COLLADA import, avoided some crashes, improved <convex_mesh> support

Demos/ColladaDemo/ColladaDemo.cpp

@@ -1239,7 +1239,7 @@ int main(int argc,char** argv)
 													daeElement* geomElem = geomInstRef->getUrl().getElement();
 													//elemRef->getTypeName();
 													domGeometry* geom = (domGeometry*) geomElem;
-													if (geom->getMesh())
+													if (geom && geom->getMesh())
 													{
 														const domMeshRef meshRef = geom->getMesh();
 														TriangleIndexVertexArray* tindexArray = new TriangleIndexVertexArray();
@@ -1354,7 +1354,7 @@ int main(int argc,char** argv)
 
 													}
 
-													if (geom->getConvex_mesh())
+													if (geom && geom->getConvex_mesh())
 													{
 
 														{
@@ -1382,6 +1382,8 @@ int main(int argc,char** argv)
 														const domConvex_meshRef convexRef = geom->getConvex_mesh();
 														//daeString urlref = convexRef->getConvex_hull_of().getURI();
 														daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI();
+														if (urlref2)
+														{
 															daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
 															//	if ( otherElemRef != NULL )
 															//	{
@@ -1446,8 +1448,51 @@ int main(int argc,char** argv)
 																		
 																	
 																}
+															}
 
 
+														} else
+														{
+															//no getConvex_hull_of but direct vertices
+															const domVerticesRef vertsRef = convexRef->getVertices();
+															int numInputs = vertsRef->getInput_array().getCount();
+															for (int i=0;i<numInputs;i++)
+															{
+																domInputLocalRef localRef = vertsRef->getInput_array()[i];
+																daeString str = localRef->getSemantic();
+																if ( !strcmp(str,"POSITION"))
+																{
+																	const domURIFragmentType& frag = localRef->getSource();
+
+																	daeElementConstRef constElem = frag.getElement();
+
+																	const domSourceRef node = *(const domSourceRef*)&constElem;
+																	const domFloat_arrayRef flArray = node->getFloat_array();
+																	if (flArray)
+																	{
+																		int numElem = flArray->getCount();
+																		const domListOfFloats& listFloats = flArray->getValue();
+
+																		for (int k=0;k+2<numElem;k+=3)
+																		{
+																			domFloat fl0 = listFloats.get(k);
+																			domFloat fl1 = listFloats.get(k+1);
+																			domFloat fl2 = listFloats.get(k+2);
+																			//printf("float %f %f %f\n",fl0,fl1,fl2);
+
+																			convexHullShape->AddPoint(SimdPoint3(fl0,fl1,fl2));
+																		}
+
+																	}
+
+																}
+
+
+															}
+
+
+														}
+
 														if (convexHullShape->GetNumVertices())
 														{
 															colShape = convexHullShape;
@@ -1459,10 +1504,6 @@ int main(int argc,char** argv)
 														}
 
 
-
-														}
-
-
 														//domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
 
 														printf("convexmesh\n");
@@ -1566,7 +1607,6 @@ int main(int argc,char** argv)
 											char* bodyName = (char*)physObjects[i]->getNewClientInfo();
 											if (!strcmp(bodyName,orgUri0))
 											{
-												printf("found\n");
 												ctrl0=physObjects[i];
 											}
 											if (!strcmp(bodyName,orgUri1))
@@ -1658,6 +1698,8 @@ int main(int argc,char** argv)
 											}
 
 
+											if (ctrl0 && ctrl1)
+											{
 											constraintId =physicsEnvironmentPtr->createUniversalD6Constraint(
 											ctrl0,
 											ctrl1,
@@ -1668,6 +1710,10 @@ int main(int argc,char** argv)
 											angularLowerLimits,
 											angularUpperLimits
 												);
+											} else
+											{
+												printf("Error: Cannot find Rigidbodies(%s,%s) for constraint %s\n",orgUri0,orgUri1,constraintName);
+											}
 
 
 										}