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

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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
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60
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -361,6 +361,8 @@ bool ColladaConverter::convert()
btRigidBodyOutput output;
output.m_colShape = colShape;
output.m_compoundShape = compoundShape;
output.m_mass = 1.f;
output.m_isDynamics = true;
btRigidBodyInput rbInput;
rbInput.m_rigidBodyRef2 = rigidBodyRef;
@@ -436,6 +438,8 @@ bool ColladaConverter::convert()
btRigidBodyOutput output;
output.m_colShape = colShape;
output.m_compoundShape = compoundShape;
output.m_mass = 1.f;
output.m_isDynamics = true;
btRigidBodyInput rbInput;
rbInput.m_rigidBodyRef2 = rigidBodyRef;
@@ -1035,8 +1039,12 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
{
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())
{
btTriangleMesh* trimesh = new btTriangleMesh();
for (unsigned int tg = 0;tg<meshRef->getTriangles_array().getCount();tg++)
{
@@ -1142,6 +1150,54 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
}
}
} else
{
btConvexHullShape* convexHull = new btConvexHullShape();
int numAddedVerts = 0;
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();
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( );
domGeometryRef lib = libgeom->getGeometry_array()[i];
if (!strcmp(lib->getName(),urlref2))
if (!strcmp(lib->getId(),urlref2))
{
//found convex_hull geometry
domMesh *meshElement = lib->getMesh();//linkedGeom->getMesh();