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allow to export simulation to COLLADA

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This commit is contained in:
ejcoumans
2006-07-26 03:03:22 +00:00
parent 8bf47140fe
commit 44ff483ad6
1 changed files with 218 additions and 47 deletions
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265
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -87,6 +87,8 @@ extern int gForwardAxis;
#include "dae.h"
#include "dom/domCOLLADA.h"
DAE* collada = 0;
#endif
@@ -138,6 +140,15 @@ const int maxNumObjects = 450;
SimdTransform startTransforms[maxNumObjects];
//quick test to export new position into a COLLADA .dae file
#ifndef USE_FCOLLADA
domTranslateRef translateRef[maxNumObjects];
domRotate_Array* rotateArray[maxNumObjects];
domMatrixRef matrixRef[maxNumObjects];
#endif //USE_FCOLLADA
DefaultMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
@@ -844,8 +855,36 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
GLDebugDrawer debugDrawer;
char* fixFileName(const char* lpCmdLine);
char* getLastFileName();
int main(int argc,char** argv)
{
/// Import Collada 1.4 Physics objects
//char* filename = "analyticalGeomPhysicsTest.dae";//ColladaPhysics.dae";
//char* filename = "colladaphysics_spherebox.dae";
//char* filename = "friction.dae";
char* filename = "jenga.dae";
printf("argc=%i\n",argc);
{
for (int i=0;i<argc;i++)
{
printf("argv[%i]=%s\n",i,argv[i]);
}
}
if (argc>1)
{
#ifdef USE_FCOLLADA
filename = argv[1];
#else
//COLLADA-DOM requires certain filename convention
filename = fixFileName(argv[1]);
#endif
}
gCameraUp = SimdVector3(0,0,1);
gForwardAxis = 1;
@@ -862,12 +901,6 @@ int main(int argc,char** argv)
/// Import Collada 1.4 Physics objects
//char* filename = "analyticalGeomPhysicsTest.dae";//ColladaPhysics.dae";
//char* filename = "colladaphysics_spherebox.dae";
//char* filename = "friction.dae";
char* filename = "jenga.dae";
#ifdef USE_FCOLLADA
@@ -890,10 +923,23 @@ int main(int argc,char** argv)
}
#else
//Collada-dom
DAE *collada = new DAE;
collada = new DAE;
//clear
{
for (int i=0;i<maxNumObjects;i++)
{
translateRef[i] = 0;
rotateArray[i] = 0;
//rotateRef[i] = 0;
matrixRef[i] = 0;
}
}
int res = collada->load(filename);//,docBuffer);
if (res != DAE_OK)
{
printf("DAE/Collada-dom: Couldn't load %s\n",filename);
@@ -1392,53 +1438,58 @@ int main(int argc,char** argv)
}
//The 'target' points to a graphics element/node, which contains the start (world) transform
daeElementRef elem = rigidbodyRef->getTarget().getElement();
if (elem)
{
domNodeRef node = *(domNodeRef*)&elem;
//The 'target' points to a graphics element/node, which contains the start (world) transform
daeElementRef elem = rigidbodyRef->getTarget().getElement();
if (elem)
{
domNodeRef node = *(domNodeRef*)&elem;
//find transform of the node that this rigidbody maps to
//find transform of the node that this rigidbody maps to
int i;
//either load the matrix (worldspace) or incrementally build the transform from 'translate'/'rotate'
for (i=0;i<node->getMatrix_array().getCount();i++)
{
domMatrixRef matrixRef = node->getMatrix_array()[i];
domFloat4x4 fl16 = matrixRef->getValue();
SimdVector3 origin(fl16.get(3),fl16.get(7),fl16.get(11));
startTransform.setOrigin(origin);
SimdMatrix3x3 basis(fl16.get(0),fl16.get(1),fl16.get(2),
fl16.get(4),fl16.get(5),fl16.get(6),
fl16.get(8),fl16.get(9),fl16.get(10));
startTransform.setBasis(basis);
}
int i;
//either load the matrix (worldspace) or incrementally build the transform from 'translate'/'rotate'
for (i=0;i<node->getMatrix_array().getCount();i++)
{
domMatrixRef matrixRef = node->getMatrix_array()[i];
domFloat4x4 fl16 = matrixRef->getValue();
SimdVector3 origin(fl16.get(3),fl16.get(7),fl16.get(11));
startTransform.setOrigin(origin);
SimdMatrix3x3 basis(fl16.get(0),fl16.get(1),fl16.get(2),
fl16.get(4),fl16.get(5),fl16.get(6),
fl16.get(8),fl16.get(9),fl16.get(10));
startTransform.setBasis(basis);
}
for (i=0;i<node->getRotate_array().getCount();i++)
{
domRotateRef rotateRef = node->getRotate_array()[i];
domFloat4 fl4 = rotateRef->getValue();
float angleRad = SIMD_RADS_PER_DEG*fl4.get(3);
SimdQuaternion rotQuat(SimdVector3(fl4.get(0),fl4.get(1),fl4.get(2)),angleRad);
startTransform.getBasis() = startTransform.getBasis() * SimdMatrix3x3(rotQuat);
}
if (node->getRotate_array().getCount())
{
rotateArray[numObjects] = &node->getRotate_array();
}
for (i=0;i<node->getTranslate_array().getCount();i++)
{
domTranslateRef translateRef = node->getTranslate_array()[i];
domFloat3 fl3 = translateRef->getValue();
startTransform.getOrigin() += SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
for (i=0;i<node->getRotate_array().getCount();i++)
{
domRotateRef rotateRef = node->getRotate_array()[i];
domFloat4 fl4 = rotateRef->getValue();
float angleRad = SIMD_RADS_PER_DEG*fl4.get(3);
SimdQuaternion rotQuat(SimdVector3(fl4.get(0),fl4.get(1),fl4.get(2)),angleRad);
startTransform.getBasis() = startTransform.getBasis() * SimdMatrix3x3(rotQuat);
}
for (i=0;i<node->getScale_array().getCount();i++)
{
domScaleRef scaleRef = node->getScale_array()[i];
domFloat3 fl3 = scaleRef->getValue();
startScale = SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
for (i=0;i<node->getTranslate_array().getCount();i++)
{
translateRef[numObjects] = node->getTranslate_array()[i];
domFloat3 fl3 = translateRef[numObjects]->getValue();
startTransform.getOrigin() += SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
}
for (i=0;i<node->getScale_array().getCount();i++)
{
domScaleRef scaleRef = node->getScale_array()[i];
domFloat3 fl3 = scaleRef->getValue();
startScale = SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
}
if (colShape)
@@ -1793,6 +1844,78 @@ void shootBox(const SimdVector3& destination)
void clientKeyboard(unsigned char key, int x, int y)
{
#ifndef USE_FCOLLADA
if (key =='e')
{
if (collada)
{
for (int i=0;i<numObjects;i++)
{
if (translateRef[i])
{
float np[3];
domFloat3 newPos = translateRef[i]->getValue();
physObjects[i]->GetMotionState()->getWorldPosition(
np[0],
np[1],
np[2]);
newPos.set(0,np[0]);
newPos.set(1,np[1]);
newPos.set(2,np[2]);
translateRef[i]->setValue(newPos);
}
domRotate_Array* ptr = rotateArray[i];
if (ptr)
{
//it is not easy to just clear/remove values, so we reset the rotation for all, except the first one
//make all zero-rotations, except for first
for (int i=0;i<ptr->getCount();i++)
{
ptr->get(i)->getValue().set(0,1);
ptr->get(i)->getValue().set(1,0);
ptr->get(i)->getValue().set(2,0);
ptr->get(i)->getValue().set(3,0);
}
float quatIma0,quatIma1,quatIma2,quatReal;
SimdQuaternion quat = physObjects[i]->GetRigidBody()->getCenterOfMassTransform().getRotation();
SimdVector3 axis(quat.getX(),quat.getY(),quat.getZ());
axis[3] = 0.f;
//check for axis length
SimdScalar len = axis.length2();
if (len < SIMD_EPSILON*SIMD_EPSILON)
axis = SimdVector3(1.f,0.f,0.f);
else
axis /= SimdSqrt(len);
ptr->get(0)->getValue().set(0,axis[0]);
ptr->get(0)->getValue().set(1,axis[1]);
ptr->get(0)->getValue().set(2,axis[2]);
ptr->get(0)->getValue().set(3,quat.getAngle()*SIMD_DEGS_PER_RAD);
}
if (matrixRef[i])
{
//not yet
//printf
}
}
char saveName[550];
static int saveCount=1;
sprintf(saveName,"%s%i.dae\0",getLastFileName(),saveCount++);
char* name = &saveName[0];
if (name[0] == '/')
{
name = &saveName[1];
}
collada->saveAs(name);
}
}
#endif
if (key == '.')
{
shootBox(SimdVector3(0,0,0));
@@ -2007,3 +2130,51 @@ void clientMotionFunc(int x,int y)
}
}
//some code that de-mangles the windows filename passed in as argument
char cleaned_filename[512];
char* getLastFileName()
{
return cleaned_filename;
}
char* fixFileName(const char* lpCmdLine)
{
// We might get a windows-style path on the command line, this can mess up the DOM which expects
// all paths to be URI's. This block of code does some conversion to try and make the input
// compliant without breaking the ability to accept a properly formatted URI. Right now this only
// displays the first filename
const char *in = lpCmdLine;
char* out = cleaned_filename;
*out = NULL;
// If the first character is a ", skip it (filenames with spaces in them are quoted)
if(*in == '\"')
{
in++;
}
if(*(in+1) == ':')
{
// Second character is a :, assume we have a path with a drive letter and add a slash at the beginning
*(out++) = '/';
}
int i;
for(i =0; i<512; i++)
{
// If we hit a null or a quote, stop copying. This will get just the first filename.
if(*in == NULL || *in == '\"')
break;
// Copy while swapping backslashes for forward ones
if(*in == '\\')
{
*out = '/';
}
else
{
*out = *in;
}
in++;
out++;
}
return cleaned_filename;
}