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disable help text by default in AllBulletDemos (text slows down many graphics cards)

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improve CollisionDemo.cpp, show multi-contact generation using perturbation
improve ColladaConverter: add hinge/point 2 point constraint conversion support, add btScaledTriangleMeshShape support
Fix Dynamica MayaPlygin: remove 'active' flag, it has to be replaced by mass=0 for active, mass<>0 for passive
Added missing projectfiles
Fixed single-shot contact generation. it is disabled by default to improve performance
Bugfixes for character controller, thanks to John McCutchan for reporting
Constraint solver: better default settings
btDefaultAllocator: aligned allocator uses non-aligned allocator (instead of directly malloc/free)
disable memalign by default, use Bullet's aligned allocator
This commit is contained in:
erwin.coumans
2009-02-06 03:20:43 +00:00
parent 328116d015
commit 2162f6663d
34 changed files with 4029 additions and 239 deletions
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178
Extras/BulletColladaConverter/ColladaConverter.cpp
View File

@@ -26,7 +26,7 @@ subject to the following restrictions:
#include <string>
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#include "BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include "BulletCollision/CollisionShapes/btSphereShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
@@ -274,6 +274,40 @@ void ColladaConverter::reset ()
m_dom = NULL;
}
void ColladaConverter::setCameraInfo(const btVector3& upAxis,int forwardAxis)
{
if (!instantiateDom ())
{
return;
}
domAsset::domUp_axis * up = m_dom->getAsset()->getUp_axis();
int upAxisIndex = upAxis.maxAxis();
switch (upAxisIndex)
{
case 0:
{
up->setValue(UPAXISTYPE_X_UP);
break;
}
case 1:
{
up->setValue(UPAXISTYPE_Y_UP);
break;
}
case 2:
{
up->setValue(UPAXISTYPE_Z_UP);
break;
}
default:
{
}
};
}
bool ColladaConverter::convert()
{
@@ -1515,6 +1549,16 @@ void ColladaConverter::addConvexMesh (btCollisionShape* shape, const char* nodeN
printf("ERROR: Unsupported.\n");
}
void ColladaConverter::addScaledConcaveMesh(btCollisionShape* shape, const char* nodeName)
{
btScaledBvhTriangleMeshShape* scaledShape = (btScaledBvhTriangleMeshShape*)shape;
btBvhTriangleMeshShape* meshShape = scaledShape->getChildShape();
btStridingMeshInterface* meshInterface = meshShape->getMeshInterface ();
addConcaveMeshInternal(meshInterface,nodeName);
}
void ColladaConverter::addConcaveMesh(btCollisionShape* shape, const char* nodeName)
{
btTriangleMeshShape* meshShape = (btTriangleMeshShape*)shape;
@@ -1560,8 +1604,11 @@ void ColladaConverter::addConcaveMeshInternal(btStridingMeshInterface* meshInter
geo->setId( nodeName );
geo->setName ( nodeName);
printf("numSubParts = \n",meshInterface->getNumSubParts ());
for (int i = 0; i < meshInterface->getNumSubParts (); i++)
{
domMesh *mesh = daeSafeCast<domMesh>( geo->createAndPlace( COLLADA_ELEMENT_MESH ) );
if ( mesh == NULL )
@@ -1581,6 +1628,12 @@ void ColladaConverter::addConcaveMeshInternal(btStridingMeshInterface* meshInter
meshInterface->getLockedReadOnlyVertexIndexBase (&vertexBase, numVerts, vertexType, vertexStride, &indexBase, indexStride, numFaces, indexType, i);
printf("meshInterface subpart[%d].numVerts = %d\n",i,numVerts);
printf("meshInterface subpart[%d].numFaces = %d\n",i,numFaces);
printf("meshInterface subpart[%d].indexType= %d\n",i,indexType);
btAssert (vertexBase);
btAssert (indexBase);
btAssert (vertexType == PHY_FLOAT);
@@ -1820,6 +1873,15 @@ void ColladaConverter::buildShapeNew (btCollisionShape* shape, void* domTechniqu
}
break;
case SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
addScaledConcaveMesh (shape, shapeName);
char shapeURL[512];
snprintf(&shapeURL[0], 512, "#%s", shapeName);
domInstance_geometry* gi = (domInstance_geometry*)colladaShape->createAndPlace (COLLADA_ELEMENT_INSTANCE_GEOMETRY);
gi->setUrl (shapeURL);
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
addConcaveMesh (shape, shapeName);
@@ -1934,9 +1996,58 @@ domNode* ColladaConverter::addNode (btRigidBody* rb, const char* nodeName, const
}
domRigid_constraint* ColladaConverter::addConstraint (btTypedConstraint* constraint, const char* constraintName)
domRigid_constraint* ColladaConverter::addConstraint (btTypedConstraint* originalConstraint, const char* constraintName)
{
if (constraint->getConstraintType() != D6_CONSTRAINT_TYPE)
btGeneric6DofConstraint* constraint = 0;
btGeneric6DofConstraint* tmpConstraint = 0;
switch (originalConstraint->getConstraintType())
{
case D6_CONSTRAINT_TYPE:
{
constraint = (btGeneric6DofConstraint*)originalConstraint;
break;
}
case POINT2POINT_CONSTRAINT_TYPE:
{
btPoint2PointConstraint* p2p = (btPoint2PointConstraint*) originalConstraint;
bool useLinearReferenceFrameA = true;
btTransform frameA,frameB;
frameA.setIdentity();
frameB.setIdentity();
frameA.setOrigin(p2p->getPivotInA());
frameB.setOrigin(p2p->getPivotInB());
tmpConstraint = new btGeneric6DofConstraint(p2p->getRigidBodyA(),p2p->getRigidBodyB(),frameA,frameB,useLinearReferenceFrameA);
tmpConstraint->setLinearLowerLimit(btVector3(0,0,0));
tmpConstraint->setLinearUpperLimit(btVector3(0,0,0));
constraint = tmpConstraint;
break;
}
case HINGE_CONSTRAINT_TYPE:
{
btHingeConstraint* hinge = (btHingeConstraint*)originalConstraint;
bool useLinearReferenceFrameA = true;
btTransform frameB = hinge->getBFrame();//todo: remove this flipping
frameB.getBasis()[0][2] *= btScalar(-1.);
frameB.getBasis()[1][2] *= btScalar(-1.);
frameB.getBasis()[2][2] *= btScalar(-1.);
tmpConstraint = new btGeneric6DofConstraint(hinge->getRigidBodyA(),hinge->getRigidBodyB(),hinge->getAFrame(),frameB,useLinearReferenceFrameA);
tmpConstraint->setLinearLowerLimit(btVector3(0,0,0));
tmpConstraint->setLinearUpperLimit(btVector3(0,0,0));
tmpConstraint->setAngularLowerLimit(btVector3(0,0,1));
tmpConstraint->setAngularUpperLimit(btVector3(0,0,-1));//max<min means free (not limited)
constraint = tmpConstraint;
break;
}
default:
{
}
};
//convert non-6DOF constraints into a 6DOF
if (!constraint || (constraint->getConstraintType() != D6_CONSTRAINT_TYPE))
return NULL;
btGeneric6DofConstraint* g6c = (btGeneric6DofConstraint*)constraint;
@@ -2085,6 +2196,8 @@ domRigid_constraint* ColladaConverter::addConstraint (btTypedConstraint* constra
max->getValue().set (1, limit->m_upperLimit[1]);
max->getValue().set (2, limit->m_upperLimit[2]);
}
if (tmpConstraint)
delete tmpConstraint;
return domRigidConstraint;
}
@@ -2388,15 +2501,15 @@ void ColladaConverter::syncOrAddGeometry (btCollisionShape* shape, const char* n
void ColladaConverter::syncOrAddRigidBody (btRigidBody* body)
{
domNodeRef node = findNode (body);
domNodeRef nodeRef = findNode (body);
domLibrary_geometriesRef geomLib = getDefaultGeomLib ();
static int random_node_name_key = 0;
if (node != NULL)
if (nodeRef != NULL)
{
updateRigidBodyPosition (body, node);
updateRigidBodyPosition (body, nodeRef);
updateRigidBodyVelocity (body);
printf("Updating %s in the COLLADA DOM.\n", node->getId() ? node->getId() : "");
printf("Updating %s in the COLLADA DOM.\n", nodeRef->getId() ? nodeRef->getId() : "");
} else {
/* This is a new body. */
const char* shapeName = NULL;
@@ -2428,19 +2541,9 @@ void ColladaConverter::syncOrAddRigidBody (btRigidBody* body)
shapeName = &shapeNameGen[0];
}
if (shape->getShapeType () == TRIANGLE_MESH_SHAPE_PROXYTYPE) {
addConcaveMesh (shape, shapeName);
} else if (shape->getShapeType () == GIMPACT_SHAPE_PROXYTYPE)
{
addGimpactMesh (shape, shapeName);
} else if (!shape->isConvex () && !shape->isCompound() && (shape->getShapeType()!=STATIC_PLANE_PROXYTYPE)) {
printf("Unknown shape type. %d Skipping rigidbody.\n", shape->getShapeType());
return;
}
printf("Adding %s to COLLADA DOM.\n", nodeName);
switch (shape->getShapeType())
{
case STATIC_PLANE_PROXYTYPE:
@@ -2455,12 +2558,49 @@ void ColladaConverter::syncOrAddRigidBody (btRigidBody* body)
dNode = addNode (body, nodeName, concaveShapeName);
break;
}
case SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
addScaledConcaveMesh (shape, shapeName);
btScaledBvhTriangleMeshShape* scaledShape = (btScaledBvhTriangleMeshShape*)shape;
dNode = addNode (body, nodeName, shapeName);
//add scaling
domScale* scale= (domScale*)dNode->createAndPlace (COLLADA_ELEMENT_SCALE);
{
btVector3 localScaling = scaledShape->getLocalScaling();
scale->getValue().append(localScaling[0]);
scale->getValue().append(localScaling[1]);
scale->getValue().append(localScaling[2]);
}
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
addConcaveMesh (shape, shapeName);
dNode = addNode (body, nodeName, shapeName);
break;
}
case GIMPACT_SHAPE_PROXYTYPE:
{
addGimpactMesh (shape, shapeName);
dNode = addNode (body, nodeName, shapeName);
break;
}
default:
{
if (!shape->isConvex () && !shape->isCompound() && (shape->getShapeType()!=STATIC_PLANE_PROXYTYPE))
{
printf("Unknown shape type. %d Skipping rigidbody.\n", shape->getShapeType());
return;
}
dNode = addNode (body, nodeName, shapeName);
}
};
};
addMaterial (body, nodeName);
dRigidBody = addRigidBody (body, nodeName, shapeName);

5
Extras/BulletColladaConverter/ColladaConverter.h
View File

@@ -141,6 +141,7 @@ protected:
void addConvexHull (btCollisionShape* shape, const char* nodeName);
void addConvexMesh (btCollisionShape* shape, const char* nodeName);
void addConcaveMesh(btCollisionShape* shape, const char* nodeName);
void addScaledConcaveMesh(btCollisionShape* shape, const char* nodeName);
void addGimpactMesh(btCollisionShape* shape, const char* nodeName);
void addConcaveMeshInternal(class btStridingMeshInterface* meshInterface , const char* nodeName);
@@ -220,9 +221,7 @@ public:
virtual btTypedConstraint* getConstraint (int i);
virtual void setGravity(const btVector3& gravity);
virtual btVector3 getGravity ();
virtual void setCameraInfo(const btVector3& up, int forwardAxis)
{
};
virtual void setCameraInfo(const btVector3& up, int forwardAxis);
virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);