add the 'extras' and Bullet 2 tests, to make it easier to create a new intermediate release
This commit is contained in:
erwin coumans
345
Extras/Serialize/ReadBulletSample/BulletDataExtractor.cpp
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345
Extras/Serialize/ReadBulletSample/BulletDataExtractor.cpp
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#include "BulletDataExtractor.h"
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#include "../BulletFileLoader/btBulletFile.h"
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#include <stdio.h>
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///work-in-progress
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///This ReadBulletSample is kept as simple as possible without dependencies to the Bullet SDK.
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///It can be used to load .bullet data for other physics SDKs
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///For a more complete example how to load and convert Bullet data using the Bullet SDK check out
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///the Bullet/Demos/SerializeDemo and Bullet/Serialize/BulletWorldImporter
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using namespace Bullet;
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enum LocalBroadphaseNativeTypes
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{
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// polyhedral convex shapes
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BOX_SHAPE_PROXYTYPE,
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TRIANGLE_SHAPE_PROXYTYPE,
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TETRAHEDRAL_SHAPE_PROXYTYPE,
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CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
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CONVEX_HULL_SHAPE_PROXYTYPE,
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CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
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CUSTOM_POLYHEDRAL_SHAPE_TYPE,
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//implicit convex shapes
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IMPLICIT_CONVEX_SHAPES_START_HERE,
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SPHERE_SHAPE_PROXYTYPE,
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MULTI_SPHERE_SHAPE_PROXYTYPE,
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CAPSULE_SHAPE_PROXYTYPE,
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CONE_SHAPE_PROXYTYPE,
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CONVEX_SHAPE_PROXYTYPE,
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CYLINDER_SHAPE_PROXYTYPE,
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UNIFORM_SCALING_SHAPE_PROXYTYPE,
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MINKOWSKI_SUM_SHAPE_PROXYTYPE,
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MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
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BOX_2D_SHAPE_PROXYTYPE,
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CONVEX_2D_SHAPE_PROXYTYPE,
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CUSTOM_CONVEX_SHAPE_TYPE,
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//concave shapes
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CONCAVE_SHAPES_START_HERE,
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//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
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TRIANGLE_MESH_SHAPE_PROXYTYPE,
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SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
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///used for demo integration FAST/Swift collision library and Bullet
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FAST_CONCAVE_MESH_PROXYTYPE,
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//terrain
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TERRAIN_SHAPE_PROXYTYPE,
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///Used for GIMPACT Trimesh integration
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GIMPACT_SHAPE_PROXYTYPE,
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///Multimaterial mesh
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MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
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EMPTY_SHAPE_PROXYTYPE,
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STATIC_PLANE_PROXYTYPE,
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CUSTOM_CONCAVE_SHAPE_TYPE,
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CONCAVE_SHAPES_END_HERE,
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COMPOUND_SHAPE_PROXYTYPE,
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SOFTBODY_SHAPE_PROXYTYPE,
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HFFLUID_SHAPE_PROXYTYPE,
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HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
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INVALID_SHAPE_PROXYTYPE,
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MAX_BROADPHASE_COLLISION_TYPES
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};
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btBulletDataExtractor::btBulletDataExtractor()
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{
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}
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btBulletDataExtractor::~btBulletDataExtractor()
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{
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}
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void btBulletDataExtractor::convertAllObjects(bParse::btBulletFile* bulletFile2)
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{
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int i;
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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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if (shapeData->m_name)
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printf("converting shape %s\n", shapeData->m_name);
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void* shape = convertCollisionShape(shapeData);
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}
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}
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void* btBulletDataExtractor::convertCollisionShape( btCollisionShapeData* shapeData )
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{
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void* shape = 0;
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switch (shapeData->m_shapeType)
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{
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case STATIC_PLANE_PROXYTYPE:
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{
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btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)shapeData;
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void* shape = createPlaneShape(planeData->m_planeNormal,planeData->m_planeConstant, planeData->m_localScaling);
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break;
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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case CAPSULE_SHAPE_PROXYTYPE:
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case BOX_SHAPE_PROXYTYPE:
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case SPHERE_SHAPE_PROXYTYPE:
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case MULTI_SPHERE_SHAPE_PROXYTYPE:
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
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switch (shapeData->m_shapeType)
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{
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case BOX_SHAPE_PROXYTYPE:
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{
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shape = createBoxShape(bsd->m_implicitShapeDimensions, bsd->m_localScaling,bsd->m_collisionMargin);
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break;
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}
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case SPHERE_SHAPE_PROXYTYPE:
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{
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shape = createSphereShape(bsd->m_implicitShapeDimensions.m_floats[0],bsd->m_localScaling, bsd->m_collisionMargin);
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break;
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}
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#if 0
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
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switch (capData->m_upAxis)
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{
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case 0:
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{
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shape = createCapsuleShapeX(implicitShapeDimensions.getY(),2*implicitShapeDimensions.getX());
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break;
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}
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case 1:
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{
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shape = createCapsuleShapeY(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getY());
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break;
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}
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case 2:
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{
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shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getZ());
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break;
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}
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default:
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{
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printf("error: wrong up axis for btCapsuleShape\n");
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}
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};
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break;
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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{
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btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
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btVector3 halfExtents = implicitShapeDimensions+margin;
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switch (cylData->m_upAxis)
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{
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case 0:
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{
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shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
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break;
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}
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case 1:
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{
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shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
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break;
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}
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case 2:
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{
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shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
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break;
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}
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default:
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{
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printf("unknown Cylinder up axis\n");
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}
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};
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break;
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}
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case MULTI_SPHERE_SHAPE_PROXYTYPE:
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{
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btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
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int numSpheres = mss->m_localPositionArraySize;
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int i;
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for ( i=0;i<numSpheres;i++)
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{
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tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
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radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
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}
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shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
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break;
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}
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
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int numPoints = convexData->m_numUnscaledPoints;
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btAlignedObjectArray<btVector3> tmpPoints;
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tmpPoints.resize(numPoints);
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int i;
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for ( i=0;i<numPoints;i++)
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{
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if (convexData->m_unscaledPointsFloatPtr)
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tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
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if (convexData->m_unscaledPointsDoublePtr)
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tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
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}
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shape = createConvexHullShape();
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return shape;
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break;
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}
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#endif
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default:
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{
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printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
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}
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}
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break;
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}
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#if 0
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case TRIANGLE_MESH_SHAPE_PROXYTYPE:
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{
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btTriangleMeshShapeData* trimesh = (btTriangleMeshShapeData*)shapeData;
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btTriangleIndexVertexArray* meshInterface = createMeshInterface(trimesh->m_meshInterface);
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if (!meshInterface->getNumSubParts())
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{
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return 0;
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}
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btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
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meshInterface->setScaling(scaling);
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btOptimizedBvh* bvh = 0;
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btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface,bvh);
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trimeshShape->setMargin(trimesh->m_collisionMargin);
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shape = trimeshShape;
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if (trimesh->m_triangleInfoMap)
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{
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btTriangleInfoMap* map = createTriangleInfoMap();
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map->deSerialize(*trimesh->m_triangleInfoMap);
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trimeshShape->setTriangleInfoMap(map);
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#ifdef USE_INTERNAL_EDGE_UTILITY
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gContactAddedCallback = btAdjustInternalEdgeContactsCallback;
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#endif //USE_INTERNAL_EDGE_UTILITY
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}
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//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
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break;
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}
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case COMPOUND_SHAPE_PROXYTYPE:
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{
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btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
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btCompoundShape* compoundShape = createCompoundShape();
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btAlignedObjectArray<btCollisionShape*> childShapes;
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for (int i=0;i<compoundData->m_numChildShapes;i++)
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{
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btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
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if (childShape)
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{
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btTransform localTransform;
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localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
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compoundShape->addChildShape(localTransform,childShape);
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} else
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{
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printf("error: couldn't create childShape for compoundShape\n");
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}
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}
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shape = compoundShape;
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break;
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}
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case GIMPACT_SHAPE_PROXYTYPE:
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{
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btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*) shapeData;
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if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
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{
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btTriangleIndexVertexArray* meshInterface = createMeshInterface(gimpactData->m_meshInterface);
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btGImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
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btVector3 localScaling;
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localScaling.deSerializeFloat(gimpactData->m_localScaling);
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gimpactShape->setLocalScaling(localScaling);
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gimpactShape->setMargin(btScalar(gimpactData->m_collisionMargin));
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gimpactShape->updateBound();
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shape = gimpactShape;
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} else
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{
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printf("unsupported gimpact sub type\n");
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}
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break;
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}
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case SOFTBODY_SHAPE_PROXYTYPE:
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{
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return 0;
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}
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#endif
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default:
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{
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printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
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}
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}
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return shape;
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}
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void* btBulletDataExtractor::createBoxShape( const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
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{
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printf("createBoxShape with halfDimensions %f,%f,%f\n",halfDimensions.m_floats[0], halfDimensions.m_floats[1],halfDimensions.m_floats[2]);
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return 0;
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}
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void* btBulletDataExtractor::createSphereShape( float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
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{
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printf("createSphereShape with radius %f\n",radius);
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return 0;
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}
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void* btBulletDataExtractor::createPlaneShape( const btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling)
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{
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printf("createPlaneShape with normal %f,%f,%f and planeConstant\n",planeNormal.m_floats[0], planeNormal.m_floats[1],planeNormal.m_floats[2],planeConstant);
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return 0;
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}
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