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working towards better COLLADA 1.4i physics conformance for the DOM

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This commit is contained in:
ejcoumans
2006-07-16 22:26:11 +00:00
parent 4d596a6e7e
commit 9f9f35f847
1 changed files with 379 additions and 320 deletions
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589
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -26,6 +26,7 @@ subject to the following restrictions:
#include "CollisionShapes/TriangleMesh.h" #include "CollisionShapes/TriangleMesh.h"
#include "CollisionShapes/ConvexTriangleMeshShape.h" #include "CollisionShapes/ConvexTriangleMeshShape.h"
#include "CollisionShapes/TriangleMeshShape.h" #include "CollisionShapes/TriangleMeshShape.h"
#include "CollisionShapes/TriangleIndexVertexArray.h"
extern SimdVector3 gCameraUp; extern SimdVector3 gCameraUp;
@@ -71,9 +72,10 @@ extern int gForwardAxis;
#include "FCDocument/FCDGeometryInstance.h" #include "FCDocument/FCDGeometryInstance.h"
#include "FCDocument/FCDGeometrySource.h" #include "FCDocument/FCDGeometrySource.h"
#include "FCDocument/FCDGeometryMesh.h" #include "FCDocument/FCDGeometryMesh.h"
#include "FCDocument/FCDPhysicsParameter.h"
#include "FCDocument/FCDPhysicsShape.h"
#include "FCDocument/FCDGeometryPolygons.h" #include "FCDocument/FCDGeometryPolygons.h"
#include "FUtils/FUDaeSyntax.h"
#include "FCDocument/FCDGeometry.h" #include "FCDocument/FCDGeometry.h"
#include "FCDocument/FCDPhysicsAnalyticalGeometry.h" #include "FCDocument/FCDPhysicsAnalyticalGeometry.h"
@@ -354,44 +356,44 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
//Then affect all of its geometry instances. //Then affect all of its geometry instances.
//Collect all the entities inside the entity vector and inside the children nodes //Collect all the entities inside the entity vector and inside the children nodes
/* /*
FREntityList childEntities = n->GetEntities(); FREntityList childEntities = n->GetEntities();
FRSceneNodeList childrenToParse = n->GetChildren(); FRSceneNodeList childrenToParse = n->GetChildren();
while (!childrenToParse.empty()) while (!childrenToParse.empty())
{ {
FRSceneNode* child = *childrenToParse.begin(); FRSceneNode* child = *childrenToParse.begin();
const FREntityList& e = child->GetEntities(); const FREntityList& e = child->GetEntities();
//add the entities of that child //add the entities of that child
childEntities.insert(childEntities.end(), e.begin(), e.end()); childEntities.insert(childEntities.end(), e.begin(), e.end());
//queue the grand-children nodes //queue the grand-children nodes
childrenToParse.insert(childrenToParse.end(), child->GetChildren().begin(), child->GetChildren().end()); childrenToParse.insert(childrenToParse.end(), child->GetChildren().begin(), child->GetChildren().end());
childrenToParse.erase(childrenToParse.begin()); childrenToParse.erase(childrenToParse.begin());
} }
*/ */
//now check which ones are geometry mesh (right now an entity is only derived by mesh //now check which ones are geometry mesh (right now an entity is only derived by mesh
//but do this to avoid problems in the future) //but do this to avoid problems in the future)
/* /*
for (FREntityList::iterator itT = childEntities.begin(); itT != childEntities.end(); itT++) for (FREntityList::iterator itT = childEntities.begin(); itT != childEntities.end(); itT++)
{ {
if ((*itT)->GetType() == FREntity::MESH || (*itT)->GetType() == FREntity::MESH_CONTROLLER) if ((*itT)->GetType() == FREntity::MESH || (*itT)->GetType() == FREntity::MESH_CONTROLLER)
{ {
FRMesh* cMesh = (FRMesh*)*itT; FRMesh* cMesh = (FRMesh*)*itT;
//while we're here, bake the scaling transforms into the meshes //while we're here, bake the scaling transforms into the meshes
BakeScalingIntoMesh(cMesh, scaleTransforms); BakeScalingIntoMesh(cMesh, scaleTransforms);
controller->AddBindMesh((FRMesh*)*itT); controller->AddBindMesh((FRMesh*)*itT);
}
} }
*/
}
*/
///////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////
@@ -509,65 +511,65 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
//float value = inputs->source->GetSourceData()[index]; //float value = inputs->source->GetSourceData()[index];
int offset = poly->GetFaceVertexOffset(p); int offset = poly->GetFaceVertexOffset(p);
int index; int index;
index = inputs->indices[offset]; index = inputs->indices[offset];
SimdVector3 vertex0( SimdVector3 vertex0(
inputs->source->GetSourceData()[index*3], inputs->GetSource()->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1], inputs->GetSource()->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]); inputs->GetSource()->GetSourceData()[index*3+2]);
index = inputs->indices[offset+1]; index = inputs->indices[offset+1];
SimdVector3 vertex1( SimdVector3 vertex1(
inputs->source->GetSourceData()[index*3], inputs->GetSource()->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1], inputs->GetSource()->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]); inputs->GetSource()->GetSourceData()[index*3+2]);
index = inputs->indices[offset+2]; index = inputs->indices[offset+2];
SimdVector3 vertex2( SimdVector3 vertex2(
inputs->source->GetSourceData()[index*3], inputs->GetSource()->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1], inputs->GetSource()->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]); inputs->GetSource()->GetSourceData()[index*3+2]);
trimesh->AddTriangle(vertex0,vertex1,vertex2); trimesh->AddTriangle(vertex0,vertex1,vertex2);
break; break;
} }
case 4: case 4:
{ {
int offset = poly->GetFaceVertexOffset(p); int offset = poly->GetFaceVertexOffset(p);
int index; int index;
index = inputs->indices[offset]; index = inputs->indices[offset];
SimdVector3 vertex0( SimdVector3 vertex0(
inputs->source->GetSourceData()[index*3], inputs->GetSource()->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1], inputs->GetSource()->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]); inputs->GetSource()->GetSourceData()[index*3+2]);
index = inputs->indices[offset+1]; index = inputs->indices[offset+1];
SimdVector3 vertex1( SimdVector3 vertex1(
inputs->source->GetSourceData()[index*3], inputs->GetSource()->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1], inputs->GetSource()->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]); inputs->GetSource()->GetSourceData()[index*3+2]);
index = inputs->indices[offset+2]; index = inputs->indices[offset+2];
SimdVector3 vertex2( SimdVector3 vertex2(
inputs->source->GetSourceData()[index*3], inputs->GetSource()->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1], inputs->GetSource()->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]); inputs->GetSource()->GetSourceData()[index*3+2]);
index = inputs->indices[offset+3]; index = inputs->indices[offset+3];
SimdVector3 vertex3( SimdVector3 vertex3(
inputs->source->GetSourceData()[index*3], inputs->GetSource()->GetSourceData()[index*3],
inputs->source->GetSourceData()[index*3+1], inputs->GetSource()->GetSourceData()[index*3+1],
inputs->source->GetSourceData()[index*3+2]); inputs->GetSource()->GetSourceData()[index*3+2]);
trimesh->AddTriangle(vertex0,vertex1,vertex2); trimesh->AddTriangle(vertex0,vertex1,vertex2);
trimesh->AddTriangle(vertex0,vertex2,vertex3); trimesh->AddTriangle(vertex0,vertex2,vertex3);
@@ -575,13 +577,13 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
break; break;
} }
default: default:
{ {
} }
} }
} }
if (colladaMesh->m_convex || isDynamic) if (colladaMesh->IsConvex() || isDynamic)
{ {
collisionShape = new ConvexTriangleMeshShape(trimesh); collisionShape = new ConvexTriangleMeshShape(trimesh);
} else } else
@@ -615,25 +617,25 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
{ {
SAFE_DELETE(NewShape); SAFE_DELETE(NewShape);
continue; continue;
} }
if (mat) if (mat)
{ {
NewShape->SetMaterial(mat->GetStaticFriction(), mat->GetDynamicFriction(), mat->GetRestitution()); NewShape->SetMaterial(mat->GetStaticFriction(), mat->GetDynamicFriction(), mat->GetRestitution());
//FIXME //FIXME
//NewShape->material->setFrictionCombineMode(); //NewShape->material->setFrictionCombineMode();
//NewShape->material->setSpring(); //NewShape->material->setSpring();
} }
controller->AddShape(NewShape); controller->AddShape(NewShape);
*/ */
}
} }
} }
}
@@ -915,25 +917,25 @@ int main(int argc,char** argv)
domAsset::domUp_axis * up = dom->getAsset()->getUp_axis(); domAsset::domUp_axis * up = dom->getAsset()->getUp_axis();
switch( up->getValue() ) switch( up->getValue() )
{ {
case UPAXISTYPE_X_UP: case UPAXISTYPE_X_UP:
printf(" X is Up Data and Hiearchies must be converted!\n" ); printf(" X is Up Data and Hiearchies must be converted!\n" );
printf(" Conversion to X axis Up isn't currently supported!\n" ); printf(" Conversion to X axis Up isn't currently supported!\n" );
printf(" COLLADA_RT defaulting to Y Up \n" ); printf(" COLLADA_RT defaulting to Y Up \n" );
physicsEnvironmentPtr->setGravity(-10,0,0); physicsEnvironmentPtr->setGravity(-10,0,0);
break; break;
case UPAXISTYPE_Y_UP: case UPAXISTYPE_Y_UP:
printf(" Y Axis is Up for this file \n" ); printf(" Y Axis is Up for this file \n" );
printf(" COLLADA_RT set to Y Up \n" ); printf(" COLLADA_RT set to Y Up \n" );
physicsEnvironmentPtr->setGravity(0,-10,0); physicsEnvironmentPtr->setGravity(0,-10,0);
break; break;
case UPAXISTYPE_Z_UP: case UPAXISTYPE_Z_UP:
printf(" Z Axis is Up for this file \n" ); printf(" Z Axis is Up for this file \n" );
printf(" All Geometry and Hiearchies must be converted!\n" ); printf(" All Geometry and Hiearchies must be converted!\n" );
physicsEnvironmentPtr->setGravity(0,0,-10); physicsEnvironmentPtr->setGravity(0,0,-10);
break; break;
default: default:
break; break;
} }
} }
@@ -1007,6 +1009,9 @@ int main(int argc,char** argv)
}//for all geometry libraries }//for all geometry libraries
//dom->getLibrary_physics_models_array()
for ( int i = 0; i < dom->getLibrary_physics_scenes_array().getCount(); i++) for ( int i = 0; i < dom->getLibrary_physics_scenes_array().getCount(); i++)
{ {
domLibrary_physics_scenesRef physicsScenesRef = dom->getLibrary_physics_scenes_array()[i]; domLibrary_physics_scenesRef physicsScenesRef = dom->getLibrary_physics_scenes_array()[i];
@@ -1016,196 +1021,256 @@ int main(int argc,char** argv)
for (int m=0;m<physicsSceneRef->getInstance_physics_model_array().getCount();m++) for (int m=0;m<physicsSceneRef->getInstance_physics_model_array().getCount();m++)
{ {
domInstance_physics_modelRef modelRef = physicsSceneRef->getInstance_physics_model_array()[m]; domInstance_physics_modelRef instance_physicsModelRef = physicsSceneRef->getInstance_physics_model_array()[m];
daeElementRef ref = instance_physicsModelRef->getUrl().getElement();
//domPhysics_modelRef mr =;
daeElementRef ref = modelRef->getUrl().getElement();
domPhysics_modelRef model = *(domPhysics_modelRef*)&ref; domPhysics_modelRef model = *(domPhysics_modelRef*)&ref;
for (int r=0;r<instance_physicsModelRef->getInstance_rigid_body_array().getCount();r++)
float mass = 1.f;
bool isDynamics = true;
CollisionShape* colShape = 0;
SimdTransform startTransform;
startTransform.setIdentity();
SimdVector3 startScale(1.f,1.f,1.f);
{ {
for (int r=0;r<model->getRigid_body_array().getCount();r++)
domInstance_rigid_bodyRef rigidbodyRef = instance_physicsModelRef->getInstance_rigid_body_array()[r];
SimdTransform startTransform;
startTransform.setIdentity();
SimdVector3 startScale(1.f,1.f,1.f);
float mass = 1.f;
bool isDynamics = true;
CollisionShape* colShape = 0;
xsNCName bodyName = rigidbodyRef->getBody();
if (bodyName)
{ {
//try to find the rigid body
domRigid_bodyRef physicsModel = model->getRigid_body_array()[r]; for (int r=0;r<model->getRigid_body_array().getCount();r++)
const domRigid_body::domTechnique_commonRef techniqueRef = physicsModel->getTechnique_common();
if (techniqueRef)
{ {
domRigid_bodyRef rigidBodyRef = model->getRigid_body_array()[r];
mass = techniqueRef->getMass()->getValue(); if (!strcmp(rigidBodyRef->getName(),bodyName))
isDynamics = techniqueRef->getDynamic()->getValue();
//shapes
for (int s=0;s<techniqueRef->getShape_array().getCount();s++)
{ {
domRigid_body::domTechnique_common::domShapeRef shapeRef = techniqueRef->getShape_array()[s];
const domRigid_body::domTechnique_commonRef techniqueRef = rigidBodyRef->getTechnique_common();
if (shapeRef->getBox()) if (techniqueRef)
{ {
domBoxRef boxRef = shapeRef->getBox();
domBox::domHalf_extentsRef domHalfExtentsRef = boxRef->getHalf_extents();
domFloat3& halfExtents = domHalfExtentsRef->getValue();
float x = halfExtents.get(0);
float y = halfExtents.get(1);
float z = halfExtents.get(2);
colShape = new BoxShape(SimdVector3(x,y,z));
}
if (shapeRef->getSphere())
{
domSphereRef sphereRef = shapeRef->getSphere();
domSphere::domRadiusRef radiusRef = sphereRef->getRadius();
domFloat radius = radiusRef->getValue();
colShape = new SphereShape(radius);
}
if (shapeRef->getCylinder()) if (techniqueRef->getMass())
{
domCylinderRef cylinderRef = shapeRef->getCylinder();
domFloat height = cylinderRef->getHeight()->getValue();
domFloat2 radius2 = cylinderRef->getRadius()->getValue();
domFloat radius0 = radius2.get(0);
//Cylinder around the local Y axis
colShape = new CylinderShape(SimdVector3(radius0,height,radius0));
}
if (shapeRef->getInstance_geometry())
{
const domInstance_geometryRef geomInstRef = shapeRef->getInstance_geometry();
daeElement* geomElem = geomInstRef->getUrl().getElement();
//elemRef->getTypeName();
domGeometry* geom = (domGeometry*) geomElem;
if (geom->getMesh())
{ {
const domMeshRef meshRef = geom->getMesh(); mass = techniqueRef->getMass()->getValue();
}
printf("(concave) mesh not supported yet\n"); if (techniqueRef->getDynamic())
{
isDynamics = techniqueRef->getDynamic()->getValue();
} }
if (geom->getConvex_mesh()) //shapes
for (int s=0;s<techniqueRef->getShape_array().getCount();s++)
{ {
domRigid_body::domTechnique_common::domShapeRef shapeRef = techniqueRef->getShape_array()[s];
if (shapeRef->getBox())
{ {
const domConvex_meshRef convexRef = geom->getConvex_mesh(); domBoxRef boxRef = shapeRef->getBox();
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement(); domBox::domHalf_extentsRef domHalfExtentsRef = boxRef->getHalf_extents();
if ( otherElemRef != NULL ) domFloat3& halfExtents = domHalfExtentsRef->getValue();
{ float x = halfExtents.get(0);
domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef; float y = halfExtents.get(1);
printf( "otherLinked\n"); float z = halfExtents.get(2);
} else colShape = new BoxShape(SimdVector3(x,y,z));
{ }
printf("convexMesh polyCount = %i\n",convexRef->getPolygons_array().getCount()); if (shapeRef->getSphere())
printf("convexMesh triCount = %i\n",convexRef->getTriangles_array().getCount()); {
domSphereRef sphereRef = shapeRef->getSphere();
} domSphere::domRadiusRef radiusRef = sphereRef->getRadius();
domFloat radius = radiusRef->getValue();
colShape = new SphereShape(radius);
} }
if (shapeRef->getCylinder())
ConvexHullShape* convexHullShape = new ConvexHullShape(0,0);
//it is quite a trick to get to the vertices, using Collada.
//we are not there yet...
const domConvex_meshRef convexRef = geom->getConvex_mesh();
daeString urlref = convexRef->getConvex_hull_of().getURI();
daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI();
// Load all the geometry libraries
for ( int i = 0; i < dom->getLibrary_geometries_array().getCount(); i++)
{ {
domLibrary_geometriesRef libgeom = dom->getLibrary_geometries_array()[i]; domCylinderRef cylinderRef = shapeRef->getCylinder();
//int index = libgeom->findLastIndexOf(urlref2); domFloat height = cylinderRef->getHeight()->getValue();
//can't find it domFloat2 radius2 = cylinderRef->getRadius()->getValue();
domFloat radius0 = radius2.get(0);
for ( int i = 0; i < libgeom->getGeometry_array().getCount(); i++) //Cylinder around the local Y axis
colShape = new CylinderShape(SimdVector3(radius0,height,radius0));
}
if (shapeRef->getInstance_geometry())
{
const domInstance_geometryRef geomInstRef = shapeRef->getInstance_geometry();
daeElement* geomElem = geomInstRef->getUrl().getElement();
//elemRef->getTypeName();
domGeometry* geom = (domGeometry*) geomElem;
if (geom->getMesh())
{ {
//ReadGeometry( ); const domMeshRef meshRef = geom->getMesh();
domGeometryRef lib = libgeom->getGeometry_array()[i]; TriangleIndexVertexArray* tindexArray = new TriangleIndexVertexArray();
if (!strcmp(lib->getName(),urlref2))
for (int tg = 0;tg<meshRef->getTriangles_array().getCount();tg++)
{ {
//found convex_hull geometry domTrianglesRef triRef = meshRef->getTriangles_array()[tg];
domMesh *meshElement = lib->getMesh(); const domPRef pRef = triRef->getP();
if (meshElement) daeMemoryRef memRef = pRef->getValue().getRawData();
IndexedMesh meshPart;
meshPart.m_triangleIndexStride=0;
for (int w=0;w<triRef->getInput_array().getCount();w++)
{ {
const domVerticesRef vertsRef = meshElement->getVertices(); int offset = triRef->getInput_array()[w]->getOffset();
int numInputs = vertsRef->getInput_array().getCount(); if (offset > meshPart.m_triangleIndexStride)
for (int i=0;i<numInputs;i++)
{ {
domInputLocalRef localRef = vertsRef->getInput_array()[i]; meshPart.m_triangleIndexStride = offset;
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)
{
int numElem = flArray->getCount();
const domListOfFloats& listFloats = flArray->getValue();
for (int k=0;k+2<numElem;k+=3)
{
domFloat fl0 = listFloats.get(k);
domFloat fl1 = listFloats.get(k+1);
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->AddPoint(SimdPoint3(fl0,fl1,fl2));
}
}
}
} }
}
meshPart.m_triangleIndexStride++;
//int* m_triangleIndexBase;
meshPart.m_numTriangles = triRef->getCount();
//int m_triangleIndexStride;//calculate max offset
//int m_numVertices;
//float* m_vertexBase;//getRawData on floatArray
//int m_vertexStride;//use the accessor for this
//};
tindexArray->AddIndexedMesh(meshPart);
}
printf("(concave) mesh not supported yet\n");
}
if (geom->getConvex_mesh())
{
{
const domConvex_meshRef convexRef = geom->getConvex_mesh();
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
if ( otherElemRef != NULL )
{
domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
printf( "otherLinked\n");
} else
{
printf("convexMesh polyCount = %i\n",convexRef->getPolygons_array().getCount());
printf("convexMesh triCount = %i\n",convexRef->getTriangles_array().getCount());
} }
} }
ConvexHullShape* convexHullShape = new ConvexHullShape(0,0);
//it is quite a trick to get to the vertices, using Collada.
//we are not there yet...
const domConvex_meshRef convexRef = geom->getConvex_mesh();
//daeString urlref = convexRef->getConvex_hull_of().getURI();
//daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI();
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
if ( otherElemRef != NULL )
{
domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
// Load all the geometry libraries
/*for ( int i = 0; i < dom->getLibrary_geometries_array().getCount(); i++)
{
domLibrary_geometriesRef libgeom = dom->getLibrary_geometries_array()[i];
//int index = libgeom->findLastIndexOf(urlref2);
//can't find it
for ( int i = 0; i < libgeom->getGeometry_array().getCount(); i++)
{
//ReadGeometry( );
domGeometryRef lib = libgeom->getGeometry_array()[i];
if (!strcmp(lib->getName(),urlref2))
{*/
//found convex_hull geometry
domMesh *meshElement = linkedGeom->getMesh();
if (meshElement)
{
const domVerticesRef vertsRef = meshElement->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)
{
int numElem = flArray->getCount();
const domListOfFloats& listFloats = flArray->getValue();
for (int k=0;k+2<numElem;k+=3)
{
domFloat fl0 = listFloats.get(k);
domFloat fl1 = listFloats.get(k+1);
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->AddPoint(SimdPoint3(fl0,fl1,fl2));
}
}
}
}
}
if (convexHullShape->GetNumVertices())
{
colShape = convexHullShape;
printf("created convexHullShape with %i points\n",convexHullShape->GetNumVertices());
} else
{
delete convexHullShape;
printf("failed to create convexHullShape\n");
}
}
//domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
printf("convexmesh\n");
} }
if (convexHullShape->GetNumVertices())
{
colShape = convexHullShape;
printf("created convexHullShape with %i points\n",convexHullShape->GetNumVertices());
} else
{
delete convexHullShape;
printf("failed to create convexHullShape\n");
}
} }
//domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
printf("convexmesh\n");
} }
@@ -1215,21 +1280,13 @@ int main(int argc,char** argv)
} }
} }
//////////////////////
} }
}
for (int r=0;r<modelRef->getInstance_rigid_body_array().getCount();r++) //The 'target' points to a graphics element/node, which contains the start (world) transform
{
domInstance_rigid_bodyRef rigidbodyRef = modelRef->getInstance_rigid_body_array()[r];
domInstance_rigid_body::domTechnique_commonRef techniqueRef = rigidbodyRef->getTechnique_common();
daeElementRef elem = rigidbodyRef->getTarget().getElement(); daeElementRef elem = rigidbodyRef->getTarget().getElement();
if (elem) if (elem)
{ {
@@ -1263,38 +1320,39 @@ int main(int argc,char** argv)
} }
domInstance_rigid_body::domTechnique_commonRef techniqueRef = rigidbodyRef->getTechnique_common();
if (techniqueRef) if (techniqueRef)
{ {
mass = techniqueRef->getMass()->getValue(); if (techniqueRef->getMass())
isDynamics = techniqueRef->getDynamic()->getValue(); {
mass = techniqueRef->getMass()->getValue();
}
if (techniqueRef->getDynamic())
{
isDynamics = techniqueRef->getDynamic()->getValue();
}
} }
} printf("mass = %f, isDynamics %i\n",mass,isDynamics);
if (colShape)
{
CreatePhysicsObject(isDynamics,mass,startTransform,colShape);
printf("mass = %f, isDynamics %i\n",mass,isDynamics); }
if (colShape)
{
CreatePhysicsObject(isDynamics,mass,startTransform,colShape);
} } //for each instance_rigid_body
//we don't handle constraints just yet //we don't handle constraints just yet
for (int c=0;c<modelRef->getInstance_rigid_constraint_array().getCount();i++) for (int c=0;c<instance_physicsModelRef->getInstance_rigid_constraint_array().getCount();i++)
{ {
} }
} }
} }
} }
} }
} }
#endif #endif
@@ -1841,3 +1899,4 @@ void clientMotionFunc(int x,int y)
} }
} }