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

more fixes in Collada Physics conversion, related to convex meshes and uninitialized mass data.

Browse Source
This commit is contained in:
ejcoumans
2007-02-01 02:51:59 +00:00
parent 8a98639d78
commit 7453af5dde
1 changed files with 141 additions and 85 deletions
Download Patch File Download Diff File Expand all files Collapse all files

226
Demos/ColladaDemo/ColladaConverter.cpp
View File

@@ -361,6 +361,8 @@ bool ColladaConverter::convert()
btRigidBodyOutput output; btRigidBodyOutput output;
output.m_colShape = colShape; output.m_colShape = colShape;
output.m_compoundShape = compoundShape; output.m_compoundShape = compoundShape;
output.m_mass = 1.f;
output.m_isDynamics = true;
btRigidBodyInput rbInput; btRigidBodyInput rbInput;
rbInput.m_rigidBodyRef2 = rigidBodyRef; rbInput.m_rigidBodyRef2 = rigidBodyRef;
@@ -436,6 +438,8 @@ bool ColladaConverter::convert()
btRigidBodyOutput output; btRigidBodyOutput output;
output.m_colShape = colShape; output.m_colShape = colShape;
output.m_compoundShape = compoundShape; output.m_compoundShape = compoundShape;
output.m_mass = 1.f;
output.m_isDynamics = true;
btRigidBodyInput rbInput; btRigidBodyInput rbInput;
rbInput.m_rigidBodyRef2 = rigidBodyRef; rbInput.m_rigidBodyRef2 = rigidBodyRef;
@@ -1035,113 +1039,165 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
{ {
const domMeshRef meshRef = geom->getMesh(); const domMeshRef meshRef = geom->getMesh();
btTriangleMesh* trimesh = new btTriangleMesh(); //it can be either triangle mesh, or we just pick the vertices/positions
if (meshRef->getTriangles_array().getCount())
for (unsigned int tg = 0;tg<meshRef->getTriangles_array().getCount();tg++)
{ {
btTriangleMesh* trimesh = new btTriangleMesh();
domTrianglesRef triRef = meshRef->getTriangles_array()[tg];
const domPRef pRef = triRef->getP();
btIndexedMesh meshPart;
meshPart.m_triangleIndexStride=0;
int vertexoffset = -1; for (unsigned int tg = 0;tg<meshRef->getTriangles_array().getCount();tg++)
domInputLocalOffsetRef indexOffsetRef;
for (unsigned int w=0;w<triRef->getInput_array().getCount();w++)
{ {
int offset = triRef->getInput_array()[w]->getOffset();
daeString str = triRef->getInput_array()[w]->getSemantic();
if (!strcmp(str,"VERTEX")) domTrianglesRef triRef = meshRef->getTriangles_array()[tg];
const domPRef pRef = triRef->getP();
btIndexedMesh meshPart;
meshPart.m_triangleIndexStride=0;
int vertexoffset = -1;
domInputLocalOffsetRef indexOffsetRef;
for (unsigned int w=0;w<triRef->getInput_array().getCount();w++)
{ {
indexOffsetRef = triRef->getInput_array()[w]; int offset = triRef->getInput_array()[w]->getOffset();
vertexoffset = offset; daeString str = triRef->getInput_array()[w]->getSemantic();
} if (!strcmp(str,"VERTEX"))
if (offset > meshPart.m_triangleIndexStride)
{
meshPart.m_triangleIndexStride = offset;
}
}
meshPart.m_triangleIndexStride++;
domListOfUInts indexArray =triRef->getP()->getValue();
//int* m_triangleIndexBase;
meshPart.m_numTriangles = triRef->getCount();
const domVerticesRef vertsRef = meshRef->getVertices();
int numInputs = vertsRef->getInput_array().getCount();
for (int i=0;i<numInputs;i++)
{
domInputLocalRef localRef = vertsRef->getInput_array()[i];
daeString str = localRef->getSemantic();
if ( !strcmp(str,"POSITION"))
{
const domURIFragmentType& frag = localRef->getSource();
daeElementConstRef constElem = frag.getElement();
const domSourceRef node = *(const domSourceRef*)&constElem;
const domFloat_arrayRef flArray = node->getFloat_array();
if (flArray)
{ {
const domListOfFloats& listFloats = flArray->getValue(); indexOffsetRef = triRef->getInput_array()[w];
vertexoffset = offset;
}
if (offset > meshPart.m_triangleIndexStride)
{
meshPart.m_triangleIndexStride = offset;
}
}
meshPart.m_triangleIndexStride++;
domListOfUInts indexArray =triRef->getP()->getValue();
int k=vertexoffset; //int* m_triangleIndexBase;
int t=0;
int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
for (;t<meshPart.m_numTriangles;t++)
meshPart.m_numTriangles = triRef->getCount();
const domVerticesRef vertsRef = meshRef->getVertices();
int numInputs = vertsRef->getInput_array().getCount();
for (int i=0;i<numInputs;i++)
{
domInputLocalRef localRef = vertsRef->getInput_array()[i];
daeString str = localRef->getSemantic();
if ( !strcmp(str,"POSITION"))
{
const domURIFragmentType& frag = localRef->getSource();
daeElementConstRef constElem = frag.getElement();
const domSourceRef node = *(const domSourceRef*)&constElem;
const domFloat_arrayRef flArray = node->getFloat_array();
if (flArray)
{ {
btVector3 verts[3]; const domListOfFloats& listFloats = flArray->getValue();
int index0;
for (int i=0;i<3;i++) int k=vertexoffset;
int t=0;
int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
for (;t<meshPart.m_numTriangles;t++)
{ {
index0 = indexArray.get(k)*vertexStride; btVector3 verts[3];
domFloat fl0 = listFloats.get(index0); int index0;
domFloat fl1 = listFloats.get(index0+1); for (int i=0;i<3;i++)
domFloat fl2 = listFloats.get(index0+2); {
k+=meshPart.m_triangleIndexStride; index0 = indexArray.get(k)*vertexStride;
verts[i].setValue(fl0,fl1,fl2); domFloat fl0 = listFloats.get(index0);
domFloat fl1 = listFloats.get(index0+1);
domFloat fl2 = listFloats.get(index0+2);
k+=meshPart.m_triangleIndexStride;
verts[i].setValue(fl0,fl1,fl2);
}
trimesh->addTriangle(verts[0],verts[1],verts[2]);
} }
trimesh->addTriangle(verts[0],verts[1],verts[2]);
} }
} }
} }
}
//int m_triangleIndexStride;//calculate max offset //int m_triangleIndexStride;//calculate max offset
//int m_numVertices; //int m_numVertices;
//float* m_vertexBase;//getRawData on floatArray //float* m_vertexBase;//getRawData on floatArray
//int m_vertexStride;//use the accessor for this //int m_vertexStride;//use the accessor for this
//}; //};
//tindexArray->addIndexedMesh(meshPart); //tindexArray->addIndexedMesh(meshPart);
if (rbOutput.m_isDynamics) if (rbOutput.m_isDynamics)
{
printf("moving concave <mesh> not supported, transformed into convex\n");
rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
} else
{
printf("static concave triangle <mesh> added\n");
rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
//rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
//rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
//btTriangleMeshShape
}
}
} else
{ {
printf("moving concave <mesh> not supported, transformed into convex\n");
rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh); btConvexHullShape* convexHull = new btConvexHullShape();
} else int numAddedVerts = 0;
{
printf("static concave triangle <mesh> added\n"); const domVerticesRef vertsRef = meshRef->getVertices();
rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh); int numInputs = vertsRef->getInput_array().getCount();
//rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh); for (int i=0;i<numInputs;i++)
//rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh); {
domInputLocalRef localRef = vertsRef->getInput_array()[i];
//btTriangleMeshShape daeString str = localRef->getSemantic();
} if ( !strcmp(str,"POSITION"))
{
const domURIFragmentType& frag = localRef->getSource();
daeElementConstRef constElem = frag.getElement();
const domSourceRef node = *(const domSourceRef*)&constElem;
const domFloat_arrayRef flArray = node->getFloat_array();
if (flArray)
{
const domListOfFloats& listFloats = flArray->getValue();
int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
int vertIndex = 0;
for (vertIndex = 0;vertIndex < listFloats.getCount();vertIndex+=vertexStride)
{
btVector3 verts[3];
domFloat fl0 = listFloats.get(vertIndex);
domFloat fl1 = listFloats.get(vertIndex+1);
domFloat fl2 = listFloats.get(vertIndex+2);
convexHull->addPoint(btPoint3(fl0,fl1,fl2));
}
}
}
}
//convexHull->addPoint();
if (numAddedVerts > 0)
{
rbOutput.m_colShape = convexHull;
} else
{
delete convexHull;
printf("no vertices found for convex hull\n");
}
} }
} }
@@ -1191,7 +1247,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
{ {
//ReadGeometry( ); //ReadGeometry( );
domGeometryRef lib = libgeom->getGeometry_array()[i]; domGeometryRef lib = libgeom->getGeometry_array()[i];
if (!strcmp(lib->getName(),urlref2)) if (!strcmp(lib->getId(),urlref2))
{ {
//found convex_hull geometry //found convex_hull geometry
domMesh *meshElement = lib->getMesh();//linkedGeom->getMesh(); domMesh *meshElement = lib->getMesh();//linkedGeom->getMesh();