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added serialization support for btCompoundShape, btCapsuleShapeX/Z, btCylinderShapeX,Z

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make some serialization methods const
prepare for constraint serialization
This commit is contained in:
erwin.coumans
2010-01-26 02:24:03 +00:00
parent 2f44eabd7d
commit 44565d20f4
26 changed files with 594 additions and 190 deletions
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166
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -11,7 +11,7 @@ m_verboseDumpAllTypes(false)
{
}
bool btBulletWorldImporter::loadFileFromMemory( const char* fileName)
bool btBulletWorldImporter::loadFile( const char* fileName)
{
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
@@ -36,30 +36,11 @@ bool btBulletWorldImporter::loadFileFromMemory( char* memoryBuffer, int len)
return result;
}
bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShapeData* shapeData )
{
btCollisionShape* shape = 0;
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
if (ok)
bulletFile2->parse(m_verboseDumpAllTypes);
else
return false;
if (m_verboseDumpAllTypes)
{
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
}
int i;
btHashMap<btHashPtr,btCollisionShape*> shapeMap;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
{
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
switch (shapeData->m_shapeType)
switch (shapeData->m_shapeType)
{
case CYLINDER_SHAPE_PROXYTYPE:
case CAPSULE_SHAPE_PROXYTYPE:
@@ -72,7 +53,6 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
btVector3 implicitShapeDimensions;
implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
btCollisionShape* shape = 0;
switch (shapeData->m_shapeType)
{
case BOX_SHAPE_PROXYTYPE:
@@ -87,14 +67,63 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
}
case CAPSULE_SHAPE_PROXYTYPE:
{
shape = createCapsuleShape(implicitShapeDimensions.getX(),implicitShapeDimensions.getY());
btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
switch (capData->m_upAxis)
{
case 0:
{
shape = createCapsuleShapeX(implicitShapeDimensions.getY(),implicitShapeDimensions.getX());
break;
}
case 1:
{
shape = createCapsuleShapeY(implicitShapeDimensions.getX(),implicitShapeDimensions.getY());
break;
}
case 2:
{
shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),implicitShapeDimensions.getZ());
break;
}
default:
{
printf("error: wrong up axis for btCapsuleShape\n");
}
};
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
btVector3 halfExtents = implicitShapeDimensions+margin;
switch (cylData->m_upAxis)
{
case 0:
{
shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
break;
}
case 1:
{
shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
break;
}
case 2:
{
shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
break;
}
default:
{
printf("unknown Cylinder up axis\n");
}
shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
};
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
@@ -154,7 +183,6 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
localScaling.deSerializeFloat(bsd->m_localScaling);
shape->setLocalScaling(localScaling);
shapeMap.insert(shapeData,shape);
}
break;
}
@@ -198,17 +226,73 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,true);
trimeshShape->setMargin(trimesh->m_collisionMargin);
shapeMap.insert(shapeData,trimeshShape);
shape = trimeshShape;
//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
break;
}
case COMPOUND_SHAPE_PROXYTYPE:
{
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
btCompoundShape* compoundShape = new btCompoundShape();
btAlignedObjectArray<btCollisionShape*> childShapes;
for (int i=0;i<compoundData->m_numChildShapes;i++)
{
btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
if (childShape)
{
btTransform localTransform;
localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
compoundShape->addChildShape(localTransform,childShape);
} else
{
printf("error: couldn't create childShape for compoundShape\n");
}
}
shape = compoundShape;
break;
}
default:
{
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
}
}
return shape;
}
bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
{
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
if (ok)
bulletFile2->parse(m_verboseDumpAllTypes);
else
return false;
if (m_verboseDumpAllTypes)
{
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
}
int i;
btHashMap<btHashPtr,btCollisionShape*> shapeMap;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
{
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
btCollisionShape* shape = convertCollisionShape(shapeData);
if (shape)
shapeMap.insert(shapeData,shape);
}
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
{
@@ -311,17 +395,39 @@ btCollisionShape* btBulletWorldImporter::createSphereShape(btScalar radius)
return new btSphereShape(radius);
}
btCollisionShape* btBulletWorldImporter::createCapsuleShape(btScalar radius, btScalar height)
btCollisionShape* btBulletWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height)
{
return new btCapsuleShapeX(radius,height);
}
btCollisionShape* btBulletWorldImporter::createCapsuleShapeY(btScalar radius, btScalar height)
{
return new btCapsuleShape(radius,height);
}
btCollisionShape* btBulletWorldImporter::createCapsuleShapeZ(btScalar radius, btScalar height)
{
return new btCapsuleShapeZ(radius,height);
}
btCollisionShape* btBulletWorldImporter::createCylinderShapeX(btScalar radius,btScalar height)
{
return new btCylinderShapeX(btVector3(height,radius,radius));
}
btCollisionShape* btBulletWorldImporter::createCylinderShapeY(btScalar radius,btScalar height)
{
return new btCylinderShape(btVector3(radius,height,radius));
}
btCollisionShape* btBulletWorldImporter::createCylinderShapeZ(btScalar radius,btScalar height)
{
return new btCylinderShapeZ(btVector3(radius,radius,height));
}
btTriangleMesh* btBulletWorldImporter::createTriangleMeshContainer()
{
return 0;

15
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
View File

@@ -29,24 +29,30 @@ class btTypedConstraint;
class btDynamicsWorld;
struct ConstraintInput;
class btRigidBodyColladaInfo;
struct btCollisionShapeData;
namespace bParse
{
class btBulletFile;
};
class btBulletWorldImporter
{
protected:
btDynamicsWorld* m_dynamicsWorld;
bool m_verboseDumpAllTypes;
btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
public:
btBulletWorldImporter(btDynamicsWorld* world);
bool loadFileFromMemory(const char* fileName);
bool loadFile(const char* fileName);
///the memoryBuffer might be modified (for example if endian swaps are necessary)
bool loadFileFromMemory(char *memoryBuffer, int len);
@@ -83,8 +89,13 @@ public:
virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
virtual btCollisionShape* createSphereShape(btScalar radius);
virtual btCollisionShape* createCapsuleShape(btScalar radius, btScalar height);
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 class btTriangleMesh* createTriangleMeshContainer();
virtual btCollisionShape* createBvhTriangleMeshShape(btTriangleMesh* trimesh);
virtual btCollisionShape* createConvexTriangleMeshShape(btTriangleMesh* trimesh);

6
Extras/Serialize/makesdna/makesdna.cpp
View File

@@ -128,6 +128,9 @@ typedef unsigned long uintptr_t;
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -153,6 +156,9 @@ char *includefiles[] = {
"../../../src/BulletCollision/CollisionShapes/btMultiSphereShape.h",
"../../../src/BulletCollision/CollisionShapes/btStridingMeshInterface.h",
"../../../src/BulletCollision/CollisionShapes/btTriangleMeshShape.h",
"../../../src/BulletCollision/CollisionShapes/btCompoundShape.h",
"../../../src/BulletCollision/CollisionShapes/btCylinderShape.h",
"../../../src/BulletCollision/CollisionShapes/btCapsuleShape.h",
"../../../src/BulletCollision/CollisionShapes/btConvexHullShape.h",
"../../../src/BulletCollision/CollisionDispatch/btCollisionObject.h",
"../../../src/BulletDynamics/Dynamics/btRigidBody.h",