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more work on Bullet serialization (added support for btConvexHullSupport)

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This commit is contained in:
erwin.coumans
2010-01-23 00:58:47 +00:00
parent 0f707603f1
commit 5378cf4c8a
16 changed files with 329 additions and 121 deletions
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35
Demos/ConvexDecompositionDemo/CMakeLists.txt
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@@ -12,15 +12,36 @@ SET(GLUT_ROOT ${BULLET_PHYSICS_SOURCE_DIR}/Glut)
########################################################
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL ${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/Extras/ConvexDecomposition
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath BulletFileLoader ConvexDecomposition ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConvexDecompositionDemo
main.cpp
ConvexDecompositionDemo.cpp
ConvexDecompositionDemo.h
)
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ConvexDecomposition ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
OpenGLSupport BulletDynamics BulletCollision LinearMath BulletFileLoader ConvexDecomposition ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConvexDecompositionDemo
main.cpp
ConvexDecompositionDemo.cpp
)
ADD_EXECUTABLE(AppConvexDecompositionDemo
WIN32
../OpenGL/Win32AppMain.cpp
ConvexDecompositionDemo.cpp
ConvexDecompositionDemo.h
Win32ConvexDecompositionDemo.cpp
)
ENDIF (USE_GLUT)

93
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -23,6 +23,14 @@ subject to the following restrictions:
#include "LinearMath/btGeometryUtil.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#define TEST_SERIALIZATION
#ifdef TEST_SERIALIZATION
#include "LinearMath/btSerializer.h"
#include "btBulletFile.h"
#include "btBulletFileLoader.h"
#endif
//#define USE_PARALLEL_DISPATCHER 1
#ifdef USE_PARALLEL_DISPATCHER
#include "../../Extras/BulletMultiThreaded/SpuGatheringCollisionDispatcher.h"
@@ -91,27 +99,9 @@ bool MyContactCallback (
}
void ConvexDecompositionDemo::initPhysics(const char* filename)
void ConvexDecompositionDemo::setupEmptyDynamicsWorld()
{
gContactAddedCallback = &MyContactCallback;
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
ConvexDecomposition::WavefrontObj wo;
tcount = wo.loadObj(filename);
if (!tcount)
{
//when running this app from visual studio, the default starting folder is different, so make a second attempt...
tcount = wo.loadObj("../../file.obj");
}
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_collisionConfiguration = new btDefaultCollisionConfiguration();
#ifdef USE_PARALLEL_DISPATCHER
#ifdef USE_WIN32_THREADING
@@ -151,6 +141,30 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
m_dynamicsWorld->getDispatchInfo().m_enableSPU = true;
#endif //USE_PARALLEL_DISPATCHER
}
void ConvexDecompositionDemo::initPhysics(const char* filename)
{
gContactAddedCallback = &MyContactCallback;
setTexturing(true);
setShadows(true);
setCameraDistance(26.f);
ConvexDecomposition::WavefrontObj wo;
tcount = wo.loadObj(filename);
if (!tcount)
{
//when running this app from visual studio, the default starting folder is different, so make a second attempt...
tcount = wo.loadObj("../../file.obj");
}
setupEmptyDynamicsWorld();
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,-4.5,0));
@@ -293,7 +307,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
btConvexHullShape* convexShape = new btConvexHullShape(&(vertices[0].getX()),vertices.size());
#endif
convexShape->setMargin(0.01);
convexShape->setMargin(0.01f);
m_convexShapes.push_back(convexShape);
m_convexCentroids.push_back(centroid);
m_convexDemo->m_collisionShapes.push_back(convexShape);
@@ -371,7 +385,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
btTransform startTransform;
startTransform.setIdentity();
startTransform.setOrigin(btVector3(0,2,0));
startTransform.setOrigin(btVector3(0,2,14));
localCreateRigidBody(mass, startTransform,convexShape);
@@ -438,6 +452,9 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
trans.setOrigin(centroid);
btConvexHullShape* convexShape = convexDecomposition.m_convexShapes[i];
compound->addChildShape(trans,convexShape);
btRigidBody* body = localCreateRigidBody( 1.0, trans,convexShape);
}
btScalar mass=10.f;
trans.setOrigin(-convexDecompositionObjectOffset);
@@ -464,6 +481,30 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
}
#ifdef TEST_SERIALIZATION
//test serializing this
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
exitPhysics();
//now try again from the loaded file
setupEmptyDynamicsWorld();
btBulletFileLoader* fileLoader = new btBulletFileLoader(m_dynamicsWorld);
fileLoader->loadFileFromMemory("testFile.bullet");
#endif //TEST_SERIALIZATION
}
@@ -481,7 +522,7 @@ void ConvexDecompositionDemo::clientMoveAndDisplay()
renderme();
glFlush();
glutSwapBuffers();
swapBuffers();
}
@@ -499,7 +540,7 @@ void ConvexDecompositionDemo::displayCallback(void) {
glFlush();
glutSwapBuffers();
swapBuffers();
}
@@ -532,12 +573,16 @@ void ConvexDecompositionDemo::exitPhysics()
delete shape;
}
m_collisionShapes.clear();
for (i=0;i<m_trimeshes.size();i++)
{
btTriangleMesh* mesh = m_trimeshes[i];
delete mesh;
}
m_trimeshes.clear();
//delete dynamics world
delete m_dynamicsWorld;

11
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.h
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@@ -15,7 +15,15 @@ subject to the following restrictions:
#ifndef CONVEX_DECOMPOSITION_DEMO_H
#define CONVEX_DECOMPOSITION_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h"
class btBroadphaseInterface;
@@ -28,9 +36,10 @@ class btDefaultCollisionConfiguration;
class btTriangleMesh;
///ConvexDecompositionDemo shows automatic convex decomposition of a concave mesh
class ConvexDecompositionDemo : public GlutDemoApplication
class ConvexDecompositionDemo : public PlatformDemoApplication
{
void setupEmptyDynamicsWorld();
public:

25
Demos/ConvexDecompositionDemo/Win32ConvexDecompositionDemo.cpp Normal file
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@@ -0,0 +1,25 @@
#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2010 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.
*/
#include "ConvexDecompositionDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new ConvexDecompositionDemo();
}
#endif