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add support for btTriangleInfoMap serialization (needs testing)

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This commit is contained in:
erwin.coumans
2010-02-24 03:22:34 +00:00
parent f5fabd2676
commit 9c1d134f2f
3 changed files with 555 additions and 432 deletions
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82
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -5,6 +5,11 @@
#include "btBulletDynamicsCommon.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
//#define USE_INTERNAL_EDGE_UTILITY
#ifdef USE_INTERNAL_EDGE_UTILITY
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
#endif //USE_INTERNAL_EDGE_UTILITY
btBulletWorldImporter::btBulletWorldImporter(btDynamicsWorld* world)
:m_dynamicsWorld(world),
m_verboseDumpAllTypes(false)
@@ -84,6 +89,19 @@ btTriangleIndexVertexArray* btBulletWorldImporter::createMeshInterface(btStridin
return meshInterface;
}
#ifdef USE_INTERNAL_EDGE_UTILITY
extern ContactAddedCallback gContactAddedCallback;
static bool btAdjustInternalEdgeContactsCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
{
btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
return true;
}
#endif //USE_INTERNAL_EDGE_UTILITY
btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShapeData* shapeData )
{
btCollisionShape* shape = 0;
@@ -297,10 +315,22 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
}
btCollisionShape* trimeshShape = createBvhTriangleMeshShape(meshInterface,bvh);
btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface,bvh);
trimeshShape->setMargin(trimesh->m_collisionMargin);
shape = trimeshShape;
if (trimesh->m_triangleInfoMap)
{
btTriangleInfoMap* map = createTriangleInfoMap();
map->deSerialize(*trimesh->m_triangleInfoMap);
trimeshShape->setTriangleInfoMap(map);
#ifdef USE_INTERNAL_EDGE_UTILITY
gContactAddedCallback = btAdjustInternalEdgeContactsCallback;
#endif //USE_INTERNAL_EDGE_UTILITY
}
//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
break;
}
@@ -393,6 +423,16 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
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
bodyMap.insert(colObjData,body);
} else
{
@@ -418,6 +458,16 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
}
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
bodyMap.insert(colObjData,body);
} else
{
@@ -438,6 +488,17 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
startTransform.deSerializeDouble(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->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
bodyMap.insert(colObjData,body);
} else
{
@@ -454,6 +515,17 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
startTransform.deSerializeFloat(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->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
bodyMap.insert(colObjData,body);
} else
{
@@ -771,7 +843,13 @@ btOptimizedBvh* btBulletWorldImporter::createOptimizedBvh()
return new btOptimizedBvh();
}
btCollisionShape* btBulletWorldImporter::createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh)
btTriangleInfoMap* btBulletWorldImporter::createTriangleInfoMap()
{
return new btTriangleInfoMap();
}
btBvhTriangleMeshShape* btBulletWorldImporter::createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh)
{
if (bvh)
{

6
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
View File

@@ -37,6 +37,9 @@ class btStridingMeshInterface;
struct btStridingMeshInterfaceData;
class btGImpactMeshShape;
class btOptimizedBvh;
struct btTriangleInfoMap;
class btBvhTriangleMeshShape;
namespace bParse
{
@@ -115,8 +118,9 @@ public:
virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
virtual btCollisionShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
virtual btOptimizedBvh* createOptimizedBvh();
virtual btTriangleInfoMap* createTriangleInfoMap();
virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
virtual class btConvexHullShape* createConvexHullShape();