);
flNode = flNode->NextSibling();
}
}
#define SET_INT_VALUE(xmlnode, targetdata, argname) \
if ((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement())\
(targetdata)->argname= (int)atof(xmlnode->FirstChild(#argname)->ToElement()->GetText());
#define SET_FLOAT_VALUE(xmlnode, targetdata, argname) \
if ((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement())\
(targetdata)->argname= (float)atof(xmlnode->FirstChild(#argname)->ToElement()->GetText());
#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype) \
{\
TiXmlNode* node;\
if ((node)= xmlnode->FirstChild(#argname))\
{\
const char* txt = (node)->ToElement()->GetText();\
(targetdata).argname= (pointertype) (int) atof(txt);\
}\
}
#define SET_VECTOR4_VALUE(xmlnode, targetdata, argname) \
{\
TiXmlNode* flNode = xmlnode->FirstChild(#argname);\
btAssert(flNode);\
if (flNode && flNode->FirstChild())\
{\
const char* txt= flNode->FirstChild()->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_floats[1] = vec4.m_floats[1];\
(targetdata)->argname.m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_floats[3] = vec4.m_floats[3];\
}\
}
#define SET_MATRIX33_VALUE(n, targetdata, argname) \
{\
TiXmlNode* xmlnode = n->FirstChild(#argname);\
if (xmlnode)\
{\
TiXmlNode* eleNode = xmlnode->FirstChild("m_el");\
btAssert(eleNode);\
if (eleNode&& eleNode->FirstChild())\
{\
const char* txt= eleNode->FirstChild()->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_el[0].m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_el[0].m_floats[1] = vec4.m_floats[1];\
(targetdata)->argname.m_el[0].m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_el[0].m_floats[3] = vec4.m_floats[3];\
\
TiXmlNode* n1 = eleNode->FirstChild()->NextSibling();\
if (n1)\
{\
const char* txt= n1->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_el[1].m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_el[1].m_floats[1] = vec4.m_floats[1];\
(targetdata)->argname.m_el[1].m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_el[1].m_floats[3] = vec4.m_floats[3];\
\
TiXmlNode* n2 = n1->NextSibling();\
if (n2)\
{\
const char* txt= n2->ToElement()->GetText();\
btVector3FloatData vec4 = TextToVector3Data(txt);\
(targetdata)->argname.m_el[2].m_floats[0] = vec4.m_floats[0];\
(targetdata)->argname.m_el[2].m_floats[1] = vec4.m_floats[1];\
(targetdata)->argname.m_el[2].m_floats[2] = vec4.m_floats[2];\
(targetdata)->argname.m_el[2].m_floats[3] = vec4.m_floats[3];\
}\
}\
}\
}\
}\
#define SET_TRANSFORM_VALUE(n, targetdata, argname) \
{\
TiXmlNode* trNode = n->FirstChild(#argname);\
if (trNode)\
{\
SET_VECTOR4_VALUE(trNode,&(targetdata)->argname,m_origin)\
SET_MATRIX33_VALUE(trNode, &(targetdata)->argname,m_basis)\
}\
}\
void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent, btCollisionShapeData* colShapeData)
{
SET_INT_VALUE(pParent,colShapeData,m_shapeType)
colShapeData->m_name = 0;
}
void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent)
{
int ptr;
btAssert(get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr));
btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16);
TiXmlNode* xmlConvexInt = pParent->FirstChild("m_convexInternalShapeData");
btAssert(xmlConvexInt);
TiXmlNode* xmlColShape = xmlConvexInt ->FirstChild("m_collisionShapeData");
btAssert(xmlColShape);
deSerializeCollisionShapeData(xmlColShape,&convexHullData->m_convexInternalShapeData.m_collisionShapeData);
SET_FLOAT_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_collisionMargin)
SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_localScaling)
SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_implicitShapeDimensions)
SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsFloatPtr,btVector3FloatData*);
SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsDoublePtr,btVector3DoubleData*);
SET_INT_VALUE(pParent,convexHullData,m_numUnscaledPoints);
m_collisionShapeData.push_back((btCollisionShapeData*)convexHullData);
m_pointerLookup.insert(ptr,convexHullData);
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pParent)
{
int ptr;
btAssert(get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr));
btCompoundShapeChildData* compoundChildData = (btCompoundShapeChildData*) btAlignedAlloc(sizeof(btCompoundShapeChildData),16);
SET_TRANSFORM_VALUE(pParent, compoundChildData,m_transform);
SET_POINTER_VALUE(pParent, *compoundChildData,m_childShape,btCollisionShapeData*);
SET_INT_VALUE(pParent, compoundChildData, m_childShapeType);
SET_FLOAT_VALUE(pParent, compoundChildData, m_childMargin);
m_compoundShapeChildData.push_back(compoundChildData);
m_pointerLookup.insert(ptr,compoundChildData);
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
{
int ptr;
btAssert(get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr));
btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16);
TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData");
btAssert(xmlShapeData );
deSerializeCollisionShapeData(xmlShapeData,&compoundData->m_collisionShapeData);
SET_POINTER_VALUE(pParent, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
SET_INT_VALUE(pParent, compoundData,m_numChildShapes);
SET_FLOAT_VALUE(pParent, compoundData,m_collisionMargin);
m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
m_pointerLookup.insert(ptr,compoundData);
}
void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParent)
{
int ptr;
btAssert(get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr));
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16);
TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData");
btAssert(xmlShapeData );
deSerializeCollisionShapeData(xmlShapeData,&planeData->m_collisionShapeData);
SET_VECTOR4_VALUE(pParent, planeData,m_localScaling);
SET_VECTOR4_VALUE(pParent, planeData,m_planeNormal);
SET_FLOAT_VALUE(pParent, planeData,m_planeConstant);
m_collisionShapeData.push_back((btCollisionShapeData*)planeData);
m_pointerLookup.insert(ptr,planeData);
}
void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pParent)
{
int ptr;
btAssert(get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr));
btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16);
memset(convexShape,0,sizeof(btConvexInternalShapeData));
TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData");
btAssert(xmlShapeData );
deSerializeCollisionShapeData(xmlShapeData,&convexShape->m_collisionShapeData);
SET_FLOAT_VALUE(pParent,convexShape,m_collisionMargin)
SET_VECTOR4_VALUE(pParent,convexShape,m_localScaling)
SET_VECTOR4_VALUE(pParent,convexShape,m_implicitShapeDimensions)
m_collisionShapeData.push_back((btCollisionShapeData*)convexShape);
m_pointerLookup.insert(ptr,convexShape);
}
/*
enum btTypedConstraintType
{
POINT2POINT_CONSTRAINT_TYPE=3,
HINGE_CONSTRAINT_TYPE,
CONETWIST_CONSTRAINT_TYPE,
// D6_CONSTRAINT_TYPE,
SLIDER_CONSTRAINT_TYPE,
CONTACT_CONSTRAINT_TYPE,
D6_SPRING_CONSTRAINT_TYPE,
GEAR_CONSTRAINT_TYPE,
MAX_CONSTRAINT_TYPE
};
*/
void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* pParent)
{
int ptr;
btAssert(get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr));
btGeneric6DofConstraintData* dof6Data = (btGeneric6DofConstraintData*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData),16);
TiXmlNode* n = pParent->FirstChild("m_typeConstraintData");
if (n)
{
SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbA,btRigidBodyFloatData*);
SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbB,btRigidBodyFloatData*);
dof6Data->m_typeConstraintData.m_name = 0;//tbd
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_objectType);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_userConstraintType);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_userConstraintId);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_needsFeedback);
SET_FLOAT_VALUE(n,&dof6Data->m_typeConstraintData,m_appliedImpulse);
SET_FLOAT_VALUE(n,&dof6Data->m_typeConstraintData,m_dbgDrawSize);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_disableCollisionsBetweenLinkedBodies);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_overrideNumSolverIterations);
SET_FLOAT_VALUE(n,&dof6Data->m_typeConstraintData,m_breakingImpulseThreshold);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_isEnabled);
}
SET_TRANSFORM_VALUE( pParent, dof6Data, m_rbAFrame);
SET_TRANSFORM_VALUE( pParent, dof6Data, m_rbBFrame);
SET_VECTOR4_VALUE(pParent, dof6Data, m_linearUpperLimit);
SET_VECTOR4_VALUE(pParent, dof6Data, m_linearLowerLimit);
SET_VECTOR4_VALUE(pParent, dof6Data, m_angularUpperLimit);
SET_VECTOR4_VALUE(pParent, dof6Data, m_angularLowerLimit);
SET_INT_VALUE(pParent, dof6Data,m_useLinearReferenceFrameA);
SET_INT_VALUE(pParent, dof6Data,m_useOffsetForConstraintFrame);
m_constraintData.push_back((btTypedConstraintData*)dof6Data);
m_pointerLookup.insert(ptr,dof6Data);
}
void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
{
int ptr;
btAssert(get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr));
btRigidBodyFloatData* rbData = (btRigidBodyFloatData*)btAlignedAlloc(sizeof(btRigidBodyFloatData),16);
TiXmlNode* n = pParent->FirstChild("m_collisionObjectData");
if (n)
{
SET_POINTER_VALUE(n,rbData->m_collisionObjectData,m_collisionShape, void*);
SET_TRANSFORM_VALUE(n,&rbData->m_collisionObjectData,m_worldTransform);
SET_TRANSFORM_VALUE(n,&rbData->m_collisionObjectData,m_interpolationWorldTransform);
SET_VECTOR4_VALUE(n,&rbData->m_collisionObjectData,m_interpolationLinearVelocity)
SET_VECTOR4_VALUE(n,&rbData->m_collisionObjectData,m_interpolationAngularVelocity)
SET_VECTOR4_VALUE(n,&rbData->m_collisionObjectData,m_anisotropicFriction)
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_contactProcessingThreshold);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_deactivationTime);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_friction);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_restitution);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_hitFraction);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_ccdSweptSphereRadius);
SET_FLOAT_VALUE(n,&rbData->m_collisionObjectData,m_ccdMotionThreshold);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_hasAnisotropicFriction);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_collisionFlags);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_islandTag1);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_companionId);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_activationState1);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_internalType);
SET_INT_VALUE(n,&rbData->m_collisionObjectData,m_checkCollideWith);
}
// SET_VECTOR4_VALUE(pParent,rbData,m_linearVelocity);
SET_MATRIX33_VALUE(pParent,rbData,m_invInertiaTensorWorld);
SET_VECTOR4_VALUE(pParent,rbData,m_linearVelocity)
SET_VECTOR4_VALUE(pParent,rbData,m_angularVelocity)
SET_VECTOR4_VALUE(pParent,rbData,m_angularFactor)
SET_VECTOR4_VALUE(pParent,rbData,m_linearFactor)
SET_VECTOR4_VALUE(pParent,rbData,m_gravity)
SET_VECTOR4_VALUE(pParent,rbData,m_gravity_acceleration )
SET_VECTOR4_VALUE(pParent,rbData,m_invInertiaLocal)
SET_VECTOR4_VALUE(pParent,rbData,m_totalTorque)
SET_VECTOR4_VALUE(pParent,rbData,m_totalForce)
SET_FLOAT_VALUE(pParent,rbData,m_inverseMass);
SET_FLOAT_VALUE(pParent,rbData,m_linearDamping);
SET_FLOAT_VALUE(pParent,rbData,m_angularDamping);
SET_FLOAT_VALUE(pParent,rbData,m_additionalDampingFactor);
SET_FLOAT_VALUE(pParent,rbData,m_additionalLinearDampingThresholdSqr);
SET_FLOAT_VALUE(pParent,rbData,m_additionalAngularDampingThresholdSqr);
SET_FLOAT_VALUE(pParent,rbData,m_additionalAngularDampingFactor);
SET_FLOAT_VALUE(pParent,rbData,m_angularSleepingThreshold);
SET_FLOAT_VALUE(pParent,rbData,m_linearSleepingThreshold);
SET_INT_VALUE(pParent,rbData,m_additionalDamping);
m_rigidBodyData.push_back(rbData);
m_pointerLookup.insert(ptr,rbData);
// rbData->m_collisionObjectData.m_collisionShape = (void*) (int)atof(txt);
}
/*
TETRAHEDRAL_SHAPE_PROXYTYPE,
CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
,
CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
CUSTOM_POLYHEDRAL_SHAPE_TYPE,
//implicit convex shapes
IMPLICIT_CONVEX_SHAPES_START_HERE,
SPHERE_SHAPE_PROXYTYPE,
MULTI_SPHERE_SHAPE_PROXYTYPE,
CAPSULE_SHAPE_PROXYTYPE,
CONE_SHAPE_PROXYTYPE,
CONVEX_SHAPE_PROXYTYPE,
CYLINDER_SHAPE_PROXYTYPE,
UNIFORM_SCALING_SHAPE_PROXYTYPE,
MINKOWSKI_SUM_SHAPE_PROXYTYPE,
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
BOX_2D_SHAPE_PROXYTYPE,
CONVEX_2D_SHAPE_PROXYTYPE,
CUSTOM_CONVEX_SHAPE_TYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
TRIANGLE_MESH_SHAPE_PROXYTYPE,
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
///used for demo integration FAST/Swift collision library and Bullet
FAST_CONCAVE_MESH_PROXYTYPE,
//terrain
TERRAIN_SHAPE_PROXYTYPE,
///Used for GIMPACT Trimesh integration
GIMPACT_SHAPE_PROXYTYPE,
///Multimaterial mesh
MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
,
,
CUSTOM_CONCAVE_SHAPE_TYPE,
CONCAVE_SHAPES_END_HERE,
,
SOFTBODY_SHAPE_PROXYTYPE,
HFFLUID_SHAPE_PROXYTYPE,
HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
INVALID_SHAPE_PROXYTYPE,
MAX_BROADPHASE_COLLISION_TYPES
*/
void btBulletXmlWorldImporter::fixupConstraintData(btTypedConstraintData* tcd)
{
if (tcd->m_rbA)
{
btRigidBodyFloatData** ptrptr = (btRigidBodyFloatData**)m_pointerLookup.find((int)tcd->m_rbA);
btAssert(ptrptr);
tcd->m_rbA = ptrptr? *ptrptr : 0;
}
if (tcd->m_rbB)
{
btRigidBodyFloatData** ptrptr = (btRigidBodyFloatData**)m_pointerLookup.find((int)tcd->m_rbB);
btAssert(ptrptr);
tcd->m_rbB = ptrptr? *ptrptr : 0;
}
}
void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData* shapeData)
{
switch (shapeData->m_shapeType)
{
case COMPOUND_SHAPE_PROXYTYPE:
{
btCompoundShapeData* compound = (btCompoundShapeData*) shapeData;
int ptr = (int) compound->m_childShapePtr;
btCompoundShapeChildData** c = (btCompoundShapeChildData**)m_pointerLookup.find(ptr);
btAssert(c);
if (c)
{
compound->m_childShapePtr = *c;
}
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexHullShapeData* convexData = (btConvexHullShapeData*)shapeData;
int ptr = (int)convexData->m_unscaledPointsFloatPtr;
btVector3FloatData** ptrptr = (btVector3FloatData**)m_pointerLookup.find(ptr);
btAssert(ptrptr);
if (ptrptr)
{
convexData->m_unscaledPointsFloatPtr = *ptrptr;
}
break;
}
case BOX_SHAPE_PROXYTYPE:
case TRIANGLE_SHAPE_PROXYTYPE:
case STATIC_PLANE_PROXYTYPE:
case EMPTY_SHAPE_PROXYTYPE:
break;
default:
{
btAssert(0);
}
}
}
void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pParent)
{
int numChildren = 0;
btAssert(pParent);
if (pParent)
{
TiXmlNode*pChild;
for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling(), numChildren++)
{
// printf("child Name=%s\n", pChild->Value());
if (!stricmp(pChild->Value(),"btVector3FloatData"))
{
int ptr;
btAssert(get_int_attribute_by_name(pChild->ToElement(),"pointer",&ptr));
btAlignedObjectArray<btVector3FloatData> v;
deSerializeVector3FloatData(pChild,v);
int numVectors = v.size();
btVector3FloatData* vectors= (btVector3FloatData*) btAlignedAlloc(sizeof(btVector3FloatData)*numVectors,16);
for (int i=0;i<numVectors;i++)
vectors[i] = v[i];
m_floatVertexArrays.push_back(vectors);
m_pointerLookup.insert(ptr,vectors);
continue;
}
if (!stricmp(pChild->Value(),"btGeneric6DofConstraintData"))
{
deSerializeGeneric6DofConstraintData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btStaticPlaneShapeData"))
{
deSerializeStaticPlaneShapeData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btCompoundShapeData"))
{
deSerializeCompoundShapeData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btCompoundShapeChildData"))
{
deSerializeCompoundShapeChildData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btConvexHullShapeData"))
{
deSerializeConvexHullShapeData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btConvexInternalShapeData"))
{
deSerializeConvexInternalShapeData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btRigidBodyFloatData"))
{
deSerializeRigidBodyFloatData(pChild);
continue;
}
btAssert(0);
}
}
///=================================================================
///fixup pointers in various places, in the right order
//fixup compoundshape child data
for (int i=0;i<m_compoundShapeChildData.size();i++)
{
btCompoundShapeChildData* childData = m_compoundShapeChildData[i];
int hashKey = (int) childData->m_childShape;
btCollisionShapeData** ptrptr = (btCollisionShapeData**)m_pointerLookup[hashKey];
btAssert(ptrptr);
if (ptrptr)
{
childData->m_childShape = *ptrptr;
}
}
///now fixup pointers
for (int i=0;i<m_rigidBodyData.size();i++)
{
btRigidBodyFloatData* rbData = m_rigidBodyData[i];
int hashKey = (int)rbData->m_collisionObjectData.m_collisionShape;
void** ptrptr = m_pointerLookup.find(hashKey);
btAssert(ptrptr);
rbData->m_collisionObjectData.m_broadphaseHandle = 0;
rbData->m_collisionObjectData.m_rootCollisionShape = 0;
rbData->m_collisionObjectData.m_name = 0;//tbd
if (ptrptr)
{
rbData->m_collisionObjectData.m_collisionShape = *ptrptr;
}
}
for (int i=0;i<this->m_collisionShapeData.size();i++)
{
btCollisionShapeData* shapeData = m_collisionShapeData[i];
fixupCollisionDataPointers(shapeData);
}
for (int i=0;i<m_constraintData.size();i++)
{
btTypedConstraintData* tcd = m_constraintData[i];
fixupConstraintData(tcd);
}
///=================================================================
///convert data into Bullet data in the right order
///convert collision shapes
for (int i=0;i<this->m_collisionShapeData.size();i++)
{
btCollisionShapeData* shapeData = m_collisionShapeData[i];
btCollisionShape* shape = convertCollisionShape(shapeData);
if (shape)
{
m_shapeMap.insert(shapeData,shape);
}
if (shape&& shapeData->m_name)
{
char* newname = duplicateName(shapeData->m_name);
m_objectNameMap.insert(shape,newname);
m_nameShapeMap.insert(newname,shape);
}
}
for (int i=0;i<m_rigidBodyData.size();i++)
{
convertRigidBody(m_rigidBodyData[i]);
}
for (int i=0;i<m_constraintData.size();i++)
{
btTypedConstraintData* tcd = m_constraintData[i];
bool isDoublePrecision = false;
btRigidBody* rbA = 0;
btRigidBody* rbB = 0;
{
btCollisionObject** ptrptr = m_bodyMap.find(tcd->m_rbA);
if (ptrptr)
{
rbA = btRigidBody::upcast(*ptrptr);
}
}
{
btCollisionObject** ptrptr = m_bodyMap.find(tcd->m_rbB);
if (ptrptr)
{
rbB = btRigidBody::upcast(*ptrptr);
}
}
if (rbA || rbB)
{
convertConstraint(tcd,rbA,rbB,isDoublePrecision, m_fileVersion);
}
}
}
void btBulletXmlWorldImporter::auto_serialize(TiXmlNode* pParent)
{
// TiXmlElement* root = pParent->FirstChildElement("bullet_physics");
if (pParent)
{
TiXmlNode*pChild;
for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling())
{
if (pChild->Type()==TiXmlNode::TINYXML_ELEMENT)
{
// printf("root Name=%s\n", pChild->Value());
auto_serialize_root_level_children(pChild);
}
}
} else
{
printf("ERROR: no bullet_physics element\n");
}
}
bool btBulletXmlWorldImporter::loadFile(const char* fileName)
{
TiXmlDocument doc(fileName);
bool loadOkay = doc.LoadFile();
//dump_to_stdout(&doc,0);
int fileVersion=-1;
if (get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"version", &m_fileVersion))
{
if (m_fileVersion==281)
{
int itemcount;
assert(get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"itemcount", &itemcount));
auto_serialize(&doc);
}
}
return false;
}

73
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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 BT_BULLET_XML_WORLD_IMPORTER_H
#define BT_BULLET_XML_WORLD_IMPORTER_H
class btDynamicsWorld;
class TiXmlNode;
struct btConvexInternalShapeData;
struct btCollisionShapeData;
struct btRigidBodyFloatData;
struct btTypedConstraintData;
struct btCompoundShapeChildData;
#include "LinearMath/btAlignedObjectArray.h"
#include "btWorldImporter.h"
class btBulletXmlWorldImporter : public btWorldImporter
{
protected:
btAlignedObjectArray<btCollisionShapeData*> m_collisionShapeData;
btAlignedObjectArray<btCompoundShapeChildData*> m_compoundShapeChildData;
btAlignedObjectArray<btRigidBodyFloatData*> m_rigidBodyData;
btAlignedObjectArray<btTypedConstraintData*> m_constraintData;
btHashMap<btHashInt,void*> m_pointerLookup;
int m_fileVersion;
void auto_serialize_root_level_children(TiXmlNode* pParent);
void auto_serialize(TiXmlNode* pParent);
void deSerializeVector3FloatData(TiXmlNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors);
void fixupCollisionDataPointers(btCollisionShapeData* shapeData);
void fixupConstraintData(btTypedConstraintData* tcd);
//collision shapes data
void deSerializeCollisionShapeData(TiXmlNode* pParent,btCollisionShapeData* colShapeData);
void deSerializeConvexInternalShapeData(TiXmlNode* pParent);
void deSerializeStaticPlaneShapeData(TiXmlNode* pParent);
void deSerializeCompoundShapeData(TiXmlNode* pParent);
void deSerializeCompoundShapeChildData(TiXmlNode* pParent);
void deSerializeConvexHullShapeData(TiXmlNode* pParent);
///bodies
void deSerializeRigidBodyFloatData(TiXmlNode* pParent);
///constraints
void deSerializeGeneric6DofConstraintData(TiXmlNode* pParent);
public:
btBulletXmlWorldImporter(btDynamicsWorld* world);
virtual ~btBulletXmlWorldImporter();
bool loadFile(const char* fileName);
};
#endif //BT_BULLET_XML_WORLD_IMPORTER_H

14
Extras/Serialize/BulletXmlWorldImporter/premake4.lua Normal file
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project "BulletXmlWorldImporter"
kind "StaticLib"
targetdir "../../lib"
includedirs {
"../BulletWorldImporter",
"../BulletFileLoader",
"../../../src"
}
files {
"**.cpp",
"**.h"
}

248
Extras/Serialize/BulletXmlWorldImporter/string_split.cpp Normal file
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/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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.
*/
#include <assert.h>
//#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "string_split.h"
namespace bullet_utils
{
void split( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, const std::string& separator)
{
char** strArray = str_split(vector_str.c_str(),separator.c_str());
int numSubStr = str_array_len(strArray);
for (int i=0;i<numSubStr;i++)
pieces.push_back(std::string(strArray[i]));
str_array_free(strArray);
}
};
/* Append an item to a dynamically allocated array of strings. On failure,
return NULL, in which case the original array is intact. The item
string is dynamically copied. If the array is NULL, allocate a new
array. Otherwise, extend the array. Make sure the array is always
NULL-terminated. Input string might not be '\0'-terminated. */
char **str_array_append(char **array, size_t nitems, const char *item,
size_t itemlen)
{
/* Make a dynamic copy of the item. */
char *copy;
if (item == NULL)
copy = NULL;
else {
copy = (char*)malloc(itemlen + 1);
if (copy == NULL)
return NULL;
memcpy(copy, item, itemlen);
copy[itemlen] = '\0';
}
/* Extend array with one element. Except extend it by two elements,
in case it did not yet exist. This might mean it is a teeny bit
too big, but we don't care. */
array = (char**)realloc(array, (nitems + 2) * sizeof(array[0]));
if (array == NULL) {
free(copy);
return NULL;
}
/* Add copy of item to array, and return it. */
array[nitems] = copy;
array[nitems+1] = NULL;
return array;
}
/* Free a dynamic array of dynamic strings. */
void str_array_free(char **array)
{
if (array == NULL)
return;
for (size_t i = 0; array[i] != NULL; ++i)
free(array[i]);
free(array);
}
/* Split a string into substrings. Return dynamic array of dynamically
allocated substrings, or NULL if there was an error. Caller is
expected to free the memory, for example with str_array_free. */
char **str_split(const char *input, const char *sep)
{
size_t nitems = 0;
char **array = NULL;
const char *start = input;
const char *next = strstr(start, sep);
size_t seplen = strlen(sep);
const char *item;
size_t itemlen;
for (;;) {
next = strstr(start, sep);
if (next == NULL) {
/* Add the remaining string (or empty string, if input ends with
separator. */
char **newstr = str_array_append(array, nitems, start, strlen(start));
if (newstr == NULL) {
str_array_free(array);
return NULL;
}
array = newstr;
++nitems;
break;
} else if (next == input) {
/* Input starts with separator. */
item = "";
itemlen = 0;
} else {
item = start;
itemlen = next - item;
}
char **newstr = str_array_append(array, nitems, item, itemlen);
if (newstr == NULL) {
str_array_free(array);
return NULL;
}
array = newstr;
++nitems;
start = next + seplen;
}
if (nitems == 0) {
/* Input does not contain separator at all. */
assert(array == NULL);
array = str_array_append(array, nitems, input, strlen(input));
}
return array;
}
/* Return length of a NULL-delimited array of strings. */
size_t str_array_len(char **array)
{
size_t len;
for (len = 0; array[len] != NULL; ++len)
continue;
return len;
}
#ifdef UNIT_TEST_STRING
#define MAX_OUTPUT 20
int main(void)
{
struct {
const char *input;
const char *sep;
char *output[MAX_OUTPUT];
} tab[] = {
/* Input is empty string. Output should be a list with an empty
string. */
{
"",
"and",
{
"",
NULL,
},
},
/* Input is exactly the separator. Output should be two empty
strings. */
{
"and",
"and",
{
"",
"",
NULL,
},
},
/* Input is non-empty, but does not have separator. Output should
be the same string. */
{
"foo",
"and",
{
"foo",
NULL,
},
},
/* Input is non-empty, and does have separator. */
{
"foo bar 1 and foo bar 2",
" and ",
{
"foo bar 1",
"foo bar 2",
NULL,
},
},
};
const int tab_len = sizeof(tab) / sizeof(tab[0]);
bool errors;
errors = false;
for (int i = 0; i < tab_len; ++i) {
printf("test %d\n", i);
char **output = str_split(tab[i].input, tab[i].sep);
if (output == NULL) {
fprintf(stderr, "output is NULL\n");
errors = true;
break;
}
size_t num_output = str_array_len(output);
printf("num_output %lu\n", (unsigned long) num_output);
size_t num_correct = str_array_len(tab[i].output);
if (num_output != num_correct) {
fprintf(stderr, "wrong number of outputs (%lu, not %lu)\n",
(unsigned long) num_output, (unsigned long) num_correct);
errors = true;
} else {
for (size_t j = 0; j < num_output; ++j) {
if (strcmp(tab[i].output[j], output[j]) != 0) {
fprintf(stderr, "output[%lu] is '%s' not '%s'\n",
(unsigned long) j, output[j], tab[i].output[j]);
errors = true;
break;
}
}
}
str_array_free(output);
printf("\n");
}
if (errors)
return EXIT_FAILURE;
return 0;
}
#endif//

49
Extras/Serialize/BulletXmlWorldImporter/string_split.h Normal file
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@@ -0,0 +1,49 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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.
*/
///The string split C code is by Lars Wirzenius
///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
#ifndef STRING_SPLIT_H
#define STRING_SPLIT_H
#include <cstring>
#include "LinearMath/btAlignedObjectArray.h"
#include <string>
namespace bullet_utils
{
void split( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, const std::string& separator);
};
///The string split C code is by Lars Wirzenius
///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
/* Split a string into substrings. Return dynamic array of dynamically
allocated substrings, or NULL if there was an error. Caller is
expected to free the memory, for example with str_array_free. */
char** str_split(const char* input, const char* sep);
/* Free a dynamic array of dynamic strings. */
void str_array_free(char** array);
/* Return length of a NULL-delimited array of strings. */
size_t str_array_len(char** array);
#endif //STRING_SPLIT_H

111
Extras/Serialize/BulletXmlWorldImporter/tinystr.cpp Normal file
View File

@@ -0,0 +1,111 @@
/*
www.sourceforge.net/projects/tinyxml
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 TIXML_USE_STL
#include "tinystr.h"
// Error value for find primitive
const TiXmlString::size_type TiXmlString::npos = static_cast< TiXmlString::size_type >(-1);
// Null rep.
TiXmlString::Rep TiXmlString::nullrep_ = { 0, 0, { '\0' } };
void TiXmlString::reserve (size_type cap)
{
if (cap > capacity())
{
TiXmlString tmp;
tmp.init(length(), cap);
memcpy(tmp.start(), data(), length());
swap(tmp);
}
}
TiXmlString& TiXmlString::assign(const char* str, size_type len)
{
size_type cap = capacity();
if (len > cap || cap > 3*(len + 8))
{
TiXmlString tmp;
tmp.init(len);
memcpy(tmp.start(), str, len);
swap(tmp);
}
else
{
memmove(start(), str, len);
set_size(len);
}
return *this;
}
TiXmlString& TiXmlString::append(const char* str, size_type len)
{
size_type newsize = length() + len;
if (newsize > capacity())
{
reserve (newsize + capacity());
}
memmove(finish(), str, len);
set_size(newsize);
return *this;
}
TiXmlString operator + (const TiXmlString & a, const TiXmlString & b)
{
TiXmlString tmp;
tmp.reserve(a.length() + b.length());
tmp += a;
tmp += b;
return tmp;
}
TiXmlString operator + (const TiXmlString & a, const char* b)
{
TiXmlString tmp;
TiXmlString::size_type b_len = static_cast<TiXmlString::size_type>( strlen(b) );
tmp.reserve(a.length() + b_len);
tmp += a;
tmp.append(b, b_len);
return tmp;
}
TiXmlString operator + (const char* a, const TiXmlString & b)
{
TiXmlString tmp;
TiXmlString::size_type a_len = static_cast<TiXmlString::size_type>( strlen(a) );
tmp.reserve(a_len + b.length());
tmp.append(a, a_len);
tmp += b;
return tmp;
}
#endif // TIXML_USE_STL

305
Extras/Serialize/BulletXmlWorldImporter/tinystr.h Normal file
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@@ -0,0 +1,305 @@
/*
www.sourceforge.net/projects/tinyxml
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 TIXML_USE_STL
#ifndef TIXML_STRING_INCLUDED
#define TIXML_STRING_INCLUDED
#include <assert.h>
#include <string.h>
/* The support for explicit isn't that universal, and it isn't really
required - it is used to check that the TiXmlString class isn't incorrectly
used. Be nice to old compilers and macro it here:
*/
#if defined(_MSC_VER) && (_MSC_VER >= 1200 )
// Microsoft visual studio, version 6 and higher.
#define TIXML_EXPLICIT explicit
#elif defined(__GNUC__) && (__GNUC__ >= 3 )
// GCC version 3 and higher.s
#define TIXML_EXPLICIT explicit
#else
#define TIXML_EXPLICIT
#endif
/*
TiXmlString is an emulation of a subset of the std::string template.
Its purpose is to allow compiling TinyXML on compilers with no or poor STL support.
Only the member functions relevant to the TinyXML project have been implemented.
The buffer allocation is made by a simplistic power of 2 like mechanism : if we increase
a string and there's no more room, we allocate a buffer twice as big as we need.
*/
class TiXmlString
{
public :
// The size type used
typedef size_t size_type;
// Error value for find primitive
static const size_type npos; // = -1;
// TiXmlString empty constructor
TiXmlString () : rep_(&nullrep_)
{
}
// TiXmlString copy constructor
TiXmlString ( const TiXmlString & copy) : rep_(0)
{
init(copy.length());
memcpy(start(), copy.data(), length());
}
// TiXmlString constructor, based on a string
TIXML_EXPLICIT TiXmlString ( const char * copy) : rep_(0)
{
init( static_cast<size_type>( strlen(copy) ));
memcpy(start(), copy, length());
}
// TiXmlString constructor, based on a string
TIXML_EXPLICIT TiXmlString ( const char * str, size_type len) : rep_(0)
{
init(len);
memcpy(start(), str, len);
}
// TiXmlString destructor
~TiXmlString ()
{
quit();
}
TiXmlString& operator = (const char * copy)
{
return assign( copy, (size_type)strlen(copy));
}
TiXmlString& operator = (const TiXmlString & copy)
{
return assign(copy.start(), copy.length());
}
// += operator. Maps to append
TiXmlString& operator += (const char * suffix)
{
return append(suffix, static_cast<size_type>( strlen(suffix) ));
}
// += operator. Maps to append
TiXmlString& operator += (char single)
{
return append(&single, 1);
}
// += operator. Maps to append
TiXmlString& operator += (const TiXmlString & suffix)
{
return append(suffix.data(), suffix.length());
}
// Convert a TiXmlString into a null-terminated char *
const char * c_str () const { return rep_->str; }
// Convert a TiXmlString into a char * (need not be null terminated).
const char * data () const { return rep_->str; }
// Return the length of a TiXmlString
size_type length () const { return rep_->size; }
// Alias for length()
size_type size () const { return rep_->size; }
// Checks if a TiXmlString is empty
bool empty () const { return rep_->size == 0; }
// Return capacity of string
size_type capacity () const { return rep_->capacity; }
// single char extraction
const char& at (size_type index) const
{
assert( index < length() );
return rep_->str[ index ];
}
// [] operator
char& operator [] (size_type index) const
{
assert( index < length() );
return rep_->str[ index ];
}
// find a char in a string. Return TiXmlString::npos if not found
size_type find (char lookup) const
{
return find(lookup, 0);
}
// find a char in a string from an offset. Return TiXmlString::npos if not found
size_type find (char tofind, size_type offset) const
{
if (offset >= length()) return npos;
for (const char* p = c_str() + offset; *p != '\0'; ++p)
{
if (*p == tofind) return static_cast< size_type >( p - c_str() );
}
return npos;
}
void clear ()
{
//Lee:
//The original was just too strange, though correct:
// TiXmlString().swap(*this);
//Instead use the quit & re-init:
quit();
init(0,0);
}
/* Function to reserve a big amount of data when we know we'll need it. Be aware that this
function DOES NOT clear the content of the TiXmlString if any exists.
*/
void reserve (size_type cap);
TiXmlString& assign (const char* str, size_type len);
TiXmlString& append (const char* str, size_type len);
void swap (TiXmlString& other)
{
Rep* r = rep_;
rep_ = other.rep_;
other.rep_ = r;
}
private:
void init(size_type sz) { init(sz, sz); }
void set_size(size_type sz) { rep_->str[ rep_->size = sz ] = '\0'; }
char* start() const { return rep_->str; }
char* finish() const { return rep_->str + rep_->size; }
struct Rep
{
size_type size, capacity;
char str[1];
};
void init(size_type sz, size_type cap)
{
if (cap)
{
// Lee: the original form:
// rep_ = static_cast<Rep*>(operator new(sizeof(Rep) + cap));
// doesn't work in some cases of new being overloaded. Switching
// to the normal allocation, although use an 'int' for systems
// that are overly picky about structure alignment.
const size_type bytesNeeded = sizeof(Rep) + cap;
const size_type intsNeeded = ( bytesNeeded + sizeof(int) - 1 ) / sizeof( int );
rep_ = reinterpret_cast<Rep*>( new int[ intsNeeded ] );
rep_->str[ rep_->size = sz ] = '\0';
rep_->capacity = cap;
}
else
{
rep_ = &nullrep_;
}
}
void quit()
{
if (rep_ != &nullrep_)
{
// The rep_ is really an array of ints. (see the allocator, above).
// Cast it back before delete, so the compiler won't incorrectly call destructors.
delete [] ( reinterpret_cast<int*>( rep_ ) );
}
}
Rep * rep_;
static Rep nullrep_;
} ;
inline bool operator == (const TiXmlString & a, const TiXmlString & b)
{
return ( a.length() == b.length() ) // optimization on some platforms
&& ( strcmp(a.c_str(), b.c_str()) == 0 ); // actual compare
}
inline bool operator < (const TiXmlString & a, const TiXmlString & b)
{
return strcmp(a.c_str(), b.c_str()) < 0;
}
inline bool operator != (const TiXmlString & a, const TiXmlString & b) { return !(a == b); }
inline bool operator > (const TiXmlString & a, const TiXmlString & b) { return b < a; }
inline bool operator <= (const TiXmlString & a, const TiXmlString & b) { return !(b < a); }
inline bool operator >= (const TiXmlString & a, const TiXmlString & b) { return !(a < b); }
inline bool operator == (const TiXmlString & a, const char* b) { return strcmp(a.c_str(), b) == 0; }
inline bool operator == (const char* a, const TiXmlString & b) { return b == a; }
inline bool operator != (const TiXmlString & a, const char* b) { return !(a == b); }
inline bool operator != (const char* a, const TiXmlString & b) { return !(b == a); }
TiXmlString operator + (const TiXmlString & a, const TiXmlString & b);
TiXmlString operator + (const TiXmlString & a, const char* b);
TiXmlString operator + (const char* a, const TiXmlString & b);
/*
TiXmlOutStream is an emulation of std::ostream. It is based on TiXmlString.
Only the operators that we need for TinyXML have been developped.
*/
class TiXmlOutStream : public TiXmlString
{
public :
// TiXmlOutStream << operator.
TiXmlOutStream & operator << (const TiXmlString & in)
{
*this += in;
return *this;
}
// TiXmlOutStream << operator.
TiXmlOutStream & operator << (const char * in)
{
*this += in;
return *this;
}
} ;
#endif // TIXML_STRING_INCLUDED
#endif // TIXML_USE_STL

1886
Extras/Serialize/BulletXmlWorldImporter/tinyxml.cpp Normal file
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1805
Extras/Serialize/BulletXmlWorldImporter/tinyxml.h Normal file
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52
Extras/Serialize/BulletXmlWorldImporter/tinyxmlerror.cpp Normal file
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@@ -0,0 +1,52 @@
/*
www.sourceforge.net/projects/tinyxml
Original code (2.0 and earlier )copyright (c) 2000-2006 Lee Thomason (www.grinninglizard.com)
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.
*/
#include "tinyxml.h"
// The goal of the seperate error file is to make the first
// step towards localization. tinyxml (currently) only supports
// english error messages, but the could now be translated.
//
// It also cleans up the code a bit.
//
const char* TiXmlBase::errorString[ TiXmlBase::TIXML_ERROR_STRING_COUNT ] =
{
"No error",
"Error",
"Failed to open file",
"Error parsing Element.",
"Failed to read Element name",
"Error reading Element value.",
"Error reading Attributes.",
"Error: empty tag.",
"Error reading end tag.",
"Error parsing Unknown.",
"Error parsing Comment.",
"Error parsing Declaration.",
"Error document empty.",
"Error null (0) or unexpected EOF found in input stream.",
"Error parsing CDATA.",
"Error when TiXmlDocument added to document, because TiXmlDocument can only be at the root.",
};

1638
Extras/Serialize/BulletXmlWorldImporter/tinyxmlparser.cpp Normal file
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File diff suppressed because it is too large Load Diff

4
Extras/Serialize/CMakeLists.txt
View File

@@ -10,11 +10,11 @@ IF(INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
# makesdna can re-generate the binary DNA representing the Bullet serialization structures
# Be very careful modifying any of this, otherwise the .bullet format becomes incompatible
SUBDIRS ( BulletFileLoader BulletWorldImporter HeaderGenerator makesdna)
SUBDIRS ( BulletFileLoader BulletXmlWorldImporter BulletWorldImporter HeaderGenerator makesdna)
ELSE(INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
SUBDIRS ( BulletFileLoader BulletWorldImporter )
SUBDIRS ( BulletFileLoader BulletXmlWorldImporter BulletWorldImporter )
ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)

56
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.cpp
View File

@@ -900,36 +900,40 @@ btScalar btSequentialImpulseConstraintSolver::solveGroupCacheFriendlySetup(btCol
m_maxOverrideNumSolverIterations = 0;
#ifdef BT_DEBUG
//make sure that dynamic bodies exist for all (enabled) constraints
for (int i=0;i<numConstraints;i++)
{
btTypedConstraint* constraint = constraints[i];
if (!constraint->getRigidBodyA().isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (constraint->isEnabled())
{
if (!constraint->getRigidBodyA().isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (&constraint->getRigidBodyA()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
if (!constraint->getRigidBodyB().isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (&constraint->getRigidBodyB()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
if (&constraint->getRigidBodyA()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
if (!constraint->getRigidBodyB().isStaticOrKinematicObject())
{
bool found=false;
for (int b=0;b<numBodies;b++)
{
if (&constraint->getRigidBodyB()==bodies[b])
{
found = true;
break;
}
}
btAssert(found);
}
}
}
//make sure that dynamic bodies exist for all contact manifolds
for (int i=0;i<numManifolds;i++)