Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add missing Demos/BulletXmlImportDemo

Browse Source 
serialize DynamicsWorldInfo
This commit is contained in:
erwin.coumans
2012-09-22 02:06:09 +00:00
parent f2c9cdfb11
commit 6f60a388c6
20 changed files with 25824 additions and 64 deletions
Download Patch File Download Diff File Expand all files Collapse all files

87
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
View File

@@ -64,6 +64,8 @@ typedef struct bInvalidHandle {
class btConvexHullShapeData;
class btCollisionObjectDoubleData;
class btCollisionObjectFloatData;
class btDynamicsWorldDoubleData;
class btDynamicsWorldFloatData;
class btRigidBodyFloatData;
class btRigidBodyDoubleData;
class btConstraintInfo1;
@@ -76,6 +78,8 @@ typedef struct bInvalidHandle {
class btGeneric6DofConstraintData;
class btGeneric6DofSpringConstraintData;
class btSliderConstraintData;
class btContactSolverInfoDoubleData;
class btContactSolverInfoFloatData;
class SoftBodyMaterialData;
class SoftBodyNodeData;
class SoftBodyLinkData;
@@ -503,6 +507,7 @@ typedef struct bInvalidHandle {
double m_contactProcessingThreshold;
double m_deactivationTime;
double m_friction;
double m_rollingFriction;
double m_restitution;
double m_hitFraction;
double m_ccdSweptSphereRadius;
@@ -534,6 +539,7 @@ typedef struct bInvalidHandle {
float m_contactProcessingThreshold;
float m_deactivationTime;
float m_friction;
float m_rollingFriction;
float m_restitution;
float m_hitFraction;
float m_ccdSweptSphereRadius;
@@ -545,6 +551,25 @@ typedef struct bInvalidHandle {
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
char m_padding[4];
};
// -------------------------------------------------- //
class btDynamicsWorldDoubleData
{
public:
btContactSolverInfoDoubleData m_solverInfo;
btVector3DoubleData m_gravity;
};
// -------------------------------------------------- //
class btDynamicsWorldFloatData
{
public:
btContactSolverInfoFloatData m_solverInfo;
btVector3FloatData m_gravity;
};
@@ -628,7 +653,9 @@ typedef struct bInvalidHandle {
float m_appliedImpulse;
float m_dbgDrawSize;
int m_disableCollisionsBetweenLinkedBodies;
char m_pad4[4];
int m_overrideNumSolverIterations;
float m_breakingImpulseThreshold;
int m_isEnabled;
};
@@ -754,6 +781,64 @@ typedef struct bInvalidHandle {
};
// -------------------------------------------------- //
class btContactSolverInfoDoubleData
{
public:
double m_tau;
double m_damping;
double m_friction;
double m_timeStep;
double m_restitution;
double m_maxErrorReduction;
double m_sor;
double m_erp;
double m_erp2;
double m_globalCfm;
double m_splitImpulsePenetrationThreshold;
double m_splitImpulseTurnErp;
double m_linearSlop;
double m_warmstartingFactor;
double m_maxGyroscopicForce;
double m_singleAxisRollingFrictionThreshold;
int m_numIterations;
int m_solverMode;
int m_restingContactRestitutionThreshold;
int m_minimumSolverBatchSize;
int m_splitImpulse;
char m_padding[4];
};
// -------------------------------------------------- //
class btContactSolverInfoFloatData
{
public:
float m_tau;
float m_damping;
float m_friction;
float m_timeStep;
float m_restitution;
float m_maxErrorReduction;
float m_sor;
float m_erp;
float m_erp2;
float m_globalCfm;
float m_splitImpulsePenetrationThreshold;
float m_splitImpulseTurnErp;
float m_linearSlop;
float m_warmstartingFactor;
float m_maxGyroscopicForce;
float m_singleAxisRollingFrictionThreshold;
int m_numIterations;
int m_solverMode;
int m_restingContactRestitutionThreshold;
int m_minimumSolverBatchSize;
int m_splitImpulse;
char m_padding[4];
};
// -------------------------------------------------- //
class SoftBodyMaterialData
{

5
Extras/Serialize/BulletFileLoader/btBulletFile.cpp
View File

@@ -174,6 +174,11 @@ void btBulletFile::parseData()
m_rigidBodies.push_back((bStructHandle*) id);
}
if (dataChunk.code == BT_DYNAMICSWORLD_CODE)
{
m_dynamicsWorldInfo.push_back((bStructHandle*) id);
}
if (dataChunk.code == BT_CONSTRAINT_CODE)
{
m_constraints.push_back((bStructHandle*) id);

4
Extras/Serialize/BulletFileLoader/btBulletFile.h
View File

@@ -51,7 +51,9 @@ namespace bParse {
btAlignedObjectArray<bStructHandle*> m_bvhs;
btAlignedObjectArray<bStructHandle*> m_triangleInfoMaps;
btAlignedObjectArray<bStructHandle*> m_dynamicsWorldInfo;
btAlignedObjectArray<char*> m_dataBlocks;
btBulletFile();

120
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -133,7 +133,82 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
for (int i=0;i<bulletFile2->m_dynamicsWorldInfo.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btDynamicsWorldDoubleData* solverInfoData = (btDynamicsWorldDoubleData*)bulletFile2->m_dynamicsWorldInfo[i];
btContactSolverInfo solverInfo;
btVector3 gravity;
gravity.deSerializeDouble(solverInfoData->m_gravity);
solverInfo.m_tau = solverInfoData->m_solverInfo.m_tau;
solverInfo.m_damping = solverInfoData->m_solverInfo.m_damping;
solverInfo.m_friction = solverInfoData->m_solverInfo.m_friction;
solverInfo.m_timeStep = solverInfoData->m_solverInfo.m_timeStep;
solverInfo.m_restitution = solverInfoData->m_solverInfo.m_restitution;
solverInfo.m_maxErrorReduction = solverInfoData->m_solverInfo.m_maxErrorReduction;
solverInfo.m_sor = solverInfoData->m_solverInfo.m_sor;
solverInfo.m_erp = solverInfoData->m_solverInfo.m_erp;
solverInfo.m_erp2 = solverInfoData->m_solverInfo.m_erp2;
solverInfo.m_globalCfm = solverInfoData->m_solverInfo.m_globalCfm;
solverInfo.m_splitImpulsePenetrationThreshold = solverInfoData->m_solverInfo.m_splitImpulsePenetrationThreshold;
solverInfo.m_splitImpulseTurnErp = solverInfoData->m_solverInfo.m_splitImpulseTurnErp;
solverInfo.m_linearSlop = solverInfoData->m_solverInfo.m_linearSlop;
solverInfo.m_warmstartingFactor = solverInfoData->m_solverInfo.m_warmstartingFactor;
solverInfo.m_maxGyroscopicForce = solverInfoData->m_solverInfo.m_maxGyroscopicForce;
solverInfo.m_singleAxisRollingFrictionThreshold = solverInfoData->m_solverInfo.m_singleAxisRollingFrictionThreshold;
solverInfo.m_numIterations = solverInfoData->m_solverInfo.m_numIterations;
solverInfo.m_solverMode = solverInfoData->m_solverInfo.m_solverMode;
solverInfo.m_restingContactRestitutionThreshold = solverInfoData->m_solverInfo.m_restingContactRestitutionThreshold;
solverInfo.m_minimumSolverBatchSize = solverInfoData->m_solverInfo.m_minimumSolverBatchSize;
solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
setDynamicsWorldInfo(gravity,solverInfo);
} else
{
btDynamicsWorldFloatData* solverInfoData = (btDynamicsWorldFloatData*)bulletFile2->m_dynamicsWorldInfo[i];
btContactSolverInfo solverInfo;
btVector3 gravity;
gravity.deSerializeFloat(solverInfoData->m_gravity);
solverInfo.m_tau = solverInfoData->m_solverInfo.m_tau;
solverInfo.m_damping = solverInfoData->m_solverInfo.m_damping;
solverInfo.m_friction = solverInfoData->m_solverInfo.m_friction;
solverInfo.m_timeStep = solverInfoData->m_solverInfo.m_timeStep;
solverInfo.m_restitution = solverInfoData->m_solverInfo.m_restitution;
solverInfo.m_maxErrorReduction = solverInfoData->m_solverInfo.m_maxErrorReduction;
solverInfo.m_sor = solverInfoData->m_solverInfo.m_sor;
solverInfo.m_erp = solverInfoData->m_solverInfo.m_erp;
solverInfo.m_erp2 = solverInfoData->m_solverInfo.m_erp2;
solverInfo.m_globalCfm = solverInfoData->m_solverInfo.m_globalCfm;
solverInfo.m_splitImpulsePenetrationThreshold = solverInfoData->m_solverInfo.m_splitImpulsePenetrationThreshold;
solverInfo.m_splitImpulseTurnErp = solverInfoData->m_solverInfo.m_splitImpulseTurnErp;
solverInfo.m_linearSlop = solverInfoData->m_solverInfo.m_linearSlop;
solverInfo.m_warmstartingFactor = solverInfoData->m_solverInfo.m_warmstartingFactor;
solverInfo.m_maxGyroscopicForce = solverInfoData->m_solverInfo.m_maxGyroscopicForce;
solverInfo.m_singleAxisRollingFrictionThreshold = solverInfoData->m_solverInfo.m_singleAxisRollingFrictionThreshold;
solverInfo.m_numIterations = solverInfoData->m_solverInfo.m_numIterations;
solverInfo.m_solverMode = solverInfoData->m_solverInfo.m_solverMode;
solverInfo.m_restingContactRestitutionThreshold = solverInfoData->m_solverInfo.m_restingContactRestitutionThreshold;
solverInfo.m_minimumSolverBatchSize = solverInfoData->m_solverInfo.m_minimumSolverBatchSize;
solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
setDynamicsWorldInfo(gravity,solverInfo);
}
}
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
@@ -141,51 +216,14 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
localInertia.setZero();
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[3] = 0.f;
startTransform.deSerializeDouble(colObjData->m_collisionObjectData.m_worldTransform);
// startTransform.setBasis(btMatrix3x3::getIdentity());
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (shape->isNonMoving())
{
mass = 0.f;
}
if (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
bool isDynamic = mass!=0.f;
btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape,colObjData->m_collisionObjectData.m_name);
#ifdef USE_INTERNAL_EDGE_UTILITY
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
if (trimesh->getTriangleInfoMap())
{
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");
}
convertRigidBodyDouble(colObjData);
} else
{
btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
convertRigidBody(colObjData);
convertRigidBodyFloat(colObjData);
}
}
for (i=0;i<bulletFile2->m_collisionObjects.size();i++)

57
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
View File

@@ -968,7 +968,15 @@ btCollisionObject* btWorldImporter::createCollisionObject(const btTransform& sta
return createRigidBody(false,0,startTransform,shape,bodyName);
}
void btWorldImporter::setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo)
{
if (m_dynamicsWorld)
{
m_dynamicsWorld->setGravity(gravity);
m_dynamicsWorld->getSolverInfo() = solverInfo;
}
}
btRigidBody* btWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape,const char* bodyName)
{
@@ -1310,7 +1318,8 @@ btTriangleInfoMap* btWorldImporter::getTriangleInfoMapByIndex(int index) const
return m_allocatedTriangleInfoMaps[index];
}
void btWorldImporter::convertRigidBody( btRigidBodyFloatData* colObjData)
void btWorldImporter::convertRigidBodyFloat( btRigidBodyFloatData* colObjData)
{
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
@@ -1349,7 +1358,51 @@ void btWorldImporter::convertRigidBody( btRigidBodyFloatData* colObjData)
}
#endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData,body);
printf("colObjData = %lx\n", colObjData);
} else
{
printf("error: no shape found\n");
}
}
void btWorldImporter::convertRigidBodyDouble( btRigidBodyDoubleData* colObjData)
{
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
localInertia.setZero();
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[3] = 0.f;
startTransform.deSerializeDouble(colObjData->m_collisionObjectData.m_worldTransform);
// startTransform.setBasis(btMatrix3x3::getIdentity());
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (shape->isNonMoving())
{
mass = 0.f;
}
if (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
bool isDynamic = mass!=0.f;
btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape,colObjData->m_collisionObjectData.m_name);
body->setFriction(colObjData->m_collisionObjectData.m_friction);
body->setRestitution(colObjData->m_collisionObjectData.m_restitution);
#ifdef USE_INTERNAL_EDGE_UTILITY
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
if (trimesh->getTriangleInfoMap())
{
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");

16
Extras/Serialize/BulletWorldImporter/btWorldImporter.h
View File

@@ -43,10 +43,19 @@ class btConeTwistConstraint;
class btGeneric6DofConstraint;
class btGeneric6DofSpringConstraint;
class btSliderConstraint;
struct btContactSolverInfo;
struct btTypedConstraintData;
class btTypedConstraintData;
struct btRigidBodyDoubleData;
struct btRigidBodyFloatData;
#ifdef BT_USE_DOUBLE_PRECISION
#define btRigidBodyData btRigidBodyDoubleData
#else
#define btRigidBodyData btRigidBodyFloatData
#endif//BT_USE_DOUBLE_PRECISION
class btWorldImporter
{
protected:
@@ -92,7 +101,8 @@ protected:
btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
void convertConstraint(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, bool isDoublePrecisionData, int fileVersion);
void convertRigidBody(btRigidBodyFloatData* colObjData);
void convertRigidBodyFloat(btRigidBodyFloatData* colObjData);
void convertRigidBodyDouble( btRigidBodyDoubleData* colObjData);
public:
@@ -134,6 +144,8 @@ public:
///those virtuals are called by load and can be overridden by the user
virtual void setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo);
//bodies
virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
virtual btCollisionObject* createCollisionObject( const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);

39
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
View File

@@ -20,7 +20,8 @@ subject to the following restrictions:
btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
:btWorldImporter(world),
m_fileVersion(-1)
m_fileVersion(-1),
m_fileOk(false)
{
}
@@ -337,9 +338,8 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
TiXmlNode* n = pParent->FirstChild("m_typeConstraintData");
if (n)
{
SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbA,btRigidBodyFloatData*);
SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbB,btRigidBodyFloatData*);
SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbA,btRigidBodyData*);
SET_POINTER_VALUE(n,dof6Data->m_typeConstraintData,m_rbB,btRigidBodyData*);
dof6Data->m_typeConstraintData.m_name = 0;//tbd
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_objectType);
SET_INT_VALUE(n,&dof6Data->m_typeConstraintData,m_userConstraintType);
@@ -372,7 +372,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
int ptr;
btAssert(get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr));
btRigidBodyFloatData* rbData = (btRigidBodyFloatData*)btAlignedAlloc(sizeof(btRigidBodyFloatData),16);
btRigidBodyData* rbData = (btRigidBodyData*)btAlignedAlloc(sizeof(btRigidBodyData),16);
TiXmlNode* n = pParent->FirstChild("m_collisionObjectData");
@@ -485,13 +485,13 @@ void btBulletXmlWorldImporter::fixupConstraintData(btTypedConstraintData* tcd)
{
if (tcd->m_rbA)
{
btRigidBodyFloatData** ptrptr = (btRigidBodyFloatData**)m_pointerLookup.find((int)tcd->m_rbA);
btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find((int)tcd->m_rbA);
btAssert(ptrptr);
tcd->m_rbA = ptrptr? *ptrptr : 0;
}
if (tcd->m_rbB)
{
btRigidBodyFloatData** ptrptr = (btRigidBodyFloatData**)m_pointerLookup.find((int)tcd->m_rbB);
btRigidBodyData** ptrptr = (btRigidBodyData**)m_pointerLookup.find((int)tcd->m_rbB);
btAssert(ptrptr);
tcd->m_rbB = ptrptr? *ptrptr : 0;
}
@@ -636,7 +636,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
///now fixup pointers
for (int i=0;i<m_rigidBodyData.size();i++)
{
btRigidBodyFloatData* rbData = m_rigidBodyData[i];
btRigidBodyData* rbData = m_rigidBodyData[i];
int hashKey = (int)rbData->m_collisionObjectData.m_collisionShape;
void** ptrptr = m_pointerLookup.find(hashKey);
btAssert(ptrptr);
@@ -684,7 +684,11 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for (int i=0;i<m_rigidBodyData.size();i++)
{
convertRigidBody(m_rigidBodyData[i]);
#ifdef BT_USE_DOUBLE_PRECISION
convertRigidBodyDouble(m_rigidBodyData[i]);
#else
convertRigidBodyFloat(m_rigidBodyData[i]);
#endif
}
for (int i=0;i<m_constraintData.size();i++)
@@ -745,18 +749,21 @@ bool btBulletXmlWorldImporter::loadFile(const char* fileName)
bool loadOkay = doc.LoadFile();
//dump_to_stdout(&doc,0);
int fileVersion=-1;
if (get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"version", &m_fileVersion))
if (loadOkay)
{
if (m_fileVersion==281)
if (get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"version", &m_fileVersion))
{
int itemcount;
assert(get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"itemcount", &itemcount));
auto_serialize(&doc);
if (m_fileVersion==281)
{
m_fileOk = true;
int itemcount;
assert(get_int_attribute_by_name(doc.FirstChildElement()->ToElement(),"itemcount", &itemcount));
auto_serialize(&doc);
return m_fileOk;
}
}
}
return false;

11
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
View File

@@ -16,11 +16,19 @@ subject to the following restrictions:
#ifndef BT_BULLET_XML_WORLD_IMPORTER_H
#define BT_BULLET_XML_WORLD_IMPORTER_H
#include "LinearMath/btScalar.h"
class btDynamicsWorld;
class TiXmlNode;
struct btConvexInternalShapeData;
struct btCollisionShapeData;
#ifdef BT_USE_DOUBLE_PRECISION
struct btRigidBodyDoubleData;
#define btRigidBodyData btRigidBodyDoubleData
#else
struct btRigidBodyFloatData;
#define btRigidBodyData btRigidBodyFloatData
#endif//BT_USE_DOUBLE_PRECISION
struct btTypedConstraintData;
struct btCompoundShapeChildData;
@@ -33,10 +41,11 @@ class btBulletXmlWorldImporter : public btWorldImporter
protected:
btAlignedObjectArray<btCollisionShapeData*> m_collisionShapeData;
btAlignedObjectArray<btCompoundShapeChildData*> m_compoundShapeChildData;
btAlignedObjectArray<btRigidBodyFloatData*> m_rigidBodyData;
btAlignedObjectArray<btRigidBodyData*> m_rigidBodyData;
btAlignedObjectArray<btTypedConstraintData*> m_constraintData;
btHashMap<btHashInt,void*> m_pointerLookup;
int m_fileVersion;
bool m_fileOk;
void auto_serialize_root_level_children(TiXmlNode* pParent);
void auto_serialize(TiXmlNode* pParent);