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