add the 'extras' and Bullet 2 tests, to make it easier to create a new intermediate release
This commit is contained in:
erwin coumans
40
Extras/Serialize/BulletWorldImporter/CMakeLists.txt
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40
Extras/Serialize/BulletWorldImporter/CMakeLists.txt
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@@ -0,0 +1,40 @@
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INCLUDE_DIRECTORIES(
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${BULLET_PHYSICS_SOURCE_DIR}/src
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${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
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)
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ADD_LIBRARY(
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BulletWorldImporter
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btBulletWorldImporter.cpp
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btBulletWorldImporter.h
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btWorldImporter.cpp
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btWorldImporter.h
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)
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SET_TARGET_PROPERTIES(BulletWorldImporter PROPERTIES VERSION ${BULLET_VERSION})
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SET_TARGET_PROPERTIES(BulletWorldImporter PROPERTIES SOVERSION ${BULLET_VERSION})
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IF (BUILD_SHARED_LIBS)
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TARGET_LINK_LIBRARIES(BulletWorldImporter BulletDynamics BulletCollision BulletFileLoader LinearMath)
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ENDIF (BUILD_SHARED_LIBS)
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IF (INSTALL_EXTRA_LIBS)
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IF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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#FILES_MATCHING requires CMake 2.6
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IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletWorldImporter DESTINATION .)
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ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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INSTALL(TARGETS BulletWorldImporter DESTINATION lib${LIB_SUFFIX})
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INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
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DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
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".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
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IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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SET_TARGET_PROPERTIES(BulletWorldImporter PROPERTIES FRAMEWORK true)
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SET_TARGET_PROPERTIES(BulletWorldImporter PROPERTIES PUBLIC_HEADER "btBulletWorldImporter.h")
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ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
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ENDIF (NOT INTERNAL_CREATE_DISTRIBUTABLE_MSVC_PROJECTFILES)
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ENDIF (INSTALL_EXTRA_LIBS)
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362
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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362
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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@@ -0,0 +1,362 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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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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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "btBulletWorldImporter.h"
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#include "../BulletFileLoader/btBulletFile.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/Gimpact/btGImpactShape.h"
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//#define USE_INTERNAL_EDGE_UTILITY
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#ifdef USE_INTERNAL_EDGE_UTILITY
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#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
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#endif //USE_INTERNAL_EDGE_UTILITY
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btBulletWorldImporter::btBulletWorldImporter(btDynamicsWorld* world)
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:btWorldImporter(world)
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{
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}
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btBulletWorldImporter::~btBulletWorldImporter()
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{
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}
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bool btBulletWorldImporter::loadFile( const char* fileName, const char* preSwapFilenameOut)
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{
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bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
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bool result = loadFileFromMemory(bulletFile2);
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//now you could save the file in 'native' format using
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//bulletFile2->writeFile("native.bullet");
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if (result)
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{
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if (preSwapFilenameOut)
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{
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bulletFile2->preSwap();
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bulletFile2->writeFile(preSwapFilenameOut);
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}
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}
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delete bulletFile2;
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return result;
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}
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bool btBulletWorldImporter::loadFileFromMemory( char* memoryBuffer, int len)
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{
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bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(memoryBuffer,len);
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bool result = loadFileFromMemory(bulletFile2);
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delete bulletFile2;
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return result;
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}
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bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
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{
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bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
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if (ok)
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bulletFile2->parse(m_verboseMode);
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else
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return false;
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if (m_verboseMode & bParse::FD_VERBOSE_DUMP_CHUNKS)
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{
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bulletFile2->dumpChunks(bulletFile2->getFileDNA());
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}
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return convertAllObjects(bulletFile2);
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}
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bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
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{
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m_shapeMap.clear();
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m_bodyMap.clear();
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int i;
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for (i=0;i<bulletFile2->m_bvhs.size();i++)
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{
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btOptimizedBvh* bvh = createOptimizedBvh();
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if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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{
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btQuantizedBvhDoubleData* bvhData = (btQuantizedBvhDoubleData*)bulletFile2->m_bvhs[i];
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bvh->deSerializeDouble(*bvhData);
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} else
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{
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btQuantizedBvhFloatData* bvhData = (btQuantizedBvhFloatData*)bulletFile2->m_bvhs[i];
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bvh->deSerializeFloat(*bvhData);
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}
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m_bvhMap.insert(bulletFile2->m_bvhs[i],bvh);
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}
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for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
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{
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btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
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btCollisionShape* shape = convertCollisionShape(shapeData);
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if (shape)
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{
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// printf("shapeMap.insert(%x,%x)\n",shapeData,shape);
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m_shapeMap.insert(shapeData,shape);
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}
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if (shape&& shapeData->m_name)
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{
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char* newname = duplicateName(shapeData->m_name);
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m_objectNameMap.insert(shape,newname);
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m_nameShapeMap.insert(newname,shape);
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}
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}
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for (int i=0;i<bulletFile2->m_dynamicsWorldInfo.size();i++)
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{
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if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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{
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btDynamicsWorldDoubleData* solverInfoData = (btDynamicsWorldDoubleData*)bulletFile2->m_dynamicsWorldInfo[i];
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btContactSolverInfo solverInfo;
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btVector3 gravity;
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gravity.deSerializeDouble(solverInfoData->m_gravity);
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solverInfo.m_tau = btScalar(solverInfoData->m_solverInfo.m_tau);
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solverInfo.m_damping = btScalar(solverInfoData->m_solverInfo.m_damping);
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solverInfo.m_friction = btScalar(solverInfoData->m_solverInfo.m_friction);
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solverInfo.m_timeStep = btScalar(solverInfoData->m_solverInfo.m_timeStep);
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solverInfo.m_restitution = btScalar(solverInfoData->m_solverInfo.m_restitution);
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solverInfo.m_maxErrorReduction = btScalar(solverInfoData->m_solverInfo.m_maxErrorReduction);
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solverInfo.m_sor = btScalar(solverInfoData->m_solverInfo.m_sor);
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solverInfo.m_erp = btScalar(solverInfoData->m_solverInfo.m_erp);
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solverInfo.m_erp2 = btScalar(solverInfoData->m_solverInfo.m_erp2);
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solverInfo.m_globalCfm = btScalar(solverInfoData->m_solverInfo.m_globalCfm);
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solverInfo.m_splitImpulsePenetrationThreshold = btScalar(solverInfoData->m_solverInfo.m_splitImpulsePenetrationThreshold);
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solverInfo.m_splitImpulseTurnErp = btScalar(solverInfoData->m_solverInfo.m_splitImpulseTurnErp);
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solverInfo.m_linearSlop = btScalar(solverInfoData->m_solverInfo.m_linearSlop);
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solverInfo.m_warmstartingFactor = btScalar(solverInfoData->m_solverInfo.m_warmstartingFactor);
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solverInfo.m_maxGyroscopicForce = btScalar(solverInfoData->m_solverInfo.m_maxGyroscopicForce);
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solverInfo.m_singleAxisRollingFrictionThreshold = btScalar(solverInfoData->m_solverInfo.m_singleAxisRollingFrictionThreshold);
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solverInfo.m_numIterations = solverInfoData->m_solverInfo.m_numIterations;
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solverInfo.m_solverMode = solverInfoData->m_solverInfo.m_solverMode;
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solverInfo.m_restingContactRestitutionThreshold = solverInfoData->m_solverInfo.m_restingContactRestitutionThreshold;
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solverInfo.m_minimumSolverBatchSize = solverInfoData->m_solverInfo.m_minimumSolverBatchSize;
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solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
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setDynamicsWorldInfo(gravity,solverInfo);
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} else
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{
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btDynamicsWorldFloatData* solverInfoData = (btDynamicsWorldFloatData*)bulletFile2->m_dynamicsWorldInfo[i];
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btContactSolverInfo solverInfo;
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btVector3 gravity;
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gravity.deSerializeFloat(solverInfoData->m_gravity);
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solverInfo.m_tau = solverInfoData->m_solverInfo.m_tau;
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solverInfo.m_damping = solverInfoData->m_solverInfo.m_damping;
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solverInfo.m_friction = solverInfoData->m_solverInfo.m_friction;
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solverInfo.m_timeStep = solverInfoData->m_solverInfo.m_timeStep;
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solverInfo.m_restitution = solverInfoData->m_solverInfo.m_restitution;
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solverInfo.m_maxErrorReduction = solverInfoData->m_solverInfo.m_maxErrorReduction;
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solverInfo.m_sor = solverInfoData->m_solverInfo.m_sor;
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solverInfo.m_erp = solverInfoData->m_solverInfo.m_erp;
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solverInfo.m_erp2 = solverInfoData->m_solverInfo.m_erp2;
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solverInfo.m_globalCfm = solverInfoData->m_solverInfo.m_globalCfm;
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solverInfo.m_splitImpulsePenetrationThreshold = solverInfoData->m_solverInfo.m_splitImpulsePenetrationThreshold;
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solverInfo.m_splitImpulseTurnErp = solverInfoData->m_solverInfo.m_splitImpulseTurnErp;
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solverInfo.m_linearSlop = solverInfoData->m_solverInfo.m_linearSlop;
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solverInfo.m_warmstartingFactor = solverInfoData->m_solverInfo.m_warmstartingFactor;
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solverInfo.m_maxGyroscopicForce = solverInfoData->m_solverInfo.m_maxGyroscopicForce;
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solverInfo.m_singleAxisRollingFrictionThreshold = solverInfoData->m_solverInfo.m_singleAxisRollingFrictionThreshold;
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solverInfo.m_numIterations = solverInfoData->m_solverInfo.m_numIterations;
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solverInfo.m_solverMode = solverInfoData->m_solverInfo.m_solverMode;
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solverInfo.m_restingContactRestitutionThreshold = solverInfoData->m_solverInfo.m_restingContactRestitutionThreshold;
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solverInfo.m_minimumSolverBatchSize = solverInfoData->m_solverInfo.m_minimumSolverBatchSize;
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solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
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setDynamicsWorldInfo(gravity,solverInfo);
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}
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}
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for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
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{
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if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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{
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btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
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convertRigidBodyDouble(colObjData);
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} else
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{
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btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
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convertRigidBodyFloat(colObjData);
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}
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}
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for (i=0;i<bulletFile2->m_collisionObjects.size();i++)
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{
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if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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{
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btCollisionObjectDoubleData* colObjData = (btCollisionObjectDoubleData*)bulletFile2->m_collisionObjects[i];
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btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
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if (shapePtr && *shapePtr)
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{
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btTransform startTransform;
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colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
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startTransform.deSerializeDouble(colObjData->m_worldTransform);
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btCollisionShape* shape = (btCollisionShape*)*shapePtr;
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btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
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body->setFriction(btScalar(colObjData->m_friction));
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body->setRestitution(btScalar(colObjData->m_restitution));
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#ifdef USE_INTERNAL_EDGE_UTILITY
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if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
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{
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btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
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if (trimesh->getTriangleInfoMap())
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{
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body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
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}
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}
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#endif //USE_INTERNAL_EDGE_UTILITY
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m_bodyMap.insert(colObjData,body);
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} else
|
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{
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printf("error: no shape found\n");
|
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}
|
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|
||||
} else
|
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{
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btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i];
|
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btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
|
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if (shapePtr && *shapePtr)
|
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{
|
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btTransform startTransform;
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colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
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startTransform.deSerializeFloat(colObjData->m_worldTransform);
|
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btCollisionShape* shape = (btCollisionShape*)*shapePtr;
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btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
|
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|
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#ifdef USE_INTERNAL_EDGE_UTILITY
|
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if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
||||
{
|
||||
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
|
||||
if (trimesh->getTriangleInfoMap())
|
||||
{
|
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body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
||||
}
|
||||
}
|
||||
#endif //USE_INTERNAL_EDGE_UTILITY
|
||||
m_bodyMap.insert(colObjData,body);
|
||||
} else
|
||||
{
|
||||
printf("error: no shape found\n");
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
for (i=0;i<bulletFile2->m_constraints.size();i++)
|
||||
{
|
||||
btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i];
|
||||
btTypedConstraintFloatData* singleC = (btTypedConstraintFloatData*)bulletFile2->m_constraints[i];
|
||||
btTypedConstraintDoubleData* doubleC = (btTypedConstraintDoubleData*)bulletFile2->m_constraints[i];
|
||||
|
||||
btCollisionObject** colAptr = m_bodyMap.find(constraintData->m_rbA);
|
||||
btCollisionObject** colBptr = m_bodyMap.find(constraintData->m_rbB);
|
||||
|
||||
btRigidBody* rbA = 0;
|
||||
btRigidBody* rbB = 0;
|
||||
|
||||
if (colAptr)
|
||||
{
|
||||
rbA = btRigidBody::upcast(*colAptr);
|
||||
if (!rbA)
|
||||
rbA = &getFixedBody();
|
||||
}
|
||||
if (colBptr)
|
||||
{
|
||||
rbB = btRigidBody::upcast(*colBptr);
|
||||
if (!rbB)
|
||||
rbB = &getFixedBody();
|
||||
}
|
||||
if (!rbA && !rbB)
|
||||
continue;
|
||||
|
||||
bool isDoublePrecisionData = (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)!=0;
|
||||
|
||||
if (isDoublePrecisionData)
|
||||
{
|
||||
if (bulletFile2->getVersion()>=282)
|
||||
{
|
||||
btTypedConstraintDoubleData* dc = (btTypedConstraintDoubleData*)constraintData;
|
||||
convertConstraintDouble(dc, rbA,rbB, bulletFile2->getVersion());
|
||||
} else
|
||||
{
|
||||
//double-precision constraints were messed up until 2.82, try to recover data...
|
||||
|
||||
btTypedConstraintData* oldData = (btTypedConstraintData*)constraintData;
|
||||
|
||||
convertConstraintBackwardsCompatible281(oldData, rbA,rbB, bulletFile2->getVersion());
|
||||
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
btTypedConstraintFloatData* dc = (btTypedConstraintFloatData*)constraintData;
|
||||
convertConstraintFloat(dc, rbA,rbB, bulletFile2->getVersion());
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
68
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
Normal file
68
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
Normal file
@@ -0,0 +1,68 @@
|
||||
/*
|
||||
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 BULLET_WORLD_IMPORTER_H
|
||||
#define BULLET_WORLD_IMPORTER_H
|
||||
|
||||
|
||||
#include "btWorldImporter.h"
|
||||
|
||||
|
||||
class btBulletFile;
|
||||
|
||||
|
||||
|
||||
|
||||
namespace bParse
|
||||
{
|
||||
class btBulletFile;
|
||||
|
||||
};
|
||||
|
||||
|
||||
|
||||
///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 : public btWorldImporter
|
||||
{
|
||||
|
||||
|
||||
public:
|
||||
|
||||
btBulletWorldImporter(btDynamicsWorld* world=0);
|
||||
|
||||
virtual ~btBulletWorldImporter();
|
||||
|
||||
///if you pass a valid preSwapFilenameOut, it will save a new file with a different endianness
|
||||
///this pre-swapped file can be loaded without swapping on a target platform of different endianness
|
||||
bool loadFile(const char* fileName, const char* preSwapFilenameOut=0);
|
||||
|
||||
///the memoryBuffer might be modified (for example if endian swaps are necessary)
|
||||
bool loadFileFromMemory(char *memoryBuffer, int len);
|
||||
|
||||
bool loadFileFromMemory(bParse::btBulletFile* file);
|
||||
|
||||
//call make sure bulletFile2 has been parsed, either using btBulletFile::parse or btBulletWorldImporter::loadFileFromMemory
|
||||
virtual bool convertAllObjects(bParse::btBulletFile* file);
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
#endif //BULLET_WORLD_IMPORTER_H
|
||||
|
||||
1922
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
Normal file
1922
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
Normal file
File diff suppressed because it is too large
Load Diff
212
Extras/Serialize/BulletWorldImporter/btWorldImporter.h
Normal file
212
Extras/Serialize/BulletWorldImporter/btWorldImporter.h
Normal file
@@ -0,0 +1,212 @@
|
||||
/*
|
||||
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 btGearConstraint;
|
||||
struct btContactSolverInfo;
|
||||
struct btTypedConstraintData;
|
||||
struct btTypedConstraintFloatData;
|
||||
struct btTypedConstraintDoubleData;
|
||||
|
||||
struct btRigidBodyDoubleData;
|
||||
struct btRigidBodyFloatData;
|
||||
|
||||
#ifdef BT_USE_DOUBLE_PRECISION
|
||||
#define btRigidBodyData btRigidBodyDoubleData
|
||||
#else
|
||||
#define btRigidBodyData btRigidBodyFloatData
|
||||
#endif//BT_USE_DOUBLE_PRECISION
|
||||
|
||||
|
||||
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 convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
|
||||
void convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
|
||||
void convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
|
||||
void convertRigidBodyFloat(btRigidBodyFloatData* colObjData);
|
||||
void convertRigidBodyDouble( btRigidBodyDoubleData* 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
|
||||
|
||||
virtual void setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo);
|
||||
|
||||
//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 btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
|
||||
virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
|
||||
virtual btCollisionShape* createConeShapeZ(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);
|
||||
virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio);
|
||||
|
||||
|
||||
|
||||
|
||||
};
|
||||
|
||||
|
||||
#endif //BT_WORLD_IMPORTER_H
|
||||
13
Extras/Serialize/BulletWorldImporter/premake4.lua
Normal file
13
Extras/Serialize/BulletWorldImporter/premake4.lua
Normal file
@@ -0,0 +1,13 @@
|
||||
project "BulletWorldImporter"
|
||||
|
||||
kind "StaticLib"
|
||||
targetdir "../../lib"
|
||||
includedirs {
|
||||
"../BulletFileLoader",
|
||||
"../../../src"
|
||||
}
|
||||
|
||||
files {
|
||||
"**.cpp",
|
||||
"**.h"
|
||||
}
|
||||
Reference in New Issue
Block a user