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add missing Demos/BulletXmlImportDemo

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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
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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
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@@ -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);