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add commandline arguments to serialize demo for xml export and Bullet import file name

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update AntTweakBar version in CDTestFramework
add btCompoundShape support in BulletXmlWorldImporter (this importer is still premature/work-in-progress)
This commit is contained in:
erwin.coumans
2012-09-26 19:47:18 +00:00
parent 60c1b1918a
commit 4442a826ed
85 changed files with 59310 additions and 18485 deletions
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9
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
View File

@@ -333,6 +333,7 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
{
hullShape->addPoint(tmpPoints[i]);
}
//hullShape->initializePolyhedralFeatures();
shape = hullShape;
break;
}
@@ -419,11 +420,17 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
btCompoundShape* compoundShape = createCompoundShape();
btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
btAlignedObjectArray<btCollisionShape*> childShapes;
for (int i=0;i<compoundData->m_numChildShapes;i++)
{
btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
btCollisionShape* childShape = convertCollisionShape(cd);
if (childShape)
{
btTransform localTransform;

142
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
View File

@@ -18,9 +18,6 @@ subject to the following restrictions:
#include "btBulletDynamicsCommon.h"
#include "string_split.h"
#if defined(__APPLE__) || defined(__CELLOS_LV2__)
#define stricmp(a, b) strcasecmp((a), (b))
#endif
btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
:btWorldImporter(world),
@@ -61,7 +58,7 @@ static int get_int_attribute_by_name(const TiXmlElement* pElement, const char* a
const TiXmlAttribute* pAttrib=pElement->FirstAttribute();
while (pAttrib)
{
if (!stricmp(pAttrib->Name(),attribName))
if (!strcmp(pAttrib->Name(),attribName))
if (pAttrib->QueryIntValue(value)==TIXML_SUCCESS)
return 1;
// if (pAttrib->QueryDoubleValue(&dval)==TIXML_SUCCESS) printf( " d=%1.1f", dval);
@@ -115,11 +112,13 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
#define SET_INT_VALUE(xmlnode, targetdata, argname) \
btAssert((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement());\
if ((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement())\
(targetdata)->argname= (int)atof(xmlnode->FirstChild(#argname)->ToElement()->GetText());
#define SET_FLOAT_VALUE(xmlnode, targetdata, argname) \
btAssert((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement());\
if ((xmlnode)->FirstChild(#argname) && (xmlnode)->FirstChild(#argname)->ToElement())\
(targetdata)->argname= (float)atof(xmlnode->FirstChild(#argname)->ToElement()->GetText());
@@ -127,6 +126,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype) \
{\
TiXmlNode* node = xmlnode->FirstChild(#argname);\
btAssert(node);\
if (node)\
{\
const char* txt = (node)->ToElement()->GetText();\
@@ -153,6 +153,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
#define SET_MATRIX33_VALUE(n, targetdata, argname) \
{\
TiXmlNode* xmlnode = n->FirstChild(#argname);\
btAssert(xmlnode);\
if (xmlnode)\
{\
TiXmlNode* eleNode = xmlnode->FirstChild("m_el");\
@@ -167,6 +168,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
(targetdata)->argname.m_el[0].m_floats[3] = vec4.m_floats[3];\
\
TiXmlNode* n1 = eleNode->FirstChild()->NextSibling();\
btAssert(n1);\
if (n1)\
{\
const char* txt= n1->ToElement()->GetText();\
@@ -177,6 +179,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
(targetdata)->argname.m_el[1].m_floats[3] = vec4.m_floats[3];\
\
TiXmlNode* n2 = n1->NextSibling();\
btAssert(n2);\
if (n2)\
{\
const char* txt= n2->ToElement()->GetText();\
@@ -194,6 +197,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
#define SET_TRANSFORM_VALUE(n, targetdata, argname) \
{\
TiXmlNode* trNode = n->FirstChild(#argname);\
btAssert(trNode);\
if (trNode)\
{\
SET_VECTOR4_VALUE(trNode,&(targetdata)->argname,m_origin)\
@@ -242,17 +246,55 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
int ptr;
get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
btCompoundShapeChildData* compoundChildData = (btCompoundShapeChildData*) btAlignedAlloc(sizeof(btCompoundShapeChildData),16);
int numChildren = 0;
btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>;
{
TiXmlNode* transNode = pParent->FirstChild("m_transform");
TiXmlNode* colShapeNode = pParent->FirstChild("m_childShape");
TiXmlNode* marginNode = pParent->FirstChild("m_childMargin");
TiXmlNode* childTypeNode = pParent->FirstChild("m_childShapeType");
SET_TRANSFORM_VALUE(pParent, compoundChildData,m_transform);
SET_POINTER_VALUE(pParent, *compoundChildData,m_childShape,btCollisionShapeData*);
int i=0;
while (transNode && colShapeNode && marginNode && childTypeNode)
{
compoundChildArrayPtr->expandNonInitializing();
SET_VECTOR4_VALUE (transNode,&compoundChildArrayPtr->at(i).m_transform,m_origin)
SET_MATRIX33_VALUE(transNode,&compoundChildArrayPtr->at(i).m_transform,m_basis)
const char* txt = (colShapeNode)->ToElement()->GetText();
compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) (int) atof(txt);
btAssert(childTypeNode->ToElement());
if (childTypeNode->ToElement())
{
compoundChildArrayPtr->at(i).m_childShapeType = (int)atof(childTypeNode->ToElement()->GetText());
}
btAssert(marginNode->ToElement());
if (marginNode->ToElement())
{
compoundChildArrayPtr->at(i).m_childMargin = (float)atof(marginNode->ToElement()->GetText());
}
transNode = transNode->NextSibling("m_transform");
colShapeNode = colShapeNode->NextSibling("m_childShape");
marginNode = marginNode->NextSibling("m_childMargin");
childTypeNode = childTypeNode->NextSibling("m_childShapeType");
i++;
}
numChildren = i;
}
btAssert(numChildren);
if (numChildren)
{
m_compoundShapeChildDataArrays.push_back(compoundChildArrayPtr);
btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0);
m_pointerLookup.insert(ptr,cd);
}
SET_INT_VALUE(pParent, compoundChildData, m_childShapeType);
SET_FLOAT_VALUE(pParent, compoundChildData, m_childMargin);
m_compoundShapeChildData.push_back(compoundChildData);
m_pointerLookup.insert(ptr,compoundChildData);
}
void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
@@ -262,12 +304,27 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16);
TiXmlNode* xmlColShape = pParent ->FirstChild("m_collisionShapeData");
btAssert(xmlColShape);
deSerializeCollisionShapeData(xmlColShape,&compoundData->m_collisionShapeData);
SET_INT_VALUE(pParent, compoundData,m_numChildShapes);
TiXmlNode* xmlShapeData = pParent->FirstChild("m_collisionShapeData");
btAssert(xmlShapeData );
deSerializeCollisionShapeData(xmlShapeData,&compoundData->m_collisionShapeData);
SET_POINTER_VALUE(pParent, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
SET_INT_VALUE(pParent, compoundData,m_numChildShapes);
{
TiXmlNode* node = pParent->FirstChild("m_childShapePtr");\
btAssert(node);
while (node)
{
const char* txt = (node)->ToElement()->GetText();
compoundData->m_childShapePtr = (btCompoundShapeChildData*) (int) atof(txt);
node = node->NextSibling("m_childShapePtr");
}
//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
}
SET_FLOAT_VALUE(pParent, compoundData,m_collisionMargin);
m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
@@ -524,11 +581,15 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
{
btCompoundShapeData* compound = (btCompoundShapeData*) shapeData;
int ptr = (intptr_t) compound->m_childShapePtr;
btCompoundShapeChildData** c = (btCompoundShapeChildData**)m_pointerLookup.find(ptr);
void** cdptr = m_pointerLookup.find(ptr);
btCompoundShapeChildData** c = (btCompoundShapeChildData**)cdptr;
btAssert(c);
if (c)
{
compound->m_childShapePtr = *c;
} else
{
compound->m_childShapePtr = 0;
}
break;
}
@@ -542,6 +603,9 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
if (ptrptr)
{
convexData->m_unscaledPointsFloatPtr = *ptrptr;
} else
{
convexData->m_unscaledPointsFloatPtr = 0;
}
break;
}
@@ -570,7 +634,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for ( pChild = pParent->FirstChild(); pChild != 0; pChild = pChild->NextSibling(), numChildren++)
{
// printf("child Name=%s\n", pChild->Value());
if (!stricmp(pChild->Value(),"btVector3FloatData"))
if (!strcmp(pChild->Value(),"btVector3FloatData"))
{
int ptr;
get_int_attribute_by_name(pChild->ToElement(),"pointer",&ptr);
@@ -586,56 +650,56 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
continue;
}
if (!stricmp(pChild->Value(),"btGeneric6DofConstraintData"))
if (!strcmp(pChild->Value(),"btGeneric6DofConstraintData"))
{
deSerializeGeneric6DofConstraintData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btStaticPlaneShapeData"))
if (!strcmp(pChild->Value(),"btStaticPlaneShapeData"))
{
deSerializeStaticPlaneShapeData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btCompoundShapeData"))
if (!strcmp(pChild->Value(),"btCompoundShapeData"))
{
deSerializeCompoundShapeData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btCompoundShapeChildData"))
if (!strcmp(pChild->Value(),"btCompoundShapeChildData"))
{
deSerializeCompoundShapeChildData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btConvexHullShapeData"))
if (!strcmp(pChild->Value(),"btConvexHullShapeData"))
{
deSerializeConvexHullShapeData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btDynamicsWorldFloatData"))
if (!strcmp(pChild->Value(),"btDynamicsWorldFloatData"))
{
deSerializeDynamicsWorldData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btConvexInternalShapeData"))
if (!strcmp(pChild->Value(),"btConvexInternalShapeData"))
{
deSerializeConvexInternalShapeData(pChild);
continue;
}
if (!stricmp(pChild->Value(),"btRigidBodyFloatData"))
if (!strcmp(pChild->Value(),"btRigidBodyFloatData"))
{
deSerializeRigidBodyFloatData(pChild);
continue;
}
printf("Error: btBulletXmlWorldImporter doesn't support %s yet\n", pChild->Value());
btAssert(0);
//printf("Error: btBulletXmlWorldImporter doesn't support %s yet\n", pChild->Value());
// btAssert(0);
}
}
@@ -643,15 +707,19 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
///fixup pointers in various places, in the right order
//fixup compoundshape child data
for (int i=0;i<m_compoundShapeChildData.size();i++)
for (int i=0;i<m_compoundShapeChildDataArrays.size();i++)
{
btCompoundShapeChildData* childData = m_compoundShapeChildData[i];
int hashKey = (intptr_t) childData->m_childShape;
btCollisionShapeData** ptrptr = (btCollisionShapeData**)m_pointerLookup[hashKey];
btAssert(ptrptr);
if (ptrptr)
btAlignedObjectArray<btCompoundShapeChildData>* childDataArray = m_compoundShapeChildDataArrays[i];
for (int c=0;c<childDataArray->size();c++)
{
childData->m_childShape = *ptrptr;
btCompoundShapeChildData* childData = &childDataArray->at(c);
int hashKey = (intptr_t) childData->m_childShape;
btCollisionShapeData** ptrptr = (btCollisionShapeData**)m_pointerLookup[hashKey];
btAssert(ptrptr);
if (ptrptr)
{
childData->m_childShape = *ptrptr;
}
}
}
@@ -668,7 +736,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
btRigidBodyData* rbData = m_rigidBodyData[i];
int hashKey = (intptr_t)rbData->m_collisionObjectData.m_collisionShape;
void** ptrptr = m_pointerLookup.find(hashKey);
btAssert(ptrptr);
//btAssert(ptrptr);
rbData->m_collisionObjectData.m_broadphaseHandle = 0;
rbData->m_collisionObjectData.m_rootCollisionShape = 0;
rbData->m_collisionObjectData.m_name = 0;//tbd

2
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
View File

@@ -40,7 +40,7 @@ class btBulletXmlWorldImporter : public btWorldImporter
protected:
btAlignedObjectArray<btCollisionShapeData*> m_collisionShapeData;
btAlignedObjectArray<btCompoundShapeChildData*> m_compoundShapeChildData;
btAlignedObjectArray<btAlignedObjectArray<btCompoundShapeChildData>* > m_compoundShapeChildDataArrays;
btAlignedObjectArray<btRigidBodyData*> m_rigidBodyData;
btAlignedObjectArray<btTypedConstraintData*> m_constraintData;
btHashMap<btHashInt,void*> m_pointerLookup;

2
Extras/Serialize/BulletXmlWorldImporter/string_split.cpp
View File

@@ -21,6 +21,8 @@ subject to the following restrictions:
#include "string_split.h"
///todo: remove stl dependency
namespace bullet_utils
{
void split( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, const std::string& separator)