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