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improved COLLADA Physics export support, add render meshes, instance physics/visual scene

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This commit is contained in:
ejcoumans
2008-02-17 00:06:30 +00:00
parent b0403a8ee4
commit a8951e27b3
1 changed files with 124 additions and 16 deletions
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140
Extras/BulletColladaConverter/ColladaConverter.cpp
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@@ -1161,6 +1161,8 @@ domPhysics_scene* ColladaConverter::getDefaultPhysicsScene ()
} else {
physicsScenesLib = (domLibrary_physics_scenes*)m_dom->createAndPlace (COLLADA_ELEMENT_LIBRARY_PHYSICS_SCENES);
domPhysics_scene* physicsScene = daeSafeCast<domPhysics_scene>(physicsScenesLib->createAndPlace (COLLADA_ELEMENT_PHYSICS_SCENE));
physicsScene->setId("Scene-Physics");
physicsScene->setName("MyPhysicsScene");
return physicsScene;
}
@@ -1184,6 +1186,8 @@ domVisual_scene* ColladaConverter::getDefaultVisualScene ()
} else {
visualScenesLib = (domLibrary_visual_scenes*)m_dom->createAndPlace (COLLADA_ELEMENT_LIBRARY_VISUAL_SCENES);
domVisual_scene* visualScene = daeSafeCast<domVisual_scene>(visualScenesLib->createAndPlace (COLLADA_ELEMENT_VISUAL_SCENE));
visualScene->setId("Scene");
visualScene->setName("MyScene");
return visualScene;
}
@@ -1191,9 +1195,12 @@ domVisual_scene* ColladaConverter::getDefaultVisualScene ()
}
void ColladaConverter::addConvexHull (btCollisionShape* shape, const char* nodeName)
void ColladaConverter::addConvexHull (btCollisionShape* shape, const char* convexNodeName)
{
btConvexHullShape* hullShape = (btConvexHullShape*)shape;
domGeometry* geoConcave = 0;
{
btConvexShape* hullShape = (btConvexShape*)shape;
btShapeHull* triHull = new btShapeHull (hullShape);
if (triHull->buildHull (0.0) == false)
{
@@ -1203,31 +1210,34 @@ void ColladaConverter::addConvexHull (btCollisionShape* shape, const char* nodeN
domLibrary_geometries* geomLib = getDefaultGeomLib ();
domGeometry* geo = findGeometry (nodeName);
geoConcave = findGeometry (convexNodeName);
/* Already in the dom */
if (geo)
if (geoConcave)
return;
geo = daeSafeCast<domGeometry>( geomLib->createAndPlace( COLLADA_ELEMENT_GEOMETRY ) );
if ( geo == NULL )
geoConcave = daeSafeCast<domGeometry>( geomLib->createAndPlace( COLLADA_ELEMENT_GEOMETRY ) );
if ( geoConcave == NULL )
{
printf("Failed to create the geometry element\n");
return;
}
//set it's id
geo->setId( nodeName );
geo->setName ( nodeName);
char nodeName[256];
sprintf(nodeName,"RenderMesh%s",convexNodeName);
domConvex_mesh *convexMesh = daeSafeCast<domConvex_mesh>( geo->createAndPlace( COLLADA_ELEMENT_CONVEX_MESH ) );
if ( convexMesh == NULL )
//set it's id
geoConcave->setId( nodeName );
geoConcave->setName ( nodeName);
domMesh *mesh = daeSafeCast<domMesh>( geoConcave->createAndPlace( COLLADA_ELEMENT_MESH ) );
if ( mesh == NULL )
{
printf("Failed to create the mesh element\n");
return;
}
//we will need 3 sources for this mesh. positions, normals, and UVs
domSource *positionSrc = daeSafeCast<domSource>( convexMesh->createAndPlace( COLLADA_ELEMENT_SOURCE ) );
domSource *positionSrc = daeSafeCast<domSource>( mesh->createAndPlace( COLLADA_ELEMENT_SOURCE ) );
if (!positionSrc)
{
printf("Failed to create position source\n");
@@ -1274,7 +1284,7 @@ void ColladaConverter::addConvexHull (btCollisionShape* shape, const char* nodeN
param->setName( "Z" );
param->setType( "float" );
domVertices *verts = daeSafeCast<domVertices>( convexMesh->createAndPlace( COLLADA_ELEMENT_VERTICES ) );
domVertices *verts = daeSafeCast<domVertices>( mesh->createAndPlace( COLLADA_ELEMENT_VERTICES ) );
srcName = std::string(nodeName) + std::string("-vertices");
verts->setId( srcName.c_str() );
domInputLocal *inputLocal = daeSafeCast<domInputLocal>( verts->createAndPlace( COLLADA_ELEMENT_INPUT ) );
@@ -1283,7 +1293,7 @@ void ColladaConverter::addConvexHull (btCollisionShape* shape, const char* nodeN
uri.resolveURI();
inputLocal->setSource( uri );
domTriangles *tris = daeSafeCast<domTriangles>( convexMesh->createAndPlace( COLLADA_ELEMENT_TRIANGLES ) );
domTriangles *tris = daeSafeCast<domTriangles>( mesh->createAndPlace( COLLADA_ELEMENT_TRIANGLES ) );
tris->setCount( triHull->numTriangles() );
domInputLocalOffset *ilo = daeSafeCast<domInputLocalOffset>( tris->createAndPlace( COLLADA_ELEMENT_INPUT ) );
ilo->setSemantic( COMMON_PROFILE_INPUT_VERTEX );
@@ -1307,6 +1317,46 @@ void ColladaConverter::addConvexHull (btCollisionShape* shape, const char* nodeN
}
delete triHull;
}
{
domLibrary_geometries* geomLib = getDefaultGeomLib ();
domGeometry* geo = daeSafeCast<domGeometry>( geomLib->createAndPlace( COLLADA_ELEMENT_GEOMETRY ) );
if ( geo == NULL )
{
printf("Failed to create the geometry element\n");
return;
}
//set it's id
geo->setId( convexNodeName );
geo->setName ( convexNodeName);
//<convex_mesh convex_hull_of="Cube_008"/>
domConvex_mesh* meshRef = daeSafeCast<domConvex_mesh>( geo->createAndPlace( COLLADA_ELEMENT_CONVEX_MESH ) );
if ( meshRef == NULL )
{
printf("Failed to create the mesh element\n");
return;
}
daeURI uri;
uri.setElement( geoConcave);
uri.resolveURI();
meshRef->setConvex_hull_of(uri);
}
}
void
@@ -1457,6 +1507,7 @@ void ColladaConverter::buildShape (btCollisionShape* shape, void* collada_shape,
{
case BOX_SHAPE_PROXYTYPE:
{
addConvexHull (shape, shapeName);
btBoxShape* bs = (btBoxShape*)shape;
btVector3 halfe = bs->getHalfExtentsWithMargin();
domBox* box = (domBox*)colladaShape->createAndPlace (COLLADA_ELEMENT_BOX);
@@ -1466,6 +1517,7 @@ void ColladaConverter::buildShape (btCollisionShape* shape, void* collada_shape,
break;
case SPHERE_SHAPE_PROXYTYPE:
{
addConvexHull (shape, shapeName);
btSphereShape* ss = (btSphereShape*)shape;
domSphere* sphere = (domSphere*)colladaShape->createAndPlace (COLLADA_ELEMENT_SPHERE);
domSphere::domRadius* radius = (domSphere::domRadius*)sphere->createAndPlace (COLLADA_ELEMENT_RADIUS);
@@ -1478,7 +1530,9 @@ void ColladaConverter::buildShape (btCollisionShape* shape, void* collada_shape,
domCylinder* cylinder = (domCylinder*)colladaShape->createAndPlace (COLLADA_ELEMENT_CYLINDER);
domCylinder::domRadius* radius = (domCylinder::domRadius*)cylinder->createAndPlace (COLLADA_ELEMENT_RADIUS);
domCylinder::domHeight* height = (domCylinder::domHeight*)cylinder->createAndPlace (COLLADA_ELEMENT_HEIGHT);
radius->setValue (cs->getRadius());
domFloat2 radius2;
radius2.set2(cs->getRadius(),cs->getRadius());
radius->setValue (radius2);
height->setValue (cs->getHalfExtentsWithMargin()[1] * 1.0);
}
break;
@@ -1644,6 +1698,21 @@ void ColladaConverter::addNode (btRigidBody* rb, const char* nodeName, const cha
rotation->getValue().set(3,quat.getAngle()*SIMD_DEGS_PER_RAD);
}
domInstance_geometryRef gr = daeSafeCast<domInstance_geometry>(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY));
char shapeURL[512];
snprintf(&shapeURL[0], 512, "#%s", shapeName);
gr->setUrl(shapeURL);
gr->createAndPlace(COLLADA_ELEMENT_BIND_MATERIAL)->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON);
/*<instance_geometry url="#Mesh_001">
<bind_material>
<technique_common/>
</bind_material>
</instance_geometry>
*/
}
void ColladaConverter::addConstraint (btTypedConstraint* constraint, const char* constraintName)
@@ -2167,7 +2236,25 @@ void ColladaConverter::syncOrAddRigidBody (btRigidBody* body)
printf("Adding %s to COLLADA DOM.\n", nodeName);
addNode (body, nodeName, shapeName);
switch (shape->getShapeType())
{
case BOX_SHAPE_PROXYTYPE:
case SPHERE_SHAPE_PROXYTYPE:
case CYLINDER_SHAPE_PROXYTYPE:
case CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
char concaveShapeName[256];
sprintf(concaveShapeName,"RenderMesh%s",shapeName);
addNode (body, nodeName, concaveShapeName);
break;
}
default:
{
addNode (body, nodeName, shapeName);
}
};
addMaterial (body, nodeName);
addRigidBody (body, nodeName, shapeName);
addRigidBodyInstance (body, nodeName);
@@ -2253,6 +2340,27 @@ bool ColladaConverter::save(const char* filename)
domTargetableFloat3Ref g = daeSafeCast<domTargetableFloat3>(common->createAndPlace (COLLADA_ELEMENT_GRAVITY));
btVector3 btG = getGravity ();
g->getValue().set3 (btG[0], btG[1], btG[2]);
if (!m_dom->getScene())
{
domCOLLADA::domScene* scene = daeSafeCast<domCOLLADA::domScene>( m_dom->createAndPlace( COLLADA_ELEMENT_SCENE ) );
{
domInstanceWithExtra* ivs = daeSafeCast<domInstanceWithExtra>( scene->createAndPlace( COLLADA_ELEMENT_INSTANCE_VISUAL_SCENE ) );
daeURI uri;
uri.setElement( getDefaultVisualScene() );
uri.resolveURI();
ivs->setUrl( uri );
}
{
domInstanceWithExtra* ips = daeSafeCast<domInstanceWithExtra>( scene->createAndPlace( COLLADA_ELEMENT_INSTANCE_PHYSICS_SCENE ) );
daeURI uri;
uri.setElement( getDefaultPhysicsScene() );
uri.resolveURI();
ips->setUrl( uri );
}
}
}
/* Dump the scene */