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Code-style consistency improvement:

Browse Source 
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
2018-09-23 14:17:31 -07:00
parent b73b05e9fb
commit ab8f16961e
1773 changed files with 1081087 additions and 474249 deletions
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27
Extras/ConvexDecomposition/ConvexBuilder.cpp
View File

@@ -34,8 +34,6 @@ CHull::CHull(const ConvexDecomposition::ConvexResult &result)
mMax[0] += dx; mMax[0] += dx;
mMax[1] += dy; mMax[1] += dy;
mMax[2] += dz; mMax[2] += dz;
} }
CHull::~CHull(void) CHull::~CHull(void)
@@ -48,9 +46,6 @@ bool CHull::overlap(const CHull &h) const
return overlapAABB(mMin, mMax, h.mMin, h.mMax); return overlapAABB(mMin, mMax, h.mMin, h.mMax);
} }
ConvexBuilder::ConvexBuilder(ConvexDecompInterface *callback) ConvexBuilder::ConvexBuilder(ConvexDecompInterface *callback)
{ {
mCallback = callback; mCallback = callback;
@@ -122,13 +117,11 @@ void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr,VertexLo
indices.push_back(i3); indices.push_back(i3);
} }
#endif #endif
} }
} }
CHull *ConvexBuilder::canMerge(CHull *a, CHull *b) CHull *ConvexBuilder::canMerge(CHull *a, CHull *b)
{ {
if (!a->overlap(*b)) return 0; // if their AABB's (with a little slop) don't overlap, then return. if (!a->overlap(*b)) return 0; // if their AABB's (with a little slop) don't overlap, then return.
CHull *ret = 0; CHull *ret = 0;
@@ -168,7 +161,6 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
if (hret == ConvexDecomposition::QE_OK) if (hret == ConvexDecomposition::QE_OK)
{ {
float combineVolume = computeMeshVolume(hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices); float combineVolume = computeMeshVolume(hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
float sumVolume = a->mVolume + b->mVolume; float sumVolume = a->mVolume + b->mVolume;
@@ -180,7 +172,6 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
} }
} }
Vl_releaseVertexLookup(vc); Vl_releaseVertexLookup(vc);
return ret; return ret;
@@ -188,14 +179,12 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
bool ConvexBuilder::combineHulls(void) bool ConvexBuilder::combineHulls(void)
{ {
bool combine = false; bool combine = false;
sortChulls(mChulls); // sort the convex hulls, largest volume to least... sortChulls(mChulls); // sort the convex hulls, largest volume to least...
CHullVector output; // the output hulls... CHullVector output; // the output hulls...
int i; int i;
for (i = 0; i < mChulls.size() && !combine; ++i) for (i = 0; i < mChulls.size() && !combine; ++i)
@@ -209,15 +198,12 @@ bool ConvexBuilder::combineHulls(void)
if (cr != match) // don't try to merge a hull with itself, that be stoopid if (cr != match) // don't try to merge a hull with itself, that be stoopid
{ {
CHull *merge = canMerge(cr, match); // if we can merge these two.... CHull *merge = canMerge(cr, match); // if we can merge these two....
if (merge) if (merge)
{ {
output.push_back(merge); output.push_back(merge);
++i; ++i;
while (i != mChulls.size()) while (i != mChulls.size())
{ {
@@ -245,7 +231,6 @@ bool ConvexBuilder::combineHulls(void)
{ {
output.push_back(cr); output.push_back(cr);
} }
} }
if (combine) if (combine)
@@ -255,24 +240,21 @@ bool ConvexBuilder::combineHulls(void)
output.clear(); output.clear();
} }
return combine; return combine;
} }
unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc) unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
{ {
unsigned int ret = 0; unsigned int ret = 0;
MAXDEPTH = desc.mDepth; MAXDEPTH = desc.mDepth;
CONCAVE_PERCENT = desc.mCpercent; CONCAVE_PERCENT = desc.mCpercent;
MERGE_PERCENT = desc.mPpercent; MERGE_PERCENT = desc.mPpercent;
calcConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices, this, 0, 0); calcConvexDecomposition(desc.mVcount, desc.mVertices, desc.mTcount, desc.mIndices, this, 0, 0);
while (combineHulls())
while ( combineHulls() ); // keep combinging hulls until I can't combine any more... ; // keep combinging hulls until I can't combine any more...
int i; int i;
for (i = 0; i < mChulls.size(); i++) for (i = 0; i < mChulls.size(); i++)
@@ -321,13 +303,11 @@ unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter); r.mSphereRadius = computeBoundingSphere(result.mNumOutputVertices, result.mOutputVertices, r.mSphereCenter);
r.mSphereVolume = fm_sphereVolume(r.mSphereRadius); r.mSphereVolume = fm_sphereVolume(r.mSphereRadius);
mCallback->ConvexDecompResult(r); mCallback->ConvexDecompResult(r);
} }
hl.ReleaseResult(result); hl.ReleaseResult(result);
delete cr; delete cr;
} }
@@ -338,7 +318,6 @@ unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
return ret; return ret;
} }
void ConvexBuilder::ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color) void ConvexBuilder::ConvexDebugTri(const float *p1, const float *p2, const float *p3, unsigned int color)
{ {
mCallback->ConvexDebugTri(p1, p2, p3, color); mCallback->ConvexDebugTri(p1, p2, p3, color);
@@ -369,5 +348,3 @@ void ConvexBuilder::sortChulls(CHullVector &hulls)
hulls.quickSort(CHullSort()); hulls.quickSort(CHullSort());
//hulls.heapSort(CHullSort()); //hulls.heapSort(CHullSort());
} }

7
Extras/ConvexDecomposition/ConvexBuilder.h
View File

@@ -35,12 +35,10 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
#include "ConvexDecomposition.h" #include "ConvexDecomposition.h"
#include "vlookup.h" #include "vlookup.h"
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
class CHull class CHull
{ {
public: public:
@@ -61,18 +59,14 @@ public:
class CHullSort class CHullSort
{ {
public: public:
inline bool operator()(const CHull *a, const CHull *b) const inline bool operator()(const CHull *a, const CHull *b) const
{ {
return a->mVolume < b->mVolume; return a->mVolume < b->mVolume;
} }
}; };
typedef btAlignedObjectArray<CHull *> CHullVector; typedef btAlignedObjectArray<CHull *> CHullVector;
class ConvexBuilder : public ConvexDecomposition::ConvexDecompInterface class ConvexBuilder : public ConvexDecomposition::ConvexDecompInterface
{ {
public: public:
@@ -107,4 +101,3 @@ public:
}; };
#endif //CONVEX_BUILDER_H #endif //CONVEX_BUILDER_H

33
Extras/ConvexDecomposition/ConvexDecomposition.cpp
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@@ -5,7 +5,6 @@
#include <string.h> #include <string.h>
#include <assert.h> #include <assert.h>
/*---------------------------------------------------------------------- /*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org www.physicstools.org
@@ -56,14 +55,10 @@
#define SHOW_MESH 0 #define SHOW_MESH 0
#define MAKE_MESH 1 #define MAKE_MESH 1
using namespace ConvexDecomposition; using namespace ConvexDecomposition;
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
class FaceTri class FaceTri
{ {
public: public:
@@ -79,10 +74,8 @@ public:
Vector3d mP2; Vector3d mP2;
Vector3d mP3; Vector3d mP3;
Vector3d mNormal; Vector3d mNormal;
}; };
void addTri(VertexLookup vl, UintVector &list, const Vector3d &p1, const Vector3d &p2, const Vector3d &p3) void addTri(VertexLookup vl, UintVector &list, const Vector3d &p1, const Vector3d &p2, const Vector3d &p3)
{ {
unsigned int i1 = Vl_getIndex(vl, p1.Ptr()); unsigned int i1 = Vl_getIndex(vl, p1.Ptr());
@@ -99,7 +92,6 @@ void addTri(VertexLookup vl,UintVector &list,const Vector3d &p1,const Vector3d &
} }
} }
void calcConvexDecomposition(unsigned int vcount, void calcConvexDecomposition(unsigned int vcount,
const float *vertices, const float *vertices,
unsigned int tcount, unsigned int tcount,
@@ -109,15 +101,12 @@ void calcConvexDecomposition(unsigned int vcount,
unsigned int depth) unsigned int depth)
{ {
float plane[4]; float plane[4];
bool split = false; bool split = false;
if (depth < MAXDEPTH) if (depth < MAXDEPTH)
{ {
float volume; float volume;
float c = computeConcavity(vcount, vertices, tcount, indices, callback, plane, volume); float c = computeConcavity(vcount, vertices, tcount, indices, callback, plane, volume);
@@ -132,12 +121,10 @@ void calcConvexDecomposition(unsigned int vcount,
{ {
split = true; split = true;
} }
} }
if (depth >= MAXDEPTH || !split) if (depth >= MAXDEPTH || !split)
{ {
#if 1 #if 1
HullResult result; HullResult result;
@@ -154,14 +141,11 @@ void calcConvexDecomposition(unsigned int vcount,
if (ret == QE_OK) if (ret == QE_OK)
{ {
ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices); ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
callback->ConvexDecompResult(r); callback->ConvexDecompResult(r);
} }
#else #else
static unsigned int colors[8] = static unsigned int colors[8] =
@@ -173,8 +157,7 @@ void calcConvexDecomposition(unsigned int vcount,
0x00FFFF, 0x00FFFF,
0xFF00FF, 0xFF00FF,
0xFFFFFF, 0xFFFFFF,
0xFF8040 0xFF8040};
};
static int count = 0; static int count = 0;
@@ -190,7 +173,6 @@ void calcConvexDecomposition(unsigned int vcount,
for (unsigned int i = 0; i < tcount; i++) for (unsigned int i = 0; i < tcount; i++)
{ {
unsigned int i1 = *source++; unsigned int i1 = *source++;
unsigned int i2 = *source++; unsigned int i2 = *source++;
unsigned int i3 = *source++; unsigned int i3 = *source++;
@@ -198,13 +180,11 @@ void calcConvexDecomposition(unsigned int vcount,
FaceTri t(vertices, i1, i2, i3); FaceTri t(vertices, i1, i2, i3);
callback->ConvexDebugTri(t.mP1.Ptr(), t.mP2.Ptr(), t.mP3.Ptr(), color); callback->ConvexDebugTri(t.mP1.Ptr(), t.mP2.Ptr(), t.mP3.Ptr(), color);
} }
#endif #endif
hl.ReleaseResult(result); hl.ReleaseResult(result);
return; return;
} }
UintVector ifront; UintVector ifront;
@@ -213,7 +193,6 @@ void calcConvexDecomposition(unsigned int vcount,
VertexLookup vfront = Vl_createVertexLookup(); VertexLookup vfront = Vl_createVertexLookup();
VertexLookup vback = Vl_createVertexLookup(); VertexLookup vback = Vl_createVertexLookup();
bool showmesh = false; bool showmesh = false;
#if SHOW_MESH #if SHOW_MESH
showmesh = true; showmesh = true;
@@ -279,7 +258,6 @@ void calcConvexDecomposition(unsigned int vcount,
addTri(vfront, ifront, front[0], front[1], front[2]); addTri(vfront, ifront, front[0], front[1], front[2]);
#endif #endif
break; break;
@@ -306,7 +284,6 @@ void calcConvexDecomposition(unsigned int vcount,
addTri(vfront, ifront, front[0], front[1], front[2]); addTri(vfront, ifront, front[0], front[1], front[2]);
addTri(vback, iback, back[0], back[1], back[2]); addTri(vback, iback, back[0], back[1], back[2]);
if (fcount == 4) if (fcount == 4)
{ {
addTri(vfront, ifront, front[0], front[2], front[3]); addTri(vfront, ifront, front[0], front[2], front[3]);
@@ -346,7 +323,6 @@ void calcConvexDecomposition(unsigned int vcount,
unsigned int tcount = ifront.size() / 3; unsigned int tcount = ifront.size() / 3;
calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth + 1); calcConvexDecomposition(vcount, vertices, tcount, &ifront[0], callback, masterVolume, depth + 1);
} }
ifront.clear(); ifront.clear();
@@ -360,16 +336,11 @@ void calcConvexDecomposition(unsigned int vcount,
unsigned int tcount = iback.size() / 3; unsigned int tcount = iback.size() / 3;
calcConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth + 1); calcConvexDecomposition(vcount, vertices, tcount, &iback[0], callback, masterVolume, depth + 1);
} }
iback.clear(); iback.clear();
Vl_releaseVertexLookup(vback); Vl_releaseVertexLookup(vback);
} }
} }
} // namespace ConvexDecomposition
}

20
Extras/ConvexDecomposition/ConvexDecomposition.h
View File

@@ -36,7 +36,6 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
#ifdef _WIN32 #ifdef _WIN32
#include <memory.h> //memcpy #include <memory.h> //memcpy
#endif #endif
@@ -44,20 +43,14 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <stdio.h> #include <stdio.h>
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
extern unsigned int MAXDEPTH; extern unsigned int MAXDEPTH;
extern float CONCAVE_PERCENT; extern float CONCAVE_PERCENT;
extern float MERGE_PERCENT; extern float MERGE_PERCENT;
typedef btAlignedObjectArray<unsigned int> UintVector; typedef btAlignedObjectArray<unsigned int> UintVector;
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
class ConvexResult class ConvexResult
{ {
public: public:
@@ -93,7 +86,6 @@ namespace ConvexDecomposition
{ {
mHullIndices = 0; mHullIndices = 0;
} }
} }
ConvexResult(const ConvexResult &r) ConvexResult(const ConvexResult &r)
@@ -143,9 +135,6 @@ namespace ConvexDecomposition
float mSphereRadius; // radius and center of best fit sphere float mSphereRadius; // radius and center of best fit sphere
float mSphereCenter[3]; float mSphereCenter[3];
float mSphereVolume; // volume of the best fit sphere float mSphereVolume; // volume of the best fit sphere
}; };
class ConvexDecompInterface class ConvexDecompInterface
@@ -158,9 +147,6 @@ namespace ConvexDecomposition
virtual void ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color){}; virtual void ConvexDebugOBB(const float *sides, const float *matrix, unsigned int color){};
virtual void ConvexDecompResult(ConvexResult &result) = 0; virtual void ConvexDecompResult(ConvexResult &result) = 0;
}; };
// just to avoid passing a zillion parameters to the method the // just to avoid passing a zillion parameters to the method the
@@ -198,13 +184,11 @@ namespace ConvexDecomposition
float mSkinWidth; // a skin width to apply to the output hulls. float mSkinWidth; // a skin width to apply to the output hulls.
ConvexDecompInterface *mCallback; // the interface to receive back the results. ConvexDecompInterface *mCallback; // the interface to receive back the results.
}; };
// perform approximate convex decomposition on a mesh. // perform approximate convex decomposition on a mesh.
unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced. unsigned int performConvexDecomposition(const DecompDesc &desc); // returns the number of hulls produced.
void calcConvexDecomposition(unsigned int vcount, void calcConvexDecomposition(unsigned int vcount,
const float *vertices, const float *vertices,
unsigned int tcount, unsigned int tcount,
@@ -213,8 +197,6 @@ namespace ConvexDecomposition
float masterVolume, float masterVolume,
unsigned int depth); unsigned int depth);
} // namespace ConvexDecomposition
}
#endif #endif

32
Extras/ConvexDecomposition/bestfit.cpp
View File

@@ -52,13 +52,16 @@
namespace BestFit namespace BestFit
{ {
class Vec3 class Vec3
{ {
public: public:
Vec3(void){}; Vec3(void){};
Vec3(float _x,float _y,float _z) { x = _x; y = _y; z = _z; }; Vec3(float _x, float _y, float _z)
{
x = _x;
y = _y;
z = _z;
};
float dot(const Vec3 &v) float dot(const Vec3 &v)
{ {
@@ -70,12 +73,9 @@ public:
float z; float z;
}; };
class Eigen class Eigen
{ {
public: public:
void DecrSortEigenStuff(void) void DecrSortEigenStuff(void)
{ {
Tridiagonal(); //diagonalize the matrix. Tridiagonal(); //diagonalize the matrix.
@@ -247,7 +247,6 @@ public:
} }
} }
void GuaranteeRotation(void) void GuaranteeRotation(void)
{ {
if (!m_bIsRotation) if (!m_bIsRotation)
@@ -266,12 +265,10 @@ public:
bool m_bIsRotation; bool m_bIsRotation;
}; };
} } // namespace BestFit
using namespace BestFit; using namespace BestFit;
bool getBestFitPlane(unsigned int vcount, bool getBestFitPlane(unsigned int vcount,
const float *points, const float *points,
unsigned int vstride, unsigned int vstride,
@@ -292,7 +289,6 @@ bool getBestFitPlane(unsigned int vcount,
for (unsigned int i = 0; i < vcount; i++) for (unsigned int i = 0; i < vcount; i++)
{ {
const float *p = (const float *)source; const float *p = (const float *)source;
float w = 1; float w = 1;
@@ -320,7 +316,6 @@ bool getBestFitPlane(unsigned int vcount,
kOrigin.y *= recip; kOrigin.y *= recip;
kOrigin.z *= recip; kOrigin.z *= recip;
float fSumXX = 0; float fSumXX = 0;
float fSumXY = 0; float fSumXY = 0;
float fSumXZ = 0; float fSumXZ = 0;
@@ -329,7 +324,6 @@ bool getBestFitPlane(unsigned int vcount,
float fSumYZ = 0; float fSumYZ = 0;
float fSumZZ = 0; float fSumZZ = 0;
if (1) if (1)
{ {
const char *source = (const char *)points; const char *source = (const char *)points;
@@ -337,7 +331,6 @@ bool getBestFitPlane(unsigned int vcount,
for (unsigned int i = 0; i < vcount; i++) for (unsigned int i = 0; i < vcount; i++)
{ {
const float *p = (const float *)source; const float *p = (const float *)source;
float w = 1; float w = 1;
@@ -363,7 +356,6 @@ bool getBestFitPlane(unsigned int vcount,
fSumYZ += kDiff.y * kDiff.z; fSumYZ += kDiff.y * kDiff.z;
fSumZZ += kDiff.z * kDiff.z; fSumZZ += kDiff.z * kDiff.z;
source += vstride; source += vstride;
} }
} }
@@ -409,11 +401,8 @@ bool getBestFitPlane(unsigned int vcount,
return ret; return ret;
} }
float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax) // returns the diagonal distance float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax) // returns the diagonal distance
{ {
const unsigned char *source = (const unsigned char *)points; const unsigned char *source = (const unsigned char *)points;
bmin[0] = points[0]; bmin[0] = points[0];
@@ -424,7 +413,6 @@ float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pst
bmax[1] = points[1]; bmax[1] = points[1];
bmax[2] = points[2]; bmax[2] = points[2];
for (unsigned int i = 1; i < vcount; i++) for (unsigned int i = 1; i < vcount; i++)
{ {
source += pstride; source += pstride;
@@ -437,7 +425,6 @@ float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pst
if (p[0] > bmax[0]) bmax[0] = p[0]; if (p[0] > bmax[0]) bmax[0] = p[0];
if (p[1] > bmax[1]) bmax[1] = p[1]; if (p[1] > bmax[1]) bmax[1] = p[1];
if (p[2] > bmax[2]) bmax[2] = p[2]; if (p[2] > bmax[2]) bmax[2] = p[2];
} }
float dx = bmax[0] - bmin[0]; float dx = bmax[0] - bmin[0];
@@ -445,10 +432,8 @@ float getBoundingRegion(unsigned int vcount,const float *points,unsigned int pst
float dz = bmax[2] - bmin[2]; float dz = bmax[2] - bmin[2];
return sqrtf(dx * dx + dy * dy + dz * dz); return sqrtf(dx * dx + dy * dy + dz * dz);
} }
bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2) // return true if the two AABB's overlap. bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2) // return true if the two AABB's overlap.
{ {
if (bmax2[0] < bmin1[0]) return false; // if the maximum is less than our minimum on any axis if (bmax2[0] < bmin1[0]) return false; // if the maximum is less than our minimum on any axis
@@ -459,8 +444,5 @@ bool overlapAABB(const float *bmin1,const float *bmax1,const float *bmin2,const
if (bmin2[1] > bmax1[1]) return false; // if the minimum is greater than our maximum on any axis if (bmin2[1] > bmax1[1]) return false; // if the minimum is greater than our maximum on any axis
if (bmin2[2] > bmax1[2]) return false; // if the minimum is greater than our maximum on any axis if (bmin2[2] > bmax1[2]) return false; // if the minimum is greater than our maximum on any axis
return true; // the extents overlap return true; // the extents overlap
} }

2
Extras/ConvexDecomposition/bestfit.h
View File

@@ -36,7 +36,6 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
// This routine was released in 'snippet' form // This routine was released in 'snippet' form
// by John W. Ratcliff mailto:jratcliff@infiniplex.net // by John W. Ratcliff mailto:jratcliff@infiniplex.net
// on March 22, 2006. // on March 22, 2006.
@@ -58,7 +57,6 @@ bool getBestFitPlane(unsigned int vcount, // number of input data points
unsigned int wstride, // weight stride for each vertex. unsigned int wstride, // weight stride for each vertex.
float *plane); float *plane);
float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax); // returns the diagonal distance float getBoundingRegion(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax); // returns the diagonal distance
bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2); // return true if the two AABB's overlap. bool overlapAABB(const float *bmin1, const float *bmax1, const float *bmin2, const float *bmax2); // return true if the two AABB's overlap.

7
Extras/ConvexDecomposition/bestfitobb.cpp
View File

@@ -69,7 +69,6 @@ void computeOBB(unsigned int vcount,const float *points,unsigned int pstride,flo
src += pstride; src += pstride;
} }
sides[0] = bmax[0]; sides[0] = bmax[0];
sides[1] = bmax[1]; sides[1] = bmax[1];
sides[2] = bmax[2]; sides[2] = bmax[2];
@@ -81,12 +80,10 @@ void computeOBB(unsigned int vcount,const float *points,unsigned int pstride,flo
sides[0] *= 2.0f; sides[0] *= 2.0f;
sides[1] *= 2.0f; sides[1] *= 2.0f;
sides[2] *= 2.0f; sides[2] *= 2.0f;
} }
void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix) void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix)
{ {
float bmin[3]; float bmin[3];
float bmax[3]; float bmax[3];
@@ -110,7 +107,6 @@ void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstr
while (sweep >= 1) while (sweep >= 1)
{ {
bool found = false; bool found = false;
float stepsize = sweep / steps; float stepsize = sweep / steps;
@@ -156,7 +152,6 @@ void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstr
if (found) if (found)
{ {
ax = angle[0]; ax = angle[0];
ay = angle[1]; ay = angle[1];
az = angle[2]; az = angle[2];
@@ -167,7 +162,5 @@ void computeBestFitOBB(unsigned int vcount,const float *points,unsigned int pstr
{ {
break; // no improvement, so just break; // no improvement, so just
} }
} }
} }

2
Extras/ConvexDecomposition/bestfitobb.h
View File

@@ -36,8 +36,6 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix); void computeBestFitOBB(unsigned int vcount, const float *points, unsigned int pstride, float *sides, float *matrix);
#endif #endif

695
Extras/ConvexDecomposition/cd_hull.cpp
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File diff suppressed because it is too large Load Diff

7
Extras/ConvexDecomposition/cd_hull.h
View File

@@ -31,7 +31,6 @@
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
class HullResult class HullResult
{ {
public: public:
@@ -63,7 +62,6 @@ enum HullFlag
QF_DEFAULT = 0 QF_DEFAULT = 0
}; };
class HullDesc class HullDesc
{ {
public: public:
@@ -128,14 +126,12 @@ enum HullError
class HullLibrary class HullLibrary
{ {
public: public:
HullError CreateConvexHull(const HullDesc &desc, // describes the input request HullError CreateConvexHull(const HullDesc &desc, // describes the input request
HullResult &result); // contains the resulst HullResult &result); // contains the resulst
HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it. HullError ReleaseResult(HullResult &result); // release memory allocated for this result, we are done with it.
private: private:
void BringOutYourDead(const float *verts, unsigned int vcount, float *overts, unsigned int &ocount, unsigned int *indices, unsigned indexcount); void BringOutYourDead(const float *verts, unsigned int vcount, float *overts, unsigned int &ocount, unsigned int *indices, unsigned indexcount);
bool CleanupVertices(unsigned int svcount, bool CleanupVertices(unsigned int svcount,
@@ -147,7 +143,6 @@ private:
float *scale); float *scale);
}; };
} } // namespace ConvexDecomposition
#endif #endif

111
Extras/ConvexDecomposition/cd_vector.h
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@@ -36,7 +36,6 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
#pragma warning(disable : 4786) #pragma warning(disable : 4786)
#include <math.h> #include <math.h>
@@ -45,8 +44,6 @@
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
const float DEG_TO_RAD = ((2.0f * 3.14152654f) / 360.0f); const float DEG_TO_RAD = ((2.0f * 3.14152654f) / 360.0f);
const float RAD_TO_DEG = (360.0f / (2.0f * 3.141592654f)); const float RAD_TO_DEG = (360.0f / (2.0f * 3.141592654f));
@@ -95,28 +92,36 @@ public:
// Operators // Operators
Vector3d &operator=(const Vector3d &A) // ASSIGNMENT (=) Vector3d &operator=(const Vector3d &A) // ASSIGNMENT (=)
{ x=A.x; y=A.y; z=A.z; {
return(*this); }; x = A.x;
y = A.y;
z = A.z;
return (*this);
};
Vector3d operator+(const Vector3d &A) const // ADDITION (+) Vector3d operator+(const Vector3d &A) const // ADDITION (+)
{ Vector3d Sum(x+A.x, y+A.y, z+A.z); {
return(Sum); }; Vector3d Sum(x + A.x, y + A.y, z + A.z);
return (Sum);
};
Vector3d operator-(const Vector3d &A) const // SUBTRACTION (-) Vector3d operator-(const Vector3d &A) const // SUBTRACTION (-)
{ Vector3d Diff(x-A.x, y-A.y, z-A.z); {
return(Diff); }; Vector3d Diff(x - A.x, y - A.y, z - A.z);
return (Diff);
};
Vector3d operator*(const float s) const // MULTIPLY BY SCALAR (*) Vector3d operator*(const float s) const // MULTIPLY BY SCALAR (*)
{ Vector3d Scaled(x*s, y*s, z*s); {
return(Scaled); }; Vector3d Scaled(x * s, y * s, z * s);
return (Scaled);
};
Vector3d operator+(const float s) const // ADD CONSTANT TO ALL 3 COMPONENTS (*) Vector3d operator+(const float s) const // ADD CONSTANT TO ALL 3 COMPONENTS (*)
{ Vector3d Scaled(x+s, y+s, z+s); {
return(Scaled); }; Vector3d Scaled(x + s, y + s, z + s);
return (Scaled);
};
Vector3d operator/(const float s) const // DIVIDE BY SCALAR (/) Vector3d operator/(const float s) const // DIVIDE BY SCALAR (/)
{ {
@@ -126,27 +131,52 @@ public:
}; };
void operator/=(float A) // ACCUMULATED VECTOR ADDITION (/=) void operator/=(float A) // ACCUMULATED VECTOR ADDITION (/=)
{ x/=A; y/=A; z/=A; }; {
x /= A;
y /= A;
z /= A;
};
void operator+=(const Vector3d A) // ACCUMULATED VECTOR ADDITION (+=) void operator+=(const Vector3d A) // ACCUMULATED VECTOR ADDITION (+=)
{ x+=A.x; y+=A.y; z+=A.z; }; {
x += A.x;
y += A.y;
z += A.z;
};
void operator-=(const Vector3d A) // ACCUMULATED VECTOR SUBTRACTION (+=) void operator-=(const Vector3d A) // ACCUMULATED VECTOR SUBTRACTION (+=)
{ x-=A.x; y-=A.y; z-=A.z; }; {
x -= A.x;
y -= A.y;
z -= A.z;
};
void operator*=(const float s) // ACCUMULATED SCALAR MULTIPLICATION (*=) (bpc 4/24/2000) void operator*=(const float s) // ACCUMULATED SCALAR MULTIPLICATION (*=) (bpc 4/24/2000)
{x*=s; y*=s; z*=s;} {
x *= s;
y *= s;
z *= s;
}
void operator+=(const float A) // ACCUMULATED VECTOR ADDITION (+=) void operator+=(const float A) // ACCUMULATED VECTOR ADDITION (+=)
{ x+=A; y+=A; z+=A; }; {
x += A;
y += A;
z += A;
};
Vector3d operator-(void) const // NEGATION (-) Vector3d operator-(void) const // NEGATION (-)
{ Vector3d Negated(-x, -y, -z); {
return(Negated); }; Vector3d Negated(-x, -y, -z);
return (Negated);
};
float operator[](const int i) const // ALLOWS VECTOR ACCESS AS AN ARRAY. float operator[](const int i) const // ALLOWS VECTOR ACCESS AS AN ARRAY.
{ return( (i==0)?x:((i==1)?y:z) ); }; {
return ((i == 0) ? x : ((i == 1) ? y : z));
};
float &operator[](const int i) float &operator[](const int i)
{ return( (i==0)?x:((i==1)?y:z) ); }; {
return ((i == 0) ? x : ((i == 1) ? y : z));
};
// //
// accessor methods. // accessor methods.
@@ -173,7 +203,6 @@ public:
return true; return true;
} }
float ComputeNormal(const Vector3d &A, float ComputeNormal(const Vector3d &A,
const Vector3d &B, const Vector3d &B,
const Vector3d &C) const Vector3d &C)
@@ -210,7 +239,6 @@ public:
return mag; return mag;
} }
void ScaleSumScale(float c0, float c1, const Vector3d &pos) void ScaleSumScale(float c0, float c1, const Vector3d &pos)
{ {
x = (x * c0) + (pos.x * c1); x = (x * c0) + (pos.x * c1);
@@ -246,7 +274,6 @@ public:
z = (float)p[2]; z = (float)p[2];
} }
void Set(float a, float b, float c) void Set(float a, float b, float c)
{ {
x = a; x = a;
@@ -262,7 +289,6 @@ public:
const float *Ptr() const { return &x; } const float *Ptr() const { return &x; }
float *Ptr() { return &x; } float *Ptr() { return &x; }
// return -(*this). // return -(*this).
Vector3d negative(void) const Vector3d negative(void) const
{ {
@@ -335,8 +361,6 @@ public:
} }
*/ */
/** Computes the reflection vector between two vectors.*/ /** Computes the reflection vector between two vectors.*/
void Reflection(const Vector3d &a, const Vector3d &b) // compute reflection vector. void Reflection(const Vector3d &a, const Vector3d &b) // compute reflection vector.
{ {
@@ -366,7 +390,6 @@ public:
return float(sqrt(x * x + y * y + z * z)); return float(sqrt(x * x + y * y + z * z));
}; };
float ComputePlane(const Vector3d &A, float ComputePlane(const Vector3d &A,
const Vector3d &B, const Vector3d &B,
const Vector3d &C) const Vector3d &C)
@@ -400,19 +423,16 @@ public:
y = vw_y * mag; y = vw_y * mag;
z = vw_z * mag; z = vw_z * mag;
float D = 0.0f - ((x * A.x) + (y * A.y) + (z * A.z)); float D = 0.0f - ((x * A.x) + (y * A.y) + (z * A.z));
return D; return D;
} }
float FastLength(void) const // length of vector. float FastLength(void) const // length of vector.
{ {
return float(sqrtf(x * x + y * y + z * z)); return float(sqrtf(x * x + y * y + z * z));
}; };
float FasterLength(void) const // length of vector. float FasterLength(void) const // length of vector.
{ {
return float(sqrtf(x * x + y * y + z * z)); return float(sqrtf(x * x + y * y + z * z));
@@ -442,7 +462,6 @@ public:
return d.FasterLength(); return d.FasterLength();
} }
float DistanceXY(const Vector3d &a) const float DistanceXY(const Vector3d &a) const
{ {
float dx = a.x - x; float dx = a.x - x;
@@ -523,15 +542,11 @@ public:
return d; return d;
}; };
float Dot(const Vector3d &a) const // computes dot product. float Dot(const Vector3d &a) const // computes dot product.
{ {
return (x * a.x + y * a.y + z * a.z); return (x * a.x + y * a.y + z * a.z);
}; };
Vector3d Cross(const Vector3d &other) const Vector3d Cross(const Vector3d &other) const
{ {
Vector3d result(y * other.z - z * other.y, z * other.x - x * other.z, x * other.y - y * other.x); Vector3d result(y * other.z - z * other.y, z * other.x - x * other.z, x * other.y - y * other.x);
@@ -662,7 +677,6 @@ public:
return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f)); return ((aCROSSbp >= 0.0f) && (bCROSScp >= 0.0f) && (cCROSSap >= 0.0f));
}; };
// test to see if this point is inside the triangle specified by // test to see if this point is inside the triangle specified by
// these three points on the X/Y plane. // these three points on the X/Y plane.
bool PointInTriXZ(const Vector3d &p1, bool PointInTriXZ(const Vector3d &p1,
@@ -863,7 +877,6 @@ public:
} }
} }
//private: //private:
float x; float x;
@@ -871,7 +884,6 @@ public:
float z; float z;
}; };
class Vector2d class Vector2d
{ {
public: public:
@@ -889,7 +901,6 @@ public:
y = t[1]; y = t[1];
}; };
Vector2d(float a, float b) // construct with initial point. Vector2d(float a, float b) // construct with initial point.
{ {
x = a; x = a;
@@ -982,7 +993,6 @@ public:
return a; return a;
}; };
float Dot(const Vector2d &a) const // computes dot product. float Dot(const Vector2d &a) const // computes dot product.
{ {
return (x * a.x + y * a.y); return (x * a.x + y * a.y);
@@ -1087,7 +1097,6 @@ public:
y = ((to.y - from.y) * slerp) + from.y; y = ((to.y - from.y) * slerp) + from.y;
}; };
void Cross(const Vector2d &a, const Vector2d &b) // cross two vectors result in this one. void Cross(const Vector2d &a, const Vector2d &b) // cross two vectors result in this one.
{ {
x = a.y * b.x - a.x * b.y; x = a.y * b.x - a.x * b.y;
@@ -1142,7 +1151,6 @@ public:
return l; return l;
}; };
float x; float x;
float y; float y;
}; };
@@ -1158,13 +1166,12 @@ public:
// JWR Test for the intersection of two lines. // JWR Test for the intersection of two lines.
bool Intersect(const Line &src, Vector3d &sect); bool Intersect(const Line &src, Vector3d &sect);
private: private:
Vector3d mP1; Vector3d mP1;
Vector3d mP2; Vector3d mP2;
}; };
typedef std::vector<Vector3d> Vector3dVector; typedef std::vector<Vector3d> Vector3dVector;
typedef std::vector<Vector2d> Vector2dVector; typedef std::vector<Vector2d> Vector2dVector;
@@ -1180,6 +1187,6 @@ inline Vector2d operator * (float s, const Vector2d &v )
return (Scaled); return (Scaled);
} }
} } // namespace ConvexDecomposition
#endif #endif

38
Extras/ConvexDecomposition/cd_wavefront.cpp
View File

@@ -41,7 +41,6 @@
#include "cd_wavefront.h" #include "cd_wavefront.h"
using namespace ConvexDecomposition; using namespace ConvexDecomposition;
/*---------------------------------------------------------------------- /*----------------------------------------------------------------------
@@ -75,7 +74,6 @@ using namespace ConvexDecomposition;
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
typedef std::vector<int> IntVector; typedef std::vector<int> IntVector;
typedef std::vector<float> FloatVector; typedef std::vector<float> FloatVector;
@@ -168,7 +166,6 @@ public:
mHard[(int)c] = ST_HARD; mHard[(int)c] = ST_HARD;
} }
void SetCommentSymbol(char c) // comment character, treated as 'end of string' void SetCommentSymbol(char c) // comment character, treated as 'end of string'
{ {
mHard[(int)c] = ST_EOS; mHard[(int)c] = ST_EOS;
@@ -179,7 +176,6 @@ public:
mHard[(int)c] = ST_DATA; mHard[(int)c] = ST_DATA;
} }
void DefaultSymbols(void); // set up default symbols for hard seperator and comment symbol of the '#' character. void DefaultSymbols(void); // set up default symbols for hard seperator and comment symbol of the '#' character.
bool EOS(char c) bool EOS(char c)
@@ -197,8 +193,6 @@ public:
} }
private: private:
inline char *AddHard(int &argc, const char **argv, char *foo); inline char *AddHard(int &argc, const char **argv, char *foo);
inline bool IsHard(char c); inline bool IsHard(char c);
inline char *SkipSpaces(char *foo); inline char *SkipSpaces(char *foo);
@@ -226,7 +220,6 @@ void InPlaceParser::SetFile(const char *fname)
mLen = 0; mLen = 0;
mMyAlloc = false; mMyAlloc = false;
FILE *fph = fopen(fname, "rb"); FILE *fph = fopen(fname, "rb");
if (fph) if (fph)
{ {
@@ -298,7 +291,6 @@ bool InPlaceParser::IsNonSeparator(char c)
return false; return false;
} }
int InPlaceParser::ProcessLine(int lineno, char *line, InPlaceParserInterface *callback) int InPlaceParser::ProcessLine(int lineno, char *line, InPlaceParserInterface *callback)
{ {
int ret = 0; int ret = 0;
@@ -310,7 +302,6 @@ int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *cal
while (!EOS(*foo) && argc < MAXARGS) while (!EOS(*foo) && argc < MAXARGS)
{ {
foo = SkipSpaces(foo); // skip any leading spaces foo = SkipSpaces(foo); // skip any leading spaces
if (EOS(*foo)) break; if (EOS(*foo)) break;
@@ -331,7 +322,6 @@ int InPlaceParser::ProcessLine(int lineno,char *line,InPlaceParserInterface *cal
} }
else else
{ {
foo = AddHard(argc, argv, foo); // add any hard separators, skip any spaces foo = AddHard(argc, argv, foo); // add any hard separators, skip any spaces
if (IsNonSeparator(*foo)) // add non-hard argument. if (IsNonSeparator(*foo)) // add non-hard argument.
@@ -400,7 +390,6 @@ int InPlaceParser::Parse(InPlaceParserInterface *callback) // returns true if e
char *foo = mData; char *foo = mData;
char *begin = foo; char *begin = foo;
while (*foo) while (*foo)
{ {
if (*foo == 10 || *foo == 13) if (*foo == 10 || *foo == 13)
@@ -431,7 +420,6 @@ int InPlaceParser::Parse(InPlaceParserInterface *callback) // returns true if e
return ret; return ret;
} }
void InPlaceParser::DefaultSymbols(void) void InPlaceParser::DefaultSymbols(void)
{ {
SetHardSeparator(','); SetHardSeparator(',');
@@ -445,7 +433,6 @@ void InPlaceParser::DefaultSymbols(void)
SetCommentSymbol('#'); SetCommentSymbol('#');
} }
const char **InPlaceParser::GetArglist(char *line, int &count) // convert source string into an arg list, this is a destructive parse. const char **InPlaceParser::GetArglist(char *line, int &count) // convert source string into an arg list, this is a destructive parse.
{ {
const char **ret = 0; const char **ret = 0;
@@ -457,7 +444,6 @@ const char ** InPlaceParser::GetArglist(char *line,int &count) // convert source
while (!EOS(*foo) && argc < MAXARGS) while (!EOS(*foo) && argc < MAXARGS)
{ {
foo = SkipSpaces(foo); // skip any leading spaces foo = SkipSpaces(foo); // skip any leading spaces
if (EOS(*foo)) break; if (EOS(*foo)) break;
@@ -478,7 +464,6 @@ const char ** InPlaceParser::GetArglist(char *line,int &count) // convert source
} }
else else
{ {
foo = AddHard(argc, argv, foo); // add any hard separators, skip any spaces foo = AddHard(argc, argv, foo); // add any hard separators, skip any spaces
if (IsNonSeparator(*foo)) // add non-hard argument. if (IsNonSeparator(*foo)) // add non-hard argument.
@@ -548,29 +533,24 @@ public:
float mTexel[2]; float mTexel[2];
}; };
class GeometryInterface class GeometryInterface
{ {
public: public:
virtual void NodeTriangle(const GeometryVertex *v1, const GeometryVertex *v2, const GeometryVertex *v3) {} virtual void NodeTriangle(const GeometryVertex *v1, const GeometryVertex *v2, const GeometryVertex *v3) {}
virtual ~GeometryInterface() {} virtual ~GeometryInterface() {}
}; };
/*******************************************************************/ /*******************************************************************/
/******************** Obj.h ********************************/ /******************** Obj.h ********************************/
/*******************************************************************/ /*******************************************************************/
class OBJ : public InPlaceParserInterface class OBJ : public InPlaceParserInterface
{ {
public: public:
int LoadMesh(const char *fname, GeometryInterface *callback); int LoadMesh(const char *fname, GeometryInterface *callback);
int ParseLine(int lineno, int argc, const char **argv); // return TRUE to continue parsing, return FALSE to abort parsing process int ParseLine(int lineno, int argc, const char **argv); // return TRUE to continue parsing, return FALSE to abort parsing process
private: private:
void getVertex(GeometryVertex &v, const char *face) const; void getVertex(GeometryVertex &v, const char *face) const;
FloatVector mVerts; FloatVector mVerts;
@@ -580,7 +560,6 @@ private:
GeometryInterface *mCallback; GeometryInterface *mCallback;
}; };
/*******************************************************************/ /*******************************************************************/
/******************** Obj.cpp ********************************/ /******************** Obj.cpp ********************************/
/*******************************************************************/ /*******************************************************************/
@@ -599,7 +578,6 @@ int OBJ::LoadMesh(const char *fname,GeometryInterface *iface)
ipp.Parse(this); ipp.Parse(this);
return ret; return ret;
} }
@@ -637,7 +615,6 @@ void OBJ::getVertex(GeometryVertex &v,const char *face) const
v.mTexel[0] = t[0]; v.mTexel[0] = t[0];
v.mTexel[1] = t[1]; v.mTexel[1] = t[1];
} }
const char *normal = strstr(texel + 1, "/"); const char *normal = strstr(texel + 1, "/");
@@ -658,14 +635,12 @@ void OBJ::getVertex(GeometryVertex &v,const char *face) const
if (index >= 0 && index < (int)(mVerts.size() / 3)) if (index >= 0 && index < (int)(mVerts.size() / 3))
{ {
const float *p = &mVerts[index * 3]; const float *p = &mVerts[index * 3];
v.mPos[0] = p[0]; v.mPos[0] = p[0];
v.mPos[1] = p[1]; v.mPos[1] = p[1];
v.mPos[2] = p[2]; v.mPos[2] = p[2];
} }
} }
int OBJ::ParseLine(int lineno, int argc, const char **argv) // return TRUE to continue parsing, return FALSE to abort parsing process int OBJ::ParseLine(int lineno, int argc, const char **argv) // return TRUE to continue parsing, return FALSE to abort parsing process
@@ -751,7 +726,6 @@ int OBJ::ParseLine(int lineno,int argc,const char **argv) // return TRUE to con
mCallback->NodeTriangle(&v[0], &v[i], &v[i + 1]); mCallback->NodeTriangle(&v[0], &v[i], &v[i + 1]);
} }
} }
} }
} }
} }
@@ -759,16 +733,11 @@ int OBJ::ParseLine(int lineno,int argc,const char **argv) // return TRUE to con
return ret; return ret;
} }
class BuildMesh : public GeometryInterface class BuildMesh : public GeometryInterface
{ {
public: public:
int getIndex(const float *p) int getIndex(const float *p)
{ {
int vcount = mVertices.size() / 3; int vcount = mVertices.size() / 3;
if (vcount > 0) if (vcount > 0)
@@ -805,7 +774,6 @@ private:
IntVector mIndices; IntVector mIndices;
}; };
WavefrontObj::WavefrontObj(void) WavefrontObj::WavefrontObj(void)
{ {
mVertexCount = 0; mVertexCount = 0;
@@ -822,7 +790,6 @@ WavefrontObj::~WavefrontObj(void)
unsigned int WavefrontObj::loadObj(const char *fname) // load a wavefront obj returns number of triangles that were loaded. Data is persists until the class is destructed. unsigned int WavefrontObj::loadObj(const char *fname) // load a wavefront obj returns number of triangles that were loaded. Data is persists until the class is destructed.
{ {
unsigned int ret = 0; unsigned int ret = 0;
delete[] mVertices; delete[] mVertices;
@@ -832,14 +799,12 @@ unsigned int WavefrontObj::loadObj(const char *fname) // load a wavefront obj re
mVertexCount = 0; mVertexCount = 0;
mTriCount = 0; mTriCount = 0;
BuildMesh bm; BuildMesh bm;
OBJ obj; OBJ obj;
obj.LoadMesh(fname, &bm); obj.LoadMesh(fname, &bm);
const FloatVector &vlist = bm.GetVertices(); const FloatVector &vlist = bm.GetVertices();
const IntVector &indices = bm.GetIndices(); const IntVector &indices = bm.GetIndices();
if (vlist.size()) if (vlist.size())
@@ -853,8 +818,7 @@ unsigned int WavefrontObj::loadObj(const char *fname) // load a wavefront obj re
ret = mTriCount; ret = mTriCount;
} }
return ret; return ret;
} }
} } // namespace ConvexDecomposition

7
Extras/ConvexDecomposition/cd_wavefront.h
View File

@@ -1,9 +1,7 @@
#ifndef CD_WAVEFRONT_OBJ_H #ifndef CD_WAVEFRONT_OBJ_H
#define CD_WAVEFRONT_OBJ_H #define CD_WAVEFRONT_OBJ_H
/*---------------------------------------------------------------------- /*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org www.physicstools.org
@@ -38,14 +36,11 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
class WavefrontObj class WavefrontObj
{ {
public: public:
WavefrontObj(void); WavefrontObj(void);
~WavefrontObj(void); ~WavefrontObj(void);
@@ -57,6 +52,6 @@ public:
float *mVertices; float *mVertices;
}; };
} } // namespace ConvexDecomposition
#endif #endif

40
Extras/ConvexDecomposition/concavity.cpp
View File

@@ -49,13 +49,11 @@
#include "splitplane.h" #include "splitplane.h"
#include "ConvexDecomposition.h" #include "ConvexDecomposition.h"
#define WSCALE 4 #define WSCALE 4
#define CONCAVE_THRESH 0.05f #define CONCAVE_THRESH 0.05f
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
unsigned int getDebugColor(void) unsigned int getDebugColor(void)
{ {
static unsigned int colors[8] = static unsigned int colors[8] =
@@ -67,8 +65,7 @@ unsigned int getDebugColor(void)
0x00FFFF, 0x00FFFF,
0xFF00FF, 0xFF00FF,
0xFFFFFF, 0xFFFFFF,
0xFF8040 0xFF8040};
};
static int count = 0; static int count = 0;
@@ -81,7 +78,6 @@ unsigned int getDebugColor(void)
unsigned int color = colors[count]; unsigned int color = colors[count];
return color; return color;
} }
class Wpoint class Wpoint
@@ -99,7 +95,6 @@ public:
typedef std::vector<Wpoint> WpointVector; typedef std::vector<Wpoint> WpointVector;
static inline float DistToPt(const float *p, const float *plane) static inline float DistToPt(const float *p, const float *plane)
{ {
float x = p[0]; float x = p[0];
@@ -109,10 +104,8 @@ static inline float DistToPt(const float *p,const float *plane)
return d; return d;
} }
static void intersect(const float *p1, const float *p2, float *split, const float *plane) static void intersect(const float *p1, const float *p2, float *split, const float *plane)
{ {
float dp1 = DistToPt(p1, plane); float dp1 = DistToPt(p1, plane);
float dir[3]; float dir[3];
@@ -131,7 +124,6 @@ static void intersect(const float *p1,const float *p2,float *split,const float *
split[2] = (dir[2] * t) + p1[2]; split[2] = (dir[2] * t) + p1[2];
} }
class CTri class CTri
{ {
public: public:
@@ -190,7 +182,6 @@ public:
{ {
unsigned int indices[8 * 3]; unsigned int indices[8 * 3];
unsigned int tcount = 0; unsigned int tcount = 0;
addTri(indices, 0, 1, 2, tcount); addTri(indices, 0, 1, 2, tcount);
@@ -239,7 +230,6 @@ public:
const float *p3 = &vertices[i3 * 3]; const float *p3 = &vertices[i3 * 3];
callback->ConvexDebugTri(p1, p2, p3, color); callback->ConvexDebugTri(p1, p2, p3, color);
} }
#endif #endif
} }
@@ -247,7 +237,6 @@ public:
float v = computeMeshVolume(mP1.Ptr(), tcount, indices); float v = computeMeshVolume(mP1.Ptr(), tcount, indices);
return v; return v;
} }
float raySect(const Vector3d &p, const Vector3d &dir, Vector3d &sect) const float raySect(const Vector3d &p, const Vector3d &dir, Vector3d &sect) const
@@ -264,7 +253,6 @@ public:
intersect(p.Ptr(), dest.Ptr(), sect.Ptr(), plane); intersect(p.Ptr(), dest.Ptr(), sect.Ptr(), plane);
return sect.Distance(p); // return the intersection distance. return sect.Distance(p); // return the intersection distance.
} }
float planeDistance(const Vector3d &p) const float planeDistance(const Vector3d &p) const
@@ -277,7 +265,6 @@ public:
plane[3] = mPlaneD; plane[3] = mPlaneD;
return DistToPt(p.Ptr(), plane); return DistToPt(p.Ptr(), plane);
} }
bool samePlane(const CTri &t) const bool samePlane(const CTri &t) const
@@ -333,7 +320,6 @@ public:
void addWeighted(WpointVector &list, ConvexDecompInterface *callback) void addWeighted(WpointVector &list, ConvexDecompInterface *callback)
{ {
Wpoint p1(mP1, mC1); Wpoint p1(mP1, mC1);
Wpoint p2(mP2, mC2); Wpoint p2(mP2, mC2);
Wpoint p3(mP3, mC3); Wpoint p3(mP3, mC3);
@@ -387,9 +373,6 @@ public:
callback->ConvexDebugPoint( np3.Ptr(), 0.01F, 0XFF00FF ); callback->ConvexDebugPoint( np3.Ptr(), 0.01F, 0XFF00FF );
#endif #endif
} }
Vector3d mP1; Vector3d mP1;
@@ -414,7 +397,6 @@ typedef std::vector< CTri > CTriVector;
bool featureMatch(CTri &m, const CTriVector &tris, ConvexDecompInterface *callback, const CTriVector &input_mesh) bool featureMatch(CTri &m, const CTriVector &tris, ConvexDecompInterface *callback, const CTriVector &input_mesh)
{ {
bool ret = false; bool ret = false;
float neardot = 0.707f; float neardot = 0.707f;
@@ -429,12 +411,10 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
CTri nearest; CTri nearest;
for (i = tris.begin(); i != tris.end(); ++i) for (i = tris.begin(); i != tris.end(); ++i)
{ {
const CTri &t = (*i); const CTri &t = (*i);
//gLog->Display(" HullPlane: %0.4f,%0.4f,%0.4f %0.4f\r\n", t.mNormal.x, t.mNormal.y, t.mNormal.z, t.mPlaneD ); //gLog->Display(" HullPlane: %0.4f,%0.4f,%0.4f %0.4f\r\n", t.mNormal.x, t.mNormal.y, t.mNormal.z, t.mPlaneD );
if (t.samePlane(m)) if (t.samePlane(m))
@@ -448,14 +428,12 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
if (dot > neardot) if (dot > neardot)
{ {
float d1 = t.planeDistance(m.mP1); float d1 = t.planeDistance(m.mP1);
float d2 = t.planeDistance(m.mP2); float d2 = t.planeDistance(m.mP2);
float d3 = t.planeDistance(m.mP3); float d3 = t.planeDistance(m.mP3);
if (d1 > 0.001f || d2 > 0.001f || d3 > 0.001f) // can't be near coplaner! if (d1 > 0.001f || d2 > 0.001f || d3 > 0.001f) // can't be near coplaner!
{ {
neardot = dot; neardot = dot;
Vector3d n1, n2, n3; Vector3d n1, n2, n3;
@@ -468,7 +446,6 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
ret = true; ret = true;
} }
} }
} }
@@ -509,7 +486,6 @@ bool featureMatch(CTri &m,const CTriVector &tris,ConvexDecompInterface *callback
callback->ConvexDebugTri( m.mP2.Ptr(), m.mP2.Ptr(), m.mNear2.Ptr(), 0xFFFF00 ); callback->ConvexDebugTri( m.mP2.Ptr(), m.mP2.Ptr(), m.mNear2.Ptr(), 0xFFFF00 );
callback->ConvexDebugTri( m.mP3.Ptr(), m.mP3.Ptr(), m.mNear3.Ptr(), 0xFFFF00 ); callback->ConvexDebugTri( m.mP3.Ptr(), m.mP3.Ptr(), m.mNear3.Ptr(), 0xFFFF00 );
#endif #endif
} }
else else
{ {
@@ -526,7 +502,6 @@ bool isFeatureTri(CTri &t,CTriVector &flist,float fc,ConvexDecompInterface *call
if (t.mProcessed == 0) // if not already processed if (t.mProcessed == 0) // if not already processed
{ {
float c = t.mConcavity / fc; // must be within 80% of the concavity of the parent. float c = t.mConcavity / fc; // must be within 80% of the concavity of the parent.
if (c > 0.85f) if (c > 0.85f)
@@ -562,7 +537,6 @@ bool isFeatureTri(CTri &t,CTriVector &flist,float fc,ConvexDecompInterface *call
{ {
t.mProcessed = 1; // eliminated for this feature, but might be valid for the next one.. t.mProcessed = 1; // eliminated for this feature, but might be valid for the next one..
} }
} }
return ret; return ret;
} }
@@ -575,8 +549,6 @@ float computeConcavity(unsigned int vcount,
float *plane, // plane equation to split on float *plane, // plane equation to split on
float &volume) float &volume)
{ {
float cret = 0; float cret = 0;
volume = 1; volume = 1;
@@ -588,7 +560,6 @@ float computeConcavity(unsigned int vcount,
desc.mMaxVertices = 256; desc.mMaxVertices = 256;
desc.SetHullFlag(QF_TRIANGLES); desc.SetHullFlag(QF_TRIANGLES);
desc.mVcount = vcount; desc.mVcount = vcount;
desc.mVertices = vertices; desc.mVertices = vertices;
desc.mVertexStride = sizeof(float) * 3; desc.mVertexStride = sizeof(float) * 3;
@@ -645,10 +616,8 @@ float computeConcavity(unsigned int vcount,
const unsigned int *src = indices; const unsigned int *src = indices;
float maxc = 0; float maxc = 0;
if (1) if (1)
{ {
CTriVector input_mesh; CTriVector input_mesh;
@@ -657,7 +626,6 @@ float computeConcavity(unsigned int vcount,
const unsigned int *src = indices; const unsigned int *src = indices;
for (unsigned int i = 0; i < tcount; i++) for (unsigned int i = 0; i < tcount; i++)
{ {
unsigned int i1 = *src++; unsigned int i1 = *src++;
unsigned int i2 = *src++; unsigned int i2 = *src++;
unsigned int i3 = *src++; unsigned int i3 = *src++;
@@ -675,7 +643,6 @@ float computeConcavity(unsigned int vcount,
for (unsigned int i = 0; i < tcount; i++) for (unsigned int i = 0; i < tcount; i++)
{ {
unsigned int i1 = *src++; unsigned int i1 = *src++;
unsigned int i2 = *src++; unsigned int i2 = *src++;
unsigned int i3 = *src++; unsigned int i3 = *src++;
@@ -690,7 +657,6 @@ float computeConcavity(unsigned int vcount,
if (t.mConcavity > CONCAVE_THRESH) if (t.mConcavity > CONCAVE_THRESH)
{ {
if (t.mConcavity > maxc) if (t.mConcavity > maxc)
{ {
maxc = t.mConcavity; maxc = t.mConcavity;
@@ -701,7 +667,6 @@ float computeConcavity(unsigned int vcount,
totalVolume += v; totalVolume += v;
ftris.push_back(t); ftris.push_back(t);
} }
} }
} }
@@ -793,5 +758,4 @@ float computeConcavity(unsigned int vcount,
return cret; return cret;
} }
} // namespace ConvexDecomposition
}

7
Extras/ConvexDecomposition/concavity.h
View File

@@ -36,11 +36,8 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
class ConvexDecompInterface; class ConvexDecompInterface;
// compute's how 'concave' this object is and returns the total volume of the // compute's how 'concave' this object is and returns the total volume of the
@@ -53,8 +50,6 @@ float computeConcavity(unsigned int vcount,
float *plane, float *plane,
float &volume); float &volume);
} // namespace ConvexDecomposition
}
#endif #endif

5
Extras/ConvexDecomposition/fitsphere.cpp
View File

@@ -6,7 +6,6 @@
#include "fitsphere.h" #include "fitsphere.h"
/*---------------------------------------------------------------------- /*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org www.physicstools.org
@@ -71,7 +70,6 @@ static inline void Copy(float *dest,const float *source)
float computeBoundingSphere(unsigned int vcount, const float *points, float *center) float computeBoundingSphere(unsigned int vcount, const float *points, float *center)
{ {
float mRadius; float mRadius;
float mRadius2; float mRadius2;
@@ -145,7 +143,6 @@ float computeBoundingSphere(unsigned int vcount,const float *points,float *cente
Copy(dia2, zmax); Copy(dia2, zmax);
} }
/* dia1,dia2 is a diameter of initial sphere */ /* dia1,dia2 is a diameter of initial sphere */
/* calc initial center */ /* calc initial center */
center[0] = (dia1[0] + dia2[0]) * 0.5f; center[0] = (dia1[0] + dia2[0]) * 0.5f;
@@ -198,5 +195,3 @@ float computeBoundingSphere(unsigned int vcount,const float *points,float *cente
return mRadius; return mRadius;
} }

2
Extras/ConvexDecomposition/fitsphere.h
View File

@@ -36,8 +36,6 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
float computeBoundingSphere(unsigned int vcount, const float *points, float *center); float computeBoundingSphere(unsigned int vcount, const float *points, float *center);
#endif #endif

19
Extras/ConvexDecomposition/float_math.cpp
View File

@@ -6,7 +6,6 @@
#include <assert.h> #include <assert.h>
#include <math.h> #include <math.h>
/*---------------------------------------------------------------------- /*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org www.physicstools.org
@@ -43,7 +42,6 @@
void fm_inverseRT(const float *matrix, const float *pos, float *t) // inverse rotate translate the point. void fm_inverseRT(const float *matrix, const float *pos, float *t) // inverse rotate translate the point.
{ {
float _x = pos[0] - matrix[3 * 4 + 0]; float _x = pos[0] - matrix[3 * 4 + 0];
float _y = pos[1] - matrix[3 * 4 + 1]; float _y = pos[1] - matrix[3 * 4 + 1];
float _z = pos[2] - matrix[3 * 4 + 2]; float _z = pos[2] - matrix[3 * 4 + 2];
@@ -53,10 +51,8 @@ void fm_inverseRT(const float *matrix,const float *pos,float *t) // inverse rota
t[0] = (matrix[0 * 4 + 0] * _x) + (matrix[0 * 4 + 1] * _y) + (matrix[0 * 4 + 2] * _z); t[0] = (matrix[0 * 4 + 0] * _x) + (matrix[0 * 4 + 1] * _y) + (matrix[0 * 4 + 2] * _z);
t[1] = (matrix[1 * 4 + 0] * _x) + (matrix[1 * 4 + 1] * _y) + (matrix[1 * 4 + 2] * _z); t[1] = (matrix[1 * 4 + 0] * _x) + (matrix[1 * 4 + 1] * _y) + (matrix[1 * 4 + 2] * _z);
t[2] = (matrix[2 * 4 + 0] * _x) + (matrix[2 * 4 + 1] * _y) + (matrix[2 * 4 + 2] * _z); t[2] = (matrix[2 * 4 + 0] * _x) + (matrix[2 * 4 + 1] * _y) + (matrix[2 * 4 + 2] * _z);
} }
void fm_identity(float *matrix) // set 4x4 matrix to identity. void fm_identity(float *matrix) // set 4x4 matrix to identity.
{ {
matrix[0 * 4 + 0] = 1; matrix[0 * 4 + 0] = 1;
@@ -79,7 +75,6 @@ void fm_identity(float *matrix) // set 4x4 matrix to identity.
matrix[0 * 4 + 3] = 0; matrix[0 * 4 + 3] = 0;
matrix[1 * 4 + 3] = 0; matrix[1 * 4 + 3] = 0;
matrix[2 * 4 + 3] = 0; matrix[2 * 4 + 3] = 0;
} }
void fm_eulerMatrix(float ax, float ay, float az, float *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero) void fm_eulerMatrix(float ax, float ay, float az, float *matrix) // convert euler (in radians) to a dest 4x4 matrix (translation set to zero)
@@ -91,7 +86,6 @@ void fm_eulerMatrix(float ax,float ay,float az,float *matrix) // convert euler (
void fm_getAABB(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax) void fm_getAABB(unsigned int vcount, const float *points, unsigned int pstride, float *bmin, float *bmax)
{ {
const unsigned char *source = (const unsigned char *)points; const unsigned char *source = (const unsigned char *)points;
bmin[0] = points[0]; bmin[0] = points[0];
@@ -102,7 +96,6 @@ void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,flo
bmax[1] = points[1]; bmax[1] = points[1];
bmax[2] = points[2]; bmax[2] = points[2];
for (unsigned int i = 1; i < vcount; i++) for (unsigned int i = 1; i < vcount; i++)
{ {
source += pstride; source += pstride;
@@ -115,11 +108,9 @@ void fm_getAABB(unsigned int vcount,const float *points,unsigned int pstride,flo
if (p[0] > bmax[0]) bmax[0] = p[0]; if (p[0] > bmax[0]) bmax[0] = p[0];
if (p[1] > bmax[1]) bmax[1] = p[1]; if (p[1] > bmax[1]) bmax[1] = p[1];
if (p[2] > bmax[2]) bmax[2] = p[2]; if (p[2] > bmax[2]) bmax[2] = p[2];
} }
} }
void fm_eulerToQuat(float roll, float pitch, float yaw, float *quat) // convert euler angles to quaternion. void fm_eulerToQuat(float roll, float pitch, float yaw, float *quat) // convert euler angles to quaternion.
{ {
roll *= 0.5f; roll *= 0.5f;
@@ -147,7 +138,6 @@ void fm_eulerToQuat(float roll,float pitch,float yaw,float *quat) // convert eul
void fm_quatToMatrix(const float *quat, float *matrix) // convert quaterinion rotation to matrix, zeros out the translation component. void fm_quatToMatrix(const float *quat, float *matrix) // convert quaterinion rotation to matrix, zeros out the translation component.
{ {
float xx = quat[0] * quat[0]; float xx = quat[0] * quat[0];
float yy = quat[1] * quat[1]; float yy = quat[1] * quat[1];
float zz = quat[2] * quat[2]; float zz = quat[2] * quat[2];
@@ -173,10 +163,8 @@ void fm_quatToMatrix(const float *quat,float *matrix) // convert quaterinion rot
matrix[3 * 4 + 0] = matrix[3 * 4 + 1] = matrix[3 * 4 + 2] = 0.0f; matrix[3 * 4 + 0] = matrix[3 * 4 + 1] = matrix[3 * 4 + 2] = 0.0f;
matrix[0 * 4 + 3] = matrix[1 * 4 + 3] = matrix[2 * 4 + 3] = 0.0f; matrix[0 * 4 + 3] = matrix[1 * 4 + 3] = matrix[2 * 4 + 3] = 0.0f;
matrix[3 * 4 + 3] = 1.0f; matrix[3 * 4 + 3] = 1.0f;
} }
void fm_quatRotate(const float *quat, const float *v, float *r) // rotate a vector directly by a quaternion. void fm_quatRotate(const float *quat, const float *v, float *r) // rotate a vector directly by a quaternion.
{ {
float left[4]; float left[4];
@@ -189,10 +177,8 @@ void fm_quatRotate(const float *quat,const float *v,float *r) // rotate a vector
r[0] = (left[3] * -quat[0]) + (quat[3] * left[0]) + (left[1] * -quat[2]) - (-quat[1] * left[2]); r[0] = (left[3] * -quat[0]) + (quat[3] * left[0]) + (left[1] * -quat[2]) - (-quat[1] * left[2]);
r[1] = (left[3] * -quat[1]) + (quat[3] * left[1]) + (left[2] * -quat[0]) - (-quat[2] * left[0]); r[1] = (left[3] * -quat[1]) + (quat[3] * left[1]) + (left[2] * -quat[0]) - (-quat[2] * left[0]);
r[2] = (left[3] * -quat[2]) + (quat[3] * left[2]) + (left[0] * -quat[1]) - (-quat[0] * left[1]); r[2] = (left[3] * -quat[2]) + (quat[3] * left[2]) + (left[0] * -quat[1]) - (-quat[0] * left[1]);
} }
void fm_getTranslation(const float *matrix, float *t) void fm_getTranslation(const float *matrix, float *t)
{ {
t[0] = matrix[3 * 4 + 0]; t[0] = matrix[3 * 4 + 0];
@@ -202,7 +188,6 @@ void fm_getTranslation(const float *matrix,float *t)
void fm_matrixToQuat(const float *matrix, float *quat) // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w void fm_matrixToQuat(const float *matrix, float *quat) // convert the 3x3 portion of a 4x4 matrix into a quaterion as x,y,z,w
{ {
float tr = matrix[0 * 4 + 0] + matrix[1 * 4 + 1] + matrix[2 * 4 + 2]; float tr = matrix[0 * 4 + 0] + matrix[1 * 4 + 1] + matrix[2 * 4 + 2];
// check the diagonal // check the diagonal
@@ -215,7 +200,6 @@ void fm_matrixToQuat(const float *matrix,float *quat) // convert the 3x3 portion
quat[0] = (matrix[1 * 4 + 2] - matrix[2 * 4 + 1]) * s; quat[0] = (matrix[1 * 4 + 2] - matrix[2 * 4 + 1]) * s;
quat[1] = (matrix[2 * 4 + 0] - matrix[0 * 4 + 2]) * s; quat[1] = (matrix[2 * 4 + 0] - matrix[0 * 4 + 2]) * s;
quat[2] = (matrix[0 * 4 + 1] - matrix[1 * 4 + 0]) * s; quat[2] = (matrix[0 * 4 + 1] - matrix[1 * 4 + 0]) * s;
} }
else else
{ {
@@ -246,11 +230,8 @@ void fm_matrixToQuat(const float *matrix,float *quat) // convert the 3x3 portion
quat[2] = qa[2]; quat[2] = qa[2];
quat[3] = qa[3]; quat[3] = qa[3];
} }
} }
float fm_sphereVolume(float radius) // return's the volume of a sphere of this radius (4/3 PI * R cubed ) float fm_sphereVolume(float radius) // return's the volume of a sphere of this radius (4/3 PI * R cubed )
{ {
return (4.0f / 3.0f) * FM_PI * radius * radius * radius; return (4.0f / 3.0f) * FM_PI * radius * radius * radius;

1
Extras/ConvexDecomposition/float_math.h
View File

@@ -45,7 +45,6 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
// a set of routines that last you do common 3d math // a set of routines that last you do common 3d math
// operations without any vector, matrix, or quaternion // operations without any vector, matrix, or quaternion
// classes or templates. // classes or templates.

4
Extras/ConvexDecomposition/meshvolume.cpp
View File

@@ -46,7 +46,6 @@ float computeMeshVolume(const float *vertices,unsigned int tcount,const unsigned
for (unsigned int i = 0; i < tcount; i++, indices += 3) for (unsigned int i = 0; i < tcount; i++, indices += 3)
{ {
const float *p1 = &vertices[indices[0] * 3]; const float *p1 = &vertices[indices[0] * 3];
const float *p2 = &vertices[indices[1] * 3]; const float *p2 = &vertices[indices[1] * 3];
const float *p3 = &vertices[indices[2] * 3]; const float *p3 = &vertices[indices[2] * 3];
@@ -60,7 +59,6 @@ float computeMeshVolume(const float *vertices,unsigned int tcount,const unsigned
return volume; return volume;
} }
inline void CrossProduct(const float *a, const float *b, float *cross) inline void CrossProduct(const float *a, const float *b, float *cross)
{ {
cross[0] = a[1] * b[2] - a[2] * b[1]; cross[0] = a[1] * b[2] - a[2] * b[1];
@@ -115,7 +113,6 @@ float computeMeshVolume2(const float *vertices,unsigned int tcount,const unsigne
const float *p0 = vertices; const float *p0 = vertices;
for (unsigned int i = 0; i < tcount; i++, indices += 3) for (unsigned int i = 0; i < tcount; i++, indices += 3)
{ {
const float *p1 = &vertices[indices[0] * 3]; const float *p1 = &vertices[indices[0] * 3];
const float *p2 = &vertices[indices[1] * 3]; const float *p2 = &vertices[indices[1] * 3];
const float *p3 = &vertices[indices[2] * 3]; const float *p3 = &vertices[indices[2] * 3];
@@ -125,4 +122,3 @@ float computeMeshVolume2(const float *vertices,unsigned int tcount,const unsigne
return volume * (1.0f / 6.0f); return volume * (1.0f / 6.0f);
} }

3
Extras/ConvexDecomposition/meshvolume.h
View File

@@ -36,10 +36,7 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
float computeMeshVolume(const float *vertices, unsigned int tcount, const unsigned int *indices); float computeMeshVolume(const float *vertices, unsigned int tcount, const unsigned int *indices);
float computeMeshVolume2(const float *vertices, unsigned int tcount, const unsigned int *indices); float computeMeshVolume2(const float *vertices, unsigned int tcount, const unsigned int *indices);
#endif #endif

11
Extras/ConvexDecomposition/planetri.cpp
View File

@@ -49,10 +49,8 @@ static inline float DistToPt(const float *p,const float *plane)
return d; return d;
} }
static PlaneTriResult getSidePlane(const float *p, const float *plane, float epsilon) static PlaneTriResult getSidePlane(const float *p, const float *plane, float epsilon)
{ {
float d = DistToPt(p, plane); float d = DistToPt(p, plane);
if ((d + epsilon) > 0) if ((d + epsilon) > 0)
@@ -73,11 +71,9 @@ static void add(const float *p,float *dest,unsigned int tstride,unsigned int &pc
assert(pcount <= 4); assert(pcount <= 4);
} }
// assumes that the points are on opposite sides of the plane! // assumes that the points are on opposite sides of the plane!
static void intersect(const float *p1, const float *p2, float *split, const float *plane) static void intersect(const float *p1, const float *p2, float *split, const float *plane)
{ {
float dp1 = DistToPt(p1, plane); float dp1 = DistToPt(p1, plane);
float dir[3]; float dir[3];
@@ -94,7 +90,6 @@ static void intersect(const float *p1,const float *p2,float *split,const float *
split[0] = (dir[0] * t) + p1[0]; split[0] = (dir[0] * t) + p1[0];
split[1] = (dir[1] * t) + p1[1]; split[1] = (dir[1] * t) + p1[1];
split[2] = (dir[2] * t) + p1[2]; split[2] = (dir[2] * t) + p1[2];
} }
PlaneTriResult planeTriIntersection(const float *plane, // the plane equation in Ax+By+Cz+D format PlaneTriResult planeTriIntersection(const float *plane, // the plane equation in Ax+By+Cz+D format
@@ -116,7 +111,6 @@ PlaneTriResult planeTriIntersection(const float *plane, // the plane equation
const float *p2 = (const float *)(tsource + tstride); const float *p2 = (const float *)(tsource + tstride);
const float *p3 = (const float *)(tsource + tstride * 2); const float *p3 = (const float *)(tsource + tstride * 2);
PlaneTriResult r1 = getSidePlane(p1, plane, epsilon); // compute the side of the plane each vertex is on PlaneTriResult r1 = getSidePlane(p1, plane, epsilon); // compute the side of the plane each vertex is on
PlaneTriResult r2 = getSidePlane(p2, plane, epsilon); PlaneTriResult r2 = getSidePlane(p2, plane, epsilon);
PlaneTriResult r3 = getSidePlane(p3, plane, epsilon); PlaneTriResult r3 = getSidePlane(p3, plane, epsilon);
@@ -161,13 +155,11 @@ PlaneTriResult planeTriIntersection(const float *plane, // the plane equation
if (r1 == PTR_FRONT) if (r1 == PTR_FRONT)
{ {
add(p1, front, tstride, fcount); add(p1, front, tstride, fcount);
add(split, front, tstride, fcount); add(split, front, tstride, fcount);
add(split, back, tstride, bcount); add(split, back, tstride, bcount);
add(p2, back, tstride, bcount); add(p2, back, tstride, bcount);
} }
else else
{ {
@@ -177,7 +169,6 @@ PlaneTriResult planeTriIntersection(const float *plane, // the plane equation
add(split, front, tstride, fcount); add(split, front, tstride, fcount);
add(p2, front, tstride, fcount); add(p2, front, tstride, fcount);
} }
} }
// Next test ray segment P2 to P3 // Next test ray segment P2 to P3
@@ -232,7 +223,5 @@ PlaneTriResult planeTriIntersection(const float *plane, // the plane equation
} }
} }
return PTR_SPLIT; return PTR_SPLIT;
} }

3
Extras/ConvexDecomposition/planetri.h
View File

@@ -36,8 +36,6 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
enum PlaneTriResult enum PlaneTriResult
{ {
PTR_FRONT, PTR_FRONT,
@@ -54,5 +52,4 @@ PlaneTriResult planeTriIntersection(const float *plane, // the plane equation
float *back, // the triangle in back of the plane float *back, // the triangle in back of the plane
unsigned int &bcount); // the number of vertices in the 'back' triangle. unsigned int &bcount); // the number of vertices in the 'back' triangle.
#endif #endif

6
Extras/ConvexDecomposition/raytri.cpp
View File

@@ -41,15 +41,12 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
/* a = b - c */ /* a = b - c */
#define vector(a, b, c) \ #define vector(a, b, c) \
(a)[0] = (b)[0] - (c)[0]; \ (a)[0] = (b)[0] - (c)[0]; \
(a)[1] = (b)[1] - (c)[1]; \ (a)[1] = (b)[1] - (c)[1]; \
(a)[2] = (b)[2] - (c)[2]; (a)[2] = (b)[2] - (c)[2];
#define innerProduct(v, q) \ #define innerProduct(v, q) \
((v)[0] * (q)[0] + \ ((v)[0] * (q)[0] + \
(v)[1] * (q)[1] + \ (v)[1] * (q)[1] + \
@@ -62,7 +59,6 @@
bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t) bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t)
{ {
float e1[3], e2[3], h[3], s[3], q[3]; float e1[3], e2[3], h[3], s[3], q[3];
float a, f, u, v; float a, f, u, v;
@@ -95,7 +91,6 @@ bool rayIntersectsTriangle(const float *p,const float *d,const float *v0,const f
return (false); return (false);
} }
bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect) bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect)
{ {
float dir[3]; float dir[3];
@@ -111,7 +106,6 @@ bool lineIntersectsTriangle(const float *rayStart,const float *rayEnd,const floa
dir[1] *= r; dir[1] *= r;
dir[2] *= r; dir[2] *= r;
float t; float t;
bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t); bool ret = rayIntersectsTriangle(rayStart, dir, p1, p2, p3, t);

2
Extras/ConvexDecomposition/raytri.h
View File

@@ -36,8 +36,6 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
// returns true if the ray intersects the triangle. // returns true if the ray intersects the triangle.
bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect); bool lineIntersectsTriangle(const float *rayStart, const float *rayEnd, const float *p1, const float *p2, const float *p3, float *sect);
bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t); bool rayIntersectsTriangle(const float *p, const float *d, const float *v0, const float *v1, const float *v2, float &t);

14
Extras/ConvexDecomposition/splitplane.cpp
View File

@@ -6,7 +6,6 @@
#include <float.h> #include <float.h>
#include <math.h> #include <math.h>
/*---------------------------------------------------------------------- /*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org www.physicstools.org
@@ -53,10 +52,8 @@
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
static void computePlane(const float *A, const float *B, const float *C, float *plane) static void computePlane(const float *A, const float *B, const float *C, float *plane)
{ {
float vx = (B[0] - C[0]); float vx = (B[0] - C[0]);
float vy = (B[1] - C[1]); float vy = (B[1] - C[1]);
float vz = (B[2] - C[2]); float vz = (B[2] - C[2]);
@@ -84,14 +81,12 @@ static void computePlane(const float *A,const float *B,const float *C,float *pla
float y = vw_y * mag; float y = vw_y * mag;
float z = vw_z * mag; float z = vw_z * mag;
float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2])); float D = 0.0f - ((x * A[0]) + (y * A[1]) + (z * A[2]));
plane[0] = x; plane[0] = x;
plane[1] = y; plane[1] = y;
plane[2] = z; plane[2] = z;
plane[3] = D; plane[3] = D;
} }
class Rect3d class Rect3d
@@ -101,7 +96,6 @@ public:
Rect3d(const float *bmin, const float *bmax) Rect3d(const float *bmin, const float *bmax)
{ {
mMin[0] = bmin[0]; mMin[0] = bmin[0];
mMin[1] = bmin[1]; mMin[1] = bmin[1];
mMin[2] = bmin[2]; mMin[2] = bmin[2];
@@ -109,7 +103,6 @@ public:
mMax[0] = bmax[0]; mMax[0] = bmax[0];
mMax[1] = bmax[1]; mMax[1] = bmax[1];
mMax[2] = bmax[2]; mMax[2] = bmax[2];
} }
void SetMin(const float *bmin) void SetMin(const float *bmin)
@@ -200,14 +193,12 @@ bool computeSplitPlane(unsigned int vcount,
if (p[0] > bmax[0]) bmax[0] = p[0]; if (p[0] > bmax[0]) bmax[0] = p[0];
if (p[1] > bmax[1]) bmax[1] = p[1]; if (p[1] > bmax[1]) bmax[1] = p[1];
if (p[2] > bmax[2]) bmax[2] = p[2]; if (p[2] > bmax[2]) bmax[2] = p[2];
} }
float dx = bmax[0] - bmin[0]; float dx = bmax[0] - bmin[0];
float dy = bmax[1] - bmin[1]; float dy = bmax[1] - bmin[1];
float dz = bmax[2] - bmin[2]; float dz = bmax[2] - bmin[2];
float laxis = dx; float laxis = dx;
unsigned int axis = 0; unsigned int axis = 0;
@@ -238,7 +229,6 @@ bool computeSplitPlane(unsigned int vcount,
splitRect(axis, b, b1, b2, p1); splitRect(axis, b, b1, b2, p1);
// callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00); // callback->ConvexDebugBound(b1.mMin,b1.mMax,0x00FF00);
// callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00); // callback->ConvexDebugBound(b2.mMin,b2.mMax,0xFFFF00);
@@ -299,8 +289,6 @@ bool computeSplitPlane(unsigned int vcount,
computePlane(p1, p2, p3, plane); computePlane(p1, p2, p3, plane);
return true; return true;
} }
} // namespace ConvexDecomposition
}

6
Extras/ConvexDecomposition/splitplane.h
View File

@@ -39,11 +39,8 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
namespace ConvexDecomposition namespace ConvexDecomposition
{ {
class ConvexDecompInterface; class ConvexDecompInterface;
bool computeSplitPlane(unsigned int vcount, bool computeSplitPlane(unsigned int vcount,
@@ -53,7 +50,6 @@ bool computeSplitPlane(unsigned int vcount,
ConvexDecompInterface *callback, ConvexDecompInterface *callback,
float *plane); float *plane);
} // namespace ConvexDecomposition
}
#endif #endif

21
Extras/ConvexDecomposition/vlookup.cpp
View File

@@ -10,7 +10,6 @@
#include <map> #include <map>
#include <set> #include <set>
/*---------------------------------------------------------------------- /*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org www.physicstools.org
@@ -107,14 +106,10 @@
// You could easily modify this code to support other vertex // You could easily modify this code to support other vertex
// formats with any number of interpolants. // formats with any number of interpolants.
#include "vlookup.h" #include "vlookup.h"
namespace Vlookup namespace Vlookup
{ {
class VertexPosition class VertexPosition
{ {
public: public:
@@ -133,7 +128,6 @@ public:
mPos[0] = p[0]; mPos[0] = p[0];
mPos[1] = p[1]; mPos[1] = p[1];
mPos[2] = p[2]; mPos[2] = p[2];
}; };
float GetX(void) const { return mPos[0]; }; float GetX(void) const { return mPos[0]; };
@@ -177,7 +171,6 @@ struct VertexID
class VertexLess class VertexLess
{ {
public: public:
bool operator()(VertexID v1, VertexID v2) const; bool operator()(VertexID v1, VertexID v2) const;
private: private:
@@ -189,7 +182,8 @@ private:
} }
}; };
template <class Type> class VertexPool template <class Type>
class VertexPool
{ {
public: public:
typedef std::set<VertexID, VertexLess> VertexSet; typedef std::set<VertexID, VertexLess> VertexSet;
@@ -210,7 +204,6 @@ public:
return idx; return idx;
}; };
const float *GetPos(int idx) const const float *GetPos(int idx) const
{ {
return mVtxs[idx].mPos; return mVtxs[idx].mPos;
@@ -245,7 +238,6 @@ public:
return mVtxs.size(); return mVtxs.size();
}; };
Type *getBuffer(void) Type *getBuffer(void)
{ {
return &mVtxs[0]; return &mVtxs[0];
@@ -257,10 +249,8 @@ private:
Tracker mTracker; Tracker mTracker;
}; };
bool VertexLess::operator()(VertexID v1, VertexID v2) const bool VertexLess::operator()(VertexID v1, VertexID v2) const
{ {
const VertexPosition &a = Get(v1); const VertexPosition &a = Get(v1);
const VertexPosition &b = Get(v2); const VertexPosition &b = Get(v2);
@@ -282,14 +272,10 @@ bool VertexLess::operator()(VertexID v1,VertexID v2) const
if (izA < izB) return true; if (izA < izB) return true;
if (izA > izB) return false; if (izA > izB) return false;
return false; return false;
} }
} // namespace Vlookup
}
using namespace Vlookup; using namespace Vlookup;
@@ -318,7 +304,6 @@ const float * Vl_getVertices(VertexLookup vlook)
return vp->GetPos(0); return vp->GetPos(0);
} }
unsigned int Vl_getVcount(VertexLookup vlook) unsigned int Vl_getVcount(VertexLookup vlook)
{ {
VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook; VertexPool<VertexPosition> *vp = (VertexPool<VertexPosition> *)vlook;

4
Extras/ConvexDecomposition/vlookup.h
View File

@@ -2,7 +2,6 @@
#define VLOOKUP_H #define VLOOKUP_H
/*---------------------------------------------------------------------- /*----------------------------------------------------------------------
Copyright (c) 2004 Open Dynamics Framework Group Copyright (c) 2004 Open Dynamics Framework Group
www.physicstools.org www.physicstools.org
@@ -37,7 +36,6 @@
// http://www.amillionpixels.us // http://www.amillionpixels.us
// //
// CodeSnippet provided by John W. Ratcliff // CodeSnippet provided by John W. Ratcliff
// on March 23, 2006. // on March 23, 2006.
// //
@@ -105,7 +103,6 @@
// Uses an STL set to create an index table for a bunch of vertex positions // Uses an STL set to create an index table for a bunch of vertex positions
// used typically to re-index a collection of raw triangle data. // used typically to re-index a collection of raw triangle data.
typedef void *VertexLookup; typedef void *VertexLookup;
VertexLookup Vl_createVertexLookup(void); VertexLookup Vl_createVertexLookup(void);
@@ -115,5 +112,4 @@ unsigned int Vl_getIndex(VertexLookup vlook,const float *pos); // get index.
const float *Vl_getVertices(VertexLookup vlook); const float *Vl_getVertices(VertexLookup vlook);
unsigned int Vl_getVcount(VertexLookup vlook); unsigned int Vl_getVcount(VertexLookup vlook);
#endif #endif

22
Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.cpp
View File

@@ -30,7 +30,6 @@ protected:
btAlignedObjectArray<btCollisionShape*> m_convexShapes; btAlignedObjectArray<btCollisionShape*> m_convexShapes;
public: public:
int mBaseCount; int mBaseCount;
int mHullCount; int mHullCount;
@@ -52,26 +51,22 @@ public:
btCollisionShape* shape = m_convexShapes[i]; btCollisionShape* shape = m_convexShapes[i];
delete shape; delete shape;
} }
} }
virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult& result) virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult& result)
{ {
//calc centroid, to shift vertices around center of mass //calc centroid, to shift vertices around center of mass
btVector3 centroid(0, 0, 0); btVector3 centroid(0, 0, 0);
btAlignedObjectArray<btVector3> vertices; btAlignedObjectArray<btVector3> vertices;
if (m_transformSubShapes) if (m_transformSubShapes)
{ {
//const unsigned int *src = result.mHullIndices; //const unsigned int *src = result.mHullIndices;
for (unsigned int i = 0; i < result.mHullVcount; i++) for (unsigned int i = 0; i < result.mHullVcount; i++)
{ {
btVector3 vertex(result.mHullVertices[i * 3], result.mHullVertices[i * 3 + 1], result.mHullVertices[i * 3 + 2]); btVector3 vertex(result.mHullVertices[i * 3], result.mHullVertices[i * 3 + 1], result.mHullVertices[i * 3 + 2]);
centroid += vertex; centroid += vertex;
} }
centroid *= 1.f / (float(result.mHullVcount)); centroid *= 1.f / (float(result.mHullVcount));
} }
@@ -125,7 +120,6 @@ public:
btGImpactMeshShapePart::TrimeshPrimitiveManager* trimeshInterface = btGImpactMeshShapePart::TrimeshPrimitiveManager* trimeshInterface =
m_compoundShape->getTrimeshInterface(part); m_compoundShape->getTrimeshInterface(part);
trimeshInterface->lock(); trimeshInterface->lock();
//collect vertices //collect vertices
@@ -141,12 +135,10 @@ public:
vertices.push_back(vec[2]); vertices.push_back(vec[2]);
} }
//collect indices //collect indices
btAlignedObjectArray<unsigned int> indices; btAlignedObjectArray<unsigned int> indices;
indices.reserve(trimeshInterface->get_primitive_count() * 3); indices.reserve(trimeshInterface->get_primitive_count() * 3);
for (int i = 0; i < trimeshInterface->get_primitive_count(); i++) for (int i = 0; i < trimeshInterface->get_primitive_count(); i++)
{ {
unsigned int i0, i1, i2; unsigned int i0, i1, i2;
@@ -158,15 +150,12 @@ public:
trimeshInterface->unlock(); trimeshInterface->unlock();
unsigned int depth = 5; unsigned int depth = 5;
float cpercent = 5; float cpercent = 5;
float ppercent = 15; float ppercent = 15;
unsigned int maxv = 16; unsigned int maxv = 16;
float skinWidth = 0.0f; float skinWidth = 0.0f;
ConvexDecomposition::DecompDesc desc; ConvexDecomposition::DecompDesc desc;
desc.mVcount = trimeshInterface->get_vertex_count(); desc.mVcount = trimeshInterface->get_vertex_count();
desc.mVertices = &vertices[0]; desc.mVertices = &vertices[0];
@@ -184,17 +173,10 @@ public:
ConvexBuilder cb(desc.mCallback); ConvexBuilder cb(desc.mCallback);
cb.process(desc); cb.process(desc);
} }
}; };
void btGImpactConvexDecompositionShape::buildConvexDecomposition(bool transformSubShapes) void btGImpactConvexDecompositionShape::buildConvexDecomposition(bool transformSubShapes)
{ {
m_decomposition = new GIM_ConvexDecomposition(this, transformSubShapes); m_decomposition = new GIM_ConvexDecomposition(this, transformSubShapes);
int part_count = m_trimeshInterfaces.size(); int part_count = m_trimeshInterfaces.size();
@@ -212,7 +194,6 @@ btGImpactConvexDecompositionShape::~btGImpactConvexDecompositionShape()
} }
void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const
{ {
int part_count = m_trimeshInterfaces.size(); int part_count = m_trimeshInterfaces.size();
for (int part = 0; part < part_count; part++) for (int part = 0; part < part_count; part++)
{ {
@@ -225,7 +206,6 @@ void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback*
btPrimitiveTriangle triangle; btPrimitiveTriangle triangle;
int i = trimeshInterface->get_primitive_count(); int i = trimeshInterface->get_primitive_count();
while (i--) while (i--)
{ {
@@ -235,6 +215,4 @@ void btGImpactConvexDecompositionShape::processAllTriangles(btTriangleCallback*
trimeshInterface->unlock(); trimeshInterface->unlock();
} }
} }

10
Extras/GIMPACTUtils/btGImpactConvexDecompositionShape.h
View File

@@ -24,11 +24,8 @@ subject to the following restrictions:
#ifndef GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H #ifndef GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
#define GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H #define GIMPACT_CONVEX_DECOMPOSITION_SHAPE_H
#include "BulletCollision/Gimpact/btGImpactShape.h" // box tree class #include "BulletCollision/Gimpact/btGImpactShape.h" // box tree class
//! This class creates a decomposition from a trimesh. //! This class creates a decomposition from a trimesh.
/*! /*!
@@ -41,15 +38,14 @@ protected:
class GIM_ConvexDecomposition* m_decomposition; class GIM_ConvexDecomposition* m_decomposition;
void buildConvexDecomposition(bool transformSubShapes); void buildConvexDecomposition(bool transformSubShapes);
public:
public:
btGImpactConvexDecompositionShape( btGImpactConvexDecompositionShape(
btStridingMeshInterface* meshInterface, btStridingMeshInterface* meshInterface,
const btVector3& mesh_scale, const btVector3& mesh_scale,
btScalar margin = btScalar(0.01), bool children_has_transform = true) btScalar margin = btScalar(0.01), bool children_has_transform = true)
: btGImpactCompoundShape(children_has_transform) : btGImpactCompoundShape(children_has_transform)
{ {
m_collisionMargin = margin; m_collisionMargin = margin;
btGImpactMeshShapePart::TrimeshPrimitiveManager triInterface; btGImpactMeshShapePart::TrimeshPrimitiveManager triInterface;
@@ -78,10 +74,6 @@ public:
} }
virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const; virtual void processAllTriangles(btTriangleCallback* callback, const btVector3& aabbMin, const btVector3& aabbMax) const;
}; };
#endif //GIMPACT_MESH_SHAPE_H #endif //GIMPACT_MESH_SHAPE_H

18
Extras/HACD/hacdCircularList.h
View File

@@ -20,7 +20,8 @@
namespace HACD namespace HACD
{ {
//! CircularListElement class. //! CircularListElement class.
template < typename T > class CircularListElement template <typename T>
class CircularListElement
{ {
public: public:
T& GetData() { return m_data; } T& GetData() { return m_data; }
@@ -34,6 +35,7 @@ namespace HACD
CircularListElement(void) {} CircularListElement(void) {}
//! Destructor //! Destructor
~CircularListElement(void) {} ~CircularListElement(void) {}
private: private:
T m_data; T m_data;
CircularListElement<T>* m_next; CircularListElement<T>* m_next;
@@ -42,9 +44,9 @@ namespace HACD
CircularListElement(const CircularListElement& rhs); CircularListElement(const CircularListElement& rhs);
}; };
//! CircularList class. //! CircularList class.
template < typename T > class CircularList template <typename T>
class CircularList
{ {
public: public:
CircularListElement<T>*& GetHead() { return m_head; } CircularListElement<T>*& GetHead() { return m_head; }
@@ -59,7 +61,11 @@ namespace HACD
CircularListElement<T>* Add(const T& data); CircularListElement<T>* Add(const T& data);
bool Next(); bool Next();
bool Prev(); bool Prev();
void Clear() { while(Delete());}; void Clear()
{
while (Delete())
;
};
const CircularList& operator=(const CircularList& rhs); const CircularList& operator=(const CircularList& rhs);
//! Constructor //! Constructor
CircularList() CircularList()
@@ -70,11 +76,11 @@ namespace HACD
CircularList(const CircularList& rhs); CircularList(const CircularList& rhs);
//! Destructor //! Destructor
virtual ~CircularList(void) { Clear(); }; virtual ~CircularList(void) { Clear(); };
private: private:
CircularListElement<T>* m_head; //!< a pointer to the head of the circular list CircularListElement<T>* m_head; //!< a pointer to the head of the circular list
size_t m_size; //!< number of element in the circular list size_t m_size; //!< number of element in the circular list
}; };
} } // namespace HACD
#include "hacdCircularList.inl" #include "hacdCircularList.inl"
#endif #endif

4
Extras/HACD/hacdGraph.cpp
View File

@@ -15,7 +15,6 @@
#include "hacdGraph.h" #include "hacdGraph.h"
namespace HACD namespace HACD
{ {
GraphEdge::GraphEdge() GraphEdge::GraphEdge()
{ {
m_convexHull = 0; m_convexHull = 0;
@@ -207,7 +206,6 @@ namespace HACD
const GraphVertex& currentVertex = m_vertices[v]; const GraphVertex& currentVertex = m_vertices[v];
if (!m_vertices[v].m_deleted) if (!m_vertices[v].m_deleted)
{ {
std::cout << currentVertex.m_name << "\t"; std::cout << currentVertex.m_name << "\t";
std::set<long>::const_iterator ed(currentVertex.m_edges.begin()); std::set<long>::const_iterator ed(currentVertex.m_edges.begin());
std::set<long>::const_iterator itEnd(currentVertex.m_edges.end()); std::set<long>::const_iterator itEnd(currentVertex.m_edges.end());
@@ -289,4 +287,4 @@ namespace HACD
} }
return static_cast<long>(m_nCCs); return static_cast<long>(m_nCCs);
} }
} } // namespace HACD

7
Extras/HACD/hacdGraph.h
View File

@@ -40,6 +40,7 @@ namespace HACD
bool DeleteEdge(long name); bool DeleteEdge(long name);
GraphVertex(); GraphVertex();
~GraphVertex() { delete m_convexHull; }; ~GraphVertex() { delete m_convexHull; };
private: private:
long m_name; long m_name;
long m_cc; long m_cc;
@@ -56,7 +57,6 @@ namespace HACD
ICHull* m_convexHull; ICHull* m_convexHull;
std::set<unsigned long long> m_boudaryEdges; std::set<unsigned long long> m_boudaryEdges;
friend class GraphEdge; friend class GraphEdge;
friend class Graph; friend class Graph;
friend class HACD; friend class HACD;
@@ -67,6 +67,7 @@ namespace HACD
public: public:
GraphEdge(); GraphEdge();
~GraphEdge() { delete m_convexHull; }; ~GraphEdge() { delete m_convexHull; };
private: private:
long m_name; long m_name;
long m_v1; long m_v1;
@@ -81,8 +82,6 @@ namespace HACD
std::set<unsigned long long> m_boudaryEdges; std::set<unsigned long long> m_boudaryEdges;
bool m_deleted; bool m_deleted;
friend class GraphVertex; friend class GraphVertex;
friend class Graph; friend class Graph;
friend class HACD; friend class HACD;
@@ -116,5 +115,5 @@ namespace HACD
friend class HACD; friend class HACD;
}; };
} } // namespace HACD
#endif #endif

32
Extras/HACD/hacdHACD.cpp
View File

@@ -169,7 +169,6 @@ namespace HACD
} }
if (distC1C2 <= m_ccConnectDist && t1 > 0 && t2 > 0) if (distC1C2 <= m_ccConnectDist && t1 > 0 && t2 > 0)
{ {
m_graph.AddEdge(t1, t2); m_graph.AddEdge(t1, t2);
} }
} }
@@ -268,7 +267,6 @@ namespace HACD
distMin = distance; distMin = distance;
faceIndex = f1; faceIndex = f1;
} }
} }
} }
if (faceIndex < m_nTriangles) if (faceIndex < m_nTriangles)
@@ -308,12 +306,18 @@ namespace HACD
x = m_points[v].X(); x = m_points[v].X();
y = m_points[v].Y(); y = m_points[v].Y();
z = m_points[v].Z(); z = m_points[v].Z();
if ( x < min.X()) min.X() = x; if (x < min.X())
else if ( x > max.X()) max.X() = x; min.X() = x;
if ( y < min.Y()) min.Y() = y; else if (x > max.X())
else if ( y > max.Y()) max.Y() = y; max.X() = x;
if ( z < min.Z()) min.Z() = z; if (y < min.Y())
else if ( z > max.Z()) max.Z() = z; min.Y() = y;
else if (y > max.Y())
max.Y() = y;
if (z < min.Z())
min.Z() = z;
else if (z > max.Z())
max.Z() = z;
} }
m_barycenter /= static_cast<Real>(m_nPoints); m_barycenter /= static_cast<Real>(m_nPoints);
m_diag = (max - min).GetNorm(); m_diag = (max - min).GetNorm();
@@ -535,7 +539,8 @@ namespace HACD
for (; itBE != itBEEnd; ++itBE) for (; itBE != itBEEnd; ++itBE)
{ {
perimeter += (m_points[static_cast<long>((*itBE) >> 32)] - perimeter += (m_points[static_cast<long>((*itBE) >> 32)] -
m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)]).GetNorm(); m_points[static_cast<long>((*itBE) & 0xFFFFFFFFULL)])
.GetNorm();
} }
surf = gV1.m_surf + gV2.m_surf; surf = gV1.m_surf + gV2.m_surf;
} }
@@ -597,11 +602,9 @@ namespace HACD
} }
currentEdge = m_pqueue.top(); currentEdge = m_pqueue.top();
m_pqueue.pop(); m_pqueue.pop();
} } while (m_graph.m_edges[currentEdge.m_name].m_deleted ||
while ( m_graph.m_edges[currentEdge.m_name].m_deleted ||
m_graph.m_edges[currentEdge.m_name].m_error != currentEdge.m_priority); m_graph.m_edges[currentEdge.m_name].m_error != currentEdge.m_priority);
if (m_graph.m_edges[currentEdge.m_name].m_concavity < m_concavity && !done) if (m_graph.m_edges[currentEdge.m_name].m_concavity < m_concavity && !done)
{ {
globalConcavity = std::max<double>(globalConcavity, m_graph.m_edges[currentEdge.m_name].m_concavity); globalConcavity = std::max<double>(globalConcavity, m_graph.m_edges[currentEdge.m_name].m_concavity);
@@ -663,7 +666,6 @@ namespace HACD
sprintf(msg, "# clusters = %lu \t C = %f\n", static_cast<unsigned long>(m_nClusters), globalConcavity); sprintf(msg, "# clusters = %lu \t C = %f\n", static_cast<unsigned long>(m_nClusters), globalConcavity);
(*m_callBack)(msg, progress, globalConcavity, m_graph.GetNVertices()); (*m_callBack)(msg, progress, globalConcavity, m_graph.GetNVertices());
} }
} }
bool HACD::Compute(bool fullCH, bool exportDistPoints) bool HACD::Compute(bool fullCH, bool exportDistPoints)
@@ -846,6 +848,4 @@ namespace HACD
return false; return false;
} }
} }
} } // namespace HACD

15
Extras/HACD/hacdHACD.h
View File

@@ -35,6 +35,7 @@ namespace HACD
class reservable_priority_queue : public std::priority_queue<_Ty, _Container, _Pr> class reservable_priority_queue : public std::priority_queue<_Ty, _Container, _Pr>
{ {
typedef typename std::priority_queue<_Ty, _Container, _Pr>::size_type size_type; typedef typename std::priority_queue<_Ty, _Container, _Pr>::size_type size_type;
public: public:
reservable_priority_queue(size_type capacity = 0) { reserve(capacity); }; reservable_priority_queue(size_type capacity = 0) { reserve(capacity); };
void reserve(size_type capacity) { this->c.reserve(capacity); } void reserve(size_type capacity) { this->c.reserve(capacity); }
@@ -55,6 +56,7 @@ namespace HACD
} }
//! Destructor //! Destructor
~GraphEdgePriorityQueue(void) {} ~GraphEdgePriorityQueue(void) {}
private: private:
long m_name; //!< edge name long m_name; //!< edge name
Real m_priority; //!< priority Real m_priority; //!< priority
@@ -78,7 +80,6 @@ namespace HACD
class HACD class HACD
{ {
public: public:
//! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle //! Gives the triangles partitionas an array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
//! @return triangles partition //! @return triangles partition
const long *GetPartition() const { return m_partition; } const long *GetPartition() const { return m_partition; }
@@ -213,8 +214,10 @@ namespace HACD
//! @return edge's index //! @return edge's index
static unsigned long long GetEdgeIndex(unsigned long long a, unsigned long long b) static unsigned long long GetEdgeIndex(unsigned long long a, unsigned long long b)
{ {
if (a > b) return (a << 32) + b; if (a > b)
else return (b << 32) + a; return (a << 32) + b;
else
return (b << 32) + a;
} }
//! Computes the concavity of a cluster. //! Computes the concavity of a cluster.
//! @param ch the cluster's convex-hull //! @param ch the cluster's convex-hull
@@ -269,14 +272,14 @@ namespace HACD
size_t m_nVerticesPerCH; //>! maximum number of vertices per convex-hull size_t m_nVerticesPerCH; //>! maximum number of vertices per convex-hull
reservable_priority_queue<GraphEdgePriorityQueue, reservable_priority_queue<GraphEdgePriorityQueue,
std::vector<GraphEdgePriorityQueue>, std::vector<GraphEdgePriorityQueue>,
std::greater<std::vector<GraphEdgePriorityQueue>::value_type> > m_pqueue; //!> priority queue std::greater<std::vector<GraphEdgePriorityQueue>::value_type> >
m_pqueue; //!> priority queue
HACD(const HACD &rhs); HACD(const HACD &rhs);
CallBackFunction m_callBack; //>! call-back function CallBackFunction m_callBack; //>! call-back function
long *m_partition; //>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle long *m_partition; //>! array of size m_nTriangles where the i-th element specifies the cluster to which belong the i-th triangle
bool m_addFacesPoints; //>! specifies whether to add faces points or not bool m_addFacesPoints; //>! specifies whether to add faces points or not
bool m_addExtraDistPoints; //>! specifies whether to add extra points for concave shapes or not bool m_addExtraDistPoints; //>! specifies whether to add extra points for concave shapes or not
bool m_addNeighboursDistPoints; //>! specifies whether to add extra points from adjacent clusters or not bool m_addNeighboursDistPoints; //>! specifies whether to add extra points from adjacent clusters or not
}; };
} } // namespace HACD
#endif #endif

37
Extras/HACD/hacdICHull.cpp
View File

@@ -370,7 +370,6 @@ namespace HACD
vHead->GetData().m_name = id; vHead->GetData().m_name = id;
} }
return true; return true;
} }
ICHullError ICHull::DoubleTriangle() ICHullError ICHull::DoubleTriangle()
@@ -415,8 +414,7 @@ namespace HACD
do do
{ {
bary += vBary->GetData().m_pos; bary += vBary->GetData().m_pos;
} } while ((vBary = vBary->GetNext()) != v0);
while ( (vBary = vBary->GetNext()) != v0);
bary /= static_cast<Real>(vertices.GetSize()); bary /= static_cast<Real>(vertices.GetSize());
// Compute the normal to the plane // Compute the normal to the plane
@@ -469,13 +467,20 @@ namespace HACD
e2 = fold->GetData().m_edges[0]; e2 = fold->GetData().m_edges[0];
index = 1; index = 1;
} }
e0->GetData().m_vertices[0] = v0; e0->GetData().m_vertices[1] = v1; e0->GetData().m_vertices[0] = v0;
e1->GetData().m_vertices[0] = v1; e1->GetData().m_vertices[1] = v2; e0->GetData().m_vertices[1] = v1;
e2->GetData().m_vertices[0] = v2; e2->GetData().m_vertices[1] = v0; e1->GetData().m_vertices[0] = v1;
e1->GetData().m_vertices[1] = v2;
e2->GetData().m_vertices[0] = v2;
e2->GetData().m_vertices[1] = v0;
// create the new face // create the new face
CircularListElement<TMMTriangle> *f = m_mesh.AddTriangle(); CircularListElement<TMMTriangle> *f = m_mesh.AddTriangle();
f->GetData().m_edges[0] = e0; f->GetData().m_edges[1] = e1; f->GetData().m_edges[2] = e2; f->GetData().m_edges[0] = e0;
f->GetData().m_vertices[0] = v0; f->GetData().m_vertices[1] = v1; f->GetData().m_vertices[2] = v2; f->GetData().m_edges[1] = e1;
f->GetData().m_edges[2] = e2;
f->GetData().m_vertices[0] = v0;
f->GetData().m_vertices[1] = v1;
f->GetData().m_vertices[2] = v2;
// link edges to face f // link edges to face f
e0->GetData().m_triangles[index] = e1->GetData().m_triangles[index] = e2->GetData().m_triangles[index] = f; e0->GetData().m_triangles[index] = e1->GetData().m_triangles[index] = e2->GetData().m_triangles[index] = f;
return f; return f;
@@ -551,8 +556,7 @@ namespace HACD
visible = true; visible = true;
} }
f = f->GetNext(); f = f->GetNext();
} } while (f != fHead);
while (f != fHead);
if (m_trianglesToDelete.size() == m_mesh.m_triangles.GetSize()) if (m_trianglesToDelete.size() == m_mesh.m_triangles.GetSize())
{ {
@@ -610,8 +614,7 @@ namespace HACD
m_edgesToUpdate.push_back(e); m_edgesToUpdate.push_back(e);
} }
e = tmp; e = tmp;
} } while (e != eHead);
while (e != eHead);
return true; return true;
} }
bool ICHull::MakeCCW(CircularListElement<TMMTriangle> *f, bool ICHull::MakeCCW(CircularListElement<TMMTriangle> *f,
@@ -633,7 +636,8 @@ namespace HACD
long i; // index of e->m_vertices[0] in fv long i; // index of e->m_vertices[0] in fv
CircularListElement<TMMVertex> *v0 = e->GetData().m_vertices[0]; CircularListElement<TMMVertex> *v0 = e->GetData().m_vertices[0];
CircularListElement<TMMVertex> *v1 = e->GetData().m_vertices[1]; CircularListElement<TMMVertex> *v1 = e->GetData().m_vertices[1];
for(i = 0; fv->GetData().m_vertices[i] != v0; i++); for (i = 0; fv->GetData().m_vertices[i] != v0; i++)
;
if (fv->GetData().m_vertices[(i + 1) % 3] != e->GetData().m_vertices[1]) if (fv->GetData().m_vertices[(i + 1) % 3] != e->GetData().m_vertices[1])
{ {
@@ -757,8 +761,7 @@ namespace HACD
v->GetData().m_onHull = false; v->GetData().m_onHull = false;
v = v->GetPrev(); v = v->GetPrev();
} }
} } while (v->GetData().m_tag && v != vHead);
while (v->GetData().m_tag && v != vHead);
return true; return true;
} }
void ICHull::Clear() void ICHull::Clear()
@@ -1014,6 +1017,4 @@ namespace HACD
return distance; return distance;
} }
} }
} } // namespace HACD

4
Extras/HACD/hacdICHull.h
View File

@@ -98,6 +98,7 @@ namespace HACD
CircularListElement<TMMEdge> *e, CircularListElement<TMMEdge> *e,
CircularListElement<TMMVertex> *v); CircularListElement<TMMVertex> *v);
void Clear(); void Clear();
private: private:
static const long sc_dummyIndex; static const long sc_dummyIndex;
static const double sc_distMin; static const double sc_distMin;
@@ -110,11 +111,10 @@ namespace HACD
Vec3<Real> m_normal; Vec3<Real> m_normal;
bool m_isFlat; bool m_isFlat;
ICHull(const ICHull &rhs); ICHull(const ICHull &rhs);
friend class HACD; friend class HACD;
}; };
} } // namespace HACD
#endif #endif

37
Extras/HACD/hacdManifoldMesh.cpp
View File

@@ -15,7 +15,6 @@
#include "hacdManifoldMesh.h" #include "hacdManifoldMesh.h"
using namespace std; using namespace std;
namespace HACD namespace HACD
{ {
Material::Material(void) Material::Material(void)
@@ -91,7 +90,6 @@ namespace HACD
m_vertices.Next(); m_vertices.Next();
} }
size_t nE = m_edges.GetSize(); size_t nE = m_edges.GetSize();
std::cout << "edges (" << nE << ")" << std::endl; std::cout << "edges (" << nE << ")" << std::endl;
for (size_t e = 0; e < nE; e++) for (size_t e = 0; e < nE; e++)
@@ -183,7 +181,8 @@ namespace HACD
fout << " ccw TRUE" << std::endl; fout << " ccw TRUE" << std::endl;
fout << " solid TRUE" << std::endl; fout << " solid TRUE" << std::endl;
fout << " convex TRUE" << std::endl; fout << " convex TRUE" << std::endl;
if (GetNVertices() > 0) { if (GetNVertices() > 0)
{
fout << " coord DEF co Coordinate {" << std::endl; fout << " coord DEF co Coordinate {" << std::endl;
fout << " point [" << std::endl; fout << " point [" << std::endl;
for (size_t v = 0; v < nV; v++) for (size_t v = 0; v < nV; v++)
@@ -198,7 +197,8 @@ namespace HACD
fout << " ]" << std::endl; fout << " ]" << std::endl;
fout << " }" << std::endl; fout << " }" << std::endl;
} }
if (GetNTriangles() > 0) { if (GetNTriangles() > 0)
{
fout << " coordIndex [ " << std::endl; fout << " coordIndex [ " << std::endl;
for (size_t f = 0; f < nT; f++) for (size_t f = 0; f < nT; f++)
{ {
@@ -259,7 +259,6 @@ namespace HACD
{ {
mesh.m_edges.GetData().m_id = e; mesh.m_edges.GetData().m_id = e;
mesh.m_edges.Next(); mesh.m_edges.Next();
} }
for (size_t f = 0; f < nT; f++) for (size_t f = 0; f < nT; f++)
{ {
@@ -346,7 +345,6 @@ namespace HACD
delete[] vertexMap; delete[] vertexMap;
delete[] edgeMap; delete[] edgeMap;
delete[] triangleMap; delete[] triangleMap;
} }
long IntersectRayTriangle(const Vec3<double> &P0, const Vec3<double> &dir, long IntersectRayTriangle(const Vec3<double> &P0, const Vec3<double> &dir,
const Vec3<double> &V0, const Vec3<double> &V1, const Vec3<double> &V0, const Vec3<double> &V1,
@@ -445,10 +443,12 @@ namespace HACD
w0 = P0 - V0; w0 = P0 - V0;
a = -n * w0; a = -n * w0;
b = n * dir; b = n * dir;
if (fabs(b) <= 0.0) { // ray is parallel to triangle plane if (fabs(b) <= 0.0)
{ // ray is parallel to triangle plane
if (a == 0.0) // ray lies in triangle plane if (a == 0.0) // ray lies in triangle plane
return 2; return 2;
else return 0; // ray disjoint from plane else
return 0; // ray disjoint from plane
} }
// get intersect point of ray with triangle plane // get intersect point of ray with triangle plane
@@ -480,7 +480,6 @@ namespace HACD
return 1; // I is in T return 1; // I is in T
} }
bool TMMesh::CheckConsistancy() bool TMMesh::CheckConsistancy()
{ {
size_t nE = m_edges.GetSize(); size_t nE = m_edges.GetSize();
@@ -536,12 +535,18 @@ namespace HACD
x = m_vertices.GetHead()->GetData().m_pos.X(); x = m_vertices.GetHead()->GetData().m_pos.X();
y = m_vertices.GetHead()->GetData().m_pos.Y(); y = m_vertices.GetHead()->GetData().m_pos.Y();
z = m_vertices.GetHead()->GetData().m_pos.Z(); z = m_vertices.GetHead()->GetData().m_pos.Z();
if ( x < min.X()) min.X() = x; if (x < min.X())
else if ( x > max.X()) max.X() = x; min.X() = x;
if ( y < min.Y()) min.Y() = y; else if (x > max.X())
else if ( y > max.Y()) max.Y() = y; max.X() = x;
if ( z < min.Z()) min.Z() = z; if (y < min.Y())
else if ( z > max.Z()) max.Z() = z; min.Y() = y;
else if (y > max.Y())
max.Y() = y;
if (z < min.Z())
min.Z() = z;
else if (z > max.Z())
max.Z() = z;
m_vertices.Next(); m_vertices.Next();
} }
m_barycenter /= static_cast<Real>(nV); m_barycenter /= static_cast<Real>(nV);
@@ -574,4 +579,4 @@ namespace HACD
} }
return false; return false;
} }
} } // namespace HACD

7
Extras/HACD/hacdManifoldMesh.h
View File

@@ -52,6 +52,7 @@ namespace HACD
m_computed(computed), m_computed(computed),
m_distOnly(distOnly){}; m_distOnly(distOnly){};
~DPoint(){}; ~DPoint(){};
private: private:
Real m_dist; Real m_dist;
bool m_computed; bool m_computed;
@@ -94,13 +95,13 @@ namespace HACD
public: public:
TMMEdge(void); TMMEdge(void);
~TMMEdge(void); ~TMMEdge(void);
private: private:
size_t m_id; size_t m_id;
CircularListElement<TMMTriangle> *m_triangles[2]; CircularListElement<TMMTriangle> *m_triangles[2];
CircularListElement<TMMVertex> *m_vertices[2]; CircularListElement<TMMVertex> *m_vertices[2];
CircularListElement<TMMTriangle> *m_newFace; CircularListElement<TMMTriangle> *m_newFace;
TMMEdge(const TMMEdge &rhs); TMMEdge(const TMMEdge &rhs);
friend class HACD; friend class HACD;
@@ -116,6 +117,7 @@ namespace HACD
public: public:
TMMTriangle(void); TMMTriangle(void);
~TMMTriangle(void); ~TMMTriangle(void);
private: private:
size_t m_id; size_t m_id;
CircularListElement<TMMEdge> *m_edges[3]; CircularListElement<TMMEdge> *m_edges[3];
@@ -153,7 +155,6 @@ namespace HACD
class TMMesh class TMMesh
{ {
public: public:
//! Returns the number of vertices> //! Returns the number of vertices>
inline size_t GetNVertices() const { return m_vertices.GetSize(); } inline size_t GetNVertices() const { return m_vertices.GetSize(); }
//! Returns the number of edges //! Returns the number of edges
@@ -246,5 +247,5 @@ namespace HACD
const Vec3<double> &p3, const Vec3<double> &p4, const Vec3<double> &p3, const Vec3<double> &p4,
Vec3<double> &pa, Vec3<double> &pb, Vec3<double> &pa, Vec3<double> &pb,
double &mua, double &mub); double &mua, double &mub);
} } // namespace HACD
#endif #endif

5
Extras/HACD/hacdVector.h
View File

@@ -23,7 +23,8 @@ namespace HACD
{ {
typedef double Real; typedef double Real;
//! Vector dim 3. //! Vector dim 3.
template < typename T > class Vec3 template <typename T>
class Vec3
{ {
public: public:
T& X(); T& X();
@@ -62,6 +63,6 @@ namespace HACD
template <typename T> template <typename T>
const T Volume(const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c, const Vec3<T>& d); const T Volume(const Vec3<T>& a, const Vec3<T>& b, const Vec3<T>& c, const Vec3<T>& d);
} } // namespace HACD
#include "hacdVector.inl" // template implementation #include "hacdVector.inl" // template implementation
#endif #endif

2
Extras/InverseDynamics/BulletInverseDynamicsUtilsCommon.h
View File

@@ -13,5 +13,3 @@
#include "User2InternalIndex.hpp" #include "User2InternalIndex.hpp"
#endif //BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H #endif //BULLET_INVERSE_DYNAMICS_UTILS_COMMON_H

28
Extras/InverseDynamics/CloneTreeCreator.cpp
View File

@@ -2,27 +2,36 @@
#include <cstdio> #include <cstdio>
namespace btInverseDynamics { namespace btInverseDynamics
{
#define CHECK_NULLPTR() \ #define CHECK_NULLPTR() \
do { \ do \
if (m_reference == 0x0) { \ { \
if (m_reference == 0x0) \
{ \
bt_id_error_message("m_reference == 0x0\n"); \ bt_id_error_message("m_reference == 0x0\n"); \
return -1; \ return -1; \
} \ } \
} while (0) } while (0)
#define TRY(x) \ #define TRY(x) \
do { \ do \
if (x == -1) { \ { \
if (x == -1) \
{ \
bt_id_error_message("error calling " #x "\n"); \ bt_id_error_message("error calling " #x "\n"); \
return -1; \ return -1; \
} \ } \
} while (0) } while (0)
CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference) { m_reference = reference; } CloneTreeCreator::CloneTreeCreator(const MultiBodyTree* reference)
{
m_reference = reference;
}
CloneTreeCreator::~CloneTreeCreator() {} CloneTreeCreator::~CloneTreeCreator() {}
int CloneTreeCreator::getNumBodies(int* num_bodies) const { int CloneTreeCreator::getNumBodies(int* num_bodies) const
{
CHECK_NULLPTR(); CHECK_NULLPTR();
*num_bodies = m_reference->numBodies(); *num_bodies = m_reference->numBodies();
return 0; return 0;
@@ -31,7 +40,8 @@ int CloneTreeCreator::getNumBodies(int* num_bodies) const {
int CloneTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type, int CloneTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com, vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const { mat33* body_I_body, int* user_int, void** user_ptr) const
{
CHECK_NULLPTR(); CHECK_NULLPTR();
TRY(m_reference->getParentIndex(body_index, parent_index)); TRY(m_reference->getParentIndex(body_index, parent_index));
TRY(m_reference->getJointType(body_index, joint_type)); TRY(m_reference->getJointType(body_index, joint_type));
@@ -46,4 +56,4 @@ int CloneTreeCreator::getBody(const int body_index, int* parent_index, JointType
return 0; return 0;
} }
} } // namespace btInverseDynamics

8
Extras/InverseDynamics/CloneTreeCreator.hpp
View File

@@ -4,9 +4,11 @@
#include "BulletInverseDynamics/IDConfig.hpp" #include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp" #include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// Generate an identical multibody tree from a reference system. /// Generate an identical multibody tree from a reference system.
class CloneTreeCreator : public MultiBodyTreeCreator { class CloneTreeCreator : public MultiBodyTreeCreator
{
public: public:
/// ctor /// ctor
/// @param reference the MultiBodyTree to clone /// @param reference the MultiBodyTree to clone
@@ -23,5 +25,5 @@ public:
private: private:
const MultiBodyTree* m_reference; const MultiBodyTree* m_reference;
}; };
} } // namespace btInverseDynamics
#endif // CLONETREE_CREATOR_HPP_ #endif // CLONETREE_CREATOR_HPP_

20
Extras/InverseDynamics/CoilCreator.cpp
View File

@@ -2,9 +2,12 @@
#include "CoilCreator.hpp" #include "CoilCreator.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n) { {
for (int i = 0; i < m_num_bodies; i++) { CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n)
{
for (int i = 0; i < m_num_bodies; i++)
{
m_parent[i] = i - 1; m_parent[i] = i - 1;
} }
@@ -38,7 +41,8 @@ CoilCreator::CoilCreator(int n) : m_num_bodies(n), m_parent(n) {
CoilCreator::~CoilCreator() {} CoilCreator::~CoilCreator() {}
int CoilCreator::getNumBodies(int* num_bodies) const { int CoilCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies; *num_bodies = m_num_bodies;
return 0; return 0;
} }
@@ -46,8 +50,10 @@ int CoilCreator::getNumBodies(int* num_bodies) const {
int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_type, int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com, vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const { mat33* body_I_body, int* user_int, void** user_ptr) const
if (body_index < 0 || body_index >= m_num_bodies) { {
if (body_index < 0 || body_index >= m_num_bodies)
{
bt_id_error_message("invalid body index %d\n", body_index); bt_id_error_message("invalid body index %d\n", body_index);
return -1; return -1;
} }
@@ -64,4 +70,4 @@ int CoilCreator::getBody(int body_index, int* parent_index, JointType* joint_typ
*user_ptr = 0; *user_ptr = 0;
return 0; return 0;
} }
} } // namespace btInverseDynamics

9
Extras/InverseDynamics/CoilCreator.hpp
View File

@@ -3,15 +3,16 @@
#include "MultiBodyTreeCreator.hpp" #include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// Creator class for building a "coil" system as intruduced as benchmark example in /// Creator class for building a "coil" system as intruduced as benchmark example in
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) /// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International /// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628. /// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
/// ///
/// This is a serial chain, with an initial configuration resembling a coil. /// This is a serial chain, with an initial configuration resembling a coil.
class CoilCreator : public MultiBodyTreeCreator { class CoilCreator : public MultiBodyTreeCreator
{
public: public:
/// ctor. /// ctor.
/// @param n the number of bodies in the system /// @param n the number of bodies in the system
@@ -36,5 +37,5 @@ private:
vec3 m_body_r_body_com; vec3 m_body_r_body_com;
mat33 m_body_I_body; mat33 m_body_I_body;
}; };
} } // namespace btInverseDynamics
#endif #endif

42
Extras/InverseDynamics/DillCreator.cpp
View File

@@ -1,7 +1,7 @@
#include "DillCreator.hpp" #include "DillCreator.hpp"
#include <cmath> #include <cmath>
namespace btInverseDynamics { namespace btInverseDynamics
{
DillCreator::DillCreator(int level) DillCreator::DillCreator(int level)
: m_level(level), : m_level(level),
m_num_bodies(BT_ID_POW(2, level)) m_num_bodies(BT_ID_POW(2, level))
@@ -15,7 +15,8 @@ DillCreator::DillCreator(int level)
m_body_I_body.resize(m_num_bodies); m_body_I_body.resize(m_num_bodies);
// generate names (for debugging) // generate names (for debugging)
for (int i = 0; i < m_num_bodies; i++) { for (int i = 0; i < m_num_bodies; i++)
{
m_parent[i] = i - 1; m_parent[i] = i - 1;
// all z-axis (DH convention) // all z-axis (DH convention)
@@ -31,7 +32,8 @@ DillCreator::DillCreator(int level)
const idScalar a_DH = 0.0; const idScalar a_DH = 0.0;
const idScalar alpha_DH = 0.0; const idScalar alpha_DH = 0.0;
if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH)) { if (-1 == recurseDill(m_level, parent, d_DH, a_DH, alpha_DH))
{
bt_id_error_message("recurseDill failed\n"); bt_id_error_message("recurseDill failed\n");
abort(); abort();
} }
@@ -39,7 +41,8 @@ DillCreator::DillCreator(int level)
DillCreator::~DillCreator() {} DillCreator::~DillCreator() {}
int DillCreator::getNumBodies(int* num_bodies) const { int DillCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies; *num_bodies = m_num_bodies;
return 0; return 0;
} }
@@ -47,8 +50,10 @@ int DillCreator::getNumBodies(int* num_bodies) const {
int DillCreator::getBody(const int body_index, int* parent_index, JointType* joint_type, int DillCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com, vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const { mat33* body_I_body, int* user_int, void** user_ptr) const
if (body_index < 0 || body_index >= m_num_bodies) { {
if (body_index < 0 || body_index >= m_num_bodies)
{
bt_id_error_message("invalid body index %d\n", body_index); bt_id_error_message("invalid body index %d\n", body_index);
return -1; return -1;
} }
@@ -67,13 +72,16 @@ int DillCreator::getBody(const int body_index, int* parent_index, JointType* joi
} }
int DillCreator::recurseDill(const int level, const int parent, const idScalar d_DH_in, int DillCreator::recurseDill(const int level, const int parent, const idScalar d_DH_in,
const idScalar a_DH_in, const idScalar alpha_DH_in) { const idScalar a_DH_in, const idScalar alpha_DH_in)
if (level < 0) { {
if (level < 0)
{
bt_id_error_message("invalid level parameter (%d)\n", level); bt_id_error_message("invalid level parameter (%d)\n", level);
return -1; return -1;
} }
if (m_current_body >= m_num_bodies || m_current_body < 0) { if (m_current_body >= m_num_bodies || m_current_body < 0)
{
bt_id_error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body, bt_id_error_message("invalid body parameter (%d, num_bodies: %d)\n", m_current_body,
m_num_bodies); m_num_bodies);
return -1; return -1;
@@ -92,9 +100,11 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
m_body_r_body_com[body](1) = 0; m_body_r_body_com[body](1) = 0;
m_body_r_body_com[body](2) = 0; m_body_r_body_com[body](2) = 0;
// initialization // initialization
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++)
{
m_parent_r_parent_body_ref[body](i) = 0; m_parent_r_parent_body_ref[body](i) = 0;
for (int j = 0; j < 3; j++) { for (int j = 0; j < 3; j++)
{
m_body_I_body[body](i, j) = 0.0; m_body_I_body[body](i, j) = 0.0;
m_body_T_parent_ref[body](i, j) = 0.0; m_body_T_parent_ref[body](i, j) = 0.0;
} }
@@ -108,9 +118,11 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
&m_body_T_parent_ref[body]); &m_body_T_parent_ref[body]);
// attach "level" Dill systems of levels 1...level // attach "level" Dill systems of levels 1...level
for (int i = 1; i <= level; i++) { for (int i = 1; i <= level; i++)
{
idScalar d_DH = 0.01 * size; idScalar d_DH = 0.01 * size;
if (i == level) { if (i == level)
{
d_DH = 0.0; d_DH = 0.0;
} }
const idScalar a_DH = i * 0.1; const idScalar a_DH = i * 0.1;
@@ -121,4 +133,4 @@ int DillCreator::recurseDill(const int level, const int parent, const idScalar d
return 0; // ok! return 0; // ok!
} }
} } // namespace btInverseDynamics

10
Extras/InverseDynamics/DillCreator.hpp
View File

@@ -3,16 +3,16 @@
#include "MultiBodyTreeCreator.hpp" #include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// Creator class for building a "Dill" system as intruduced as benchmark example in /// Creator class for building a "Dill" system as intruduced as benchmark example in
/// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n)) /// Featherstone (1999), "A Divide-and-Conquer Articulated-Body Algorithm for Parallel O(log(n))
/// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International /// Calculation of Rigid-Body Dynamics. Part 2: Trees, Loops, and Accuracy.", The International
/// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628. /// Journal of Robotics Research 18 (9): 876–892. doi : 10.1177 / 02783649922066628.
/// ///
/// This is a self-similar branched tree, somewhat resembling a dill plant /// This is a self-similar branched tree, somewhat resembling a dill plant
class DillCreator : public MultiBodyTreeCreator { class DillCreator : public MultiBodyTreeCreator
{
public: public:
/// ctor /// ctor
/// @param levels the number of dill levels /// @param levels the number of dill levels
@@ -43,5 +43,5 @@ private:
idArray<mat33>::type m_body_I_body; idArray<mat33>::type m_body_I_body;
int m_current_body; int m_current_body;
}; };
} } // namespace btInverseDynamics
#endif #endif

25
Extras/InverseDynamics/IDRandomUtil.cpp
View File

@@ -6,9 +6,8 @@
#include "BulletInverseDynamics/IDMath.hpp" #include "BulletInverseDynamics/IDMath.hpp"
#include "IDRandomUtil.hpp" #include "IDRandomUtil.hpp"
namespace btInverseDynamics
namespace btInverseDynamics { {
// constants for random mass and inertia generation // constants for random mass and inertia generation
// these are arbitrary positive values. // these are arbitrary positive values.
static const float mass_min = 0.001; static const float mass_min = 0.001;
@@ -19,15 +18,18 @@ void randomInit(unsigned seed) { srand(seed); }
int randomInt(int low, int high) { return rand() % (high + 1 - low) + low; } int randomInt(int low, int high) { return rand() % (high + 1 - low) + low; }
float randomFloat(float low, float high) { float randomFloat(float low, float high)
{
return low + static_cast<float>(rand()) / RAND_MAX * (high - low); return low + static_cast<float>(rand()) / RAND_MAX * (high - low);
} }
float randomMass() { return randomFloat(mass_min, mass_max); } float randomMass() { return randomFloat(mass_min, mass_max); }
vec3 randomInertiaPrincipal() { vec3 randomInertiaPrincipal()
{
vec3 inertia; vec3 inertia;
do { do
{
inertia(0) = randomFloat(mass_min, mass_max); inertia(0) = randomFloat(mass_min, mass_max);
inertia(1) = randomFloat(mass_min, mass_max); inertia(1) = randomFloat(mass_min, mass_max);
inertia(2) = randomFloat(mass_min, mass_max); inertia(2) = randomFloat(mass_min, mass_max);
@@ -36,7 +38,8 @@ vec3 randomInertiaPrincipal() {
return inertia; return inertia;
} }
mat33 randomInertiaMatrix() { mat33 randomInertiaMatrix()
{
// generate random valid inertia matrix by first getting valid components // generate random valid inertia matrix by first getting valid components
// along major axes and then rotating by random amount // along major axes and then rotating by random amount
vec3 principal = randomInertiaPrincipal(); vec3 principal = randomInertiaPrincipal();
@@ -55,10 +58,12 @@ mat33 randomInertiaMatrix() {
return rot * inertia * rot.transpose(); return rot * inertia * rot.transpose();
} }
vec3 randomAxis() { vec3 randomAxis()
{
vec3 axis; vec3 axis;
idScalar length; idScalar length;
do { do
{
axis(0) = randomFloat(-1.0, 1.0); axis(0) = randomFloat(-1.0, 1.0);
axis(1) = randomFloat(-1.0, 1.0); axis(1) = randomFloat(-1.0, 1.0);
axis(2) = randomFloat(-1.0, 1.0); axis(2) = randomFloat(-1.0, 1.0);
@@ -68,4 +73,4 @@ vec3 randomAxis() {
return axis / length; return axis / length;
} }
} } // namespace btInverseDynamics

5
Extras/InverseDynamics/IDRandomUtil.hpp
View File

@@ -1,7 +1,8 @@
#ifndef ID_RANDOM_UTIL_HPP_ #ifndef ID_RANDOM_UTIL_HPP_
#define ID_RANDOM_UTIL_HPP_ #define ID_RANDOM_UTIL_HPP_
#include "BulletInverseDynamics/IDConfig.hpp" #include "BulletInverseDynamics/IDConfig.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// seed random number generator using time() /// seed random number generator using time()
void randomInit(); void randomInit();
/// seed random number generator with identical value to get repeatable results /// seed random number generator with identical value to get repeatable results
@@ -32,5 +33,5 @@ vec3 randomInertiaPrincipal();
mat33 randomInertiaMatrix(); mat33 randomInertiaMatrix();
/// generate a random unit vector /// generate a random unit vector
vec3 randomAxis(); vec3 randomAxis();
} } // namespace btInverseDynamics
#endif #endif

48
Extras/InverseDynamics/MultiBodyNameMap.cpp
View File

@@ -1,15 +1,18 @@
#include "MultiBodyNameMap.hpp" #include "MultiBodyNameMap.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
MultiBodyNameMap::MultiBodyNameMap() {} MultiBodyNameMap::MultiBodyNameMap() {}
int MultiBodyNameMap::addBody(const int index, const std::string& name) { int MultiBodyNameMap::addBody(const int index, const std::string& name)
if (m_index_to_body_name.count(index) > 0) { {
if (m_index_to_body_name.count(index) > 0)
{
bt_id_error_message("trying to add index %d again\n", index); bt_id_error_message("trying to add index %d again\n", index);
return -1; return -1;
} }
if (m_body_name_to_index.count(name) > 0) { if (m_body_name_to_index.count(name) > 0)
{
bt_id_error_message("trying to add name %s again\n", name.c_str()); bt_id_error_message("trying to add name %s again\n", name.c_str());
return -1; return -1;
} }
@@ -20,12 +23,15 @@ int MultiBodyNameMap::addBody(const int index, const std::string& name) {
return 0; return 0;
} }
int MultiBodyNameMap::addJoint(const int index, const std::string& name) { int MultiBodyNameMap::addJoint(const int index, const std::string& name)
if (m_index_to_joint_name.count(index) > 0) { {
if (m_index_to_joint_name.count(index) > 0)
{
bt_id_error_message("trying to add index %d again\n", index); bt_id_error_message("trying to add index %d again\n", index);
return -1; return -1;
} }
if (m_joint_name_to_index.count(name) > 0) { if (m_joint_name_to_index.count(name) > 0)
{
bt_id_error_message("trying to add name %s again\n", name.c_str()); bt_id_error_message("trying to add name %s again\n", name.c_str());
return -1; return -1;
} }
@@ -36,9 +42,11 @@ int MultiBodyNameMap::addJoint(const int index, const std::string& name) {
return 0; return 0;
} }
int MultiBodyNameMap::getBodyName(const int index, std::string* name) const { int MultiBodyNameMap::getBodyName(const int index, std::string* name) const
{
std::map<int, std::string>::const_iterator it = m_index_to_body_name.find(index); std::map<int, std::string>::const_iterator it = m_index_to_body_name.find(index);
if (it == m_index_to_body_name.end()) { if (it == m_index_to_body_name.end())
{
bt_id_error_message("index %d not known\n", index); bt_id_error_message("index %d not known\n", index);
return -1; return -1;
} }
@@ -46,9 +54,11 @@ int MultiBodyNameMap::getBodyName(const int index, std::string* name) const {
return 0; return 0;
} }
int MultiBodyNameMap::getJointName(const int index, std::string* name) const { int MultiBodyNameMap::getJointName(const int index, std::string* name) const
{
std::map<int, std::string>::const_iterator it = m_index_to_joint_name.find(index); std::map<int, std::string>::const_iterator it = m_index_to_joint_name.find(index);
if (it == m_index_to_joint_name.end()) { if (it == m_index_to_joint_name.end())
{
bt_id_error_message("index %d not known\n", index); bt_id_error_message("index %d not known\n", index);
return -1; return -1;
} }
@@ -56,9 +66,11 @@ int MultiBodyNameMap::getJointName(const int index, std::string* name) const {
return 0; return 0;
} }
int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const { int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const
{
std::map<std::string, int>::const_iterator it = m_body_name_to_index.find(name); std::map<std::string, int>::const_iterator it = m_body_name_to_index.find(name);
if (it == m_body_name_to_index.end()) { if (it == m_body_name_to_index.end())
{
bt_id_error_message("name %s not known\n", name.c_str()); bt_id_error_message("name %s not known\n", name.c_str());
return -1; return -1;
} }
@@ -66,13 +78,15 @@ int MultiBodyNameMap::getBodyIndex(const std::string& name, int* index) const {
return 0; return 0;
} }
int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const { int MultiBodyNameMap::getJointIndex(const std::string& name, int* index) const
{
std::map<std::string, int>::const_iterator it = m_joint_name_to_index.find(name); std::map<std::string, int>::const_iterator it = m_joint_name_to_index.find(name);
if (it == m_joint_name_to_index.end()) { if (it == m_joint_name_to_index.end())
{
bt_id_error_message("name %s not known\n", name.c_str()); bt_id_error_message("name %s not known\n", name.c_str());
return -1; return -1;
} }
*index = it->second; *index = it->second;
return 0; return 0;
} }
} } // namespace btInverseDynamics

9
Extras/InverseDynamics/MultiBodyNameMap.hpp
View File

@@ -5,11 +5,12 @@
#include <string> #include <string>
#include <map> #include <map>
namespace btInverseDynamics { namespace btInverseDynamics
{
/// \brief The MultiBodyNameMap class /// \brief The MultiBodyNameMap class
/// Utility class that stores a maps from body/joint indices to/from body and joint names /// Utility class that stores a maps from body/joint indices to/from body and joint names
class MultiBodyNameMap { class MultiBodyNameMap
{
public: public:
MultiBodyNameMap(); MultiBodyNameMap();
/// add a body to the map /// add a body to the map
@@ -50,5 +51,5 @@ private:
std::map<std::string, int> m_joint_name_to_index; std::map<std::string, int> m_joint_name_to_index;
std::map<std::string, int> m_body_name_to_index; std::map<std::string, int> m_body_name_to_index;
}; };
} } // namespace btInverseDynamics
#endif // MULTIBODYNAMEMAP_HPP_ #endif // MULTIBODYNAMEMAP_HPP_

27
Extras/InverseDynamics/MultiBodyTreeCreator.cpp
View File

@@ -1,8 +1,9 @@
#include "MultiBodyTreeCreator.hpp" #include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) { MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator)
{
int num_bodies; int num_bodies;
int parent_index; int parent_index;
JointType joint_type; JointType joint_type;
@@ -16,7 +17,8 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
void* user_ptr; void* user_ptr;
MultiBodyTree* tree = new MultiBodyTree(); MultiBodyTree* tree = new MultiBodyTree();
if (0x0 == tree) { if (0x0 == tree)
{
bt_id_error_message("cannot allocate tree\n"); bt_id_error_message("cannot allocate tree\n");
return 0x0; return 0x0;
} }
@@ -25,19 +27,22 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
tree->setAcceptInvalidMassParameters(false); tree->setAcceptInvalidMassParameters(false);
// get number of bodies in the system // get number of bodies in the system
if (-1 == creator.getNumBodies(&num_bodies)) { if (-1 == creator.getNumBodies(&num_bodies))
{
bt_id_error_message("getting body indices\n"); bt_id_error_message("getting body indices\n");
delete tree; delete tree;
return 0x0; return 0x0;
} }
// get data for all bodies // get data for all bodies
for (int index = 0; index < num_bodies; index++) { for (int index = 0; index < num_bodies; index++)
{
// get body parameters from user callbacks // get body parameters from user callbacks
if (-1 == if (-1 ==
creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref, creator.getBody(index, &parent_index, &joint_type, &body_r_parent_body_ref,
&body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com, &body_R_parent_ref, &body_axis_of_motion, &mass, &body_r_body_com,
&body_I_body, &user_int, &user_ptr)) { &body_I_body, &user_int, &user_ptr))
{
bt_id_error_message("getting data for body %d\n", index); bt_id_error_message("getting data for body %d\n", index);
delete tree; delete tree;
return 0x0; return 0x0;
@@ -46,14 +51,16 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
if (-1 == if (-1 ==
tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref, tree->addBody(index, parent_index, joint_type, body_r_parent_body_ref,
body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com, body_R_parent_ref, body_axis_of_motion, mass, body_r_body_com,
body_I_body, user_int, user_ptr)) { body_I_body, user_int, user_ptr))
{
bt_id_error_message("adding body %d\n", index); bt_id_error_message("adding body %d\n", index);
delete tree; delete tree;
return 0x0; return 0x0;
} }
} }
// finalize initialization // finalize initialization
if (-1 == tree->finalize()) { if (-1 == tree->finalize())
{
bt_id_error_message("building system\n"); bt_id_error_message("building system\n");
delete tree; delete tree;
return 0x0; return 0x0;
@@ -61,4 +68,4 @@ MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator) {
return tree; return tree;
} }
} } // namespace btInverseDynamics

8
Extras/InverseDynamics/MultiBodyTreeCreator.hpp
View File

@@ -8,12 +8,14 @@
#include "BulletInverseDynamics/MultiBodyTree.hpp" #include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "MultiBodyNameMap.hpp" #include "MultiBodyNameMap.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// Interface class for initializing a MultiBodyTree instance. /// Interface class for initializing a MultiBodyTree instance.
/// Data to be provided is modeled on the URDF specification. /// Data to be provided is modeled on the URDF specification.
/// The user can derive from this class in order to programmatically /// The user can derive from this class in order to programmatically
/// initialize a system. /// initialize a system.
class MultiBodyTreeCreator { class MultiBodyTreeCreator
{
public: public:
/// the dtor /// the dtor
virtual ~MultiBodyTreeCreator() {} virtual ~MultiBodyTreeCreator() {}
@@ -38,7 +40,7 @@ public:
/// @return A pointer to an allocated multibodytree instance, or /// @return A pointer to an allocated multibodytree instance, or
/// 0x0 if an error occured. /// 0x0 if an error occured.
MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator); MultiBodyTree* CreateMultiBodyTree(const MultiBodyTreeCreator& creator);
} } // namespace btInverseDynamics
// does urdf have gravity direction ?? // does urdf have gravity direction ??

45
Extras/InverseDynamics/MultiBodyTreeDebugGraph.cpp
View File

@@ -2,56 +2,69 @@
#include <cstdio> #include <cstdio>
namespace btInverseDynamics { namespace btInverseDynamics
{
int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map, int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
const char* filename) { const char* filename)
if (0x0 == tree) { {
if (0x0 == tree)
{
bt_id_error_message("tree pointer is null\n"); bt_id_error_message("tree pointer is null\n");
return -1; return -1;
} }
if (0x0 == filename) { if (0x0 == filename)
{
bt_id_error_message("filename is null\n"); bt_id_error_message("filename is null\n");
return -1; return -1;
} }
FILE* fp = fopen(filename, "w"); FILE* fp = fopen(filename, "w");
if (NULL == fp) { if (NULL == fp)
{
bt_id_error_message("cannot open file %s for writing\n", filename); bt_id_error_message("cannot open file %s for writing\n", filename);
return -1; return -1;
} }
fprintf(fp, "// to generate postscript file, run dot -Tps %s -o %s.ps\n" fprintf(fp,
"// to generate postscript file, run dot -Tps %s -o %s.ps\n"
"// details see graphviz documentation at http://graphviz.org\n" "// details see graphviz documentation at http://graphviz.org\n"
"digraph tree {\n", "digraph tree {\n",
filename, filename); filename, filename);
for (int body = 0; body < tree->numBodies(); body++) { for (int body = 0; body < tree->numBodies(); body++)
{
std::string name; std::string name;
if (0x0 != map) { if (0x0 != map)
if (-1 == map->getBodyName(body, &name)) { {
if (-1 == map->getBodyName(body, &name))
{
bt_id_error_message("can't get name of body %d\n", body); bt_id_error_message("can't get name of body %d\n", body);
return -1; return -1;
} }
fprintf(fp, " %d [label=\"%d/%s\"];\n", body, body, name.c_str()); fprintf(fp, " %d [label=\"%d/%s\"];\n", body, body, name.c_str());
} }
} }
for (int body = 0; body < tree->numBodies(); body++) { for (int body = 0; body < tree->numBodies(); body++)
{
int parent; int parent;
const char* joint_type; const char* joint_type;
int qi; int qi;
if (-1 == tree->getParentIndex(body, &parent)) { if (-1 == tree->getParentIndex(body, &parent))
{
bt_id_error_message("indexing error\n"); bt_id_error_message("indexing error\n");
return -1; return -1;
} }
if (-1 == tree->getJointTypeStr(body, &joint_type)) { if (-1 == tree->getJointTypeStr(body, &joint_type))
{
bt_id_error_message("indexing error\n"); bt_id_error_message("indexing error\n");
return -1; return -1;
} }
if (-1 == tree->getDoFOffset(body, &qi)) { if (-1 == tree->getDoFOffset(body, &qi))
{
bt_id_error_message("indexing error\n"); bt_id_error_message("indexing error\n");
return -1; return -1;
} }
if (-1 != parent) { if (-1 != parent)
{
fprintf(fp, " %d -> %d [label= \"type:%s, q=%d\"];\n", parent, body, fprintf(fp, " %d -> %d [label= \"type:%s, q=%d\"];\n", parent, body,
joint_type, qi); joint_type, qi);
} }
@@ -61,4 +74,4 @@ int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
fclose(fp); fclose(fp);
return 0; return 0;
} }
} } // namespace btInverseDynamics

5
Extras/InverseDynamics/MultiBodyTreeDebugGraph.hpp
View File

@@ -4,7 +4,8 @@
#include "BulletInverseDynamics/MultiBodyTree.hpp" #include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "MultiBodyNameMap.hpp" #include "MultiBodyNameMap.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// generate a dot-file of the multibody tree for generating a graph using graphviz' dot tool /// generate a dot-file of the multibody tree for generating a graph using graphviz' dot tool
/// @param tree the multibody tree /// @param tree the multibody tree
/// @param map to add names of links (if 0x0, no names will be added) /// @param map to add names of links (if 0x0, no names will be added)
@@ -12,6 +13,6 @@ namespace btInverseDynamics {
/// @return 0 on success, -1 on error /// @return 0 on success, -1 on error
int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map, int writeGraphvizDotFile(const MultiBodyTree* tree, const MultiBodyNameMap* map,
const char* filename); const char* filename);
} } // namespace btInverseDynamics
#endif // MULTIBODYTREEDEBUGGRAPH_HPP #endif // MULTIBODYTREEDEBUGGRAPH_HPP

32
Extras/InverseDynamics/RandomTreeCreator.cpp
View File

@@ -4,13 +4,17 @@
#include "IDRandomUtil.hpp" #include "IDRandomUtil.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed) { RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed)
{
// seed generator // seed generator
if(random_seed) { if (random_seed)
{
randomInit(); // seeds with time() randomInit(); // seeds with time()
} else { }
else
{
randomInit(1); // seeds with 1 randomInit(1); // seeds with 1
} }
m_num_bodies = randomInt(1, max_bodies); m_num_bodies = randomInt(1, max_bodies);
@@ -18,7 +22,8 @@ RandomTreeCreator::RandomTreeCreator(const int max_bodies, bool random_seed) {
RandomTreeCreator::~RandomTreeCreator() {} RandomTreeCreator::~RandomTreeCreator() {}
int RandomTreeCreator::getNumBodies(int* num_bodies) const { int RandomTreeCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies; *num_bodies = m_num_bodies;
return 0; return 0;
} }
@@ -26,14 +31,19 @@ int RandomTreeCreator::getNumBodies(int* num_bodies) const {
int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type, int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com, vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const { mat33* body_I_body, int* user_int, void** user_ptr) const
if(0 == body_index) { //root body {
if (0 == body_index)
{ //root body
*parent_index = -1; *parent_index = -1;
} else { }
else
{
*parent_index = randomInt(0, body_index - 1); *parent_index = randomInt(0, body_index - 1);
} }
switch (randomInt(0, 3)) { switch (randomInt(0, 3))
{
case 0: case 0:
*joint_type = FIXED; *joint_type = FIXED;
break; break;
@@ -78,4 +88,4 @@ int RandomTreeCreator::getBody(const int body_index, int* parent_index, JointTyp
return 0; return 0;
} }
} } // namespace btInverseDynamics

8
Extras/InverseDynamics/RandomTreeCreator.hpp
View File

@@ -4,11 +4,13 @@
#include "BulletInverseDynamics/IDConfig.hpp" #include "BulletInverseDynamics/IDConfig.hpp"
#include "MultiBodyTreeCreator.hpp" #include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute /// Generate a random MultiBodyTree with fixed or floating base and fixed, prismatic or revolute
/// joints /// joints
/// Uses a pseudo random number generator seeded from a random device. /// Uses a pseudo random number generator seeded from a random device.
class RandomTreeCreator : public MultiBodyTreeCreator { class RandomTreeCreator : public MultiBodyTreeCreator
{
public: public:
/// ctor /// ctor
/// @param max_bodies maximum number of bodies /// @param max_bodies maximum number of bodies
@@ -27,5 +29,5 @@ public:
private: private:
int m_num_bodies; int m_num_bodies;
}; };
} } // namespace btInverseDynamics
#endif // RANDOMTREE_CREATOR_HPP_ #endif // RANDOMTREE_CREATOR_HPP_

24
Extras/InverseDynamics/SimpleTreeCreator.cpp
View File

@@ -2,9 +2,11 @@
#include <cstdio> #include <cstdio>
namespace btInverseDynamics { namespace btInverseDynamics
{
/// minimal "tree" (chain) /// minimal "tree" (chain)
SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim) { SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim)
{
m_mass = 1.0; m_mass = 1.0;
m_body_T_parent_ref(0, 0) = 1; m_body_T_parent_ref(0, 0) = 1;
m_body_T_parent_ref(0, 1) = 0; m_body_T_parent_ref(0, 1) = 0;
@@ -38,7 +40,8 @@ SimpleTreeCreator::SimpleTreeCreator(int dim) : m_num_bodies(dim) {
m_axis(1) = 0; m_axis(1) = 0;
m_axis(2) = 1; m_axis(2) = 1;
} }
int SimpleTreeCreator::getNumBodies(int* num_bodies) const { int SimpleTreeCreator::getNumBodies(int* num_bodies) const
{
*num_bodies = m_num_bodies; *num_bodies = m_num_bodies;
return 0; return 0;
} }
@@ -46,15 +49,20 @@ int SimpleTreeCreator::getNumBodies(int* num_bodies) const {
int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type, int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointType* joint_type,
vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref, vec3* parent_r_parent_body_ref, mat33* body_T_parent_ref,
vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com, vec3* body_axis_of_motion, idScalar* mass, vec3* body_r_body_com,
mat33* body_I_body, int* user_int, void** user_ptr) const { mat33* body_I_body, int* user_int, void** user_ptr) const
{
*parent_index = body_index - 1; *parent_index = body_index - 1;
if (body_index % 2) { if (body_index % 2)
{
*joint_type = PRISMATIC; *joint_type = PRISMATIC;
} else { }
else
{
*joint_type = REVOLUTE; *joint_type = REVOLUTE;
} }
*parent_r_parent_body_ref = m_parent_r_parent_body_ref; *parent_r_parent_body_ref = m_parent_r_parent_body_ref;
if (0 == body_index) { if (0 == body_index)
{
(*parent_r_parent_body_ref)(2) = 1.0; (*parent_r_parent_body_ref)(2) = 1.0;
} }
*body_T_parent_ref = m_body_T_parent_ref; *body_T_parent_ref = m_body_T_parent_ref;
@@ -66,4 +74,4 @@ int SimpleTreeCreator::getBody(const int body_index, int* parent_index, JointTyp
*user_ptr = 0; *user_ptr = 0;
return 0; return 0;
} }
} } // namespace btInverseDynamics

9
Extras/InverseDynamics/SimpleTreeCreator.hpp
View File

@@ -3,10 +3,11 @@
#include "MultiBodyTreeCreator.hpp" #include "MultiBodyTreeCreator.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// minimal "tree" (chain) /// minimal "tree" (chain)
class SimpleTreeCreator : public MultiBodyTreeCreator { class SimpleTreeCreator : public MultiBodyTreeCreator
{
public: public:
/// ctor /// ctor
/// @param dim number of bodies /// @param dim number of bodies
@@ -30,5 +31,5 @@ private:
mat33 m_body_I_body; mat33 m_body_I_body;
vec3 m_axis; vec3 m_axis;
}; };
} } // namespace btInverseDynamics
#endif // SIMPLETREECREATOR_HPP_ #endif // SIMPLETREECREATOR_HPP_

70
Extras/InverseDynamics/User2InternalIndex.cpp
View File

@@ -1,14 +1,18 @@
#include "User2InternalIndex.hpp" #include "User2InternalIndex.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
User2InternalIndex::User2InternalIndex() : m_map_built(false) {} User2InternalIndex::User2InternalIndex() : m_map_built(false) {}
void User2InternalIndex::addBody(const int body, const int parent) { void User2InternalIndex::addBody(const int body, const int parent)
{
m_user_parent_index_map[body] = parent; m_user_parent_index_map[body] = parent;
} }
int User2InternalIndex::findRoot(int index) { int User2InternalIndex::findRoot(int index)
if (0 == m_user_parent_index_map.count(index)) { {
if (0 == m_user_parent_index_map.count(index))
{
return index; return index;
} }
return findRoot(m_user_parent_index_map[index]); return findRoot(m_user_parent_index_map[index]);
@@ -17,24 +21,32 @@ int User2InternalIndex::findRoot(int index) {
// modelled after URDF2Bullet.cpp:void ComputeParentIndices(const // modelled after URDF2Bullet.cpp:void ComputeParentIndices(const
// URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex, // URDFImporterInterface& u2b, URDF2BulletCachedData& cache, int urdfLinkIndex,
// int urdfParentIndex) // int urdfParentIndex)
void User2InternalIndex::recurseIndexSets(const int user_body_index) { void User2InternalIndex::recurseIndexSets(const int user_body_index)
{
m_user_to_internal[user_body_index] = m_current_index; m_user_to_internal[user_body_index] = m_current_index;
m_current_index++; m_current_index++;
for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++) { for (size_t i = 0; i < m_user_child_indices[user_body_index].size(); i++)
{
recurseIndexSets(m_user_child_indices[user_body_index][i]); recurseIndexSets(m_user_child_indices[user_body_index][i]);
} }
} }
int User2InternalIndex::buildMapping() { int User2InternalIndex::buildMapping()
{
// find root index // find root index
int user_root_index = -1; int user_root_index = -1;
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin(); for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++) { it != m_user_parent_index_map.end(); it++)
{
int current_root_index = findRoot(it->second); int current_root_index = findRoot(it->second);
if (it == m_user_parent_index_map.begin()) { if (it == m_user_parent_index_map.begin())
{
user_root_index = current_root_index; user_root_index = current_root_index;
} else { }
if (user_root_index != current_root_index) { else
{
if (user_root_index != current_root_index)
{
bt_id_error_message("multiple roots (at least) %d and %d\n", user_root_index, bt_id_error_message("multiple roots (at least) %d and %d\n", user_root_index,
current_root_index); current_root_index);
return -1; return -1;
@@ -44,7 +56,8 @@ int User2InternalIndex::buildMapping() {
// build child index map // build child index map
for (std::map<int, int>::iterator it = m_user_parent_index_map.begin(); for (std::map<int, int>::iterator it = m_user_parent_index_map.begin();
it != m_user_parent_index_map.end(); it++) { it != m_user_parent_index_map.end(); it++)
{
m_user_child_indices[it->second].push_back(it->first); m_user_child_indices[it->second].push_back(it->first);
} }
@@ -55,7 +68,8 @@ int User2InternalIndex::buildMapping() {
// reverse mapping // reverse mapping
for (std::map<int, int>::iterator it = m_user_to_internal.begin(); for (std::map<int, int>::iterator it = m_user_to_internal.begin();
it != m_user_to_internal.end(); it++) { it != m_user_to_internal.end(); it++)
{
m_internal_to_user[it->second] = it->first; m_internal_to_user[it->second] = it->first;
} }
@@ -63,37 +77,45 @@ int User2InternalIndex::buildMapping() {
return 0; return 0;
} }
int User2InternalIndex::user2internal(const int user, int *internal) const { int User2InternalIndex::user2internal(const int user, int *internal) const
{
if (!m_map_built) { if (!m_map_built)
{
return -1; return -1;
} }
std::map<int, int>::const_iterator it; std::map<int, int>::const_iterator it;
it = m_user_to_internal.find(user); it = m_user_to_internal.find(user);
if (it != m_user_to_internal.end()) { if (it != m_user_to_internal.end())
{
*internal = it->second; *internal = it->second;
return 0; return 0;
} else { }
else
{
bt_id_error_message("no user index %d\n", user); bt_id_error_message("no user index %d\n", user);
return -1; return -1;
} }
} }
int User2InternalIndex::internal2user(const int internal, int *user) const { int User2InternalIndex::internal2user(const int internal, int *user) const
{
if (!m_map_built) { if (!m_map_built)
{
return -1; return -1;
} }
std::map<int, int>::const_iterator it; std::map<int, int>::const_iterator it;
it = m_internal_to_user.find(internal); it = m_internal_to_user.find(internal);
if (it != m_internal_to_user.end()) { if (it != m_internal_to_user.end())
{
*user = it->second; *user = it->second;
return 0; return 0;
} else { }
else
{
bt_id_error_message("no internal index %d\n", internal); bt_id_error_message("no internal index %d\n", internal);
return -1; return -1;
} }
} }
} } // namespace btInverseDynamics

9
Extras/InverseDynamics/User2InternalIndex.hpp
View File

@@ -5,11 +5,12 @@
#include "BulletInverseDynamics/IDConfig.hpp" #include "BulletInverseDynamics/IDConfig.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// Convert arbitrary indexing scheme to internal indexing /// Convert arbitrary indexing scheme to internal indexing
/// used for MultiBodyTree /// used for MultiBodyTree
class User2InternalIndex { class User2InternalIndex
{
public: public:
/// Ctor /// Ctor
User2InternalIndex(); User2InternalIndex();
@@ -41,6 +42,6 @@ private:
std::map<int, std::vector<int> > m_user_child_indices; std::map<int, std::vector<int> > m_user_child_indices;
int m_current_index; int m_current_index;
}; };
} } // namespace btInverseDynamics
#endif // USER2INTERNALINDEX_HPP #endif // USER2INTERNALINDEX_HPP

18
Extras/InverseDynamics/btMultiBodyFromURDF.hpp
View File

@@ -14,14 +14,16 @@
/// Create a btMultiBody model from URDF. /// Create a btMultiBody model from URDF.
/// This is adapted from Bullet URDF loader example /// This is adapted from Bullet URDF loader example
class MyBtMultiBodyFromURDF { class MyBtMultiBodyFromURDF
{
public: public:
/// ctor /// ctor
/// @param gravity gravitational acceleration (in world frame) /// @param gravity gravitational acceleration (in world frame)
/// @param base_fixed if true, the root body is treated as fixed, /// @param base_fixed if true, the root body is treated as fixed,
/// if false, it is treated as floating /// if false, it is treated as floating
MyBtMultiBodyFromURDF(const btVector3 &gravity, const bool base_fixed) MyBtMultiBodyFromURDF(const btVector3 &gravity, const bool base_fixed)
: m_gravity(gravity), m_base_fixed(base_fixed) { : m_gravity(gravity), m_base_fixed(base_fixed)
{
m_broadphase = 0x0; m_broadphase = 0x0;
m_dispatcher = 0x0; m_dispatcher = 0x0;
m_solver = 0x0; m_solver = 0x0;
@@ -30,7 +32,8 @@ public:
m_multibody = 0x0; m_multibody = 0x0;
} }
/// dtor /// dtor
~MyBtMultiBodyFromURDF() { ~MyBtMultiBodyFromURDF()
{
delete m_dynamicsWorld; delete m_dynamicsWorld;
delete m_solver; delete m_solver;
delete m_broadphase; delete m_broadphase;
@@ -41,14 +44,16 @@ public:
/// @param name path to urdf file /// @param name path to urdf file
void setFileName(const std::string name) { m_filename = name; } void setFileName(const std::string name) { m_filename = name; }
/// load urdf file and build btMultiBody model /// load urdf file and build btMultiBody model
void init() { void init()
{
this->createEmptyDynamicsWorld(); this->createEmptyDynamicsWorld();
m_dynamicsWorld->setGravity(m_gravity); m_dynamicsWorld->setGravity(m_gravity);
BulletURDFImporter urdf_importer(&m_nogfx, 0, 1, 0); BulletURDFImporter urdf_importer(&m_nogfx, 0, 1, 0);
URDFImporterInterface &u2b(urdf_importer); URDFImporterInterface &u2b(urdf_importer);
bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed); bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
if (loadOk) { if (loadOk)
{
btTransform identityTrans; btTransform identityTrans;
identityTrans.setIdentity(); identityTrans.setIdentity();
MyMultiBodyCreator creation(&m_nogfx); MyMultiBodyCreator creation(&m_nogfx);
@@ -64,7 +69,8 @@ public:
private: private:
// internal utility function // internal utility function
void createEmptyDynamicsWorld() { void createEmptyDynamicsWorld()
{
m_collisionConfiguration = new btDefaultCollisionConfiguration(); m_collisionConfiguration = new btDefaultCollisionConfiguration();
/// use the default collision dispatcher. For parallel processing you can use a diffent /// use the default collision dispatcher. For parallel processing you can use a diffent

83
Extras/InverseDynamics/btMultiBodyTreeCreator.cpp
View File

@@ -1,11 +1,13 @@
#include "btMultiBodyTreeCreator.hpp" #include "btMultiBodyTreeCreator.hpp"
namespace btInverseDynamics { namespace btInverseDynamics
{
btMultiBodyTreeCreator::btMultiBodyTreeCreator() : m_initialized(false) {} btMultiBodyTreeCreator::btMultiBodyTreeCreator() : m_initialized(false) {}
int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose) { int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const bool verbose)
if (0x0 == btmb) { {
if (0x0 == btmb)
{
bt_id_error_message("cannot create MultiBodyTree from null pointer\n"); bt_id_error_message("cannot create MultiBodyTree from null pointer\n");
return -1; return -1;
} }
@@ -22,9 +24,12 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
LinkData &link = m_data[0]; LinkData &link = m_data[0];
link.parent_index = -1; link.parent_index = -1;
if (btmb->hasFixedBase()) { if (btmb->hasFixedBase())
{
link.joint_type = FIXED; link.joint_type = FIXED;
} else { }
else
{
link.joint_type = FLOATING; link.joint_type = FLOATING;
} }
btTransform transform = (btmb->getBaseWorldTransform()); btTransform transform = (btmb->getBaseWorldTransform());
@@ -70,8 +75,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
// shift reference point to link origin (in joint axis) // shift reference point to link origin (in joint axis)
mat33 tilde_r_com = tildeOperator(link.body_r_body_com); mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com; link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
if (verbose) { if (verbose)
id_printf("base: mass= %f, bt_inertia= [%f %f %f]\n" {
id_printf(
"base: mass= %f, bt_inertia= [%f %f %f]\n"
"Io= [%f %f %f;\n" "Io= [%f %f %f;\n"
" %f %f %f;\n" " %f %f %f;\n"
" %f %f %f]\n", " %f %f %f]\n",
@@ -83,8 +90,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
} }
} }
for (int bt_index = 0; bt_index < btmb->getNumLinks(); bt_index++) { for (int bt_index = 0; bt_index < btmb->getNumLinks(); bt_index++)
if (verbose) { {
if (verbose)
{
id_printf("bt->id: converting link %d\n", bt_index); id_printf("bt->id: converting link %d\n", bt_index);
} }
const btMultibodyLink &bt_link = btmb->getLink(bt_index); const btMultibodyLink &bt_link = btmb->getLink(bt_index);
@@ -93,14 +102,16 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
link.parent_index = bt_link.m_parent + 1; link.parent_index = bt_link.m_parent + 1;
link.mass = bt_link.m_mass; link.mass = bt_link.m_mass;
if (verbose) { if (verbose)
{
id_printf("mass= %f\n", link.mass); id_printf("mass= %f\n", link.mass);
} }
// from this body's pivot to this body's com in this body's frame // from this body's pivot to this body's com in this body's frame
link.body_r_body_com[0] = bt_link.m_dVector[0]; link.body_r_body_com[0] = bt_link.m_dVector[0];
link.body_r_body_com[1] = bt_link.m_dVector[1]; link.body_r_body_com[1] = bt_link.m_dVector[1];
link.body_r_body_com[2] = bt_link.m_dVector[2]; link.body_r_body_com[2] = bt_link.m_dVector[2];
if (verbose) { if (verbose)
{
id_printf("com= %f %f %f\n", link.body_r_body_com[0], link.body_r_body_com[1], id_printf("com= %f %f %f\n", link.body_r_body_com[0], link.body_r_body_com[1],
link.body_r_body_com[2]); link.body_r_body_com[2]);
} }
@@ -118,8 +129,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
mat33 tilde_r_com = tildeOperator(link.body_r_body_com); mat33 tilde_r_com = tildeOperator(link.body_r_body_com);
link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com; link.body_I_body = link.body_I_body - link.mass * tilde_r_com * tilde_r_com;
if (verbose) { if (verbose)
id_printf("link %d: mass= %f, bt_inertia= [%f %f %f]\n" {
id_printf(
"link %d: mass= %f, bt_inertia= [%f %f %f]\n"
"Io= [%f %f %f;\n" "Io= [%f %f %f;\n"
" %f %f %f;\n" " %f %f %f;\n"
" %f %f %f]\n", " %f %f %f]\n",
@@ -140,17 +153,21 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
link.body_T_parent_ref(2, 0) = basis[2][0]; link.body_T_parent_ref(2, 0) = basis[2][0];
link.body_T_parent_ref(2, 1) = basis[2][1]; link.body_T_parent_ref(2, 1) = basis[2][1];
link.body_T_parent_ref(2, 2) = basis[2][2]; link.body_T_parent_ref(2, 2) = basis[2][2];
if (verbose) { if (verbose)
id_printf("body_T_parent_ref= %f %f %f\n" {
id_printf(
"body_T_parent_ref= %f %f %f\n"
" %f %f %f\n" " %f %f %f\n"
" %f %f %f\n", " %f %f %f\n",
basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2], basis[0][0], basis[0][1], basis[0][2], basis[1][0], basis[1][1], basis[1][2],
basis[2][0], basis[2][1], basis[2][2]); basis[2][0], basis[2][1], basis[2][2]);
} }
switch (bt_link.m_jointType) { switch (bt_link.m_jointType)
{
case btMultibodyLink::eRevolute: case btMultibodyLink::eRevolute:
link.joint_type = REVOLUTE; link.joint_type = REVOLUTE;
if (verbose) { if (verbose)
{
id_printf("type= revolute\n"); id_printf("type= revolute\n");
} }
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_topVec[0]; link.body_axis_of_motion(0) = bt_link.m_axes[0].m_topVec[0];
@@ -166,7 +183,8 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
break; break;
case btMultibodyLink::ePrismatic: case btMultibodyLink::ePrismatic:
link.joint_type = PRISMATIC; link.joint_type = PRISMATIC;
if (verbose) { if (verbose)
{
id_printf("type= prismatic\n"); id_printf("type= prismatic\n");
} }
link.body_axis_of_motion(0) = bt_link.m_axes[0].m_bottomVec[0]; link.body_axis_of_motion(0) = bt_link.m_axes[0].m_bottomVec[0];
@@ -207,18 +225,22 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
bt_link.m_jointType); bt_link.m_jointType);
return -1; return -1;
} }
if (link.parent_index > 0) { // parent body isn't the root if (link.parent_index > 0)
{ // parent body isn't the root
const btMultibodyLink &bt_parent_link = btmb->getLink(link.parent_index - 1); const btMultibodyLink &bt_parent_link = btmb->getLink(link.parent_index - 1);
// from parent pivot to parent com, in parent frame // from parent pivot to parent com, in parent frame
link.parent_r_parent_body_ref(0) += bt_parent_link.m_dVector[0]; link.parent_r_parent_body_ref(0) += bt_parent_link.m_dVector[0];
link.parent_r_parent_body_ref(1) += bt_parent_link.m_dVector[1]; link.parent_r_parent_body_ref(1) += bt_parent_link.m_dVector[1];
link.parent_r_parent_body_ref(2) += bt_parent_link.m_dVector[2]; link.parent_r_parent_body_ref(2) += bt_parent_link.m_dVector[2];
} else { }
else
{
// parent is root body. btMultiBody only knows 6-DoF or 0-DoF root bodies, // parent is root body. btMultiBody only knows 6-DoF or 0-DoF root bodies,
// whose link frame is in the CoM (ie, no notion of a pivot point) // whose link frame is in the CoM (ie, no notion of a pivot point)
} }
if (verbose) { if (verbose)
{
id_printf("parent_r_parent_body_ref= %f %f %f\n", link.parent_r_parent_body_ref[0], id_printf("parent_r_parent_body_ref= %f %f %f\n", link.parent_r_parent_body_ref[0],
link.parent_r_parent_body_ref[1], link.parent_r_parent_body_ref[2]); link.parent_r_parent_body_ref[1], link.parent_r_parent_body_ref[2]);
} }
@@ -229,8 +251,10 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
return 0; return 0;
} }
int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const { int btMultiBodyTreeCreator::getNumBodies(int *num_bodies) const
if (false == m_initialized) { {
if (false == m_initialized)
{
bt_id_error_message("btMultiBody not converted yet\n"); bt_id_error_message("btMultiBody not converted yet\n");
return -1; return -1;
} }
@@ -243,13 +267,16 @@ int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, Joi
vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref, vec3 *parent_r_parent_body_ref, mat33 *body_T_parent_ref,
vec3 *body_axis_of_motion, idScalar *mass, vec3 *body_axis_of_motion, idScalar *mass,
vec3 *body_r_body_com, mat33 *body_I_body, int *user_int, vec3 *body_r_body_com, mat33 *body_I_body, int *user_int,
void **user_ptr) const { void **user_ptr) const
if (false == m_initialized) { {
if (false == m_initialized)
{
bt_id_error_message("MultiBodyTree not created yet\n"); bt_id_error_message("MultiBodyTree not created yet\n");
return -1; return -1;
} }
if (body_index < 0 || body_index >= static_cast<int>(m_data.size())) { if (body_index < 0 || body_index >= static_cast<int>(m_data.size()))
{
bt_id_error_message("index out of range (got %d but only %zu bodies)\n", body_index, bt_id_error_message("index out of range (got %d but only %zu bodies)\n", body_index,
m_data.size()); m_data.size());
return -1; return -1;
@@ -269,4 +296,4 @@ int btMultiBodyTreeCreator::getBody(const int body_index, int *parent_index, Joi
return 0; return 0;
} }
} } // namespace btInverseDynamics

12
Extras/InverseDynamics/btMultiBodyTreeCreator.hpp
View File

@@ -7,11 +7,12 @@
#include "MultiBodyTreeCreator.hpp" #include "MultiBodyTreeCreator.hpp"
#include "BulletDynamics/Featherstone/btMultiBody.h" #include "BulletDynamics/Featherstone/btMultiBody.h"
namespace btInverseDynamics { namespace btInverseDynamics
{
/// MultiBodyTreeCreator implementation for converting /// MultiBodyTreeCreator implementation for converting
/// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model /// a btMultiBody forward dynamics model into a MultiBodyTree inverse dynamics model
class btMultiBodyTreeCreator : public MultiBodyTreeCreator { class btMultiBodyTreeCreator : public MultiBodyTreeCreator
{
public: public:
/// ctor /// ctor
btMultiBodyTreeCreator(); btMultiBodyTreeCreator();
@@ -32,7 +33,8 @@ public:
private: private:
// internal struct holding data extracted from btMultiBody // internal struct holding data extracted from btMultiBody
struct LinkData { struct LinkData
{
int parent_index; int parent_index;
JointType joint_type; JointType joint_type;
vec3 parent_r_parent_body_ref; vec3 parent_r_parent_body_ref;
@@ -45,6 +47,6 @@ private:
idArray<LinkData>::type m_data; idArray<LinkData>::type m_data;
bool m_initialized; bool m_initialized;
}; };
} } // namespace btInverseDynamics
#endif // BTMULTIBODYTREECREATOR_HPP_ #endif // BTMULTIBODYTREECREATOR_HPP_

156
Extras/InverseDynamics/invdyn_bullet_comparison.cpp
View File

@@ -8,20 +8,25 @@
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h" #include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h" #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
namespace btInverseDynamics { namespace btInverseDynamics
{
int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose, int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error, btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
double *acc_error) { double *acc_error)
{
// call function and return -1 if it does, printing an bt_id_error_message // call function and return -1 if it does, printing an bt_id_error_message
#define RETURN_ON_FAILURE(x) \ #define RETURN_ON_FAILURE(x) \
do { \ do \
if (-1 == x) { \ { \
if (-1 == x) \
{ \
bt_id_error_message("calling " #x "\n"); \ bt_id_error_message("calling " #x "\n"); \
return -1; \ return -1; \
} \ } \
} while (0) } while (0)
if (verbose) { if (verbose)
{
printf("\n ===================================== \n"); printf("\n ===================================== \n");
} }
vecx joint_forces(q.size()); vecx joint_forces(q.size());
@@ -50,37 +55,47 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
// remaining links // remaining links
int q_index; int q_index;
if (btmb->hasFixedBase()) { if (btmb->hasFixedBase())
{
q_index = 0; q_index = 0;
} else { }
else
{
q_index = 6; q_index = 6;
} }
if (verbose) { if (verbose)
{
printf("bt:num_links= %d, num_dofs= %d\n", btmb->getNumLinks(), btmb->getNumDofs()); printf("bt:num_links= %d, num_dofs= %d\n", btmb->getNumLinks(), btmb->getNumDofs());
} }
for (int l = 0; l < btmb->getNumLinks(); l++) { for (int l = 0; l < btmb->getNumLinks(); l++)
{
const btMultibodyLink &link = btmb->getLink(l); const btMultibodyLink &link = btmb->getLink(l);
if (verbose) { if (verbose)
{
printf("link %d, pos_var_count= %d, dof_count= %d\n", l, link.m_posVarCount, printf("link %d, pos_var_count= %d, dof_count= %d\n", l, link.m_posVarCount,
link.m_dofCount); link.m_dofCount);
} }
if (link.m_posVarCount == 1) { if (link.m_posVarCount == 1)
{
btmb->setJointPosMultiDof(l, &q(q_index)); btmb->setJointPosMultiDof(l, &q(q_index));
btmb->setJointVelMultiDof(l, &u(q_index)); btmb->setJointVelMultiDof(l, &u(q_index));
if (verbose) { if (verbose)
{
printf("set q[%d]= %f, u[%d]= %f\n", q_index, q(q_index), q_index, u(q_index)); printf("set q[%d]= %f, u[%d]= %f\n", q_index, q(q_index), q_index, u(q_index));
} }
q_index++; q_index++;
} }
} }
// sanity check // sanity check
if (q_index != q.size()) { if (q_index != q.size())
{
bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n"); bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
return -1; return -1;
} }
// run inverse dynamics to determine joint_forces for given q, u, dot_u // run inverse dynamics to determine joint_forces for given q, u, dot_u
if (-1 == id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces)) { if (-1 == id_tree->calculateInverseDynamics(q, u, dot_u, &joint_forces))
{
bt_id_error_message("calculating inverse dynamics\n"); bt_id_error_message("calculating inverse dynamics\n");
return -1; return -1;
} }
@@ -95,9 +110,11 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
// apply gravity forces for btMultiBody model. Must be done manually. // apply gravity forces for btMultiBody model. Must be done manually.
btmb->addBaseForce(btmb->getBaseMass() * gravity); btmb->addBaseForce(btmb->getBaseMass() * gravity);
for (int link = 0; link < btmb->getNumLinks(); link++) { for (int link = 0; link < btmb->getNumLinks(); link++)
{
btmb->addLinkForce(link, gravity * btmb->getLinkMass(link)); btmb->addLinkForce(link, gravity * btmb->getLinkMass(link));
if (verbose) { if (verbose)
{
printf("link %d, applying gravity %f %f %f\n", link, printf("link %d, applying gravity %f %f %f\n", link,
gravity[0] * btmb->getLinkMass(link), gravity[1] * btmb->getLinkMass(link), gravity[0] * btmb->getLinkMass(link), gravity[1] * btmb->getLinkMass(link),
gravity[2] * btmb->getLinkMass(link)); gravity[2] * btmb->getLinkMass(link));
@@ -105,9 +122,12 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
} }
// apply generalized forces // apply generalized forces
if (btmb->hasFixedBase()) { if (btmb->hasFixedBase())
{
q_index = 0; q_index = 0;
} else { }
else
{
vec3 base_force; vec3 base_force;
base_force(0) = joint_forces(3); base_force(0) = joint_forces(3);
base_force(1) = joint_forces(4); base_force(1) = joint_forces(4);
@@ -120,7 +140,8 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
btmb->addBaseForce(world_T_base * base_force); btmb->addBaseForce(world_T_base * base_force);
btmb->addBaseTorque(world_T_base * base_moment); btmb->addBaseTorque(world_T_base * base_moment);
if (verbose) { if (verbose)
{
printf("base force from id: %f %f %f\n", joint_forces(3), joint_forces(4), printf("base force from id: %f %f %f\n", joint_forces(3), joint_forces(4),
joint_forces(5)); joint_forces(5));
printf("base moment from id: %f %f %f\n", joint_forces(0), joint_forces(1), printf("base moment from id: %f %f %f\n", joint_forces(0), joint_forces(1),
@@ -129,10 +150,13 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
q_index = 6; q_index = 6;
} }
for (int l = 0; l < btmb->getNumLinks(); l++) { for (int l = 0; l < btmb->getNumLinks(); l++)
{
const btMultibodyLink &link = btmb->getLink(l); const btMultibodyLink &link = btmb->getLink(l);
if (link.m_posVarCount == 1) { if (link.m_posVarCount == 1)
if (verbose) { {
if (verbose)
{
printf("id:joint_force[%d]= %f, applied to link %d\n", q_index, printf("id:joint_force[%d]= %f, applied to link %d\n", q_index,
joint_forces(q_index), l); joint_forces(q_index), l);
} }
@@ -142,7 +166,8 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
} }
// sanity check // sanity check
if (q_index != q.size()) { if (q_index != q.size())
{
bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n"); bt_id_error_message("error in number of dofs for btMultibody and MultiBodyTree\n");
return -1; return -1;
} }
@@ -160,21 +185,29 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
btScalar *joint_accel = base_accel + 6; btScalar *joint_accel = base_accel + 6;
*acc_error = 0; *acc_error = 0;
int dot_u_offset = 0; int dot_u_offset = 0;
if (btmb->hasFixedBase()) { if (btmb->hasFixedBase())
{
dot_u_offset = 0; dot_u_offset = 0;
} else { }
else
{
dot_u_offset = 6; dot_u_offset = 6;
} }
if (true == btmb->hasFixedBase()) { if (true == btmb->hasFixedBase())
for (int i = 0; i < btmb->getNumDofs(); i++) { {
if (verbose) { for (int i = 0; i < btmb->getNumDofs(); i++)
{
if (verbose)
{
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i], printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
dot_u(i + dot_u_offset), joint_accel[i] - dot_u(i)); dot_u(i + dot_u_offset), joint_accel[i] - dot_u(i));
} }
*acc_error += BT_ID_POW(joint_accel[i] - dot_u(i + dot_u_offset), 2); *acc_error += BT_ID_POW(joint_accel[i] - dot_u(i + dot_u_offset), 2);
} }
} else { }
else
{
vec3 base_dot_omega; vec3 base_dot_omega;
vec3 world_dot_omega; vec3 world_dot_omega;
world_dot_omega(0) = base_accel[0]; world_dot_omega(0) = base_accel[0];
@@ -191,23 +224,29 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
world_ddot_com(2) = base_accel[5]; world_ddot_com(2) = base_accel[5];
base_ddot_com = world_T_base.transpose() * world_ddot_com; base_ddot_com = world_T_base.transpose() * world_ddot_com;
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++)
if (verbose) { {
if (verbose)
{
printf("bt::base_dot_omega(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_dot_omega(i), printf("bt::base_dot_omega(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_dot_omega(i),
i, dot_u[i], base_dot_omega(i) - dot_u[i]); i, dot_u[i], base_dot_omega(i) - dot_u[i]);
} }
*acc_error += BT_ID_POW(base_dot_omega(i) - dot_u(i), 2); *acc_error += BT_ID_POW(base_dot_omega(i) - dot_u(i), 2);
} }
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++)
if (verbose) { {
if (verbose)
{
printf("bt::base_ddot_com(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_ddot_com(i), printf("bt::base_ddot_com(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_ddot_com(i),
i, dot_u[i + 3], base_ddot_com(i) - dot_u[i + 3]); i, dot_u[i + 3], base_ddot_com(i) - dot_u[i + 3]);
} }
*acc_error += BT_ID_POW(base_ddot_com(i) - dot_u(i + 3), 2); *acc_error += BT_ID_POW(base_ddot_com(i) - dot_u(i + 3), 2);
} }
for (int i = 0; i < btmb->getNumDofs(); i++) { for (int i = 0; i < btmb->getNumDofs(); i++)
if (verbose) { {
if (verbose)
{
printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i], printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
dot_u(i + 6), joint_accel[i] - dot_u(i + 6)); dot_u(i + 6), joint_accel[i] - dot_u(i + 6));
} }
@@ -215,26 +254,31 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
} }
} }
*acc_error = std::sqrt(*acc_error); *acc_error = std::sqrt(*acc_error);
if (verbose) { if (verbose)
{
printf("======dynamics-err: %e\n", *acc_error); printf("======dynamics-err: %e\n", *acc_error);
} }
*pos_error = 0.0; *pos_error = 0.0;
{ {
mat33 world_T_body; mat33 world_T_body;
if (-1 == id_tree->getBodyTransform(0, &world_T_body)) { if (-1 == id_tree->getBodyTransform(0, &world_T_body))
{
bt_id_error_message("getting transform for body %d\n", 0); bt_id_error_message("getting transform for body %d\n", 0);
return -1; return -1;
} }
vec3 world_com; vec3 world_com;
if (-1 == id_tree->getBodyCoM(0, &world_com)) { if (-1 == id_tree->getBodyCoM(0, &world_com))
{
bt_id_error_message("getting com for body %d\n", 0); bt_id_error_message("getting com for body %d\n", 0);
return -1; return -1;
} }
if (verbose) { if (verbose)
{
printf("id:com: %f %f %f\n", world_com(0), world_com(1), world_com(2)); printf("id:com: %f %f %f\n", world_com(0), world_com(1), world_com(2));
printf("id:transform: %f %f %f\n" printf(
"id:transform: %f %f %f\n"
" %f %f %f\n" " %f %f %f\n"
" %f %f %f\n", " %f %f %f\n",
world_T_body(0, 0), world_T_body(0, 1), world_T_body(0, 2), world_T_body(1, 0), world_T_body(0, 0), world_T_body(0, 1), world_T_body(0, 2), world_T_body(1, 0),
@@ -243,15 +287,18 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
} }
} }
for (int l = 0; l < btmb->getNumLinks(); l++) { for (int l = 0; l < btmb->getNumLinks(); l++)
{
const btMultibodyLink &bt_link = btmb->getLink(l); const btMultibodyLink &bt_link = btmb->getLink(l);
vec3 bt_origin = bt_link.m_cachedWorldTransform.getOrigin(); vec3 bt_origin = bt_link.m_cachedWorldTransform.getOrigin();
mat33 bt_basis = bt_link.m_cachedWorldTransform.getBasis(); mat33 bt_basis = bt_link.m_cachedWorldTransform.getBasis();
if (verbose) { if (verbose)
{
printf("------------- link %d\n", l + 1); printf("------------- link %d\n", l + 1);
printf("bt:com: %f %f %f\n", bt_origin(0), bt_origin(1), bt_origin(2)); printf("bt:com: %f %f %f\n", bt_origin(0), bt_origin(1), bt_origin(2));
printf("bt:transform: %f %f %f\n" printf(
"bt:transform: %f %f %f\n"
" %f %f %f\n" " %f %f %f\n"
" %f %f %f\n", " %f %f %f\n",
bt_basis(0, 0), bt_basis(0, 1), bt_basis(0, 2), bt_basis(1, 0), bt_basis(1, 1), bt_basis(0, 0), bt_basis(0, 1), bt_basis(0, 2), bt_basis(1, 0), bt_basis(1, 1),
@@ -260,18 +307,22 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
mat33 id_world_T_body; mat33 id_world_T_body;
vec3 id_world_com; vec3 id_world_com;
if (-1 == id_tree->getBodyTransform(l + 1, &id_world_T_body)) { if (-1 == id_tree->getBodyTransform(l + 1, &id_world_T_body))
{
bt_id_error_message("getting transform for body %d\n", l); bt_id_error_message("getting transform for body %d\n", l);
return -1; return -1;
} }
if (-1 == id_tree->getBodyCoM(l + 1, &id_world_com)) { if (-1 == id_tree->getBodyCoM(l + 1, &id_world_com))
{
bt_id_error_message("getting com for body %d\n", l); bt_id_error_message("getting com for body %d\n", l);
return -1; return -1;
} }
if (verbose) { if (verbose)
{
printf("id:com: %f %f %f\n", id_world_com(0), id_world_com(1), id_world_com(2)); printf("id:com: %f %f %f\n", id_world_com(0), id_world_com(1), id_world_com(2));
printf("id:transform: %f %f %f\n" printf(
"id:transform: %f %f %f\n"
" %f %f %f\n" " %f %f %f\n"
" %f %f %f\n", " %f %f %f\n",
id_world_T_body(0, 0), id_world_T_body(0, 1), id_world_T_body(0, 2), id_world_T_body(0, 0), id_world_T_body(0, 1), id_world_T_body(0, 2),
@@ -280,7 +331,8 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
} }
vec3 diff_com = bt_origin - id_world_com; vec3 diff_com = bt_origin - id_world_com;
mat33 diff_basis = bt_basis - id_world_T_body; mat33 diff_basis = bt_basis - id_world_T_body;
if (verbose) { if (verbose)
{
printf("diff-com: %e %e %e\n", diff_com(0), diff_com(1), diff_com(2)); printf("diff-com: %e %e %e\n", diff_com(0), diff_com(1), diff_com(2));
printf("diff-transform: %e %e %e %e %e %e %e %e %e\n", diff_basis(0, 0), printf("diff-transform: %e %e %e %e %e %e %e %e %e\n", diff_basis(0, 0),
@@ -294,14 +346,16 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
BT_ID_POW(diff_basis(1, 0), 2) + BT_ID_POW(diff_basis(1, 1), 2) + BT_ID_POW(diff_basis(1, 0), 2) + BT_ID_POW(diff_basis(1, 1), 2) +
BT_ID_POW(diff_basis(1, 2), 2) + BT_ID_POW(diff_basis(2, 0), 2) + BT_ID_POW(diff_basis(1, 2), 2) + BT_ID_POW(diff_basis(2, 0), 2) +
BT_ID_POW(diff_basis(2, 1), 2) + BT_ID_POW(diff_basis(2, 2), 2)); BT_ID_POW(diff_basis(2, 1), 2) + BT_ID_POW(diff_basis(2, 2), 2));
if (verbose) { if (verbose)
{
printf("======kin-pos-err: %e\n", total_pos_err); printf("======kin-pos-err: %e\n", total_pos_err);
} }
if (total_pos_err > *pos_error) { if (total_pos_err > *pos_error)
{
*pos_error = total_pos_err; *pos_error = total_pos_err;
} }
} }
return 0; return 0;
} }
} } // namespace btInverseDynamics

5
Extras/InverseDynamics/invdyn_bullet_comparison.hpp
View File

@@ -6,7 +6,8 @@
class btMultiBody; class btMultiBody;
class btVector3; class btVector3;
namespace btInverseDynamics { namespace btInverseDynamics
{
class MultiBodyTree; class MultiBodyTree;
/// this function compares the forward dynamics computations implemented in btMultiBody to /// this function compares the forward dynamics computations implemented in btMultiBody to
@@ -31,5 +32,5 @@ class MultiBodyTree;
int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose, int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &gravity, bool verbose,
btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error, btMultiBody *btmb, MultiBodyTree *id_tree, double *pos_error,
double *acc_error); double *acc_error);
} } // namespace btInverseDynamics
#endif // INVDYN_BULLET_COMPARISON_HPP #endif // INVDYN_BULLET_COMPARISON_HPP

30
Extras/Serialize/BlenderSerialize/bBlenderFile.cpp
View File

@@ -27,7 +27,6 @@ extern int DNAlen;
extern unsigned char DNAstr64[]; extern unsigned char DNAstr64[];
extern int DNAlen64; extern int DNAlen64;
using namespace bParse; using namespace bParse;
bBlenderFile::bBlenderFile(const char *fileName) bBlenderFile::bBlenderFile(const char *fileName)
@@ -36,8 +35,6 @@ bBlenderFile::bBlenderFile(const char* fileName)
mMain = new bMain(this, fileName, mVersion); mMain = new bMain(this, fileName, mVersion);
} }
bBlenderFile::bBlenderFile(char *memoryBuffer, int len) bBlenderFile::bBlenderFile(char *memoryBuffer, int len)
: bFile(memoryBuffer, len, "BLENDER"), : bFile(memoryBuffer, len, "BLENDER"),
mMain(0) mMain(0)
@@ -45,13 +42,11 @@ mMain(0)
mMain = new bMain(this, "memoryBuf", mVersion); mMain = new bMain(this, "memoryBuf", mVersion);
} }
bBlenderFile::~bBlenderFile() bBlenderFile::~bBlenderFile()
{ {
delete mMain; delete mMain;
} }
bMain *bBlenderFile::getMain() bMain *bBlenderFile::getMain()
{ {
return mMain; return mMain;
@@ -66,14 +61,11 @@ void bBlenderFile::parseData()
const bool swap = (mFlags & FD_ENDIAN_SWAP) != 0; const bool swap = (mFlags & FD_ENDIAN_SWAP) != 0;
char *dataPtr = mFileBuffer + mDataStart; char *dataPtr = mFileBuffer + mDataStart;
bChunkInd dataChunk; bChunkInd dataChunk;
dataChunk.code = 0; dataChunk.code = 0;
//dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags); //dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags);
int seek = getNextBlock(&dataChunk, dataPtr, mFlags); int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
//dataPtr += ChunkUtils::getOffset(mFlags); //dataPtr += ChunkUtils::getOffset(mFlags);
@@ -81,10 +73,6 @@ void bBlenderFile::parseData()
while (dataChunk.code != DNA1) while (dataChunk.code != DNA1)
{ {
// one behind // one behind
if (dataChunk.code == SDNA) break; if (dataChunk.code == SDNA) break;
//if (dataChunk.code == DNA1) break; //if (dataChunk.code == DNA1) break;
@@ -118,7 +106,6 @@ void bBlenderFile::parseData()
if (seek < 0) if (seek < 0)
break; break;
} }
} }
void bBlenderFile::addDataBlock(char *dataBlock) void bBlenderFile::addDataBlock(char *dataBlock)
@@ -126,10 +113,6 @@ void bBlenderFile::addDataBlock(char* dataBlock)
mMain->addDatablock(dataBlock); mMain->addDatablock(dataBlock);
} }
// 32 && 64 bit versions // 32 && 64 bit versions
extern unsigned char DNAstr[]; extern unsigned char DNAstr[];
extern int DNAlen; extern int DNAlen;
@@ -137,14 +120,11 @@ extern int DNAlen;
//unsigned char DNAstr[]={0}; //unsigned char DNAstr[]={0};
//int DNAlen=0; //int DNAlen=0;
extern unsigned char DNAstr64[]; extern unsigned char DNAstr64[];
extern int DNAlen64; extern int DNAlen64;
void bBlenderFile::writeDNA(FILE *fp) void bBlenderFile::writeDNA(FILE *fp)
{ {
bChunkInd dataChunk; bChunkInd dataChunk;
dataChunk.code = DNA1; dataChunk.code = DNA1;
dataChunk.dna_nr = 0; dataChunk.dna_nr = 0;
@@ -192,14 +172,16 @@ int bBlenderFile::write(const char* fileName, bool fixupPointers)
if (endian) if (endian)
{ {
header[7] = '_'; header[7] = '_';
} else }
else
{ {
header[7] = '-'; header[7] = '-';
} }
if (VOID_IS_8) if (VOID_IS_8)
{ {
header[8] = 'V'; header[8] = 'V';
} else }
else
{ {
header[8] = 'v'; header[8] = 'v';
} }
@@ -215,8 +197,8 @@ int bBlenderFile::write(const char* fileName, bool fixupPointers)
writeDNA(fp); writeDNA(fp);
fclose(fp); fclose(fp);
}
} else else
{ {
printf("Error: cannot open file %s for writing\n", fileName); printf("Error: cannot open file %s for writing\n", fileName);
return 0; return 0;

11
Extras/Serialize/BlenderSerialize/bBlenderFile.h
View File

@@ -16,23 +16,19 @@ subject to the following restrictions:
#ifndef B_BLENDER_FILE_H #ifndef B_BLENDER_FILE_H
#define B_BLENDER_FILE_H #define B_BLENDER_FILE_H
#include "bFile.h" #include "bFile.h"
namespace bParse { namespace bParse
{
// ----------------------------------------------------- // // ----------------------------------------------------- //
class bBlenderFile : public bFile class bBlenderFile : public bFile
{ {
protected: protected:
bMain* mMain; bMain* mMain;
bStructHandle* m_glob; bStructHandle* m_glob;
public: public:
bBlenderFile(const char* fileName); bBlenderFile(const char* fileName);
bBlenderFile(char* memoryBuffer, int len); bBlenderFile(char* memoryBuffer, int len);
@@ -56,8 +52,7 @@ namespace bParse {
virtual void parseData(); virtual void parseData();
virtual void writeDNA(FILE* fp); virtual void writeDNA(FILE* fp);
};
}; };
}; // namespace bParse
#endif //B_BLENDER_FILE_H #endif //B_BLENDER_FILE_H

16
Extras/Serialize/BlenderSerialize/bMain.cpp
View File

@@ -21,7 +21,6 @@ subject to the following restrictions:
using namespace bParse; using namespace bParse;
// ----------------------------------------------------- // // ----------------------------------------------------- //
bMain::bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion) bMain::bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion)
: mFP(filePtr), : mFP(filePtr),
@@ -56,7 +55,6 @@ bMain::bMain(bBlenderFile *filePtr, const char *baseName, int fileVersion)
mData.insert(ID_SCRIPT, bListBasePtr()); mData.insert(ID_SCRIPT, bListBasePtr());
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
bMain::~bMain() bMain::~bMain()
{ {
@@ -88,13 +86,9 @@ void bMain::addDatablock(void *allocated)
mPool.push_back((bStructHandle *)allocated); mPool.push_back((bStructHandle *)allocated);
} }
// ------------------------------------------------------------// // ------------------------------------------------------------//
void bMain::linkList(void *listBasePtr) void bMain::linkList(void *listBasePtr)
{ {
struct ListBase // local Blender::ListBase struct ListBase // local Blender::ListBase
{ {
void *first; void *first;
@@ -107,7 +101,6 @@ void bMain::linkList(void *listBasePtr)
void *prev; void *prev;
}; };
ListBase *base = (ListBase *)listBasePtr; ListBase *base = (ListBase *)listBasePtr;
if (!base || !base->first) if (!base || !base->first)
@@ -143,12 +136,10 @@ bListBasePtr* bMain::getListBasePtr(int listBaseCode)
// ------------------------------------------------------------// // ------------------------------------------------------------//
bListBasePtr *bMain::_findCode(int code) bListBasePtr *bMain::_findCode(int code)
{ {
bListBasePtr *lbPtr = mData.find(code); bListBasePtr *lbPtr = mData.find(code);
return lbPtr; return lbPtr;
} }
// ------------------------------------------------------------// // ------------------------------------------------------------//
bListBasePtr *bMain::getScene() bListBasePtr *bMain::getScene()
{ {
@@ -193,8 +184,6 @@ bListBasePtr *bMain::getCurve()
return ptr; return ptr;
} }
// ------------------------------------------------------------// // ------------------------------------------------------------//
bListBasePtr *bMain::getMball() bListBasePtr *bMain::getMball()
{ {
@@ -222,7 +211,6 @@ bListBasePtr *bMain::getTex()
return ptr; return ptr;
} }
// ------------------------------------------------------------// // ------------------------------------------------------------//
bListBasePtr *bMain::getImage() bListBasePtr *bMain::getImage()
{ {
@@ -295,7 +283,6 @@ bListBasePtr *bMain::getWorld()
return ptr; return ptr;
} }
// ------------------------------------------------------------// // ------------------------------------------------------------//
bListBasePtr *bMain::getScreen() bListBasePtr *bMain::getScreen()
{ {
@@ -368,7 +355,6 @@ bListBasePtr *bMain::getAction()
return ptr; return ptr;
} }
// ------------------------------------------------------------// // ------------------------------------------------------------//
bListBasePtr *bMain::getNodetree() bListBasePtr *bMain::getNodetree()
{ {
@@ -387,6 +373,4 @@ bListBasePtr *bMain::getBrush()
return ptr; return ptr;
} }
//eof //eof

22
Extras/Serialize/BlenderSerialize/bMain.h
View File

@@ -20,25 +20,19 @@ subject to the following restrictions:
#include "bChunk.h" #include "bChunk.h"
#include "LinearMath/btHashMap.h" #include "LinearMath/btHashMap.h"
namespace bParse namespace bParse
{ {
class bDNA; class bDNA;
class bBlenderFile; class bBlenderFile;
}; }; // namespace bParse
namespace bParse {
namespace bParse
{
// ----------------------------------------------------- // // ----------------------------------------------------- //
typedef btHashMap<btHashInt, bListBasePtr> bMainDataMap; typedef btHashMap<btHashInt, bListBasePtr> bMainDataMap;
// ----------------------------------------------------- // // ----------------------------------------------------- //
class bMain class bMain
{ {
@@ -52,9 +46,6 @@ namespace bParse {
bMainDataMap mData; bMainDataMap mData;
bListBasePtr *_findCode(int code); bListBasePtr *_findCode(int code);
public: public:
@@ -66,7 +57,6 @@ namespace bParse {
bListBasePtr *getListBasePtr(int listBaseCode); bListBasePtr *getListBasePtr(int listBaseCode);
bListBasePtr *getScene(); bListBasePtr *getScene();
bListBasePtr *getLibrary(); bListBasePtr *getLibrary();
bListBasePtr *getObject(); bListBasePtr *getObject();
@@ -94,17 +84,13 @@ namespace bParse {
bListBasePtr *getNodetree(); bListBasePtr *getNodetree();
bListBasePtr *getBrush(); bListBasePtr *getBrush();
// tracking allocated memory // tracking allocated memory
void addDatablock(void *allocated); void addDatablock(void *allocated);
// -- // --
void linkList(void *listBasePtr); void linkList(void *listBasePtr);
}; };
} } // namespace bParse
#endif //__BMAIN_H__ #endif //__BMAIN_H__

3
Extras/Serialize/BlenderSerialize/dna249-64bit.cpp
View File

@@ -1406,6 +1406,5 @@ unsigned char DNAstr64[]= {
0, 20, 0, 98, 1, 5, 0, 98, 1, 0, 0, 98, 1, 1, 0, 12, 0, 111, 9, 4, 0, 112, 9, 4, 0, 20, 0, 99, 1, 9, 0, 99, 0, 20, 0, 98, 1, 5, 0, 98, 1, 0, 0, 98, 1, 1, 0, 12, 0, 111, 9, 4, 0, 112, 9, 4, 0, 20, 0, 99, 1, 9, 0, 99,
1, 0, 0, 99, 1, 1, 0, 12, 0, -128, 0, 98, 1, 113, 9, 4, 0, 20, 0, 2, 0, 110, 9, 2, 0, 114, 9, 7, 0, 94, 0, 0, 1, 0, 0, 99, 1, 1, 0, 12, 0, -128, 0, 98, 1, 113, 9, 4, 0, 20, 0, 2, 0, 110, 9, 2, 0, 114, 9, 7, 0, 94, 0, 0,
0, 115, 9, -70, 0, 5, 0, 12, 0, 125, 4, 4, 0, 20, 0, 2, 0, 116, 9, 2, 0, 117, 9, 9, 0, 118, 9, 69, 78, 68, 66, 0, 0, 115, 9, -70, 0, 5, 0, 12, 0, 125, 4, 4, 0, 20, 0, 2, 0, 116, 9, 2, 0, 117, 9, 9, 0, 118, 9, 69, 78, 68, 66, 0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
};
int DNAlen64 = sizeof(DNAstr64); int DNAlen64 = sizeof(DNAstr64);

3
Extras/Serialize/BlenderSerialize/dna249.cpp
View File

@@ -1406,6 +1406,5 @@ unsigned char DNAstr[]= {
0, 20, 0, 98, 1, 5, 0, 98, 1, 0, 0, 98, 1, 1, 0, 12, 0, 111, 9, 4, 0, 112, 9, 4, 0, 20, 0, 99, 1, 9, 0, 99, 0, 20, 0, 98, 1, 5, 0, 98, 1, 0, 0, 98, 1, 1, 0, 12, 0, 111, 9, 4, 0, 112, 9, 4, 0, 20, 0, 99, 1, 9, 0, 99,
1, 0, 0, 99, 1, 1, 0, 12, 0, -128, 0, 98, 1, 113, 9, 4, 0, 20, 0, 2, 0, 110, 9, 2, 0, 114, 9, 7, 0, 94, 0, 0, 1, 0, 0, 99, 1, 1, 0, 12, 0, -128, 0, 98, 1, 113, 9, 4, 0, 20, 0, 2, 0, 110, 9, 2, 0, 114, 9, 7, 0, 94, 0, 0,
0, 115, 9, -70, 0, 5, 0, 12, 0, 125, 4, 4, 0, 20, 0, 2, 0, 116, 9, 2, 0, 117, 9, 9, 0, 118, 9, 69, 78, 68, 66, 0, 0, 115, 9, -70, 0, 5, 0, 12, 0, 125, 4, 4, 0, 20, 0, 2, 0, 116, 9, 2, 0, 117, 9, 9, 0, 118, 9, 69, 78, 68, 66, 0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
};
int DNAlen = sizeof(DNAstr); int DNAlen = sizeof(DNAstr);

97
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
View File

@@ -19,10 +19,11 @@
// Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py // Auto generated from Bullet/Extras/HeaderGenerator/bulletGenerate.py
#ifndef __BULLET_H__ #ifndef __BULLET_H__
#define __BULLET_H__ #define __BULLET_H__
namespace Bullet { namespace Bullet
{
// put an empty struct in the case // put an empty struct in the case
typedef struct bInvalidHandle { typedef struct bInvalidHandle
{
int unused; int unused;
} bInvalidHandle; } bInvalidHandle;
@@ -123,7 +124,6 @@ typedef struct bInvalidHandle {
void *m_data; void *m_data;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btPhysicsSystem class btPhysicsSystem
{ {
@@ -133,7 +133,6 @@ typedef struct bInvalidHandle {
PointerArray m_constraints; PointerArray m_constraints;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class ListBase class ListBase
{ {
@@ -142,7 +141,6 @@ typedef struct bInvalidHandle {
void *last; void *last;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btVector3FloatData class btVector3FloatData
{ {
@@ -150,7 +148,6 @@ typedef struct bInvalidHandle {
float m_floats[4]; float m_floats[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btVector3DoubleData class btVector3DoubleData
{ {
@@ -158,7 +155,6 @@ typedef struct bInvalidHandle {
double m_floats[4]; double m_floats[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btQuaternionFloatData class btQuaternionFloatData
{ {
@@ -166,7 +162,6 @@ typedef struct bInvalidHandle {
float m_floats[4]; float m_floats[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btQuaternionDoubleData class btQuaternionDoubleData
{ {
@@ -174,7 +169,6 @@ typedef struct bInvalidHandle {
double m_floats[4]; double m_floats[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMatrix3x3FloatData class btMatrix3x3FloatData
{ {
@@ -182,7 +176,6 @@ typedef struct bInvalidHandle {
btVector3FloatData m_el[3]; btVector3FloatData m_el[3];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMatrix3x3DoubleData class btMatrix3x3DoubleData
{ {
@@ -190,7 +183,6 @@ typedef struct bInvalidHandle {
btVector3DoubleData m_el[3]; btVector3DoubleData m_el[3];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btTransformFloatData class btTransformFloatData
{ {
@@ -199,7 +191,6 @@ typedef struct bInvalidHandle {
btVector3FloatData m_origin; btVector3FloatData m_origin;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btTransformDoubleData class btTransformDoubleData
{ {
@@ -208,7 +199,6 @@ typedef struct bInvalidHandle {
btVector3DoubleData m_origin; btVector3DoubleData m_origin;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btBvhSubtreeInfoData class btBvhSubtreeInfoData
{ {
@@ -219,7 +209,6 @@ typedef struct bInvalidHandle {
short m_quantizedAabbMax[3]; short m_quantizedAabbMax[3];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btOptimizedBvhNodeFloatData class btOptimizedBvhNodeFloatData
{ {
@@ -232,7 +221,6 @@ typedef struct bInvalidHandle {
char m_pad[4]; char m_pad[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btOptimizedBvhNodeDoubleData class btOptimizedBvhNodeDoubleData
{ {
@@ -245,7 +233,6 @@ typedef struct bInvalidHandle {
char m_pad[4]; char m_pad[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btQuantizedBvhNodeData class btQuantizedBvhNodeData
{ {
@@ -255,7 +242,6 @@ typedef struct bInvalidHandle {
int m_escapeIndexOrTriangleIndex; int m_escapeIndexOrTriangleIndex;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btQuantizedBvhFloatData class btQuantizedBvhFloatData
{ {
@@ -274,7 +260,6 @@ typedef struct bInvalidHandle {
int m_numSubtreeHeaders; int m_numSubtreeHeaders;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btQuantizedBvhDoubleData class btQuantizedBvhDoubleData
{ {
@@ -293,7 +278,6 @@ typedef struct bInvalidHandle {
btBvhSubtreeInfoData *m_subTreeInfoPtr; btBvhSubtreeInfoData *m_subTreeInfoPtr;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btCollisionShapeData class btCollisionShapeData
{ {
@@ -303,7 +287,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btStaticPlaneShapeData class btStaticPlaneShapeData
{ {
@@ -315,7 +298,6 @@ typedef struct bInvalidHandle {
char m_pad[4]; char m_pad[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btConvexInternalShapeData class btConvexInternalShapeData
{ {
@@ -327,7 +309,6 @@ typedef struct bInvalidHandle {
int m_padding; int m_padding;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btPositionAndRadius class btPositionAndRadius
{ {
@@ -336,7 +317,6 @@ typedef struct bInvalidHandle {
float m_radius; float m_radius;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMultiSphereShapeData class btMultiSphereShapeData
{ {
@@ -347,7 +327,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btIntIndexData class btIntIndexData
{ {
@@ -355,7 +334,6 @@ typedef struct bInvalidHandle {
int m_value; int m_value;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btShortIntIndexData class btShortIntIndexData
{ {
@@ -364,7 +342,6 @@ typedef struct bInvalidHandle {
char m_pad[2]; char m_pad[2];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btShortIntIndexTripletData class btShortIntIndexTripletData
{ {
@@ -373,7 +350,6 @@ typedef struct bInvalidHandle {
char m_pad[2]; char m_pad[2];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btCharIndexTripletData class btCharIndexTripletData
{ {
@@ -382,7 +358,6 @@ typedef struct bInvalidHandle {
char m_pad; char m_pad;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMeshPartData class btMeshPartData
{ {
@@ -397,7 +372,6 @@ typedef struct bInvalidHandle {
int m_numVertices; int m_numVertices;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btStridingMeshInterfaceData class btStridingMeshInterfaceData
{ {
@@ -408,7 +382,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btTriangleMeshShapeData class btTriangleMeshShapeData
{ {
@@ -422,7 +395,6 @@ typedef struct bInvalidHandle {
char m_pad3[4]; char m_pad3[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btScaledTriangleMeshShapeData class btScaledTriangleMeshShapeData
{ {
@@ -431,7 +403,6 @@ typedef struct bInvalidHandle {
btVector3FloatData m_localScaling; btVector3FloatData m_localScaling;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btCompoundShapeChildData class btCompoundShapeChildData
{ {
@@ -442,7 +413,6 @@ typedef struct bInvalidHandle {
float m_childMargin; float m_childMargin;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btCompoundShapeData class btCompoundShapeData
{ {
@@ -453,7 +423,6 @@ typedef struct bInvalidHandle {
float m_collisionMargin; float m_collisionMargin;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btCylinderShapeData class btCylinderShapeData
{ {
@@ -463,7 +432,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btConeShapeData class btConeShapeData
{ {
@@ -473,7 +441,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btCapsuleShapeData class btCapsuleShapeData
{ {
@@ -483,7 +450,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btTriangleInfoData class btTriangleInfoData
{ {
@@ -494,7 +460,6 @@ typedef struct bInvalidHandle {
float m_edgeV2V0Angle; float m_edgeV2V0Angle;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btTriangleInfoMapData class btTriangleInfoMapData
{ {
@@ -515,7 +480,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btPersistentManifoldDoubleData class btPersistentManifoldDoubleData
{ {
@@ -560,7 +524,6 @@ typedef struct bInvalidHandle {
btCollisionObjectDoubleData *m_body1; btCollisionObjectDoubleData *m_body1;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btPersistentManifoldFloatData class btPersistentManifoldFloatData
{ {
@@ -605,7 +568,6 @@ typedef struct bInvalidHandle {
btCollisionObjectFloatData *m_body1; btCollisionObjectFloatData *m_body1;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btGImpactMeshShapeData class btGImpactMeshShapeData
{ {
@@ -617,7 +579,6 @@ typedef struct bInvalidHandle {
int m_gimpactSubType; int m_gimpactSubType;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btConvexHullShapeData class btConvexHullShapeData
{ {
@@ -629,7 +590,6 @@ typedef struct bInvalidHandle {
char m_padding3[4]; char m_padding3[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btCollisionObjectDoubleData class btCollisionObjectDoubleData
{ {
@@ -665,7 +625,6 @@ typedef struct bInvalidHandle {
int m_uniqueId; int m_uniqueId;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btCollisionObjectFloatData class btCollisionObjectFloatData
{ {
@@ -701,7 +660,6 @@ typedef struct bInvalidHandle {
int m_uniqueId; int m_uniqueId;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btContactSolverInfoDoubleData class btContactSolverInfoDoubleData
{ {
@@ -730,7 +688,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btContactSolverInfoFloatData class btContactSolverInfoFloatData
{ {
@@ -759,7 +716,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btDynamicsWorldDoubleData class btDynamicsWorldDoubleData
{ {
@@ -768,7 +724,6 @@ typedef struct bInvalidHandle {
btVector3DoubleData m_gravity; btVector3DoubleData m_gravity;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btDynamicsWorldFloatData class btDynamicsWorldFloatData
{ {
@@ -777,7 +732,6 @@ typedef struct bInvalidHandle {
btVector3FloatData m_gravity; btVector3FloatData m_gravity;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btRigidBodyFloatData class btRigidBodyFloatData
{ {
@@ -805,7 +759,6 @@ typedef struct bInvalidHandle {
int m_additionalDamping; int m_additionalDamping;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btRigidBodyDoubleData class btRigidBodyDoubleData
{ {
@@ -834,7 +787,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btConstraintInfo1 class btConstraintInfo1
{ {
@@ -843,7 +795,6 @@ typedef struct bInvalidHandle {
int nub; int nub;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btTypedConstraintFloatData class btTypedConstraintFloatData
{ {
@@ -863,7 +814,6 @@ typedef struct bInvalidHandle {
int m_isEnabled; int m_isEnabled;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btTypedConstraintData class btTypedConstraintData
{ {
@@ -883,7 +833,6 @@ typedef struct bInvalidHandle {
int m_isEnabled; int m_isEnabled;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btTypedConstraintDoubleData class btTypedConstraintDoubleData
{ {
@@ -904,7 +853,6 @@ typedef struct bInvalidHandle {
char padding[4]; char padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btPoint2PointConstraintFloatData class btPoint2PointConstraintFloatData
{ {
@@ -914,7 +862,6 @@ typedef struct bInvalidHandle {
btVector3FloatData m_pivotInB; btVector3FloatData m_pivotInB;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btPoint2PointConstraintDoubleData2 class btPoint2PointConstraintDoubleData2
{ {
@@ -924,7 +871,6 @@ typedef struct bInvalidHandle {
btVector3DoubleData m_pivotInB; btVector3DoubleData m_pivotInB;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btPoint2PointConstraintDoubleData class btPoint2PointConstraintDoubleData
{ {
@@ -934,7 +880,6 @@ typedef struct bInvalidHandle {
btVector3DoubleData m_pivotInB; btVector3DoubleData m_pivotInB;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btHingeConstraintDoubleData class btHingeConstraintDoubleData
{ {
@@ -954,7 +899,6 @@ typedef struct bInvalidHandle {
float m_relaxationFactor; float m_relaxationFactor;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btHingeConstraintFloatData class btHingeConstraintFloatData
{ {
@@ -974,7 +918,6 @@ typedef struct bInvalidHandle {
float m_relaxationFactor; float m_relaxationFactor;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btHingeConstraintDoubleData2 class btHingeConstraintDoubleData2
{ {
@@ -995,7 +938,6 @@ typedef struct bInvalidHandle {
char m_padding1[4]; char m_padding1[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btConeTwistConstraintDoubleData class btConeTwistConstraintDoubleData
{ {
@@ -1012,7 +954,6 @@ typedef struct bInvalidHandle {
double m_damping; double m_damping;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btConeTwistConstraintData class btConeTwistConstraintData
{ {
@@ -1030,7 +971,6 @@ typedef struct bInvalidHandle {
char m_pad[4]; char m_pad[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btGeneric6DofConstraintData class btGeneric6DofConstraintData
{ {
@@ -1046,7 +986,6 @@ typedef struct bInvalidHandle {
int m_useOffsetForConstraintFrame; int m_useOffsetForConstraintFrame;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btGeneric6DofConstraintDoubleData2 class btGeneric6DofConstraintDoubleData2
{ {
@@ -1062,7 +1001,6 @@ typedef struct bInvalidHandle {
int m_useOffsetForConstraintFrame; int m_useOffsetForConstraintFrame;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btGeneric6DofSpringConstraintData class btGeneric6DofSpringConstraintData
{ {
@@ -1074,7 +1012,6 @@ typedef struct bInvalidHandle {
float m_springDamping[6]; float m_springDamping[6];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btGeneric6DofSpringConstraintDoubleData2 class btGeneric6DofSpringConstraintDoubleData2
{ {
@@ -1086,7 +1023,6 @@ typedef struct bInvalidHandle {
double m_springDamping[6]; double m_springDamping[6];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btGeneric6DofSpring2ConstraintData class btGeneric6DofSpring2ConstraintData
{ {
@@ -1134,7 +1070,6 @@ typedef struct bInvalidHandle {
int m_rotateOrder; int m_rotateOrder;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btGeneric6DofSpring2ConstraintDoubleData2 class btGeneric6DofSpring2ConstraintDoubleData2
{ {
@@ -1182,7 +1117,6 @@ typedef struct bInvalidHandle {
int m_rotateOrder; int m_rotateOrder;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btSliderConstraintData class btSliderConstraintData
{ {
@@ -1198,7 +1132,6 @@ typedef struct bInvalidHandle {
int m_useOffsetForConstraintFrame; int m_useOffsetForConstraintFrame;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btSliderConstraintDoubleData class btSliderConstraintDoubleData
{ {
@@ -1214,7 +1147,6 @@ typedef struct bInvalidHandle {
int m_useOffsetForConstraintFrame; int m_useOffsetForConstraintFrame;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btGearConstraintFloatData class btGearConstraintFloatData
{ {
@@ -1226,7 +1158,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btGearConstraintDoubleData class btGearConstraintDoubleData
{ {
@@ -1237,7 +1168,6 @@ typedef struct bInvalidHandle {
double m_ratio; double m_ratio;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class SoftBodyMaterialData class SoftBodyMaterialData
{ {
@@ -1248,7 +1178,6 @@ typedef struct bInvalidHandle {
int m_flags; int m_flags;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class SoftBodyNodeData class SoftBodyNodeData
{ {
@@ -1265,7 +1194,6 @@ typedef struct bInvalidHandle {
int m_pad; int m_pad;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class SoftBodyLinkData class SoftBodyLinkData
{ {
@@ -1276,7 +1204,6 @@ typedef struct bInvalidHandle {
int m_bbending; int m_bbending;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class SoftBodyFaceData class SoftBodyFaceData
{ {
@@ -1287,7 +1214,6 @@ typedef struct bInvalidHandle {
float m_restArea; float m_restArea;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class SoftBodyTetraData class SoftBodyTetraData
{ {
@@ -1301,7 +1227,6 @@ typedef struct bInvalidHandle {
int m_pad; int m_pad;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class SoftRigidAnchorData class SoftRigidAnchorData
{ {
@@ -1314,7 +1239,6 @@ typedef struct bInvalidHandle {
float m_c2; float m_c2;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class SoftBodyConfigData class SoftBodyConfigData
{ {
@@ -1347,7 +1271,6 @@ typedef struct bInvalidHandle {
int m_collisionFlags; int m_collisionFlags;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class SoftBodyPoseData class SoftBodyPoseData
{ {
@@ -1366,7 +1289,6 @@ typedef struct bInvalidHandle {
int m_pad; int m_pad;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class SoftBodyClusterData class SoftBodyClusterData
{ {
@@ -1400,7 +1322,6 @@ typedef struct bInvalidHandle {
int m_clusterIndex; int m_clusterIndex;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btSoftBodyJointData class btSoftBodyJointData
{ {
@@ -1419,7 +1340,6 @@ typedef struct bInvalidHandle {
int m_pad; int m_pad;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btSoftBodyFloatData class btSoftBodyFloatData
{ {
@@ -1445,7 +1365,6 @@ typedef struct bInvalidHandle {
SoftBodyConfigData m_config; SoftBodyConfigData m_config;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMultiBodyLinkDoubleData class btMultiBodyLinkDoubleData
{ {
@@ -1480,7 +1399,6 @@ typedef struct bInvalidHandle {
char *m_paddingPtr; char *m_paddingPtr;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMultiBodyLinkFloatData class btMultiBodyLinkFloatData
{ {
@@ -1515,7 +1433,6 @@ typedef struct bInvalidHandle {
char *m_paddingPtr; char *m_paddingPtr;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMultiBodyDoubleData class btMultiBodyDoubleData
{ {
@@ -1533,7 +1450,6 @@ typedef struct bInvalidHandle {
btCollisionObjectDoubleData *m_baseCollider; btCollisionObjectDoubleData *m_baseCollider;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMultiBodyFloatData class btMultiBodyFloatData
{ {
@@ -1550,7 +1466,6 @@ typedef struct bInvalidHandle {
btCollisionObjectFloatData *m_baseCollider; btCollisionObjectFloatData *m_baseCollider;
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMultiBodyLinkColliderFloatData class btMultiBodyLinkColliderFloatData
{ {
@@ -1561,7 +1476,6 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
// -------------------------------------------------- // // -------------------------------------------------- //
class btMultiBodyLinkColliderDoubleData class btMultiBodyLinkColliderDoubleData
{ {
@@ -1572,6 +1486,5 @@ typedef struct bInvalidHandle {
char m_padding[4]; char m_padding[4];
}; };
} // namespace Bullet
}
#endif //__BULLET_H__ #endif //__BULLET_H__

6
Extras/Serialize/BulletFileLoader/bChunk.cpp
View File

@@ -22,10 +22,8 @@ subject to the following restrictions:
#endif #endif
#include <string.h> #include <string.h>
using namespace bParse; using namespace bParse;
// ----------------------------------------------------- // // ----------------------------------------------------- //
short ChunkUtils::swapShort(short sht) short ChunkUtils::swapShort(short sht)
{ {
@@ -68,8 +66,4 @@ int ChunkUtils::getOffset(int flags)
return res; return res;
} }
//eof //eof

18
Extras/Serialize/BulletFileLoader/bChunk.h
View File

@@ -25,10 +25,8 @@ subject to the following restrictions:
#define long64 long long #define long64 long long
#endif #endif
namespace bParse
namespace bParse { {
// ----------------------------------------------------- // // ----------------------------------------------------- //
class bChunkPtr4 class bChunkPtr4
{ {
@@ -36,8 +34,7 @@ namespace bParse {
bChunkPtr4() {} bChunkPtr4() {}
int code; int code;
int len; int len;
union union {
{
int m_uniqueInt; int m_uniqueInt;
}; };
int dna_nr; int dna_nr;
@@ -50,8 +47,7 @@ namespace bParse {
public: public:
bChunkPtr8() {} bChunkPtr8() {}
int code, len; int code, len;
union union {
{
long64 oldPrev; long64 oldPrev;
int m_uniqueInts[2]; int m_uniqueInts[2];
}; };
@@ -68,12 +64,10 @@ namespace bParse {
int dna_nr, nr; int dna_nr, nr;
}; };
// ----------------------------------------------------- // // ----------------------------------------------------- //
class ChunkUtils class ChunkUtils
{ {
public: public:
// file chunk offset // file chunk offset
static int getOffset(int flags); static int getOffset(int flags);
@@ -81,12 +75,10 @@ namespace bParse {
static short swapShort(short sht); static short swapShort(short sht);
static int swapInt(int inte); static int swapInt(int inte);
static long64 swapLong64(long64 lng); static long64 swapLong64(long64 lng);
}; };
const int CHUNK_HEADER_LEN = ((sizeof(bChunkInd))); const int CHUNK_HEADER_LEN = ((sizeof(bChunkInd)));
const bool VOID_IS_8 = ((sizeof(void *) == 8)); const bool VOID_IS_8 = ((sizeof(void *) == 8));
} } // namespace bParse
#endif //__BCHUNK_H__ #endif //__BCHUNK_H__

13
Extras/Serialize/BulletFileLoader/bCommon.h
View File

@@ -16,24 +16,25 @@ subject to the following restrictions:
#ifndef __BCOMMON_H__ #ifndef __BCOMMON_H__
#define __BCOMMON_H__ #define __BCOMMON_H__
#include <assert.h> #include <assert.h>
//#include "bLog.h" //#include "bLog.h"
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btHashMap.h" #include "LinearMath/btHashMap.h"
namespace bParse { namespace bParse
{
class bMain; class bMain;
class bFileData; class bFileData;
class bFile; class bFile;
class bDNA; class bDNA;
// delete void* undefined // delete void* undefined
typedef struct bStructHandle {int unused;}bStructHandle; typedef struct bStructHandle
{
int unused;
} bStructHandle;
typedef btAlignedObjectArray<bStructHandle*> bListBasePtr; typedef btAlignedObjectArray<bStructHandle*> bListBasePtr;
typedef btHashMap<btHashPtr, bStructHandle*> bPtrMap; typedef btHashMap<btHashPtr, bStructHandle*> bPtrMap;
} } // namespace bParse
#endif //__BCOMMON_H__ #endif //__BCOMMON_H__

128
Extras/Serialize/BulletFileLoader/bDNA.cpp
View File

@@ -23,10 +23,8 @@ subject to the following restrictions:
//this define will force traversal of structures, to check backward (and forward) compatibility //this define will force traversal of structures, to check backward (and forward) compatibility
//#define TEST_BACKWARD_FORWARD_COMPATIBILITY //#define TEST_BACKWARD_FORWARD_COMPATIBILITY
using namespace bParse; using namespace bParse;
// ----------------------------------------------------- // // ----------------------------------------------------- //
bDNA::bDNA() bDNA::bDNA()
: mPtrLen(0) : mPtrLen(0)
@@ -53,7 +51,6 @@ char *bDNA::getName(int ind)
return m_Names[ind].m_name; return m_Names[ind].m_name;
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
char *bDNA::getType(int ind) char *bDNA::getType(int ind)
{ {
@@ -61,7 +58,6 @@ char *bDNA::getType(int ind)
return mTypes[ind]; return mTypes[ind];
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
short *bDNA::getStruct(int ind) short *bDNA::getStruct(int ind)
{ {
@@ -69,7 +65,6 @@ short *bDNA::getStruct(int ind)
return mStructs[ind]; return mStructs[ind];
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
short bDNA::getLength(int ind) short bDNA::getLength(int ind)
{ {
@@ -77,11 +72,9 @@ short bDNA::getLength(int ind)
return mTlens[ind]; return mTlens[ind];
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
int bDNA::getReverseType(short type) int bDNA::getReverseType(short type)
{ {
int *intPtr = mStructReverse.find(type); int *intPtr = mStructReverse.find(type);
if (intPtr) if (intPtr)
return *intPtr; return *intPtr;
@@ -92,7 +85,6 @@ int bDNA::getReverseType(short type)
// ----------------------------------------------------- // // ----------------------------------------------------- //
int bDNA::getReverseType(const char *type) int bDNA::getReverseType(const char *type)
{ {
btHashString key(type); btHashString key(type);
int *valuePtr = mTypeLookup.find(key); int *valuePtr = mTypeLookup.find(key);
if (valuePtr) if (valuePtr)
@@ -171,17 +163,13 @@ void bDNA::initRecurseCmpFlags(int iter)
// ----------------------------------------------------- // // ----------------------------------------------------- //
void bDNA::initCmpFlags(bDNA *memDNA) void bDNA::initCmpFlags(bDNA *memDNA)
{ {
// compare the file to memory // compare the file to memory
// this ptr should be the file data // this ptr should be the file data
assert(!(m_Names.size() == 0)); //DNA empty! assert(!(m_Names.size() == 0)); //DNA empty!
mCMPFlags.resize(mStructs.size(), FDF_NONE); mCMPFlags.resize(mStructs.size(), FDF_NONE);
int i; int i;
for (i = 0; i < (int)mStructs.size(); i++) for (i = 0; i < (int)mStructs.size(); i++)
{ {
@@ -213,8 +201,6 @@ void bDNA::initCmpFlags(bDNA *memDNA)
short *curStruct = memDNA->mStructs[oldLookup]; short *curStruct = memDNA->mStructs[oldLookup];
#endif #endif
// rebuild... // rebuild...
mCMPFlags[i] = FDF_STRUCT_NEQU; mCMPFlags[i] = FDF_STRUCT_NEQU;
@@ -228,11 +214,9 @@ void bDNA::initCmpFlags(bDNA *memDNA)
bool isSame = true; bool isSame = true;
int elementLength = oldStruct[1]; int elementLength = oldStruct[1];
curStruct += 2; curStruct += 2;
oldStruct += 2; oldStruct += 2;
for (int j = 0; j < elementLength; j++, curStruct += 2, oldStruct += 2) for (int j = 0; j < elementLength; j++, curStruct += 2, oldStruct += 2)
{ {
// type the same // type the same
@@ -260,10 +244,6 @@ void bDNA::initCmpFlags(bDNA *memDNA)
} }
} }
// recurse in // recurse in
for (i = 0; i < (int)mStructs.size(); i++) for (i = 0; i < (int)mStructs.size(); i++)
{ {
@@ -272,10 +252,8 @@ void bDNA::initCmpFlags(bDNA *memDNA)
} }
} }
static int name_is_array(char *name, int *dim1, int *dim2)
{
static int name_is_array(char* name, int* dim1, int* dim2) {
int len = strlen(name); int len = strlen(name);
/*fprintf(stderr,"[%s]",name);*/ /*fprintf(stderr,"[%s]",name);*/
/*if (len >= 1) { /*if (len >= 1) {
@@ -285,58 +263,77 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
return 0;*/ return 0;*/
char *bp; char *bp;
int num; int num;
if (dim1) { if (dim1)
{
*dim1 = 1; *dim1 = 1;
} }
if (dim2) { if (dim2)
{
*dim2 = 1; *dim2 = 1;
} }
bp = strchr(name, '['); bp = strchr(name, '[');
if (!bp) { if (!bp)
{
return 0; return 0;
} }
num = 0; num = 0;
while (++bp < name+len-1) { while (++bp < name + len - 1)
{
const char c = *bp; const char c = *bp;
if (c == ']') { if (c == ']')
{
break; break;
} }
if (c <= '9' && c >= '0') { if (c <= '9' && c >= '0')
{
num *= 10; num *= 10;
num += (c - '0'); num += (c - '0');
} else { }
else
{
printf("array parse error.\n"); printf("array parse error.\n");
return 0; return 0;
} }
} }
if (dim2) { if (dim2)
{
*dim2 = num; *dim2 = num;
} }
/* find second dim, if any. */ /* find second dim, if any. */
bp = strchr(bp, '['); bp = strchr(bp, '[');
if (!bp) { if (!bp)
{
return 1; /* at least we got the first dim. */ return 1; /* at least we got the first dim. */
} }
num = 0; num = 0;
while (++bp < name+len-1) { while (++bp < name + len - 1)
{
const char c = *bp; const char c = *bp;
if (c == ']') { if (c == ']')
{
break; break;
} }
if (c <= '9' && c >= '0') { if (c <= '9' && c >= '0')
{
num *= 10; num *= 10;
num += (c - '0'); num += (c - '0');
} else { }
else
{
printf("array2 parse error.\n"); printf("array2 parse error.\n");
return 1; return 1;
} }
} }
if (dim1) { if (dim1)
if (dim2) { {
if (dim2)
{
*dim1 = *dim2; *dim1 = *dim2;
*dim2 = num; *dim2 = num;
} else { }
else
{
*dim1 = num; *dim1 = num;
} }
} }
@@ -344,12 +341,13 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
return 1; return 1;
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
void bDNA::init(char *data, int len, bool swap) void bDNA::init(char *data, int len, bool swap)
{ {
int *intPtr=0;short *shtPtr=0; int *intPtr = 0;
char *cp = 0;int dataLen =0; short *shtPtr = 0;
char *cp = 0;
int dataLen = 0;
//long nr=0; //long nr=0;
intPtr = (int *)data; intPtr = (int *)data;
@@ -364,11 +362,10 @@ void bDNA::init(char *data, int len, bool swap)
if (strncmp(data, "SDNA", 4) == 0) if (strncmp(data, "SDNA", 4) == 0)
{ {
// skip ++ NAME // skip ++ NAME
intPtr++; intPtr++; intPtr++;
intPtr++;
} }
// Parse names // Parse names
if (swap) if (swap)
{ {
@@ -390,8 +387,6 @@ void bDNA::init(char *data, int len, bool swap)
cp++; cp++;
} }
cp = btAlignPointer(cp, 4); cp = btAlignPointer(cp, 4);
/* /*
@@ -402,7 +397,8 @@ void bDNA::init(char *data, int len, bool swap)
*/ */
intPtr = (int *)cp; intPtr = (int *)cp;
assert(strncmp(cp, "TYPE", 4)==0); intPtr++; assert(strncmp(cp, "TYPE", 4) == 0);
intPtr++;
if (swap) if (swap)
{ {
@@ -429,7 +425,8 @@ void bDNA::init(char *data, int len, bool swap)
// Parse type lens // Parse type lens
intPtr = (int *)cp; intPtr = (int *)cp;
assert(strncmp(cp, "TLEN", 4)==0); intPtr++; assert(strncmp(cp, "TLEN", 4) == 0);
intPtr++;
dataLen = (int)mTypes.size(); dataLen = (int)mTypes.size();
@@ -456,7 +453,8 @@ void bDNA::init(char *data, int len, bool swap)
intPtr = (int *)shtPtr; intPtr = (int *)shtPtr;
cp = (char *)intPtr; cp = (char *)intPtr;
assert(strncmp(cp, "STRC", 4)==0); intPtr++; assert(strncmp(cp, "STRC", 4) == 0);
intPtr++;
if (swap) if (swap)
{ {
@@ -465,7 +463,6 @@ void bDNA::init(char *data, int len, bool swap)
dataLen = *intPtr; dataLen = *intPtr;
intPtr++; intPtr++;
shtPtr = (short *)intPtr; shtPtr = (short *)intPtr;
for (i = 0; i < dataLen; i++) for (i = 0; i < dataLen; i++)
{ {
@@ -488,7 +485,6 @@ void bDNA::init(char *data, int len, bool swap)
shtPtr += (2 * shtPtr[1]) + 2; shtPtr += (2 * shtPtr[1]) + 2;
} }
// build reverse lookups // build reverse lookups
for (i = 0; i < (int)mStructs.size(); i++) for (i = 0; i < (int)mStructs.size(); i++)
{ {
@@ -503,14 +499,12 @@ void bDNA::init(char *data, int len, bool swap)
} }
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
int bDNA::getArraySize(char *string) int bDNA::getArraySize(char *string)
{ {
int ret = 1; int ret = 1;
int len = strlen(string); int len = strlen(string);
char *next = 0; char *next = 0;
for (int i = 0; i < len; i++) for (int i = 0; i < len; i++)
{ {
@@ -527,7 +521,6 @@ int bDNA::getArraySize(char* string)
return ret; return ret;
} }
void bDNA::dumpTypeDefinitions() void bDNA::dumpTypeDefinitions()
{ {
int i; int i;
@@ -536,7 +529,6 @@ void bDNA::dumpTypeDefinitions()
for (i = 0; i < numTypes; i++) for (i = 0; i < numTypes; i++)
{ {
} }
for (i = 0; i < (int)mStructs.size(); i++) for (i = 0; i < (int)mStructs.size(); i++)
@@ -562,7 +554,8 @@ void bDNA::dumpTypeDefinitions()
printf("{"); printf("{");
int j; int j;
for (j=0; j<len; ++j,oldStruct+=2) { for (j = 0; j < len; ++j, oldStruct += 2)
{
const char *name = m_Names[oldStruct[1]].m_name; const char *name = m_Names[oldStruct[1]].m_name;
printf("%s %s", mTypes[oldStruct[0]], name); printf("%s %s", mTypes[oldStruct[0]], name);
int elemNumBytes = 0; int elemNumBytes = 0;
@@ -571,25 +564,26 @@ void bDNA::dumpTypeDefinitions()
if (m_Names[oldStruct[1]].m_isPointer) if (m_Names[oldStruct[1]].m_isPointer)
{ {
elemNumBytes = VOID_IS_8 ? 8 : 4; elemNumBytes = VOID_IS_8 ? 8 : 4;
} else }
else
{ {
elemNumBytes = getLength(oldStruct[0]); elemNumBytes = getLength(oldStruct[0]);
} }
printf(" /* %d bytes */", elemNumBytes * arrayDimensions); printf(" /* %d bytes */", elemNumBytes * arrayDimensions);
if (j == len-1) { if (j == len - 1)
{
printf(";}"); printf(";}");
} else { }
else
{
printf("; "); printf("; ");
} }
totalBytes += elemNumBytes * arrayDimensions; totalBytes += elemNumBytes * arrayDimensions;
} }
printf("\ntotalBytes=%d\n\n", totalBytes); printf("\ntotalBytes=%d\n\n", totalBytes);
} }
#if 0 #if 0
/* dump out display of types and their sizes */ /* dump out display of types and their sizes */
for (i=0; i<bf->types_count; ++i) { for (i=0; i<bf->types_count; ++i) {
@@ -618,12 +612,6 @@ void bDNA::dumpTypeDefinitions()
} }
} }
#endif #endif
} }
//eof //eof

15
Extras/Serialize/BulletFileLoader/bDNA.h
View File

@@ -16,11 +16,10 @@ subject to the following restrictions:
#ifndef __BDNA_H__ #ifndef __BDNA_H__
#define __BDNA_H__ #define __BDNA_H__
#include "bCommon.h" #include "bCommon.h"
namespace bParse { namespace bParse
{
struct bNameInfo struct bNameInfo
{ {
char *m_name; char *m_name;
@@ -62,7 +61,6 @@ namespace bParse {
int getReverseType(short type); int getReverseType(short type);
int getReverseType(const char *type); int getReverseType(const char *type);
int getNumStructs(); int getNumStructs();
// //
@@ -73,12 +71,10 @@ namespace bParse {
bool flagEqual(int dna_nr); bool flagEqual(int dna_nr);
bool flagNone(int dna_nr); bool flagNone(int dna_nr);
int getPointerSize(); int getPointerSize();
void dumpTypeDefinitions(); void dumpTypeDefinitions();
private: private:
enum FileDNAFlags enum FileDNAFlags
{ {
@@ -99,12 +95,7 @@ namespace bParse {
btHashMap<btHashString, int> mTypeLookup; btHashMap<btHashString, int> mTypeLookup;
int mPtrLen; int mPtrLen;
}; };
} } // namespace bParse
#endif //__BDNA_H__ #endif //__BDNA_H__

47
Extras/Serialize/BulletFileLoader/bDefines.h
View File

@@ -19,11 +19,9 @@
#ifndef __B_DEFINES_H__ #ifndef __B_DEFINES_H__
#define __B_DEFINES_H__ #define __B_DEFINES_H__
// MISC defines, see BKE_global.h, BKE_utildefines.h // MISC defines, see BKE_global.h, BKE_utildefines.h
#define SIZEOFBLENDERHEADER 12 #define SIZEOFBLENDERHEADER 12
// ------------------------------------------------------------ // ------------------------------------------------------------
#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__) #if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
#define MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d)) #define MAKE_ID(a, b, c, d) ((int)(a) << 24 | (int)(b) << 16 | (c) << 8 | (d))
@@ -31,7 +29,6 @@
#define MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a)) #define MAKE_ID(a, b, c, d) ((int)(d) << 24 | (int)(c) << 16 | (b) << 8 | (a))
#endif #endif
// ------------------------------------------------------------ // ------------------------------------------------------------
#if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__) #if defined(__sgi) || defined(__sparc) || defined(__sparc__) || defined(__PPC__) || defined(__ppc__) || defined(__BIG_ENDIAN__)
#define MAKE_ID2(c, d) ((c) << 8 | (d)) #define MAKE_ID2(c, d) ((c) << 8 | (d))
@@ -77,7 +74,6 @@
#define ID_NT MAKE_ID2('N', 'T') #define ID_NT MAKE_ID2('N', 'T')
#define ID_BR MAKE_ID2('B', 'R') #define ID_BR MAKE_ID2('B', 'R')
#define ID_SEQ MAKE_ID2('S', 'Q') #define ID_SEQ MAKE_ID2('S', 'Q')
#define ID_CO MAKE_ID2('C', 'O') #define ID_CO MAKE_ID2('C', 'O')
#define ID_PO MAKE_ID2('A', 'C') #define ID_PO MAKE_ID2('A', 'C')
@@ -86,7 +82,6 @@
#define ID_VS MAKE_ID2('V', 'S') #define ID_VS MAKE_ID2('V', 'S')
#define ID_VN MAKE_ID2('V', 'N') #define ID_VN MAKE_ID2('V', 'N')
// ------------------------------------------------------------ // ------------------------------------------------------------
#define FORM MAKE_ID('F', 'O', 'R', 'M') #define FORM MAKE_ID('F', 'O', 'R', 'M')
#define DDG1 MAKE_ID('3', 'D', 'G', '1') #define DDG1 MAKE_ID('3', 'D', 'G', '1')
@@ -102,7 +97,6 @@
#define IMAG MAKE_ID('I', 'M', 'A', 'G') #define IMAG MAKE_ID('I', 'M', 'A', 'G')
#define USER MAKE_ID('U', 'S', 'E', 'R') #define USER MAKE_ID('U', 'S', 'E', 'R')
// ------------------------------------------------------------ // ------------------------------------------------------------
#define DNA1 MAKE_ID('D', 'N', 'A', '1') #define DNA1 MAKE_ID('D', 'N', 'A', '1')
#define REND MAKE_ID('R', 'E', 'N', 'D') #define REND MAKE_ID('R', 'E', 'N', 'D')
@@ -113,27 +107,46 @@
#define TLEN MAKE_ID('T', 'L', 'E', 'N') #define TLEN MAKE_ID('T', 'L', 'E', 'N')
#define STRC MAKE_ID('S', 'T', 'R', 'C') #define STRC MAKE_ID('S', 'T', 'R', 'C')
// ------------------------------------------------------------ // ------------------------------------------------------------
#define SWITCH_INT(a) { \ #define SWITCH_INT(a) \
{ \
char s_i, *p_i; \ char s_i, *p_i; \
p_i = (char *)&(a); \ p_i = (char *)&(a); \
s_i=p_i[0]; p_i[0]=p_i[3]; p_i[3]=s_i; \ s_i = p_i[0]; \
s_i=p_i[1]; p_i[1]=p_i[2]; p_i[2]=s_i; } p_i[0] = p_i[3]; \
p_i[3] = s_i; \
s_i = p_i[1]; \
p_i[1] = p_i[2]; \
p_i[2] = s_i; \
}
// ------------------------------------------------------------ // ------------------------------------------------------------
#define SWITCH_SHORT(a) { \ #define SWITCH_SHORT(a) \
{ \
char s_i, *p_i; \ char s_i, *p_i; \
p_i = (char *)&(a); \ p_i = (char *)&(a); \
s_i=p_i[0]; p_i[0]=p_i[1]; p_i[1]=s_i; } s_i = p_i[0]; \
p_i[0] = p_i[1]; \
p_i[1] = s_i; \
}
// ------------------------------------------------------------ // ------------------------------------------------------------
#define SWITCH_LONGINT(a) { \ #define SWITCH_LONGINT(a) \
{ \
char s_i, *p_i; \ char s_i, *p_i; \
p_i = (char *)&(a); \ p_i = (char *)&(a); \
s_i=p_i[0]; p_i[0]=p_i[7]; p_i[7]=s_i; \ s_i = p_i[0]; \
s_i=p_i[1]; p_i[1]=p_i[6]; p_i[6]=s_i; \ p_i[0] = p_i[7]; \
s_i=p_i[2]; p_i[2]=p_i[5]; p_i[5]=s_i; \ p_i[7] = s_i; \
s_i=p_i[3]; p_i[3]=p_i[4]; p_i[4]=s_i; } s_i = p_i[1]; \
p_i[1] = p_i[6]; \
p_i[6] = s_i; \
s_i = p_i[2]; \
p_i[2] = p_i[5]; \
p_i[5] = s_i; \
s_i = p_i[3]; \
p_i[3] = p_i[4]; \
p_i[4] = s_i; \
}
#endif //__B_DEFINES_H__ #endif //__B_DEFINES_H__

222
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@@ -39,7 +39,8 @@ const char* getCleanName(const char* memName, char* buffer)
if (memName[i] == ']' || memName[i] == '[') if (memName[i] == ']' || memName[i] == '[')
{ {
buffer[i] = 0; //'_'; buffer[i] = 0; //'_';
} else }
else
{ {
buffer[i] = memName[i]; buffer[i] = memName[i];
} }
@@ -48,7 +49,6 @@ const char* getCleanName(const char* memName, char* buffer)
return buffer; return buffer;
} }
int numallocs = 0; int numallocs = 0;
// ----------------------------------------------------- // // ----------------------------------------------------- //
@@ -82,7 +82,6 @@ bFile::bFile(const char *filename, const char headerString[7])
// //
parseHeader(); parseHeader();
} }
} }
@@ -105,10 +104,8 @@ bFile::bFile( char *memoryBuffer, int len, const char headerString[7])
mFileLen = len; mFileLen = len;
parseHeader(); parseHeader();
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
bFile::~bFile() bFile::~bFile()
{ {
@@ -118,15 +115,10 @@ bFile::~bFile()
mFileBuffer = 0; mFileBuffer = 0;
} }
delete mMemoryDNA; delete mMemoryDNA;
delete mFileDNA; delete mFileDNA;
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
void bFile::parseHeader() void bFile::parseHeader()
{ {
@@ -166,7 +158,8 @@ void bFile::parseHeader()
if (!VOID_IS_8) if (!VOID_IS_8)
mFlags |= FD_BITS_VARIES; mFlags |= FD_BITS_VARIES;
} }
else if (VOID_IS_8) mFlags |= FD_BITS_VARIES; else if (VOID_IS_8)
mFlags |= FD_BITS_VARIES;
// swap endian... // swap endian...
if (header[8] == 'V') if (header[8] == 'V')
@@ -174,11 +167,9 @@ void bFile::parseHeader()
if (littleEndian == 1) if (littleEndian == 1)
mFlags |= FD_ENDIAN_SWAP; mFlags |= FD_ENDIAN_SWAP;
} }
else else if (littleEndian == 0)
if (littleEndian==0)
mFlags |= FD_ENDIAN_SWAP; mFlags |= FD_ENDIAN_SWAP;
mFlags |= FD_OK; mFlags |= FD_OK;
} }
@@ -232,9 +223,11 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
{ {
if (strncmp((tempBuffer + ChunkUtils::getOffset(mFlags)), "SDNANAME", 8) == 0) if (strncmp((tempBuffer + ChunkUtils::getOffset(mFlags)), "SDNANAME", 8) == 0)
dna.oldPtr = (tempBuffer + ChunkUtils::getOffset(mFlags)); dna.oldPtr = (tempBuffer + ChunkUtils::getOffset(mFlags));
else dna.oldPtr = 0; else
dna.oldPtr = 0;
} }
else dna.oldPtr = 0; else
dna.oldPtr = 0;
} }
// Some Bullet files are missing the DNA1 block // Some Bullet files are missing the DNA1 block
// In Blender it's DNA1 + ChunkUtils::getOffset() + SDNA + NAME // In Blender it's DNA1 + ChunkUtils::getOffset() + SDNA + NAME
@@ -258,14 +251,11 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
return; return;
} }
mFileDNA = new bDNA(); mFileDNA = new bDNA();
///mFileDNA->init will convert part of DNA file endianness to current CPU endianness if necessary ///mFileDNA->init will convert part of DNA file endianness to current CPU endianness if necessary
mFileDNA->init((char *)dna.oldPtr, dna.len, (mFlags & FD_ENDIAN_SWAP) != 0); mFileDNA->init((char *)dna.oldPtr, dna.len, (mFlags & FD_ENDIAN_SWAP) != 0);
if (mVersion == 276) if (mVersion == 276)
{ {
int i; int i;
@@ -282,8 +272,6 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
} }
} }
if (verboseMode & FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS) if (verboseMode & FD_VERBOSE_DUMP_DNA_TYPE_DEFINITIONS)
mFileDNA->dumpTypeDefinitions(); mFileDNA->dumpTypeDefinitions();
} }
@@ -293,9 +281,6 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
mMemoryDNA->init(memDna, memDnaLength, littleEndian == 0); mMemoryDNA->init(memDna, memDnaLength, littleEndian == 0);
///@todo we need a better version check, add version/sub version info from FileGlobal into memory DNA/header files ///@todo we need a better version check, add version/sub version info from FileGlobal into memory DNA/header files
if (mMemoryDNA->getNumNames() != mFileDNA->getNumNames()) if (mMemoryDNA->getNumNames() != mFileDNA->getNumNames())
{ {
@@ -309,7 +294,6 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
//printf ("Warning, file DNA is newer than built in."); //printf ("Warning, file DNA is newer than built in.");
} }
mFileDNA->initCmpFlags(mMemoryDNA); mFileDNA->initCmpFlags(mMemoryDNA);
parseData(); parseData();
@@ -317,20 +301,14 @@ void bFile::parseInternal(int verboseMode, char* memDna,int memDnaLength)
resolvePointers(verboseMode); resolvePointers(verboseMode);
updateOldPointers(); updateOldPointers();
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
void bFile::swap(char *head, bChunkInd &dataChunk, bool ignoreEndianFlag) void bFile::swap(char *head, bChunkInd &dataChunk, bool ignoreEndianFlag)
{ {
char *data = head; char *data = head;
short *strc = mFileDNA->getStruct(dataChunk.dna_nr); short *strc = mFileDNA->getStruct(dataChunk.dna_nr);
const char s[] = "SoftBodyMaterialData"; const char s[] = "SoftBodyMaterialData";
int szs = sizeof(s); int szs = sizeof(s);
if (strncmp((char *)&dataChunk.code, "ARAY", 4) == 0) if (strncmp((char *)&dataChunk.code, "ARAY", 4) == 0)
@@ -343,7 +321,6 @@ void bFile::swap(char *head, bChunkInd& dataChunk, bool ignoreEndianFlag)
} }
} }
int len = mFileDNA->getLength(strc[0]); int len = mFileDNA->getLength(strc[0]);
for (int i = 0; i < dataChunk.nr; i++) for (int i = 0; i < dataChunk.nr; i++)
@@ -366,7 +343,8 @@ void bFile::swapLen(char *dataPtr)
SWITCH_INT(c->len); SWITCH_INT(c->len);
SWITCH_INT(c->dna_nr); SWITCH_INT(c->dna_nr);
SWITCH_INT(c->nr); SWITCH_INT(c->nr);
} else }
else
{ {
bChunkPtr8 *c = (bChunkPtr8 *)dataPtr; bChunkPtr8 *c = (bChunkPtr8 *)dataPtr;
if ((c->code & 0xFFFF) == 0) if ((c->code & 0xFFFF) == 0)
@@ -374,9 +352,9 @@ void bFile::swapLen(char *dataPtr)
SWITCH_INT(c->len); SWITCH_INT(c->len);
SWITCH_INT(c->dna_nr); SWITCH_INT(c->dna_nr);
SWITCH_INT(c->nr); SWITCH_INT(c->nr);
} }
} else }
else
{ {
if (mFlags & FD_BITS_VARIES) if (mFlags & FD_BITS_VARIES)
{ {
@@ -386,8 +364,8 @@ void bFile::swapLen(char *dataPtr)
SWITCH_INT(c->len); SWITCH_INT(c->len);
SWITCH_INT(c->dna_nr); SWITCH_INT(c->dna_nr);
SWITCH_INT(c->nr); SWITCH_INT(c->nr);
}
} else else
{ {
bChunkPtr4 *c = (bChunkPtr4 *)dataPtr; bChunkPtr4 *c = (bChunkPtr4 *)dataPtr;
if ((c->code & 0xFFFF) == 0) if ((c->code & 0xFFFF) == 0)
@@ -396,13 +374,10 @@ void bFile::swapLen(char *dataPtr)
SWITCH_INT(c->dna_nr); SWITCH_INT(c->dna_nr);
SWITCH_INT(c->nr); SWITCH_INT(c->nr);
} }
} }
} }
void bFile::swapDNA(char *ptr) void bFile::swapDNA(char *ptr)
{ {
bool swap = ((mFlags & FD_ENDIAN_SWAP) != 0); bool swap = ((mFlags & FD_ENDIAN_SWAP) != 0);
@@ -411,8 +386,10 @@ void bFile::swapDNA(char* ptr)
char *data = &ptr[offset]; char *data = &ptr[offset];
// void bDNA::init(char *data, int len, bool swap) // void bDNA::init(char *data, int len, bool swap)
int *intPtr=0;short *shtPtr=0; int *intPtr = 0;
char *cp = 0;int dataLen =0; short *shtPtr = 0;
char *cp = 0;
int dataLen = 0;
intPtr = (int *)data; intPtr = (int *)data;
/* /*
@@ -428,9 +405,9 @@ void bFile::swapDNA(char* ptr)
// skip ++ NAME // skip ++ NAME
intPtr++; intPtr++;
intPtr++; intPtr++;
} else }
else
{ {
if (strncmp(data + 4, "SDNA", 4) == 0) if (strncmp(data + 4, "SDNA", 4) == 0)
{ {
// skip ++ NAME // skip ++ NAME
@@ -440,9 +417,6 @@ void bFile::swapDNA(char* ptr)
} }
} }
// Parse names // Parse names
if (swap) if (swap)
dataLen = ChunkUtils::swapInt(*intPtr); dataLen = ChunkUtils::swapInt(*intPtr);
@@ -460,10 +434,8 @@ void bFile::swapDNA(char* ptr)
cp++; cp++;
} }
cp = btAlignPointer(cp, 4); cp = btAlignPointer(cp, 4);
/* /*
TYPE (4 bytes) TYPE (4 bytes)
<nr> amount of types (int) <nr> amount of types (int)
@@ -472,7 +444,8 @@ void bFile::swapDNA(char* ptr)
*/ */
intPtr = (int *)cp; intPtr = (int *)cp;
assert(strncmp(cp, "TYPE", 4)==0); intPtr++; assert(strncmp(cp, "TYPE", 4) == 0);
intPtr++;
if (swap) if (swap)
dataLen = ChunkUtils::swapInt(*intPtr); dataLen = ChunkUtils::swapInt(*intPtr);
@@ -500,8 +473,8 @@ void bFile::swapDNA(char* ptr)
// Parse type lens // Parse type lens
intPtr = (int *)cp; intPtr = (int *)cp;
assert(strncmp(cp, "TLEN", 4)==0); intPtr++; assert(strncmp(cp, "TLEN", 4) == 0);
intPtr++;
shtPtr = (short *)intPtr; shtPtr = (short *)intPtr;
for (i = 0; i < dataLen; i++, shtPtr++) for (i = 0; i < dataLen; i++, shtPtr++)
@@ -538,11 +511,9 @@ void bFile::swapDNA(char* ptr)
intPtr++; intPtr++;
shtPtr = (short *)intPtr; shtPtr = (short *)intPtr;
for (i = 0; i < dataLen; i++) for (i = 0; i < dataLen; i++)
{ {
//if (swap) //if (swap)
{ {
int len = shtPtr[1]; int len = shtPtr[1];
@@ -561,7 +532,6 @@ void bFile::swapDNA(char* ptr)
// else // else
// shtPtr+= (2*shtPtr[1])+2; // shtPtr+= (2*shtPtr[1])+2;
} }
} }
void bFile::writeFile(const char *fileName) void bFile::writeFile(const char *fileName)
@@ -573,14 +543,12 @@ void bFile::writeFile(const char* fileName)
void bFile::preSwap() void bFile::preSwap()
{ {
//const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0; //const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
//FD_ENDIAN_SWAP //FD_ENDIAN_SWAP
//byte 8 determines the endianness of the file, little (v) versus big (V) //byte 8 determines the endianness of the file, little (v) versus big (V)
int littleEndian = 1; int littleEndian = 1;
littleEndian = ((char *)&littleEndian)[0]; littleEndian = ((char *)&littleEndian)[0];
if (mFileBuffer[8] == 'V') if (mFileBuffer[8] == 'V')
{ {
mFileBuffer[8] = 'v'; mFileBuffer[8] = 'v';
@@ -590,11 +558,6 @@ void bFile::preSwap()
mFileBuffer[8] = 'V'; mFileBuffer[8] = 'V';
} }
mDataStart = 12; mDataStart = 12;
char *dataPtr = mFileBuffer + mDataStart; char *dataPtr = mFileBuffer + mDataStart;
@@ -614,10 +577,10 @@ void bFile::preSwap()
// one behind // one behind
if (dataChunk.code == SDNA || dataChunk.code == DNA1 || dataChunk.code == TYPE || dataChunk.code == TLEN || dataChunk.code == STRC) if (dataChunk.code == SDNA || dataChunk.code == DNA1 || dataChunk.code == TYPE || dataChunk.code == TLEN || dataChunk.code == STRC)
{ {
swapDNA(dataPtr); swapDNA(dataPtr);
break; break;
} else }
else
{ {
//if (dataChunk.code == DNA1) break; //if (dataChunk.code == DNA1) break;
dataPtrHead = dataPtr + ChunkUtils::getOffset(mFlags); dataPtrHead = dataPtr + ChunkUtils::getOffset(mFlags);
@@ -626,7 +589,8 @@ void bFile::preSwap()
if (dataChunk.dna_nr >= 0) if (dataChunk.dna_nr >= 0)
{ {
swap(dataPtrHead, dataChunk, ignoreEndianFlag); swap(dataPtrHead, dataChunk, ignoreEndianFlag);
} else }
else
{ {
//printf("unknown chunk\n"); //printf("unknown chunk\n");
} }
@@ -643,16 +607,13 @@ void bFile::preSwap()
if (mFlags & FD_ENDIAN_SWAP) if (mFlags & FD_ENDIAN_SWAP)
{ {
mFlags &= ~FD_ENDIAN_SWAP; mFlags &= ~FD_ENDIAN_SWAP;
} else }
else
{ {
mFlags |= FD_ENDIAN_SWAP; mFlags |= FD_ENDIAN_SWAP;
} }
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
char *bFile::readStruct(char *head, bChunkInd &dataChunk) char *bFile::readStruct(char *head, bChunkInd &dataChunk)
{ {
@@ -661,8 +622,6 @@ char* bFile::readStruct(char *head, bChunkInd& dataChunk)
if (mFlags & FD_ENDIAN_SWAP) if (mFlags & FD_ENDIAN_SWAP)
swap(head, dataChunk, ignoreEndianFlag); swap(head, dataChunk, ignoreEndianFlag);
if (!mFileDNA->flagEqual(dataChunk.dna_nr)) if (!mFileDNA->flagEqual(dataChunk.dna_nr))
{ {
// Ouch! need to rebuild the struct // Ouch! need to rebuild the struct
@@ -670,7 +629,6 @@ char* bFile::readStruct(char *head, bChunkInd& dataChunk)
char *oldType, *newType; char *oldType, *newType;
int oldLen, curLen, reverseOld; int oldLen, curLen, reverseOld;
oldStruct = mFileDNA->getStruct(dataChunk.dna_nr); oldStruct = mFileDNA->getStruct(dataChunk.dna_nr);
oldType = mFileDNA->getType(oldStruct[0]); oldType = mFileDNA->getType(oldStruct[0]);
@@ -702,8 +660,6 @@ char* bFile::readStruct(char *head, bChunkInd& dataChunk)
} }
} }
///don't try to convert Link block data, just memcpy it. Other data can be converted. ///don't try to convert Link block data, just memcpy it. Other data can be converted.
if (strcmp("Link", oldType) != 0) if (strcmp("Link", oldType) != 0)
{ {
@@ -719,12 +675,9 @@ char* bFile::readStruct(char *head, bChunkInd& dataChunk)
newType = mMemoryDNA->getType(curStruct[0]); newType = mMemoryDNA->getType(curStruct[0]);
curLen = mMemoryDNA->getLength(curStruct[0]); curLen = mMemoryDNA->getLength(curStruct[0]);
// make sure it's the same // make sure it's the same
assert((strcmp(oldType, newType) == 0) && "internal error, struct mismatch!"); assert((strcmp(oldType, newType) == 0) && "internal error, struct mismatch!");
numallocs++; numallocs++;
// numBlocks * length // numBlocks * length
@@ -748,11 +701,13 @@ char* bFile::readStruct(char *head, bChunkInd& dataChunk)
} }
return dataAlloc; return dataAlloc;
} }
} else }
else
{ {
//printf("Link found\n"); //printf("Link found\n");
} }
} else }
else
{ {
//#define DEBUG_EQUAL_STRUCTS //#define DEBUG_EQUAL_STRUCTS
#ifdef DEBUG_EQUAL_STRUCTS #ifdef DEBUG_EQUAL_STRUCTS
@@ -764,20 +719,16 @@ char* bFile::readStruct(char *head, bChunkInd& dataChunk)
#endif // #endif //
} }
char *dataAlloc = new char[(dataChunk.len) + 1]; char *dataAlloc = new char[(dataChunk.len) + 1];
memset(dataAlloc, 0, dataChunk.len + 1); memset(dataAlloc, 0, dataChunk.len + 1);
// track allocated // track allocated
addDataBlock(dataAlloc); addDataBlock(dataAlloc);
memcpy(dataAlloc, head, dataChunk.len); memcpy(dataAlloc, head, dataChunk.len);
return dataAlloc; return dataAlloc;
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bool fixupPointers) void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bool fixupPointers)
{ {
@@ -800,13 +751,11 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
int elementLength, size, revType, old_nr, new_nr, fpLen; int elementLength, size, revType, old_nr, new_nr, fpLen;
short firstStructType; short firstStructType;
// File to memory lookup // File to memory lookup
memoryStruct = mMemoryDNA->getStruct(new_dna); memoryStruct = mMemoryDNA->getStruct(new_dna);
fileStruct = mFileDNA->getStruct(old_dna); fileStruct = mFileDNA->getStruct(old_dna);
firstStruct = fileStruct; firstStruct = fileStruct;
filePtrOld = fileStruct; filePtrOld = fileStruct;
firstStructType = mMemoryDNA->getStruct(0)[0]; firstStructType = mMemoryDNA->getStruct(0)[0];
@@ -814,13 +763,13 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
elementLength = memoryStruct[1]; elementLength = memoryStruct[1];
memoryStruct += 2; memoryStruct += 2;
cpc = strcPtr; cpo = 0; cpc = strcPtr;
cpo = 0;
for (int ele = 0; ele < elementLength; ele++, memoryStruct += 2) for (int ele = 0; ele < elementLength; ele++, memoryStruct += 2)
{ {
memType = mMemoryDNA->getType(memoryStruct[0]); memType = mMemoryDNA->getType(memoryStruct[0]);
memName = mMemoryDNA->getName(memoryStruct[1]); memName = mMemoryDNA->getName(memoryStruct[1]);
size = mMemoryDNA->getElementSize(memoryStruct[0], memoryStruct[1]); size = mMemoryDNA->getElementSize(memoryStruct[0], memoryStruct[1]);
revType = mMemoryDNA->getReverseType(memoryStruct[0]); revType = mMemoryDNA->getReverseType(memoryStruct[0]);
@@ -836,7 +785,8 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
if (arrayLen == 1) if (arrayLen == 1)
{ {
parseStruct(cpc, cpo, old_nr, new_nr, fixupPointers); parseStruct(cpc, cpo, old_nr, new_nr, fixupPointers);
} else }
else
{ {
char *tmpCpc = cpc; char *tmpCpc = cpc;
char *tmpCpo = cpo; char *tmpCpo = cpo;
@@ -859,11 +809,9 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
getMatchingFileDNA(fileStruct, memName, memType, cpc, dtPtr, fixupPointers); getMatchingFileDNA(fileStruct, memName, memType, cpc, dtPtr, fixupPointers);
cpc += size; cpc += size;
} }
} }
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
static void getElement(int arrayLen, const char *cur, const char *old, char *oldPtr, char *curData) static void getElement(int arrayLen, const char *cur, const char *old, char *oldPtr, char *curData)
{ {
@@ -901,7 +849,6 @@ static void getElement(int arrayLen, const char *cur, const char *old, char *old
} }
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
void bFile::swapData(char *data, short type, int arraySize, bool ignoreEndianFlag) void bFile::swapData(char *data, short type, int arraySize, bool ignoreEndianFlag)
{ {
@@ -934,8 +881,6 @@ void bFile::swapData(char *data, short type, int arraySize,bool ignoreEndianFlag
} }
} }
void bFile::safeSwapPtr(char *dst, const char *src) void bFile::safeSwapPtr(char *dst, const char *src)
{ {
int ptrFile = mFileDNA->getPointerSize(); int ptrFile = mFileDNA->getPointerSize();
@@ -944,7 +889,6 @@ void bFile::safeSwapPtr(char *dst, const char *src)
if (!src && !dst) if (!src && !dst)
return; return;
if (ptrFile == ptrMem) if (ptrFile == ptrMem)
{ {
memcpy(dst, src, ptrMem); memcpy(dst, src, ptrMem);
@@ -959,7 +903,8 @@ void bFile::safeSwapPtr(char *dst, const char *src)
//Bullet stores the 32bit unique ID in both upper and lower part of 64bit pointers //Bullet stores the 32bit unique ID in both upper and lower part of 64bit pointers
//so it can be used to distinguish between .blend and .bullet //so it can be used to distinguish between .blend and .bullet
newPtr->m_uniqueIds[0] = oldPtr->m_uniqueIds[0]; newPtr->m_uniqueIds[0] = oldPtr->m_uniqueIds[0];
} else }
else
{ {
//deal with pointers the Blender .blend style way, see //deal with pointers the Blender .blend style way, see
//readfile.c in the Blender source tree //readfile.c in the Blender source tree
@@ -969,7 +914,6 @@ void bFile::safeSwapPtr(char *dst, const char *src)
SWITCH_LONGINT(longValue); SWITCH_LONGINT(longValue);
*((int *)dst) = (int)(longValue >> 3); *((int *)dst) = (int)(longValue >> 3);
} }
} }
else if (ptrMem == 8 && ptrFile == 4) else if (ptrMem == 8 && ptrFile == 4)
{ {
@@ -979,7 +923,8 @@ void bFile::safeSwapPtr(char *dst, const char *src)
{ {
newPtr->m_uniqueIds[0] = oldPtr->m_uniqueIds[0]; newPtr->m_uniqueIds[0] = oldPtr->m_uniqueIds[0];
newPtr->m_uniqueIds[1] = 0; newPtr->m_uniqueIds[1] = 0;
} else }
else
{ {
*((long64 *)dst) = *((int *)src); *((long64 *)dst) = *((int *)src);
} }
@@ -989,11 +934,8 @@ void bFile::safeSwapPtr(char *dst, const char *src)
printf("%d %d\n", ptrFile, ptrMem); printf("%d %d\n", ptrFile, ptrMem);
assert(0 && "Invalid pointer len"); assert(0 && "Invalid pointer len");
} }
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
void bFile::getMatchingFileDNA(short *dna_addr, const char *lookupName, const char *lookupType, char *strcData, char *data, bool fixupPointers) void bFile::getMatchingFileDNA(short *dna_addr, const char *lookupName, const char *lookupType, char *strcData, char *data, bool fixupPointers)
{ {
@@ -1009,8 +951,6 @@ void bFile::getMatchingFileDNA(short* dna_addr, const char* lookupName, const c
const char *type = mFileDNA->getType(dna_addr[0]); const char *type = mFileDNA->getType(dna_addr[0]);
const char *name = mFileDNA->getName(dna_addr[1]); const char *name = mFileDNA->getName(dna_addr[1]);
int eleLen = mFileDNA->getElementSize(dna_addr[0], dna_addr[1]); int eleLen = mFileDNA->getElementSize(dna_addr[0], dna_addr[1]);
if ((mFlags & FD_BROKEN_DNA) != 0) if ((mFlags & FD_BROKEN_DNA) != 0)
@@ -1065,7 +1005,6 @@ void bFile::getMatchingFileDNA(short* dna_addr, const char* lookupName, const c
{ {
// printf("skipped %s %s : %x\n",type.c_str(),name.c_str(),strcData); // printf("skipped %s %s : %x\n",type.c_str(),name.c_str(),strcData);
} }
} }
else if (strcmp(type, lookupType) == 0) else if (strcmp(type, lookupType) == 0)
@@ -1080,7 +1019,6 @@ void bFile::getMatchingFileDNA(short* dna_addr, const char* lookupName, const c
} }
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
char *bFile::getFileElement(short *firstStruct, char *lookupName, char *lookupType, char *data, short **foundPos) char *bFile::getFileElement(short *firstStruct, char *lookupName, char *lookupType, char *data, short **foundPos)
{ {
@@ -1109,7 +1047,6 @@ char* bFile::getFileElement(short *firstStruct, char *lookupName, char *lookupTy
return 0; return 0;
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
void bFile::swapStruct(int dna_nr, char *data, bool ignoreEndianFlag) void bFile::swapStruct(int dna_nr, char *data, bool ignoreEndianFlag)
{ {
@@ -1137,7 +1074,8 @@ void bFile::swapStruct(int dna_nr, char *data,bool ignoreEndianFlag)
if (arrayLen == 1) if (arrayLen == 1)
{ {
swapStruct(old_nr, buf, ignoreEndianFlag); swapStruct(old_nr, buf, ignoreEndianFlag);
} else }
else
{ {
char *tmpBuf = buf; char *tmpBuf = buf;
for (int i = 0; i < arrayLen; i++) for (int i = 0; i < arrayLen; i++)
@@ -1174,13 +1112,13 @@ void bFile::resolvePointersMismatch()
{ {
//printf("Fixup pointer!\n"); //printf("Fixup pointer!\n");
*(ptrptr) = ptr; *(ptrptr) = ptr;
} else }
else
{ {
// printf("pointer not found: %x\n",cur); // printf("pointer not found: %x\n",cur);
} }
} }
for (i = 0; i < m_pointerPtrFixupArray.size(); i++) for (i = 0; i < m_pointerPtrFixupArray.size(); i++)
{ {
char *cur = m_pointerPtrFixupArray.at(i); char *cur = m_pointerPtrFixupArray.at(i);
@@ -1192,7 +1130,6 @@ void bFile::resolvePointersMismatch()
int ptrMem = mMemoryDNA->getPointerSize(); int ptrMem = mMemoryDNA->getPointerSize();
int ptrFile = mFileDNA->getPointerSize(); int ptrFile = mFileDNA->getPointerSize();
int blockLen = block->len / ptrFile; int blockLen = block->len / ptrFile;
void *onptr = findLibPointer(*ptrptr); void *onptr = findLibPointer(*ptrptr);
@@ -1224,7 +1161,6 @@ void bFile::resolvePointersMismatch()
} }
} }
///this loop only works fine if the Blender DNA structure of the file matches the headerfiles ///this loop only works fine if the Blender DNA structure of the file matches the headerfiles
void bFile::resolvePointersChunk(const bChunkInd &dataChunk, int verboseMode) void bFile::resolvePointersChunk(const bChunkInd &dataChunk, int verboseMode)
{ {
@@ -1242,17 +1178,14 @@ void bFile::resolvePointersChunk(const bChunkInd& dataChunk, int verboseMode)
} }
} }
int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verboseMode, int recursion) int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verboseMode, int recursion)
{ {
bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA; bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
char *memType; char *memType;
char *memName; char *memName;
short firstStructType = fileDna->getStruct(0)[0]; short firstStructType = fileDna->getStruct(0)[0];
char *elemPtr = strcPtr; char *elemPtr = strcPtr;
short int *oldStruct = fileDna->getStruct(dna_nr); short int *oldStruct = fileDna->getStruct(dna_nr);
@@ -1264,12 +1197,9 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
for (int ele = 0; ele < elementLength; ele++, oldStruct += 2) for (int ele = 0; ele < elementLength; ele++, oldStruct += 2)
{ {
memType = fileDna->getType(oldStruct[0]); memType = fileDna->getType(oldStruct[0]);
memName = fileDna->getName(oldStruct[1]); memName = fileDna->getName(oldStruct[1]);
int arrayLen = fileDna->getArraySizeNew(oldStruct[1]); int arrayLen = fileDna->getArraySizeNew(oldStruct[1]);
if (memName[0] == '*') if (memName[0] == '*')
{ {
@@ -1326,12 +1256,14 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
n++; n++;
} }
} }
} else }
else
{ {
// printf("Cannot fixup pointer at 0x%x from 0x%x to 0x%x!\n",ptrptr,*ptrptr,ptr); // printf("Cannot fixup pointer at 0x%x from 0x%x to 0x%x!\n",ptrptr,*ptrptr,ptr);
} }
} }
} else }
else
{ {
int revType = fileDna->getReverseType(oldStruct[0]); int revType = fileDna->getReverseType(oldStruct[0]);
if (oldStruct[0] >= firstStructType) //revType != -1 && if (oldStruct[0] >= firstStructType) //revType != -1 &&
@@ -1352,7 +1284,8 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
if (arrayLen > 1) if (arrayLen > 1)
{ {
printf("<%s type=\"%s\" count=%d>\n", cleanName, memType, arrayLen); printf("<%s type=\"%s\" count=%d>\n", cleanName, memType, arrayLen);
} else }
else
{ {
printf("<%s type=\"%s\">\n", cleanName, memType); printf("<%s type=\"%s\">\n", cleanName, memType);
} }
@@ -1370,16 +1303,17 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
} }
printf("</%s>\n", cleanName); printf("</%s>\n", cleanName);
} }
} else }
else
{ {
//export a simple type //export a simple type
if (verboseMode & FD_VERBOSE_EXPORT_XML) if (verboseMode & FD_VERBOSE_EXPORT_XML)
{ {
if (arrayLen > MAX_ARRAY_LENGTH) if (arrayLen > MAX_ARRAY_LENGTH)
{ {
printf("too long\n"); printf("too long\n");
} else }
else
{ {
//printf("%s %s\n",memType,memName); //printf("%s %s\n",memType,memName);
@@ -1409,7 +1343,8 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
printf(" %d ", dbPtr[i]); printf(" %d ", dbPtr[i]);
printf("</%s>\n", cleanName); printf("</%s>\n", cleanName);
} }
} else }
else
{ {
const char *newtype = "double"; const char *newtype = "double";
double dbarray[MAX_ARRAY_LENGTH]; double dbarray[MAX_ARRAY_LENGTH];
@@ -1439,7 +1374,6 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
} }
} }
} }
} }
} }
} }
@@ -1447,13 +1381,11 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
int size = fileDna->getElementSize(oldStruct[0], oldStruct[1]); int size = fileDna->getElementSize(oldStruct[0], oldStruct[1]);
totalSize += size; totalSize += size;
elemPtr += size; elemPtr += size;
} }
return totalSize; return totalSize;
} }
///Resolve pointers replaces the original pointers in structures, and linked lists by the new in-memory structures ///Resolve pointers replaces the original pointers in structures, and linked lists by the new in-memory structures
void bFile::resolvePointers(int verboseMode) void bFile::resolvePointers(int verboseMode)
{ {
@@ -1467,7 +1399,6 @@ void bFile::resolvePointers(int verboseMode)
} }
{ {
if (verboseMode & FD_VERBOSE_EXPORT_XML) if (verboseMode & FD_VERBOSE_EXPORT_XML)
{ {
printf("<?xml version=\"1.0\" encoding=\"utf-8\"?>\n"); printf("<?xml version=\"1.0\" encoding=\"utf-8\"?>\n");
@@ -1491,7 +1422,8 @@ void bFile::resolvePointers(int verboseMode)
if (verboseMode & FD_VERBOSE_EXPORT_XML) if (verboseMode & FD_VERBOSE_EXPORT_XML)
printf(" </%s>\n", oldType); printf(" </%s>\n", oldType);
} else }
else
{ {
//printf("skipping mStruct\n"); //printf("skipping mStruct\n");
} }
@@ -1501,22 +1433,17 @@ void bFile::resolvePointers(int verboseMode)
printf("</bullet_physics>\n"); printf("</bullet_physics>\n");
} }
} }
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
void *bFile::findLibPointer(void *ptr) void *bFile::findLibPointer(void *ptr)
{ {
bStructHandle **ptrptr = getLibPointers().find(ptr); bStructHandle **ptrptr = getLibPointers().find(ptr);
if (ptrptr) if (ptrptr)
return *ptrptr; return *ptrptr;
return 0; return 0;
} }
void bFile::updateOldPointers() void bFile::updateOldPointers()
{ {
int i; int i;
@@ -1551,10 +1478,6 @@ void bFile::dumpChunks(bParse::bDNA* dna)
printf("not 1\n"); printf("not 1\n");
} }
printf("\n"); printf("\n");
} }
#if 0 #if 0
@@ -1570,10 +1493,8 @@ void bFile::dumpChunks(bParse::bDNA* dna)
printf("\n"); printf("\n");
} }
#endif #endif
} }
void bFile::writeChunks(FILE *fp, bool fixupPointers) void bFile::writeChunks(FILE *fp, bool fixupPointers)
{ {
bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA; bParse::bDNA *fileDna = mFileDNA ? mFileDNA : mMemoryDNA;
@@ -1593,7 +1514,6 @@ void bFile::writeChunks(FILE* fp, bool fixupPointers)
///don't try to convert Link block data, just memcpy it. Other data can be converted. ///don't try to convert Link block data, just memcpy it. Other data can be converted.
reverseOld = mMemoryDNA->getReverseType(oldType); reverseOld = mMemoryDNA->getReverseType(oldType);
if ((reverseOld != -1)) if ((reverseOld != -1))
{ {
// make sure it's here // make sure it's here
@@ -1604,13 +1524,13 @@ void bFile::writeChunks(FILE* fp, bool fixupPointers)
// make sure it's the same // make sure it's the same
assert((strcmp(oldType, newType) == 0) && "internal error, struct mismatch!"); assert((strcmp(oldType, newType) == 0) && "internal error, struct mismatch!");
curLen = mMemoryDNA->getLength(curStruct[0]); curLen = mMemoryDNA->getLength(curStruct[0]);
dataChunk.dna_nr = reverseOld; dataChunk.dna_nr = reverseOld;
if (strcmp("Link", oldType) != 0) if (strcmp("Link", oldType) != 0)
{ {
dataChunk.len = curLen * dataChunk.nr; dataChunk.len = curLen * dataChunk.nr;
} else }
else
{ {
// printf("keep length of link = %d\n",dataChunk.len); // printf("keep length of link = %d\n",dataChunk.len);
} }
@@ -1618,8 +1538,6 @@ void bFile::writeChunks(FILE* fp, bool fixupPointers)
//write the structure header //write the structure header
fwrite(&dataChunk, sizeof(bChunkInd), 1, fp); fwrite(&dataChunk, sizeof(bChunkInd), 1, fp);
short int *curStruct1; short int *curStruct1;
curStruct1 = mMemoryDNA->getStruct(dataChunk.dna_nr); curStruct1 = mMemoryDNA->getStruct(dataChunk.dna_nr);
assert(curStruct1 == curStruct); assert(curStruct1 == curStruct);
@@ -1628,15 +1546,14 @@ void bFile::writeChunks(FILE* fp, bool fixupPointers)
//write the actual contents of the structure(s) //write the actual contents of the structure(s)
fwrite(cur, dataChunk.len, 1, fp); fwrite(cur, dataChunk.len, 1, fp);
} else }
else
{ {
printf("serious error, struct mismatch: don't write\n"); printf("serious error, struct mismatch: don't write\n");
} }
} }
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int flags) int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int flags)
{ {
@@ -1655,7 +1572,6 @@ int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int fl
bChunkPtr4 head; bChunkPtr4 head;
memcpy(&head, dataPtr, sizeof(bChunkPtr4)); memcpy(&head, dataPtr, sizeof(bChunkPtr4));
bChunkPtr8 chunk; bChunkPtr8 chunk;
chunk.code = head.code; chunk.code = head.code;
@@ -1675,7 +1591,6 @@ int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int fl
SWITCH_INT(chunk.nr); SWITCH_INT(chunk.nr);
} }
memcpy(dataChunk, &chunk, sizeof(bChunkInd)); memcpy(dataChunk, &chunk, sizeof(bChunkInd));
} }
else else
@@ -1703,7 +1618,6 @@ int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int fl
bChunkPtr8 head; bChunkPtr8 head;
memcpy(&head, dataPtr, sizeof(bChunkPtr8)); memcpy(&head, dataPtr, sizeof(bChunkPtr8));
bChunkPtr4 chunk; bChunkPtr4 chunk;
chunk.code = head.code; chunk.code = head.code;
chunk.len = head.len; chunk.len = head.len;
@@ -1711,7 +1625,8 @@ int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int fl
if (head.m_uniqueInts[0] == head.m_uniqueInts[1]) if (head.m_uniqueInts[0] == head.m_uniqueInts[1])
{ {
chunk.m_uniqueInt = head.m_uniqueInts[0]; chunk.m_uniqueInt = head.m_uniqueInts[0];
} else }
else
{ {
long64 oldPtr = 0; long64 oldPtr = 0;
memcpy(&oldPtr, &head.m_uniqueInts[0], 8); memcpy(&oldPtr, &head.m_uniqueInts[0], 8);
@@ -1720,7 +1635,6 @@ int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int fl
chunk.m_uniqueInt = (int)(oldPtr >> 3); chunk.m_uniqueInt = (int)(oldPtr >> 3);
} }
chunk.dna_nr = head.dna_nr; chunk.dna_nr = head.dna_nr;
chunk.nr = head.nr; chunk.nr = head.nr;
@@ -1768,6 +1682,4 @@ int bFile::getNextBlock(bChunkInd *dataChunk, const char *dataPtr, const int fl
return (dataChunk->len + ChunkUtils::getOffset(flags)); return (dataChunk->len + ChunkUtils::getOffset(flags));
} }
//eof //eof

15
Extras/Serialize/BulletFileLoader/bFile.h
View File

@@ -20,8 +20,8 @@ subject to the following restrictions:
#include "bChunk.h" #include "bChunk.h"
#include <stdio.h> #include <stdio.h>
namespace bParse { namespace bParse
{
// ----------------------------------------------------- // // ----------------------------------------------------- //
enum bFileFlags enum bFileFlags
{ {
@@ -48,7 +48,6 @@ namespace bParse {
class bFile class bFile
{ {
protected: protected:
char m_headerString[7]; char m_headerString[7];
bool mOwnsBuffer; bool mOwnsBuffer;
@@ -56,7 +55,6 @@ namespace bParse {
int mFileLen; int mFileLen;
int mVersion; int mVersion;
bPtrMap mLibPointers; bPtrMap mLibPointers;
int mDataStart; int mDataStart;
@@ -73,7 +71,6 @@ namespace bParse {
bPtrMap mDataPointers; bPtrMap mDataPointers;
int mFlags; int mFlags;
// //////////////////////////////////////////////////////////////////////////// // ////////////////////////////////////////////////////////////////////////////
@@ -96,14 +93,12 @@ namespace bParse {
void getMatchingFileDNA(short* old, const char* lookupName, const char* lookupType, char* strcData, char* data, bool fixupPointers); void getMatchingFileDNA(short* old, const char* lookupName, const char* lookupType, char* strcData, char* data, bool fixupPointers);
char* getFileElement(short* firstStruct, char* lookupName, char* lookupType, char* data, short** foundPos); char* getFileElement(short* firstStruct, char* lookupName, char* lookupType, char* data, short** foundPos);
void swap(char* head, class bChunkInd& ch, bool ignoreEndianFlag); void swap(char* head, class bChunkInd& ch, bool ignoreEndianFlag);
void swapData(char* data, short type, int arraySize, bool ignoreEndianFlag); void swapData(char* data, short type, int arraySize, bool ignoreEndianFlag);
void swapStruct(int dna_nr, char* data, bool ignoreEndianFlag); void swapStruct(int dna_nr, char* data, bool ignoreEndianFlag);
void swapLen(char* dataPtr); void swapLen(char* dataPtr);
void swapDNA(char* ptr); void swapDNA(char* ptr);
char* readStruct(char* head, class bChunkInd& chunk); char* readStruct(char* head, class bChunkInd& chunk);
char* getAsString(int code); char* getAsString(int code);
@@ -165,11 +160,7 @@ namespace bParse {
//pre-swap the endianness, so that data loaded on a target with different endianness doesn't need to be swapped //pre-swap the endianness, so that data loaded on a target with different endianness doesn't need to be swapped
void preSwap(); void preSwap();
void writeFile(const char* fileName); void writeFile(const char* fileName);
}; };
} } // namespace bParse
#endif //__BFILE_H__ #endif //__BFILE_H__

44
Extras/Serialize/BulletFileLoader/btBulletFile.cpp
View File

@@ -22,7 +22,6 @@ subject to the following restrictions:
#endif #endif
#include <string.h> #include <string.h>
// 32 && 64 bit versions // 32 && 64 bit versions
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES #ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#ifdef _WIN64 #ifdef _WIN64
@@ -50,7 +49,6 @@ btBulletFile::btBulletFile()
m_DnaCopy = 0; m_DnaCopy = 0;
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES #ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#ifdef _WIN64 #ifdef _WIN64
m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64, 16); m_DnaCopy = (char*)btAlignedAlloc(sBulletDNAlen64, 16);
@@ -77,40 +75,31 @@ btBulletFile::btBulletFile()
#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES #endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
} }
btBulletFile::btBulletFile(const char* fileName) btBulletFile::btBulletFile(const char* fileName)
: bFile(fileName, "BULLET ") : bFile(fileName, "BULLET ")
{ {
m_DnaCopy = 0; m_DnaCopy = 0;
} }
btBulletFile::btBulletFile(char* memoryBuffer, int len) btBulletFile::btBulletFile(char* memoryBuffer, int len)
: bFile(memoryBuffer, len, "BULLET ") : bFile(memoryBuffer, len, "BULLET ")
{ {
m_DnaCopy = 0; m_DnaCopy = 0;
} }
btBulletFile::~btBulletFile() btBulletFile::~btBulletFile()
{ {
if (m_DnaCopy) if (m_DnaCopy)
btAlignedFree(m_DnaCopy); btAlignedFree(m_DnaCopy);
while (m_dataBlocks.size()) while (m_dataBlocks.size())
{ {
char* dataBlock = m_dataBlocks[m_dataBlocks.size() - 1]; char* dataBlock = m_dataBlocks[m_dataBlocks.size() - 1];
delete[] dataBlock; delete[] dataBlock;
m_dataBlocks.pop_back(); m_dataBlocks.pop_back();
} }
} }
// ----------------------------------------------------- // // ----------------------------------------------------- //
void btBulletFile::parseData() void btBulletFile::parseData()
{ {
@@ -122,7 +111,6 @@ void btBulletFile::parseData()
//const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0; //const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0;
int remain = mFileLen; int remain = mFileLen;
mDataStart = 12; mDataStart = 12;
@@ -137,11 +125,9 @@ void btBulletFile::parseData()
bChunkInd dataChunk; bChunkInd dataChunk;
dataChunk.code = 0; dataChunk.code = 0;
//dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags); //dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags);
int seek = getNextBlock(&dataChunk, dataPtr, mFlags); int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
if (mFlags & FD_ENDIAN_SWAP) if (mFlags & FD_ENDIAN_SWAP)
swapLen(dataPtr); swapLen(dataPtr);
@@ -152,7 +138,6 @@ void btBulletFile::parseData()
{ {
if (!brokenDNA || (dataChunk.code != BT_QUANTIZED_BVH_CODE)) if (!brokenDNA || (dataChunk.code != BT_QUANTIZED_BVH_CODE))
{ {
// one behind // one behind
if (dataChunk.code == SDNA) break; if (dataChunk.code == SDNA) break;
//if (dataChunk.code == DNA1) break; //if (dataChunk.code == DNA1) break;
@@ -234,18 +219,19 @@ void btBulletFile::parseData()
// { // {
// m_glob = (bStructHandle*) id; // m_glob = (bStructHandle*) id;
// } // }
} else }
else
{ {
//printf("unknown chunk\n"); //printf("unknown chunk\n");
mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)dataPtrHead); mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)dataPtrHead);
} }
} else }
else
{ {
printf("skipping BT_QUANTIZED_BVH_CODE due to broken DNA\n"); printf("skipping BT_QUANTIZED_BVH_CODE due to broken DNA\n");
} }
dataPtr += seek; dataPtr += seek;
remain -= seek; remain -= seek;
if (remain <= 0) if (remain <= 0)
@@ -258,21 +244,15 @@ void btBulletFile::parseData()
if (seek < 0) if (seek < 0)
break; break;
} }
} }
void btBulletFile::addDataBlock(char* dataBlock) void btBulletFile::addDataBlock(char* dataBlock)
{ {
m_dataBlocks.push_back(dataBlock); m_dataBlocks.push_back(dataBlock);
} }
void btBulletFile::writeDNA(FILE* fp) void btBulletFile::writeDNA(FILE* fp)
{ {
bChunkInd dataChunk; bChunkInd dataChunk;
dataChunk.code = DNA1; dataChunk.code = DNA1;
dataChunk.dna_nr = 0; dataChunk.dna_nr = 0;
@@ -318,7 +298,6 @@ void btBulletFile::writeDNA(FILE* fp)
#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES #endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
} }
void btBulletFile::parse(int verboseMode) void btBulletFile::parse(int verboseMode)
{ {
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES #ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
@@ -374,7 +353,6 @@ void btBulletFile::parse(int verboseMode)
littleEndian = ((char*)&littleEndian)[0]; littleEndian = ((char*)&littleEndian)[0];
mFileBuffer[8] = littleEndian ? 'v' : 'V'; mFileBuffer[8] = littleEndian ? 'v' : 'V';
} }
// experimental // experimental
@@ -391,14 +369,16 @@ int btBulletFile::write(const char* fileName, bool fixupPointers)
if (endian) if (endian)
{ {
header[7] = '_'; header[7] = '_';
} else }
else
{ {
header[7] = '-'; header[7] = '-';
} }
if (VOID_IS_8) if (VOID_IS_8)
{ {
header[8] = 'V'; header[8] = 'V';
} else }
else
{ {
header[8] = 'v'; header[8] = 'v';
} }
@@ -414,8 +394,8 @@ int btBulletFile::write(const char* fileName, bool fixupPointers)
writeDNA(fp); writeDNA(fp);
fclose(fp); fclose(fp);
}
} else else
{ {
printf("Error: cannot open file %s for writing\n", fileName); printf("Error: cannot open file %s for writing\n", fileName);
return 0; return 0;
@@ -423,11 +403,8 @@ int btBulletFile::write(const char* fileName, bool fixupPointers)
return 1; return 1;
} }
void btBulletFile::addStruct(const char* structType, void* data, int len, void* oldPtr, int code) void btBulletFile::addStruct(const char* structType, void* data, int len, void* oldPtr, int code)
{ {
bParse::bChunkInd dataChunk; bParse::bChunkInd dataChunk;
dataChunk.code = code; dataChunk.code = code;
dataChunk.nr = 1; dataChunk.nr = 1;
@@ -445,4 +422,3 @@ void btBulletFile::addStruct(const char* structType,void* data, int len, void* o
mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)data); mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)data);
m_chunks.push_back(dataChunk); m_chunks.push_back(dataChunk);
} }

16
Extras/Serialize/BulletFileLoader/btBulletFile.h
View File

@@ -16,29 +16,21 @@ subject to the following restrictions:
#ifndef BT_BULLET_FILE_H #ifndef BT_BULLET_FILE_H
#define BT_BULLET_FILE_H #define BT_BULLET_FILE_H
#include "bFile.h" #include "bFile.h"
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#include "bDefines.h" #include "bDefines.h"
#include "LinearMath/btSerializer.h" #include "LinearMath/btSerializer.h"
namespace bParse
{
namespace bParse {
// ----------------------------------------------------- // // ----------------------------------------------------- //
class btBulletFile : public bFile class btBulletFile : public bFile
{ {
protected: protected:
char* m_DnaCopy; char* m_DnaCopy;
public: public:
btAlignedObjectArray<bStructHandle*> m_multiBodies; btAlignedObjectArray<bStructHandle*> m_multiBodies;
btAlignedObjectArray<bStructHandle*> m_multiBodyLinkColliders; btAlignedObjectArray<bStructHandle*> m_multiBodyLinkColliders;
@@ -72,7 +64,6 @@ namespace bParse {
virtual void addDataBlock(char* dataBlock); virtual void addDataBlock(char* dataBlock);
// experimental // experimental
virtual int write(const char* fileName, bool fixupPointers = false); virtual int write(const char* fileName, bool fixupPointers = false);
@@ -83,8 +74,7 @@ namespace bParse {
virtual void writeDNA(FILE* fp); virtual void writeDNA(FILE* fp);
void addStruct(const char* structType, void* data, int len, void* oldPtr, int code); void addStruct(const char* structType, void* data, int len, void* oldPtr, int code);
};
}; };
}; // namespace bParse
#endif //BT_BULLET_FILE_H #endif //BT_BULLET_FILE_H

52
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#include "btBulletWorldImporter.h" #include "btBulletWorldImporter.h"
#include "../BulletFileLoader/btBulletFile.h" #include "../BulletFileLoader/btBulletFile.h"
@@ -22,7 +21,6 @@ subject to the following restrictions:
#include "BulletCollision/Gimpact/btGImpactShape.h" #include "BulletCollision/Gimpact/btGImpactShape.h"
#endif #endif
//#define USE_INTERNAL_EDGE_UTILITY //#define USE_INTERNAL_EDGE_UTILITY
#ifdef USE_INTERNAL_EDGE_UTILITY #ifdef USE_INTERNAL_EDGE_UTILITY
#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h" #include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
@@ -37,12 +35,10 @@ btBulletWorldImporter::~btBulletWorldImporter()
{ {
} }
bool btBulletWorldImporter::loadFile(const char* fileName, const char* preSwapFilenameOut) bool btBulletWorldImporter::loadFile(const char* fileName, const char* preSwapFilenameOut)
{ {
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName); bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
bool result = loadFileFromMemory(bulletFile2); bool result = loadFileFromMemory(bulletFile2);
//now you could save the file in 'native' format using //now you could save the file in 'native' format using
//bulletFile2->writeFile("native.bullet"); //bulletFile2->writeFile("native.bullet");
@@ -53,16 +49,12 @@ bool btBulletWorldImporter::loadFile( const char* fileName, const char* preSwapF
bulletFile2->preSwap(); bulletFile2->preSwap();
bulletFile2->writeFile(preSwapFilenameOut); bulletFile2->writeFile(preSwapFilenameOut);
} }
} }
delete bulletFile2; delete bulletFile2;
return result; return result;
} }
bool btBulletWorldImporter::loadFileFromMemory(char* memoryBuffer, int len) bool btBulletWorldImporter::loadFileFromMemory(char* memoryBuffer, int len)
{ {
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(memoryBuffer, len); bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(memoryBuffer, len);
@@ -74,9 +66,6 @@ bool btBulletWorldImporter::loadFileFromMemory( char* memoryBuffer, int len)
return result; return result;
} }
bool btBulletWorldImporter::loadFileFromMemory(bParse::btBulletFile* bulletFile2) bool btBulletWorldImporter::loadFileFromMemory(bParse::btBulletFile* bulletFile2)
{ {
bool ok = (bulletFile2->getFlags() & bParse::FD_OK) != 0; bool ok = (bulletFile2->getFlags() & bParse::FD_OK) != 0;
@@ -92,12 +81,10 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
} }
return convertAllObjects(bulletFile2); return convertAllObjects(bulletFile2);
} }
bool btBulletWorldImporter::convertAllObjects(bParse::btBulletFile* bulletFile2) bool btBulletWorldImporter::convertAllObjects(bParse::btBulletFile* bulletFile2)
{ {
m_shapeMap.clear(); m_shapeMap.clear();
m_bodyMap.clear(); m_bodyMap.clear();
@@ -111,7 +98,8 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
{ {
btQuantizedBvhDoubleData* bvhData = (btQuantizedBvhDoubleData*)bulletFile2->m_bvhs[i]; btQuantizedBvhDoubleData* bvhData = (btQuantizedBvhDoubleData*)bulletFile2->m_bvhs[i];
bvh->deSerializeDouble(*bvhData); bvh->deSerializeDouble(*bvhData);
} else }
else
{ {
btQuantizedBvhFloatData* bvhData = (btQuantizedBvhFloatData*)bulletFile2->m_bvhs[i]; btQuantizedBvhFloatData* bvhData = (btQuantizedBvhFloatData*)bulletFile2->m_bvhs[i];
bvh->deSerializeFloat(*bvhData); bvh->deSerializeFloat(*bvhData);
@@ -119,10 +107,6 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
m_bvhMap.insert(bulletFile2->m_bvhs[i], bvh); m_bvhMap.insert(bulletFile2->m_bvhs[i], bvh);
} }
for (i = 0; i < bulletFile2->m_collisionShapes.size(); i++) for (i = 0; i < bulletFile2->m_collisionShapes.size(); i++)
{ {
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i]; btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
@@ -141,10 +125,6 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
} }
} }
for (int i = 0; i < bulletFile2->m_dynamicsWorldInfo.size(); i++) for (int i = 0; i < bulletFile2->m_dynamicsWorldInfo.size(); i++)
{ {
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION) if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
@@ -183,7 +163,8 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse; solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
setDynamicsWorldInfo(gravity, solverInfo); setDynamicsWorldInfo(gravity, solverInfo);
} else }
else
{ {
btDynamicsWorldFloatData* solverInfoData = (btDynamicsWorldFloatData*)bulletFile2->m_dynamicsWorldInfo[i]; btDynamicsWorldFloatData* solverInfoData = (btDynamicsWorldFloatData*)bulletFile2->m_dynamicsWorldInfo[i];
btContactSolverInfo solverInfo; btContactSolverInfo solverInfo;
@@ -222,20 +203,18 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
} }
} }
for (i = 0; i < bulletFile2->m_rigidBodies.size(); i++) for (i = 0; i < bulletFile2->m_rigidBodies.size(); i++)
{ {
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION) if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{ {
btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i]; btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
convertRigidBodyDouble(colObjData); convertRigidBodyDouble(colObjData);
} else }
else
{ {
btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i]; btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
convertRigidBodyFloat(colObjData); convertRigidBodyFloat(colObjData);
} }
} }
for (i = 0; i < bulletFile2->m_collisionObjects.size(); i++) for (i = 0; i < bulletFile2->m_collisionObjects.size(); i++)
@@ -266,12 +245,13 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
} }
#endif //USE_INTERNAL_EDGE_UTILITY #endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData, body); m_bodyMap.insert(colObjData, body);
} else }
else
{ {
printf("error: no shape found\n"); printf("error: no shape found\n");
} }
}
} else else
{ {
btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i]; btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i];
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape); btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
@@ -295,15 +275,14 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
} }
#endif //USE_INTERNAL_EDGE_UTILITY #endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData, body); m_bodyMap.insert(colObjData, body);
} else }
else
{ {
printf("error: no shape found\n"); printf("error: no shape found\n");
} }
} }
} }
for (i = 0; i < bulletFile2->m_constraints.size(); i++) for (i = 0; i < bulletFile2->m_constraints.size(); i++)
{ {
btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i]; btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i];
@@ -337,14 +316,14 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
{ {
btTypedConstraintDoubleData* dc = (btTypedConstraintDoubleData*)constraintData; btTypedConstraintDoubleData* dc = (btTypedConstraintDoubleData*)constraintData;
convertConstraintDouble(dc, rbA, rbB, bulletFile2->getVersion()); convertConstraintDouble(dc, rbA, rbB, bulletFile2->getVersion());
} else }
else
{ {
//double-precision constraints were messed up until 2.82, try to recover data... //double-precision constraints were messed up until 2.82, try to recover data...
btTypedConstraintData* oldData = (btTypedConstraintData*)constraintData; btTypedConstraintData* oldData = (btTypedConstraintData*)constraintData;
convertConstraintBackwardsCompatible281(oldData, rbA, rbB, bulletFile2->getVersion()); convertConstraintBackwardsCompatible281(oldData, rbA, rbB, bulletFile2->getVersion());
} }
} }
else else
@@ -352,10 +331,7 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
btTypedConstraintFloatData* dc = (btTypedConstraintFloatData*)constraintData; btTypedConstraintFloatData* dc = (btTypedConstraintFloatData*)constraintData;
convertConstraintFloat(dc, rbA, rbB, bulletFile2->getVersion()); convertConstraintFloat(dc, rbA, rbB, bulletFile2->getVersion());
} }
} }
return true; return true;
} }

16
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
View File

@@ -13,36 +13,25 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#ifndef BULLET_WORLD_IMPORTER_H #ifndef BULLET_WORLD_IMPORTER_H
#define BULLET_WORLD_IMPORTER_H #define BULLET_WORLD_IMPORTER_H
#include "btWorldImporter.h" #include "btWorldImporter.h"
class btBulletFile; class btBulletFile;
namespace bParse namespace bParse
{ {
class btBulletFile; class btBulletFile;
}; };
///The btBulletWorldImporter is a starting point to import .bullet files. ///The btBulletWorldImporter is a starting point to import .bullet files.
///note that not all data is converted yet. You are expected to override or modify this class. ///note that not all data is converted yet. You are expected to override or modify this class.
///See Bullet/Demos/SerializeDemo for a derived class that extract btSoftBody objects too. ///See Bullet/Demos/SerializeDemo for a derived class that extract btSoftBody objects too.
class btBulletWorldImporter : public btWorldImporter class btBulletWorldImporter : public btWorldImporter
{ {
public: public:
btBulletWorldImporter(btDynamicsWorld* world = 0); btBulletWorldImporter(btDynamicsWorld* world = 0);
virtual ~btBulletWorldImporter(); virtual ~btBulletWorldImporter();
@@ -58,11 +47,6 @@ public:
//call make sure bulletFile2 has been parsed, either using btBulletFile::parse or btBulletWorldImporter::loadFileFromMemory //call make sure bulletFile2 has been parsed, either using btBulletFile::parse or btBulletWorldImporter::loadFileFromMemory
virtual bool convertAllObjects(bParse::btBulletFile* file); virtual bool convertAllObjects(bParse::btBulletFile* file);
}; };
#endif //BULLET_WORLD_IMPORTER_H #endif //BULLET_WORLD_IMPORTER_H

26
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
View File

@@ -21,7 +21,6 @@ btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* wor
m_data->m_mbDynamicsWorld = world; m_data->m_mbDynamicsWorld = world;
} }
btMultiBodyWorldImporter::~btMultiBodyWorldImporter() btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
{ {
delete m_data; delete m_data;
@@ -32,7 +31,6 @@ void btMultiBodyWorldImporter::deleteAllData()
btBulletWorldImporter::deleteAllData(); btBulletWorldImporter::deleteAllData();
} }
static btCollisionObjectDoubleData* getBody0FromContactManifold(btPersistentManifoldDoubleData* manifold) static btCollisionObjectDoubleData* getBody0FromContactManifold(btPersistentManifoldDoubleData* manifold)
{ {
return (btCollisionObjectDoubleData*)manifold->m_body0; return (btCollisionObjectDoubleData*)manifold->m_body0;
@@ -50,8 +48,8 @@ static btCollisionObjectFloatData* getBody1FromContactManifold(btPersistentManif
return (btCollisionObjectFloatData*)manifold->m_body1; return (btCollisionObjectFloatData*)manifold->m_body1;
} }
template <class T>
template<class T> void syncContactManifolds(T** contactManifolds, int numContactManifolds, btMultiBodyWorldImporterInternalData* m_data) void syncContactManifolds(T** contactManifolds, int numContactManifolds, btMultiBodyWorldImporterInternalData* m_data)
{ {
m_data->m_mbDynamicsWorld->updateAabbs(); m_data->m_mbDynamicsWorld->updateAabbs();
m_data->m_mbDynamicsWorld->computeOverlappingPairs(); m_data->m_mbDynamicsWorld->computeOverlappingPairs();
@@ -59,7 +57,6 @@ template<class T> void syncContactManifolds(T** contactManifolds, int numContact
btDispatcherInfo& dispatchInfo = m_data->m_mbDynamicsWorld->getDispatchInfo(); btDispatcherInfo& dispatchInfo = m_data->m_mbDynamicsWorld->getDispatchInfo();
if (dispatcher) if (dispatcher)
{ {
btOverlappingPairCache* pairCache = m_data->m_mbDynamicsWorld->getBroadphase()->getOverlappingPairCache(); btOverlappingPairCache* pairCache = m_data->m_mbDynamicsWorld->getBroadphase()->getOverlappingPairCache();
@@ -104,10 +101,10 @@ template<class T> void syncContactManifolds(T** contactManifolds, int numContact
} }
} }
} }
} }
template<class T> void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldImporterInternalData* m_data, btAlignedObjectArray<btQuaternion>& scratchQ, btAlignedObjectArray<btVector3>& scratchM) template <class T>
void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldImporterInternalData* m_data, btAlignedObjectArray<btQuaternion>& scratchQ, btAlignedObjectArray<btVector3>& scratchM)
{ {
bool isFixedBase = mbd->m_baseMass == 0; bool isFixedBase = mbd->m_baseMass == 0;
bool canSleep = false; bool canSleep = false;
@@ -129,7 +126,6 @@ template<class T> void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldI
for (int i = 0; i < mbd->m_numLinks; i++) for (int i = 0; i < mbd->m_numLinks; i++)
{ {
mb->getLink(i).m_absFrameTotVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityTop); mb->getLink(i).m_absFrameTotVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityTop);
mb->getLink(i).m_absFrameTotVelocity.m_bottomVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityBottom); mb->getLink(i).m_absFrameTotVelocity.m_bottomVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityBottom);
mb->getLink(i).m_absFrameLocVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameLocVelocityTop); mb->getLink(i).m_absFrameLocVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameLocVelocityTop);
@@ -175,7 +171,8 @@ template<class T> void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldI
mb->updateCollisionObjectWorldTransforms(scratchQ, scratchM); mb->updateCollisionObjectWorldTransforms(scratchQ, scratchM);
} }
template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data) template <class T>
void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data)
{ {
bool isFixedBase = mbd->m_baseMass == 0; bool isFixedBase = mbd->m_baseMass == 0;
bool canSleep = false; bool canSleep = false;
@@ -208,8 +205,6 @@ template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInterna
{ {
case btMultibodyLink::eFixed: case btMultibodyLink::eFixed:
{ {
mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex, mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset); parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset);
//search for the collider //search for the collider
@@ -284,7 +279,6 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
//convert all multibodies //convert all multibodies
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION) if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{ {
//for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++) //for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
for (int i = bulletFile2->m_multiBodies.size() - 1; i >= 0; i--) for (int i = bulletFile2->m_multiBodies.size() - 1; i >= 0; i--)
{ {
@@ -352,7 +346,6 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
} }
} }
if (bulletFile2->m_contactManifolds.size()) if (bulletFile2->m_contactManifolds.size())
{ {
syncContactManifolds((btPersistentManifoldDoubleData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data); syncContactManifolds((btPersistentManifoldDoubleData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
@@ -389,23 +382,19 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
} }
} }
if (bulletFile2->m_contactManifolds.size()) if (bulletFile2->m_contactManifolds.size())
{ {
syncContactManifolds((btPersistentManifoldFloatData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data); syncContactManifolds((btPersistentManifoldFloatData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
} }
} }
} }
else else
{ {
result = btBulletWorldImporter::convertAllObjects(bulletFile2); result = btBulletWorldImporter::convertAllObjects(bulletFile2);
//convert all multibodies //convert all multibodies
for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++) for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
{ {
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION) if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{ {
btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i]; btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
@@ -444,7 +433,6 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
{ {
btMultiBody* multiBody = *ptr; btMultiBody* multiBody = *ptr;
btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape); btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
if (shapePtr && *shapePtr) if (shapePtr && *shapePtr)
{ {
@@ -491,7 +479,6 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
#endif #endif
m_data->m_mbDynamicsWorld->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); m_data->m_mbDynamicsWorld->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
} }
} }
else else
{ {
@@ -503,7 +490,6 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask); world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
#endif #endif
} }
} }
} }

1
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.h
View File

@@ -8,7 +8,6 @@ class btMultiBodyWorldImporter : public btBulletWorldImporter
struct btMultiBodyWorldImporterInternalData* m_data; struct btMultiBodyWorldImporterInternalData* m_data;
public: public:
btMultiBodyWorldImporter(class btMultiBodyDynamicsWorld* world); btMultiBodyWorldImporter(class btMultiBodyDynamicsWorld* world);
virtual ~btMultiBodyWorldImporter(); virtual ~btMultiBodyWorldImporter();

197
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
View File

@@ -23,7 +23,6 @@ btWorldImporter::btWorldImporter(btDynamicsWorld* world)
m_verboseMode(0), m_verboseMode(0),
m_importerFlags(0) m_importerFlags(0)
{ {
} }
btWorldImporter::~btWorldImporter() btWorldImporter::~btWorldImporter()
@@ -41,7 +40,6 @@ void btWorldImporter::deleteAllData()
} }
m_allocatedConstraints.clear(); m_allocatedConstraints.clear();
for (i = 0; i < m_allocatedRigidBodies.size(); i++) for (i = 0; i < m_allocatedRigidBodies.size(); i++)
{ {
if (m_dynamicsWorld) if (m_dynamicsWorld)
@@ -51,14 +49,12 @@ void btWorldImporter::deleteAllData()
m_allocatedRigidBodies.clear(); m_allocatedRigidBodies.clear();
for (i = 0; i < m_allocatedCollisionShapes.size(); i++) for (i = 0; i < m_allocatedCollisionShapes.size(); i++)
{ {
delete m_allocatedCollisionShapes[i]; delete m_allocatedCollisionShapes[i];
} }
m_allocatedCollisionShapes.clear(); m_allocatedCollisionShapes.clear();
for (i = 0; i < m_allocatedBvhs.size(); i++) for (i = 0; i < m_allocatedBvhs.size(); i++)
{ {
delete m_allocatedBvhs[i]; delete m_allocatedBvhs[i];
@@ -105,7 +101,6 @@ void btWorldImporter::deleteAllData()
if (curPart->m_3indices8) if (curPart->m_3indices8)
delete[] curPart->m_3indices8; delete[] curPart->m_3indices8;
} }
delete[] curData->m_meshPartsPtr; delete[] curData->m_meshPartsPtr;
delete curData; delete curData;
@@ -141,12 +136,8 @@ void btWorldImporter::deleteAllData()
btAlignedFree(m_doubleVertexArrays[i]); btAlignedFree(m_doubleVertexArrays[i]);
} }
m_doubleVertexArrays.clear(); m_doubleVertexArrays.clear();
} }
btCollisionShape* btWorldImporter::convertCollisionShape(btCollisionShapeData* shapeData) btCollisionShape* btWorldImporter::convertCollisionShape(btCollisionShapeData* shapeData)
{ {
btCollisionShape* shape = 0; btCollisionShape* shape = 0;
@@ -186,7 +177,6 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
btStridingMeshInterfaceData* interfaceData = createStridingMeshInterfaceData(&gimpactData->m_meshInterface); btStridingMeshInterfaceData* interfaceData = createStridingMeshInterfaceData(&gimpactData->m_meshInterface);
btTriangleIndexVertexArray* meshInterface = createMeshInterface(*interfaceData); btTriangleIndexVertexArray* meshInterface = createMeshInterface(*interfaceData);
btGImpactMeshShape* gimpactShape = createGimpactShape(meshInterface); btGImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
btVector3 localScaling; btVector3 localScaling;
localScaling.deSerializeFloat(gimpactData->m_localScaling); localScaling.deSerializeFloat(gimpactData->m_localScaling);
@@ -194,7 +184,8 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
gimpactShape->setMargin(btScalar(gimpactData->m_collisionMargin)); gimpactShape->setMargin(btScalar(gimpactData->m_collisionMargin));
gimpactShape->updateBound(); gimpactShape->updateBound();
shape = gimpactShape; shape = gimpactShape;
} else }
else
{ {
printf("unsupported gimpact sub type\n"); printf("unsupported gimpact sub type\n");
} }
@@ -207,7 +198,6 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
{ {
btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData; btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
switch (capData->m_upAxis) switch (capData->m_upAxis)
{ {
case 0: case 0:
@@ -229,8 +219,6 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
{ {
printf("error: wrong up axis for btCapsuleShape\n"); printf("error: wrong up axis for btCapsuleShape\n");
} }
}; };
if (shape) if (shape)
{ {
@@ -293,11 +281,8 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
{ {
printf("unknown Cylinder up axis\n"); printf("unknown Cylinder up axis\n");
} }
}; };
break; break;
} }
case CONE_SHAPE_PROXYTYPE: case CONE_SHAPE_PROXYTYPE:
@@ -325,11 +310,8 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
{ {
printf("unknown Cone up axis\n"); printf("unknown Cone up axis\n");
} }
}; };
break; break;
} }
case MULTI_SPHERE_SHAPE_PROXYTYPE: case MULTI_SPHERE_SHAPE_PROXYTYPE:
@@ -398,7 +380,6 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
btVector3 localScaling; btVector3 localScaling;
localScaling.deSerializeFloat(bsd->m_localScaling); localScaling.deSerializeFloat(bsd->m_localScaling);
shape->setLocalScaling(localScaling); shape->setLocalScaling(localScaling);
} }
break; break;
} }
@@ -412,10 +393,10 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
return 0; return 0;
} }
btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling); btVector3 scaling;
scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
meshInterface->setScaling(scaling); meshInterface->setScaling(scaling);
btOptimizedBvh* bvh = 0; btOptimizedBvh* bvh = 0;
#if 1 #if 1
if (trimesh->m_quantizedFloatBvh) if (trimesh->m_quantizedFloatBvh)
@@ -424,7 +405,8 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
if (bvhPtr && *bvhPtr) if (bvhPtr && *bvhPtr)
{ {
bvh = *bvhPtr; bvh = *bvhPtr;
} else }
else
{ {
bvh = createOptimizedBvh(); bvh = createOptimizedBvh();
bvh->deSerializeFloat(*trimesh->m_quantizedFloatBvh); bvh->deSerializeFloat(*trimesh->m_quantizedFloatBvh);
@@ -436,7 +418,8 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
if (bvhPtr && *bvhPtr) if (bvhPtr && *bvhPtr)
{ {
bvh = *bvhPtr; bvh = *bvhPtr;
} else }
else
{ {
bvh = createOptimizedBvh(); bvh = createOptimizedBvh();
bvh->deSerializeDouble(*trimesh->m_quantizedDoubleBvh); bvh->deSerializeDouble(*trimesh->m_quantizedDoubleBvh);
@@ -444,7 +427,6 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
} }
#endif #endif
btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface, bvh); btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface, bvh);
trimeshShape->setMargin(trimesh->m_collisionMargin); trimeshShape->setMargin(trimesh->m_collisionMargin);
shape = trimeshShape; shape = trimeshShape;
@@ -458,7 +440,6 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
#ifdef USE_INTERNAL_EDGE_UTILITY #ifdef USE_INTERNAL_EDGE_UTILITY
gContactAddedCallback = btAdjustInternalEdgeContactsCallback; gContactAddedCallback = btAdjustInternalEdgeContactsCallback;
#endif //USE_INTERNAL_EDGE_UTILITY #endif //USE_INTERNAL_EDGE_UTILITY
} }
//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin); //printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
@@ -469,11 +450,9 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData; btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
btCompoundShape* compoundShape = createCompoundShape(); btCompoundShape* compoundShape = createCompoundShape();
btAlignedObjectArray<btCollisionShape*> childShapes; btAlignedObjectArray<btCollisionShape*> childShapes;
for (int i = 0; i < compoundData->m_numChildShapes; i++) for (int i = 0; i < compoundData->m_numChildShapes; i++)
{ {
btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape; btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
btCollisionShape* childShape = convertCollisionShape(cd); btCollisionShape* childShape = convertCollisionShape(cd);
@@ -482,13 +461,13 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
btTransform localTransform; btTransform localTransform;
localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform); localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
compoundShape->addChildShape(localTransform, childShape); compoundShape->addChildShape(localTransform, childShape);
} else }
else
{ {
#ifdef _DEBUG #ifdef _DEBUG
printf("error: couldn't create childShape for compoundShape\n"); printf("error: couldn't create childShape for compoundShape\n");
#endif #endif
} }
} }
shape = compoundShape; shape = compoundShape;
@@ -507,11 +486,8 @@ btCollisionShape* btWorldImporter::convertCollisionShape( btCollisionShapeData*
} }
return shape; return shape;
} }
char* btWorldImporter::duplicateName(const char* name) char* btWorldImporter::duplicateName(const char* name)
{ {
if (name) if (name)
@@ -528,7 +504,6 @@ char* btWorldImporter::duplicateName(const char* name)
void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion) void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion)
{ {
btTypedConstraint* constraint = 0; btTypedConstraint* constraint = 0;
switch (constraintData->m_objectType) switch (constraintData->m_objectType)
@@ -542,7 +517,8 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
pivotInA.deSerializeDouble(p2pData->m_pivotInA); pivotInA.deSerializeDouble(p2pData->m_pivotInA);
pivotInB.deSerializeDouble(p2pData->m_pivotInB); pivotInB.deSerializeDouble(p2pData->m_pivotInB);
constraint = createPoint2PointConstraint(*rbA, *rbB, pivotInA, pivotInB); constraint = createPoint2PointConstraint(*rbA, *rbB, pivotInA, pivotInB);
} else }
else
{ {
btVector3 pivotInA; btVector3 pivotInA;
pivotInA.deSerializeDouble(p2pData->m_pivotInA); pivotInA.deSerializeDouble(p2pData->m_pivotInA);
@@ -561,7 +537,8 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); rbAFrame.deSerializeDouble(hingeData->m_rbAFrame);
rbBFrame.deSerializeDouble(hingeData->m_rbBFrame); rbBFrame.deSerializeDouble(hingeData->m_rbBFrame);
hinge = createHingeConstraint(*rbA, *rbB, rbAFrame, rbBFrame, hingeData->m_useReferenceFrameA != 0); hinge = createHingeConstraint(*rbA, *rbB, rbAFrame, rbBFrame, hingeData->m_useReferenceFrameA != 0);
} else }
else
{ {
btTransform rbAFrame; btTransform rbAFrame;
rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); rbAFrame.deSerializeDouble(hingeData->m_rbAFrame);
@@ -576,7 +553,6 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
constraint = hinge; constraint = hinge;
break; break;
} }
case CONETWIST_CONSTRAINT_TYPE: case CONETWIST_CONSTRAINT_TYPE:
{ {
@@ -589,7 +565,8 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
rbAFrame.deSerializeFloat(coneData->m_rbAFrame); rbAFrame.deSerializeFloat(coneData->m_rbAFrame);
rbBFrame.deSerializeFloat(coneData->m_rbBFrame); rbBFrame.deSerializeFloat(coneData->m_rbBFrame);
coneTwist = createConeTwistConstraint(*rbA, *rbB, rbAFrame, rbBFrame); coneTwist = createConeTwistConstraint(*rbA, *rbB, rbAFrame, rbBFrame);
} else }
else
{ {
btTransform rbAFrame; btTransform rbAFrame;
rbAFrame.deSerializeFloat(coneData->m_rbAFrame); rbAFrame.deSerializeFloat(coneData->m_rbAFrame);
@@ -605,7 +582,6 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
case D6_SPRING_CONSTRAINT_TYPE: case D6_SPRING_CONSTRAINT_TYPE:
{ {
btGeneric6DofSpringConstraintData* dofData = (btGeneric6DofSpringConstraintData*)constraintData; btGeneric6DofSpringConstraintData* dofData = (btGeneric6DofSpringConstraintData*)constraintData;
// int sz = sizeof(btGeneric6DofSpringConstraintData); // int sz = sizeof(btGeneric6DofSpringConstraintData);
btGeneric6DofSpringConstraint* dof = 0; btGeneric6DofSpringConstraint* dof = 0;
@@ -616,7 +592,8 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
rbAFrame.deSerializeFloat(dofData->m_6dofData.m_rbAFrame); rbAFrame.deSerializeFloat(dofData->m_6dofData.m_rbAFrame);
rbBFrame.deSerializeFloat(dofData->m_6dofData.m_rbBFrame); rbBFrame.deSerializeFloat(dofData->m_6dofData.m_rbBFrame);
dof = createGeneric6DofSpringConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_6dofData.m_useLinearReferenceFrameA != 0); dof = createGeneric6DofSpringConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_6dofData.m_useLinearReferenceFrameA != 0);
} else }
else
{ {
printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n"); printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n");
} }
@@ -650,7 +627,6 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
constraint = dof; constraint = dof;
break; break;
} }
case D6_CONSTRAINT_TYPE: case D6_CONSTRAINT_TYPE:
{ {
@@ -663,14 +639,16 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
rbAFrame.deSerializeFloat(dofData->m_rbAFrame); rbAFrame.deSerializeFloat(dofData->m_rbAFrame);
rbBFrame.deSerializeFloat(dofData->m_rbBFrame); rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
dof = createGeneric6DofConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_useLinearReferenceFrameA != 0); dof = createGeneric6DofConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_useLinearReferenceFrameA != 0);
} else }
else
{ {
if (rbB) if (rbB)
{ {
btTransform rbBFrame; btTransform rbBFrame;
rbBFrame.deSerializeFloat(dofData->m_rbBFrame); rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
dof = createGeneric6DofConstraint(*rbB, rbBFrame, dofData->m_useLinearReferenceFrameA != 0); dof = createGeneric6DofConstraint(*rbB, rbBFrame, dofData->m_useLinearReferenceFrameA != 0);
} else }
else
{ {
printf("Error in btWorldImporter::createGeneric6DofConstraint: missing rbB\n"); printf("Error in btWorldImporter::createGeneric6DofConstraint: missing rbB\n");
} }
@@ -703,7 +681,8 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
rbAFrame.deSerializeFloat(sliderData->m_rbAFrame); rbAFrame.deSerializeFloat(sliderData->m_rbAFrame);
rbBFrame.deSerializeFloat(sliderData->m_rbBFrame); rbBFrame.deSerializeFloat(sliderData->m_rbBFrame);
slider = createSliderConstraint(*rbA, *rbB, rbAFrame, rbBFrame, sliderData->m_useLinearReferenceFrameA != 0); slider = createSliderConstraint(*rbA, *rbB, rbAFrame, rbBFrame, sliderData->m_useLinearReferenceFrameA != 0);
} else }
else
{ {
btTransform rbBFrame; btTransform rbBFrame;
rbBFrame.deSerializeFloat(sliderData->m_rbBFrame); rbBFrame.deSerializeFloat(sliderData->m_rbBFrame);
@@ -744,7 +723,6 @@ void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintD
if (m_dynamicsWorld) if (m_dynamicsWorld)
m_dynamicsWorld->addConstraint(constraint, constraintData->m_disableCollisionsBetweenLinkedBodies != 0); m_dynamicsWorld->addConstraint(constraint, constraintData->m_disableCollisionsBetweenLinkedBodies != 0);
} }
} }
void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion) void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion)
@@ -762,8 +740,8 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
pivotInA.deSerializeFloat(p2pData->m_pivotInA); pivotInA.deSerializeFloat(p2pData->m_pivotInA);
pivotInB.deSerializeFloat(p2pData->m_pivotInB); pivotInB.deSerializeFloat(p2pData->m_pivotInB);
constraint = createPoint2PointConstraint(*rbA, *rbB, pivotInA, pivotInB); constraint = createPoint2PointConstraint(*rbA, *rbB, pivotInA, pivotInB);
}
} else else
{ {
btVector3 pivotInA; btVector3 pivotInA;
pivotInA.deSerializeFloat(p2pData->m_pivotInA); pivotInA.deSerializeFloat(p2pData->m_pivotInA);
@@ -781,7 +759,8 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
rbAFrame.deSerializeFloat(hingeData->m_rbAFrame); rbAFrame.deSerializeFloat(hingeData->m_rbAFrame);
rbBFrame.deSerializeFloat(hingeData->m_rbBFrame); rbBFrame.deSerializeFloat(hingeData->m_rbBFrame);
hinge = createHingeConstraint(*rbA, *rbB, rbAFrame, rbBFrame, hingeData->m_useReferenceFrameA != 0); hinge = createHingeConstraint(*rbA, *rbB, rbAFrame, rbBFrame, hingeData->m_useReferenceFrameA != 0);
} else }
else
{ {
btTransform rbAFrame; btTransform rbAFrame;
rbAFrame.deSerializeFloat(hingeData->m_rbAFrame); rbAFrame.deSerializeFloat(hingeData->m_rbAFrame);
@@ -796,7 +775,6 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
constraint = hinge; constraint = hinge;
break; break;
} }
case CONETWIST_CONSTRAINT_TYPE: case CONETWIST_CONSTRAINT_TYPE:
{ {
@@ -809,7 +787,8 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
rbAFrame.deSerializeFloat(coneData->m_rbAFrame); rbAFrame.deSerializeFloat(coneData->m_rbAFrame);
rbBFrame.deSerializeFloat(coneData->m_rbBFrame); rbBFrame.deSerializeFloat(coneData->m_rbBFrame);
coneTwist = createConeTwistConstraint(*rbA, *rbB, rbAFrame, rbBFrame); coneTwist = createConeTwistConstraint(*rbA, *rbB, rbAFrame, rbBFrame);
} else }
else
{ {
btTransform rbAFrame; btTransform rbAFrame;
rbAFrame.deSerializeFloat(coneData->m_rbAFrame); rbAFrame.deSerializeFloat(coneData->m_rbAFrame);
@@ -824,7 +803,6 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
case D6_SPRING_CONSTRAINT_TYPE: case D6_SPRING_CONSTRAINT_TYPE:
{ {
btGeneric6DofSpringConstraintData* dofData = (btGeneric6DofSpringConstraintData*)constraintData; btGeneric6DofSpringConstraintData* dofData = (btGeneric6DofSpringConstraintData*)constraintData;
// int sz = sizeof(btGeneric6DofSpringConstraintData); // int sz = sizeof(btGeneric6DofSpringConstraintData);
btGeneric6DofSpringConstraint* dof = 0; btGeneric6DofSpringConstraint* dof = 0;
@@ -835,7 +813,8 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
rbAFrame.deSerializeFloat(dofData->m_6dofData.m_rbAFrame); rbAFrame.deSerializeFloat(dofData->m_6dofData.m_rbAFrame);
rbBFrame.deSerializeFloat(dofData->m_6dofData.m_rbBFrame); rbBFrame.deSerializeFloat(dofData->m_6dofData.m_rbBFrame);
dof = createGeneric6DofSpringConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_6dofData.m_useLinearReferenceFrameA != 0); dof = createGeneric6DofSpringConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_6dofData.m_useLinearReferenceFrameA != 0);
} else }
else
{ {
printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n"); printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n");
} }
@@ -881,14 +860,16 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
rbAFrame.deSerializeFloat(dofData->m_rbAFrame); rbAFrame.deSerializeFloat(dofData->m_rbAFrame);
rbBFrame.deSerializeFloat(dofData->m_rbBFrame); rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
dof = createGeneric6DofConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_useLinearReferenceFrameA != 0); dof = createGeneric6DofConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_useLinearReferenceFrameA != 0);
} else }
else
{ {
if (rbB) if (rbB)
{ {
btTransform rbBFrame; btTransform rbBFrame;
rbBFrame.deSerializeFloat(dofData->m_rbBFrame); rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
dof = createGeneric6DofConstraint(*rbB, rbBFrame, dofData->m_useLinearReferenceFrameA != 0); dof = createGeneric6DofConstraint(*rbB, rbBFrame, dofData->m_useLinearReferenceFrameA != 0);
} else }
else
{ {
printf("Error in btWorldImporter::createGeneric6DofConstraint: missing rbB\n"); printf("Error in btWorldImporter::createGeneric6DofConstraint: missing rbB\n");
} }
@@ -921,7 +902,8 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
rbAFrame.deSerializeFloat(sliderData->m_rbAFrame); rbAFrame.deSerializeFloat(sliderData->m_rbAFrame);
rbBFrame.deSerializeFloat(sliderData->m_rbBFrame); rbBFrame.deSerializeFloat(sliderData->m_rbBFrame);
slider = createSliderConstraint(*rbA, *rbB, rbAFrame, rbBFrame, sliderData->m_useLinearReferenceFrameA != 0); slider = createSliderConstraint(*rbA, *rbB, rbAFrame, rbBFrame, sliderData->m_useLinearReferenceFrameA != 0);
} else }
else
{ {
btTransform rbBFrame; btTransform rbBFrame;
rbBFrame.deSerializeFloat(sliderData->m_rbBFrame); rbBFrame.deSerializeFloat(sliderData->m_rbBFrame);
@@ -945,7 +927,8 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
axisInA.deSerializeFloat(gearData->m_axisInA); axisInA.deSerializeFloat(gearData->m_axisInA);
axisInB.deSerializeFloat(gearData->m_axisInB); axisInB.deSerializeFloat(gearData->m_axisInB);
gear = createGearConstraint(*rbA, *rbB, axisInA, axisInB, gearData->m_ratio); gear = createGearConstraint(*rbA, *rbB, axisInA, axisInB, gearData->m_ratio);
} else }
else
{ {
btAssert(0); btAssert(0);
//perhaps a gear against a 'fixed' body, while the 'fixed' body is not serialized? //perhaps a gear against a 'fixed' body, while the 'fixed' body is not serialized?
@@ -956,7 +939,6 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
} }
case D6_SPRING_2_CONSTRAINT_TYPE: case D6_SPRING_2_CONSTRAINT_TYPE:
{ {
btGeneric6DofSpring2ConstraintData* dofData = (btGeneric6DofSpring2ConstraintData*)constraintData; btGeneric6DofSpring2ConstraintData* dofData = (btGeneric6DofSpring2ConstraintData*)constraintData;
btGeneric6DofSpring2Constraint* dof = 0; btGeneric6DofSpring2Constraint* dof = 0;
@@ -967,7 +949,8 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
rbAFrame.deSerializeFloat(dofData->m_rbAFrame); rbAFrame.deSerializeFloat(dofData->m_rbAFrame);
rbBFrame.deSerializeFloat(dofData->m_rbBFrame); rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
dof = createGeneric6DofSpring2Constraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_rotateOrder); dof = createGeneric6DofSpring2Constraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_rotateOrder);
} else }
else
{ {
printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n"); printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n");
} }
@@ -1004,17 +987,14 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
dof->enableSpring(i + 3, dofData->m_angularEnableSpring[i] != 0); dof->enableSpring(i + 3, dofData->m_angularEnableSpring[i] != 0);
dof->setDamping(i + 3, dofData->m_angularSpringDamping.m_floats[i], dofData->m_angularSpringDampingLimited[i]); dof->setDamping(i + 3, dofData->m_angularSpringDamping.m_floats[i], dofData->m_angularSpringDampingLimited[i]);
} }
} }
} }
constraint = dof; constraint = dof;
break; break;
} }
case FIXED_CONSTRAINT_TYPE: case FIXED_CONSTRAINT_TYPE:
{ {
btGeneric6DofSpring2Constraint* dof = 0; btGeneric6DofSpring2Constraint* dof = 0;
if (rbA && rbB) if (rbA && rbB)
{ {
@@ -1028,14 +1008,13 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
rbAFrame = rbA->getWorldTransform().inverse() * sharedFrame; rbAFrame = rbA->getWorldTransform().inverse() * sharedFrame;
rbBFrame = rbB->getWorldTransform().inverse() * sharedFrame; rbBFrame = rbB->getWorldTransform().inverse() * sharedFrame;
dof = createGeneric6DofSpring2Constraint(*rbA, *rbB, rbAFrame, rbBFrame, RO_XYZ); dof = createGeneric6DofSpring2Constraint(*rbA, *rbB, rbAFrame, rbBFrame, RO_XYZ);
dof->setLinearUpperLimit(btVector3(0, 0, 0)); dof->setLinearUpperLimit(btVector3(0, 0, 0));
dof->setLinearLowerLimit(btVector3(0, 0, 0)); dof->setLinearLowerLimit(btVector3(0, 0, 0));
dof->setAngularUpperLimit(btVector3(0, 0, 0)); dof->setAngularUpperLimit(btVector3(0, 0, 0));
dof->setAngularLowerLimit(btVector3(0, 0, 0)); dof->setAngularLowerLimit(btVector3(0, 0, 0));
}
} else else
{ {
printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n"); printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n");
} }
@@ -1069,12 +1048,8 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
if (m_dynamicsWorld) if (m_dynamicsWorld)
m_dynamicsWorld->addConstraint(constraint, constraintData->m_disableCollisionsBetweenLinkedBodies != 0); m_dynamicsWorld->addConstraint(constraint, constraintData->m_disableCollisionsBetweenLinkedBodies != 0);
} }
} }
void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion) void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion)
{ {
btTypedConstraint* constraint = 0; btTypedConstraint* constraint = 0;
@@ -1090,7 +1065,8 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
pivotInA.deSerializeDouble(p2pData->m_pivotInA); pivotInA.deSerializeDouble(p2pData->m_pivotInA);
pivotInB.deSerializeDouble(p2pData->m_pivotInB); pivotInB.deSerializeDouble(p2pData->m_pivotInB);
constraint = createPoint2PointConstraint(*rbA, *rbB, pivotInA, pivotInB); constraint = createPoint2PointConstraint(*rbA, *rbB, pivotInA, pivotInB);
} else }
else
{ {
btVector3 pivotInA; btVector3 pivotInA;
pivotInA.deSerializeDouble(p2pData->m_pivotInA); pivotInA.deSerializeDouble(p2pData->m_pivotInA);
@@ -1109,7 +1085,8 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); rbAFrame.deSerializeDouble(hingeData->m_rbAFrame);
rbBFrame.deSerializeDouble(hingeData->m_rbBFrame); rbBFrame.deSerializeDouble(hingeData->m_rbBFrame);
hinge = createHingeConstraint(*rbA, *rbB, rbAFrame, rbBFrame, hingeData->m_useReferenceFrameA != 0); hinge = createHingeConstraint(*rbA, *rbB, rbAFrame, rbBFrame, hingeData->m_useReferenceFrameA != 0);
} else }
else
{ {
btTransform rbAFrame; btTransform rbAFrame;
rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); rbAFrame.deSerializeDouble(hingeData->m_rbAFrame);
@@ -1124,7 +1101,6 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
constraint = hinge; constraint = hinge;
break; break;
} }
case CONETWIST_CONSTRAINT_TYPE: case CONETWIST_CONSTRAINT_TYPE:
{ {
@@ -1137,7 +1113,8 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
rbAFrame.deSerializeDouble(coneData->m_rbAFrame); rbAFrame.deSerializeDouble(coneData->m_rbAFrame);
rbBFrame.deSerializeDouble(coneData->m_rbBFrame); rbBFrame.deSerializeDouble(coneData->m_rbBFrame);
coneTwist = createConeTwistConstraint(*rbA, *rbB, rbAFrame, rbBFrame); coneTwist = createConeTwistConstraint(*rbA, *rbB, rbAFrame, rbBFrame);
} else }
else
{ {
btTransform rbAFrame; btTransform rbAFrame;
rbAFrame.deSerializeDouble(coneData->m_rbAFrame); rbAFrame.deSerializeDouble(coneData->m_rbAFrame);
@@ -1153,7 +1130,6 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
case D6_SPRING_CONSTRAINT_TYPE: case D6_SPRING_CONSTRAINT_TYPE:
{ {
btGeneric6DofSpringConstraintDoubleData2* dofData = (btGeneric6DofSpringConstraintDoubleData2*)constraintData; btGeneric6DofSpringConstraintDoubleData2* dofData = (btGeneric6DofSpringConstraintDoubleData2*)constraintData;
// int sz = sizeof(btGeneric6DofSpringConstraintData); // int sz = sizeof(btGeneric6DofSpringConstraintData);
btGeneric6DofSpringConstraint* dof = 0; btGeneric6DofSpringConstraint* dof = 0;
@@ -1164,7 +1140,8 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
rbAFrame.deSerializeDouble(dofData->m_6dofData.m_rbAFrame); rbAFrame.deSerializeDouble(dofData->m_6dofData.m_rbAFrame);
rbBFrame.deSerializeDouble(dofData->m_6dofData.m_rbBFrame); rbBFrame.deSerializeDouble(dofData->m_6dofData.m_rbBFrame);
dof = createGeneric6DofSpringConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_6dofData.m_useLinearReferenceFrameA != 0); dof = createGeneric6DofSpringConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_6dofData.m_useLinearReferenceFrameA != 0);
} else }
else
{ {
printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n"); printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n");
} }
@@ -1210,14 +1187,16 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
rbAFrame.deSerializeDouble(dofData->m_rbAFrame); rbAFrame.deSerializeDouble(dofData->m_rbAFrame);
rbBFrame.deSerializeDouble(dofData->m_rbBFrame); rbBFrame.deSerializeDouble(dofData->m_rbBFrame);
dof = createGeneric6DofConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_useLinearReferenceFrameA != 0); dof = createGeneric6DofConstraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_useLinearReferenceFrameA != 0);
} else }
else
{ {
if (rbB) if (rbB)
{ {
btTransform rbBFrame; btTransform rbBFrame;
rbBFrame.deSerializeDouble(dofData->m_rbBFrame); rbBFrame.deSerializeDouble(dofData->m_rbBFrame);
dof = createGeneric6DofConstraint(*rbB, rbBFrame, dofData->m_useLinearReferenceFrameA != 0); dof = createGeneric6DofConstraint(*rbB, rbBFrame, dofData->m_useLinearReferenceFrameA != 0);
} else }
else
{ {
printf("Error in btWorldImporter::createGeneric6DofConstraint: missing rbB\n"); printf("Error in btWorldImporter::createGeneric6DofConstraint: missing rbB\n");
} }
@@ -1250,7 +1229,8 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
rbAFrame.deSerializeDouble(sliderData->m_rbAFrame); rbAFrame.deSerializeDouble(sliderData->m_rbAFrame);
rbBFrame.deSerializeDouble(sliderData->m_rbBFrame); rbBFrame.deSerializeDouble(sliderData->m_rbBFrame);
slider = createSliderConstraint(*rbA, *rbB, rbAFrame, rbBFrame, sliderData->m_useLinearReferenceFrameA != 0); slider = createSliderConstraint(*rbA, *rbB, rbAFrame, rbBFrame, sliderData->m_useLinearReferenceFrameA != 0);
} else }
else
{ {
btTransform rbBFrame; btTransform rbBFrame;
rbBFrame.deSerializeDouble(sliderData->m_rbBFrame); rbBFrame.deSerializeDouble(sliderData->m_rbBFrame);
@@ -1274,7 +1254,8 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
axisInA.deSerializeDouble(gearData->m_axisInA); axisInA.deSerializeDouble(gearData->m_axisInA);
axisInB.deSerializeDouble(gearData->m_axisInB); axisInB.deSerializeDouble(gearData->m_axisInB);
gear = createGearConstraint(*rbA, *rbB, axisInA, axisInB, gearData->m_ratio); gear = createGearConstraint(*rbA, *rbB, axisInA, axisInB, gearData->m_ratio);
} else }
else
{ {
btAssert(0); btAssert(0);
//perhaps a gear against a 'fixed' body, while the 'fixed' body is not serialized? //perhaps a gear against a 'fixed' body, while the 'fixed' body is not serialized?
@@ -1286,7 +1267,6 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
case D6_SPRING_2_CONSTRAINT_TYPE: case D6_SPRING_2_CONSTRAINT_TYPE:
{ {
btGeneric6DofSpring2ConstraintDoubleData2* dofData = (btGeneric6DofSpring2ConstraintDoubleData2*)constraintData; btGeneric6DofSpring2ConstraintDoubleData2* dofData = (btGeneric6DofSpring2ConstraintDoubleData2*)constraintData;
btGeneric6DofSpring2Constraint* dof = 0; btGeneric6DofSpring2Constraint* dof = 0;
@@ -1297,7 +1277,8 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
rbAFrame.deSerializeDouble(dofData->m_rbAFrame); rbAFrame.deSerializeDouble(dofData->m_rbAFrame);
rbBFrame.deSerializeDouble(dofData->m_rbBFrame); rbBFrame.deSerializeDouble(dofData->m_rbBFrame);
dof = createGeneric6DofSpring2Constraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_rotateOrder); dof = createGeneric6DofSpring2Constraint(*rbA, *rbB, rbAFrame, rbBFrame, dofData->m_rotateOrder);
} else }
else
{ {
printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n"); printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n");
} }
@@ -1334,17 +1315,14 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
dof->enableSpring(i + 3, dofData->m_angularEnableSpring[i] != 0); dof->enableSpring(i + 3, dofData->m_angularEnableSpring[i] != 0);
dof->setDamping(i + 3, dofData->m_angularSpringDamping.m_floats[i], (dofData->m_angularSpringDampingLimited[i] != 0)); dof->setDamping(i + 3, dofData->m_angularSpringDamping.m_floats[i], (dofData->m_angularSpringDampingLimited[i] != 0));
} }
} }
} }
constraint = dof; constraint = dof;
break; break;
} }
case FIXED_CONSTRAINT_TYPE: case FIXED_CONSTRAINT_TYPE:
{ {
btGeneric6DofSpring2Constraint* dof = 0; btGeneric6DofSpring2Constraint* dof = 0;
if (rbA && rbB) if (rbA && rbB)
{ {
@@ -1358,14 +1336,13 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
rbAFrame = rbA->getWorldTransform().inverse() * sharedFrame; rbAFrame = rbA->getWorldTransform().inverse() * sharedFrame;
rbBFrame = rbB->getWorldTransform().inverse() * sharedFrame; rbBFrame = rbB->getWorldTransform().inverse() * sharedFrame;
dof = createGeneric6DofSpring2Constraint(*rbA, *rbB, rbAFrame, rbBFrame, RO_XYZ); dof = createGeneric6DofSpring2Constraint(*rbA, *rbB, rbAFrame, rbBFrame, RO_XYZ);
dof->setLinearUpperLimit(btVector3(0, 0, 0)); dof->setLinearUpperLimit(btVector3(0, 0, 0));
dof->setLinearLowerLimit(btVector3(0, 0, 0)); dof->setLinearLowerLimit(btVector3(0, 0, 0));
dof->setAngularUpperLimit(btVector3(0, 0, 0)); dof->setAngularUpperLimit(btVector3(0, 0, 0));
dof->setAngularLowerLimit(btVector3(0, 0, 0)); dof->setAngularLowerLimit(btVector3(0, 0, 0));
}
} else else
{ {
printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n"); printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n");
} }
@@ -1400,19 +1377,8 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
if (m_dynamicsWorld) if (m_dynamicsWorld)
m_dynamicsWorld->addConstraint(constraint, constraintData->m_disableCollisionsBetweenLinkedBodies != 0); m_dynamicsWorld->addConstraint(constraint, constraintData->m_disableCollisionsBetweenLinkedBodies != 0);
} }
} }
btTriangleIndexVertexArray* btWorldImporter::createMeshInterface(btStridingMeshInterfaceData& meshData) btTriangleIndexVertexArray* btWorldImporter::createMeshInterface(btStridingMeshInterfaceData& meshData)
{ {
btTriangleIndexVertexArray* meshInterface = createTriangleMeshContainer(); btTriangleIndexVertexArray* meshInterface = createTriangleMeshContainer();
@@ -1423,7 +1389,6 @@ btTriangleIndexVertexArray* btWorldImporter::createMeshInterface(btStridingMeshI
meshPart.m_numTriangles = meshData.m_meshPartsPtr[i].m_numTriangles; meshPart.m_numTriangles = meshData.m_meshPartsPtr[i].m_numTriangles;
meshPart.m_numVertices = meshData.m_meshPartsPtr[i].m_numVertices; meshPart.m_numVertices = meshData.m_meshPartsPtr[i].m_numVertices;
if (meshData.m_meshPartsPtr[i].m_indices32) if (meshData.m_meshPartsPtr[i].m_indices32)
{ {
meshPart.m_indexType = PHY_INTEGER; meshPart.m_indexType = PHY_INTEGER;
@@ -1435,7 +1400,8 @@ btTriangleIndexVertexArray* btWorldImporter::createMeshInterface(btStridingMeshI
indexArray[j] = meshData.m_meshPartsPtr[i].m_indices32[j].m_value; indexArray[j] = meshData.m_meshPartsPtr[i].m_indices32[j].m_value;
} }
meshPart.m_triangleIndexBase = (const unsigned char*)indexArray; meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
} else }
else
{ {
if (meshData.m_meshPartsPtr[i].m_3indices16) if (meshData.m_meshPartsPtr[i].m_3indices16)
{ {
@@ -1502,12 +1468,12 @@ btTriangleIndexVertexArray* btWorldImporter::createMeshInterface(btStridingMeshI
vertices[j].m_floats[3] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[3]; vertices[j].m_floats[3] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[3];
} }
meshPart.m_vertexBase = (const unsigned char*)vertices; meshPart.m_vertexBase = (const unsigned char*)vertices;
} else }
else
{ {
meshPart.m_vertexType = PHY_DOUBLE; meshPart.m_vertexType = PHY_DOUBLE;
meshPart.m_vertexStride = sizeof(btVector3DoubleData); meshPart.m_vertexStride = sizeof(btVector3DoubleData);
btVector3DoubleData* vertices = (btVector3DoubleData*)btAlignedAlloc(sizeof(btVector3DoubleData) * meshPart.m_numVertices, 16); btVector3DoubleData* vertices = (btVector3DoubleData*)btAlignedAlloc(sizeof(btVector3DoubleData) * meshPart.m_numVertices, 16);
m_doubleVertexArrays.push_back(vertices); m_doubleVertexArrays.push_back(vertices);
@@ -1530,7 +1496,6 @@ btTriangleIndexVertexArray* btWorldImporter::createMeshInterface(btStridingMeshI
return meshInterface; return meshInterface;
} }
btStridingMeshInterfaceData* btWorldImporter::createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData) btStridingMeshInterfaceData* btWorldImporter::createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData)
{ {
//create a new btStridingMeshInterfaceData that is an exact copy of shapedata and store it in the WorldImporter //create a new btStridingMeshInterfaceData that is an exact copy of shapedata and store it in the WorldImporter
@@ -1603,7 +1568,6 @@ btStridingMeshInterfaceData* btWorldImporter::createStridingMeshInterfaceData(bt
} }
else else
curNewPart->m_3indices8 = NULL; curNewPart->m_3indices8 = NULL;
} }
m_allocatedbtStridingMeshInterfaceDatas.push_back(newData); m_allocatedbtStridingMeshInterfaceDatas.push_back(newData);
@@ -1616,7 +1580,6 @@ extern ContactAddedCallback gContactAddedCallback;
static bool btAdjustInternalEdgeContactsCallback(btManifoldPoint& cp, const btCollisionObject* colObj0, int partId0, int index0, const btCollisionObject* colObj1, int partId1, int index1) 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);
//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE); //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); //btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
@@ -1624,9 +1587,6 @@ static bool btAdjustInternalEdgeContactsCallback(btManifoldPoint& cp, const btCo
} }
#endif //USE_INTERNAL_EDGE_UTILITY #endif //USE_INTERNAL_EDGE_UTILITY
btCollisionObject* btWorldImporter::createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName) btCollisionObject* btWorldImporter::createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName)
{ {
return createRigidBody(false, 0, startTransform, shape, bodyName); return createRigidBody(false, 0, startTransform, shape, bodyName);
@@ -1639,7 +1599,6 @@ void btWorldImporter::setDynamicsWorldInfo(const btVector3& gravity, const btCon
m_dynamicsWorld->setGravity(gravity); m_dynamicsWorld->setGravity(gravity);
m_dynamicsWorld->getSolverInfo() = solverInfo; m_dynamicsWorld->getSolverInfo() = solverInfo;
} }
} }
btRigidBody* btWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape, const char* bodyName) btRigidBody* btWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape, const char* bodyName)
@@ -1664,7 +1623,6 @@ btRigidBody* btWorldImporter::createRigidBody(bool isDynamic, btScalar mass, co
} }
m_allocatedRigidBodies.push_back(body); m_allocatedRigidBodies.push_back(body);
return body; return body;
} }
btCollisionShape* btWorldImporter::createPlaneShape(const btVector3& planeNormal, btScalar planeConstant) btCollisionShape* btWorldImporter::createPlaneShape(const btVector3& planeNormal, btScalar planeConstant)
@@ -1686,7 +1644,6 @@ btCollisionShape* btWorldImporter::createSphereShape(btScalar radius)
return shape; return shape;
} }
btCollisionShape* btWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height) btCollisionShape* btWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height)
{ {
btCapsuleShapeX* shape = new btCapsuleShapeX(radius, height); btCapsuleShapeX* shape = new btCapsuleShapeX(radius, height);
@@ -1764,7 +1721,6 @@ btOptimizedBvh* btWorldImporter::createOptimizedBvh()
return bvh; return bvh;
} }
btTriangleInfoMap* btWorldImporter::createTriangleInfoMap() btTriangleInfoMap* btWorldImporter::createTriangleInfoMap()
{ {
btTriangleInfoMap* tim = new btTriangleInfoMap(); btTriangleInfoMap* tim = new btTriangleInfoMap();
@@ -1785,7 +1741,6 @@ btBvhTriangleMeshShape* btWorldImporter::createBvhTriangleMeshShape(btStridingMe
btBvhTriangleMeshShape* ts = new btBvhTriangleMeshShape(trimesh, true); btBvhTriangleMeshShape* ts = new btBvhTriangleMeshShape(trimesh, true);
m_allocatedCollisionShapes.push_back(ts); m_allocatedCollisionShapes.push_back(ts);
return ts; return ts;
} }
btCollisionShape* btWorldImporter::createConvexTriangleMeshShape(btStridingMeshInterface* trimesh) btCollisionShape* btWorldImporter::createConvexTriangleMeshShape(btStridingMeshInterface* trimesh)
{ {
@@ -1800,7 +1755,6 @@ btGImpactMeshShape* btWorldImporter::createGimpactShape(btStridingMeshInterface*
#else #else
return 0; return 0;
#endif #endif
} }
btConvexHullShape* btWorldImporter::createConvexHullShape() btConvexHullShape* btWorldImporter::createConvexHullShape()
{ {
@@ -1816,7 +1770,6 @@ btCompoundShape* btWorldImporter::createCompoundShape()
return shape; return shape;
} }
btScaledBvhTriangleMeshShape* btWorldImporter::createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScaling) btScaledBvhTriangleMeshShape* btWorldImporter::createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScaling)
{ {
btScaledBvhTriangleMeshShape* shape = new btScaledBvhTriangleMeshShape(meshShape, localScaling); btScaledBvhTriangleMeshShape* shape = new btScaledBvhTriangleMeshShape(meshShape, localScaling);
@@ -1852,7 +1805,6 @@ btPoint2PointConstraint* btWorldImporter::createPoint2PointConstraint(btRigidBod
return p2p; return p2p;
} }
btHingeConstraint* btWorldImporter::createHingeConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA) btHingeConstraint* btWorldImporter::createHingeConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
{ {
btHingeConstraint* hinge = new btHingeConstraint(rbA, rbB, rbAFrame, rbBFrame, useReferenceFrameA); btHingeConstraint* hinge = new btHingeConstraint(rbA, rbB, rbAFrame, rbBFrame, useReferenceFrameA);
@@ -1881,7 +1833,6 @@ btConeTwistConstraint* btWorldImporter::createConeTwistConstraint(btRigidBody& r
return cone; return cone;
} }
btGeneric6DofConstraint* btWorldImporter::createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA) btGeneric6DofConstraint* btWorldImporter::createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
{ {
btGeneric6DofConstraint* dof = new btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA); btGeneric6DofConstraint* dof = new btGeneric6DofConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA);
@@ -1903,8 +1854,6 @@ btGeneric6DofSpring2Constraint* btWorldImporter::createGeneric6DofSpring2Constra
return dof; return dof;
} }
btGeneric6DofSpringConstraint* btWorldImporter::createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA) btGeneric6DofSpringConstraint* btWorldImporter::createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
{ {
btGeneric6DofSpringConstraint* dof = new btGeneric6DofSpringConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA); btGeneric6DofSpringConstraint* dof = new btGeneric6DofSpringConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA);
@@ -1912,7 +1861,6 @@ btGeneric6DofSpringConstraint* btWorldImporter::createGeneric6DofSpringConstrain
return dof; return dof;
} }
btSliderConstraint* btWorldImporter::createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA) btSliderConstraint* btWorldImporter::createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA)
{ {
btSliderConstraint* slider = new btSliderConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA); btSliderConstraint* slider = new btSliderConstraint(rbA, rbB, frameInA, frameInB, useLinearReferenceFrameA);
@@ -1983,7 +1931,6 @@ const char* btWorldImporter::getNameForPointer(const void* ptr) const
return 0; return 0;
} }
int btWorldImporter::getNumRigidBodies() const int btWorldImporter::getNumRigidBodies() const
{ {
return m_allocatedRigidBodies.size(); return m_allocatedRigidBodies.size();
@@ -2022,7 +1969,6 @@ btTriangleInfoMap* btWorldImporter::getTriangleInfoMapByIndex(int index) const
return m_allocatedTriangleInfoMaps[index]; return m_allocatedTriangleInfoMaps[index];
} }
void btWorldImporter::convertRigidBodyFloat(btRigidBodyFloatData* colObjData) void btWorldImporter::convertRigidBodyFloat(btRigidBodyFloatData* colObjData)
{ {
btScalar mass = btScalar(colObjData->m_inverseMass ? 1.f / colObjData->m_inverseMass : 0.f); btScalar mass = btScalar(colObjData->m_inverseMass ? 1.f / colObjData->m_inverseMass : 0.f);
@@ -2066,7 +2012,8 @@ void btWorldImporter::convertRigidBodyFloat( btRigidBodyFloatData* colObjData)
} }
#endif //USE_INTERNAL_EDGE_UTILITY #endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData, body); m_bodyMap.insert(colObjData, body);
} else }
else
{ {
printf("error: no shape found\n"); printf("error: no shape found\n");
} }
@@ -2104,7 +2051,6 @@ void btWorldImporter::convertRigidBodyDouble( btRigidBodyDoubleData* colObjData)
body->setLinearFactor(linearFactor); body->setLinearFactor(linearFactor);
body->setAngularFactor(angularFactor); body->setAngularFactor(angularFactor);
#ifdef USE_INTERNAL_EDGE_UTILITY #ifdef USE_INTERNAL_EDGE_UTILITY
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE) if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{ {
@@ -2116,7 +2062,8 @@ void btWorldImporter::convertRigidBodyDouble( btRigidBodyDoubleData* colObjData)
} }
#endif //USE_INTERNAL_EDGE_UTILITY #endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData, body); m_bodyMap.insert(colObjData, body);
} else }
else
{ {
printf("error: no shape found\n"); printf("error: no shape found\n");
} }

11
Extras/Serialize/BulletWorldImporter/btWorldImporter.h
View File

@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#ifndef BT_WORLD_IMPORTER_H #ifndef BT_WORLD_IMPORTER_H
#define BT_WORLD_IMPORTER_H #define BT_WORLD_IMPORTER_H
@@ -89,7 +88,6 @@ protected:
btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays; btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays; btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
btHashMap<btHashPtr, btOptimizedBvh*> m_bvhMap; btHashMap<btHashPtr, btOptimizedBvh*> m_bvhMap;
btHashMap<btHashPtr, btTriangleInfoMap*> m_timMap; btHashMap<btHashPtr, btTriangleInfoMap*> m_timMap;
@@ -101,7 +99,6 @@ protected:
btHashMap<btHashPtr, btCollisionShape*> m_shapeMap; btHashMap<btHashPtr, btCollisionShape*> m_shapeMap;
btHashMap<btHashPtr, btCollisionObject*> m_bodyMap; btHashMap<btHashPtr, btCollisionObject*> m_bodyMap;
//methods //methods
static btRigidBody& getFixedBody(); static btRigidBody& getFixedBody();
@@ -117,7 +114,6 @@ protected:
void convertRigidBodyDouble(btRigidBodyDoubleData* colObjData); void convertRigidBodyDouble(btRigidBodyDoubleData* colObjData);
public: public:
btWorldImporter(btDynamicsWorld* world); btWorldImporter(btDynamicsWorld* world);
virtual ~btWorldImporter(); virtual ~btWorldImporter();
@@ -146,8 +142,6 @@ public:
return m_importerFlags; return m_importerFlags;
} }
// query for data // query for data
int getNumCollisionShapes() const; int getNumCollisionShapes() const;
btCollisionShape* getCollisionShapeByIndex(int index); btCollisionShape* getCollisionShapeByIndex(int index);
@@ -222,11 +216,6 @@ public:
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA); virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA); virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio); virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio);
}; };
#endif //BT_WORLD_IMPORTER_H #endif //BT_WORLD_IMPORTER_H

59
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
View File

@@ -29,18 +29,15 @@ struct MyLocalCaster
} }
}; };
btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world) btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
: btWorldImporter(world), : btWorldImporter(world),
m_fileVersion(-1), m_fileVersion(-1),
m_fileOk(false) m_fileOk(false)
{ {
} }
btBulletXmlWorldImporter::~btBulletXmlWorldImporter() btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
{ {
} }
#if 0 #if 0
@@ -88,7 +85,6 @@ void stringToFloatArray(const std::string& string, btAlignedObjectArray<float>&
btAssert(pieces[i] != ""); btAssert(pieces[i] != "");
floats.push_back((float)atof(pieces[i].c_str())); floats.push_back((float)atof(pieces[i].c_str()));
} }
} }
static btVector3FloatData TextToVector3Data(const char* txt) static btVector3FloatData TextToVector3Data(const char* txt)
@@ -118,22 +114,18 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(XMLNode* pParent,btAl
vectors.push_back(vec4); vectors.push_back(vec4);
flNode = flNode->NextSibling(); flNode = flNode->NextSibling();
} }
} }
#define SET_INT_VALUE(xmlnode, targetdata, argname) \ #define SET_INT_VALUE(xmlnode, targetdata, argname) \
btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()); \ btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()); \
if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()) \ if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()) \
(targetdata)->argname = (int)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText()); (targetdata)->argname = (int)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
#define SET_FLOAT_VALUE(xmlnode, targetdata, argname) \ #define SET_FLOAT_VALUE(xmlnode, targetdata, argname) \
btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()); \ btAssert((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()); \
if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()) \ if ((xmlnode)->FirstChildElement(#argname) && (xmlnode)->FirstChildElement(#argname)->ToElement()) \
(targetdata)->argname = (float)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText()); (targetdata)->argname = (float)atof(xmlnode->FirstChildElement(#argname)->ToElement()->GetText());
#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype) \ #define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype) \
{ \ { \
XMLNode* node = xmlnode->FirstChildElement(#argname); \ XMLNode* node = xmlnode->FirstChildElement(#argname); \
@@ -162,7 +154,6 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(XMLNode* pParent,btAl
} \ } \
} }
#define SET_MATRIX33_VALUE(n, targetdata, argname) \ #define SET_MATRIX33_VALUE(n, targetdata, argname) \
{ \ { \
XMLNode* xmlnode = n->FirstChildElement(#argname); \ XMLNode* xmlnode = n->FirstChildElement(#argname); \
@@ -205,7 +196,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(XMLNode* pParent,btAl
} \ } \
} \ } \
} \ } \
}\ }
#define SET_TRANSFORM_VALUE(n, targetdata, argname) \ #define SET_TRANSFORM_VALUE(n, targetdata, argname) \
{ \ { \
@@ -216,8 +207,7 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(XMLNode* pParent,btAl
SET_VECTOR4_VALUE(trNode, &(targetdata)->argname, m_origin) \ SET_VECTOR4_VALUE(trNode, &(targetdata)->argname, m_origin) \
SET_MATRIX33_VALUE(trNode, &(targetdata)->argname, m_basis) \ SET_MATRIX33_VALUE(trNode, &(targetdata)->argname, m_basis) \
} \ } \
}\ }
void btBulletXmlWorldImporter::deSerializeCollisionShapeData(XMLNode* pParent, btCollisionShapeData* colShapeData) void btBulletXmlWorldImporter::deSerializeCollisionShapeData(XMLNode* pParent, btCollisionShapeData* colShapeData)
{ {
@@ -225,8 +215,6 @@ void btBulletXmlWorldImporter::deSerializeCollisionShapeData(XMLNode* pParent, b
colShapeData->m_name = 0; colShapeData->m_name = 0;
} }
void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(XMLNode* pParent) void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(XMLNode* pParent)
{ {
MyLocalCaster cast; MyLocalCaster cast;
@@ -314,7 +302,6 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(XMLNode* pParen
} }
numChildren = i; numChildren = i;
} }
btAssert(numChildren); btAssert(numChildren);
@@ -324,7 +311,6 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(XMLNode* pParen
btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0); btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0);
m_pointerLookup.insert(cast.m_ptr, cd); m_pointerLookup.insert(cast.m_ptr, cd);
} }
} }
void btBulletXmlWorldImporter::deSerializeCompoundShapeData(XMLNode* pParent) void btBulletXmlWorldImporter::deSerializeCompoundShapeData(XMLNode* pParent)
@@ -344,7 +330,7 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(XMLNode* pParent)
btAssert(xmlShapeData); btAssert(xmlShapeData);
{ {
XMLNode* node = pParent->FirstChildElement("m_childShapePtr");\ XMLNode* node = pParent->FirstChildElement("m_childShapePtr");
btAssert(node); btAssert(node);
while (node) while (node)
{ {
@@ -355,13 +341,11 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(XMLNode* pParent)
node = node->NextSiblingElement("m_childShapePtr"); node = node->NextSiblingElement("m_childShapePtr");
} }
//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*); //SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
} }
SET_FLOAT_VALUE(pParent, compoundData, m_collisionMargin); SET_FLOAT_VALUE(pParent, compoundData, m_collisionMargin);
m_collisionShapeData.push_back((btCollisionShapeData*)compoundData); m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
m_pointerLookup.insert(cast.m_ptr, compoundData); m_pointerLookup.insert(cast.m_ptr, compoundData);
} }
void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(XMLNode* pParent) void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(XMLNode* pParent)
@@ -381,7 +365,6 @@ void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(XMLNode* pParent)
m_collisionShapeData.push_back((btCollisionShapeData*)planeData); m_collisionShapeData.push_back((btCollisionShapeData*)planeData);
m_pointerLookup.insert(cast.m_ptr, planeData); m_pointerLookup.insert(cast.m_ptr, planeData);
} }
void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(XMLNode* pParent) void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(XMLNode* pParent)
@@ -399,7 +382,6 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(XMLNode* pPare
MyLocalCaster cast; MyLocalCaster cast;
get_int_attribute_by_name(pParent->ToElement(), "pointer", &cast.m_int); get_int_attribute_by_name(pParent->ToElement(), "pointer", &cast.m_int);
btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*)btAlignedAlloc(sizeof(btConvexInternalShapeData), 16); btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*)btAlignedAlloc(sizeof(btConvexInternalShapeData), 16);
memset(convexShape, 0, sizeof(btConvexInternalShapeData)); memset(convexShape, 0, sizeof(btConvexInternalShapeData));
@@ -408,14 +390,12 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(XMLNode* pPare
deSerializeCollisionShapeData(xmlShapeData, &convexShape->m_collisionShapeData); deSerializeCollisionShapeData(xmlShapeData, &convexShape->m_collisionShapeData);
SET_FLOAT_VALUE(pParent, convexShape, m_collisionMargin) SET_FLOAT_VALUE(pParent, convexShape, m_collisionMargin)
SET_VECTOR4_VALUE(pParent, convexShape, m_localScaling) SET_VECTOR4_VALUE(pParent, convexShape, m_localScaling)
SET_VECTOR4_VALUE(pParent, convexShape, m_implicitShapeDimensions) SET_VECTOR4_VALUE(pParent, convexShape, m_implicitShapeDimensions)
m_collisionShapeData.push_back((btCollisionShapeData*)convexShape); m_collisionShapeData.push_back((btCollisionShapeData*)convexShape);
m_pointerLookup.insert(cast.m_ptr, convexShape); m_pointerLookup.insert(cast.m_ptr, convexShape);
} }
/* /*
@@ -433,7 +413,6 @@ enum btTypedConstraintType
}; };
*/ */
void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(XMLNode* pParent) void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(XMLNode* pParent)
{ {
MyLocalCaster cast; MyLocalCaster cast;
@@ -441,7 +420,6 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(XMLNode* pPa
btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2), 16); btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2), 16);
XMLNode* n = pParent->FirstChildElement("m_typeConstraintData"); XMLNode* n = pParent->FirstChildElement("m_typeConstraintData");
if (n) if (n)
{ {
@@ -458,7 +436,6 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(XMLNode* pPa
SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_overrideNumSolverIterations); SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_overrideNumSolverIterations);
SET_FLOAT_VALUE(n, &dof6Data->m_typeConstraintData, m_breakingImpulseThreshold); SET_FLOAT_VALUE(n, &dof6Data->m_typeConstraintData, m_breakingImpulseThreshold);
SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_isEnabled); SET_INT_VALUE(n, &dof6Data->m_typeConstraintData, m_isEnabled);
} }
SET_TRANSFORM_VALUE(pParent, dof6Data, m_rbAFrame); SET_TRANSFORM_VALUE(pParent, dof6Data, m_rbAFrame);
@@ -516,7 +493,6 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(XMLNode* pParent)
SET_MATRIX33_VALUE(pParent, rbData, m_invInertiaTensorWorld); SET_MATRIX33_VALUE(pParent, rbData, m_invInertiaTensorWorld);
SET_VECTOR4_VALUE(pParent, rbData, m_linearVelocity) SET_VECTOR4_VALUE(pParent, rbData, m_linearVelocity)
SET_VECTOR4_VALUE(pParent, rbData, m_angularVelocity) SET_VECTOR4_VALUE(pParent, rbData, m_angularVelocity)
SET_VECTOR4_VALUE(pParent, rbData, m_angularFactor) SET_VECTOR4_VALUE(pParent, rbData, m_angularFactor)
@@ -537,7 +513,6 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(XMLNode* pParent)
SET_FLOAT_VALUE(pParent, rbData, m_linearSleepingThreshold); SET_FLOAT_VALUE(pParent, rbData, m_linearSleepingThreshold);
SET_INT_VALUE(pParent, rbData, m_additionalDamping); SET_INT_VALUE(pParent, rbData, m_additionalDamping);
m_rigidBodyData.push_back(rbData); m_rigidBodyData.push_back(rbData);
m_pointerLookup.insert(cast.m_ptr, rbData); m_pointerLookup.insert(cast.m_ptr, rbData);
@@ -607,15 +582,12 @@ void btBulletXmlWorldImporter::fixupConstraintData(btTypedConstraintData2* tcd)
btAssert(ptrptr); btAssert(ptrptr);
tcd->m_rbB = ptrptr ? *ptrptr : 0; tcd->m_rbB = ptrptr ? *ptrptr : 0;
} }
} }
void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData* shapeData) void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData* shapeData)
{ {
switch (shapeData->m_shapeType) switch (shapeData->m_shapeType)
{ {
case COMPOUND_SHAPE_PROXYTYPE: case COMPOUND_SHAPE_PROXYTYPE:
{ {
btCompoundShapeData* compound = (btCompoundShapeData*)shapeData; btCompoundShapeData* compound = (btCompoundShapeData*)shapeData;
@@ -626,7 +598,8 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
if (c) if (c)
{ {
compound->m_childShapePtr = *c; compound->m_childShapePtr = *c;
} else }
else
{ {
compound->m_childShapePtr = 0; compound->m_childShapePtr = 0;
} }
@@ -641,7 +614,8 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
if (ptrptr) if (ptrptr)
{ {
convexData->m_unscaledPointsFloatPtr = *ptrptr; convexData->m_unscaledPointsFloatPtr = *ptrptr;
} else }
else
{ {
convexData->m_unscaledPointsFloatPtr = 0; convexData->m_unscaledPointsFloatPtr = 0;
} }
@@ -661,7 +635,6 @@ void btBulletXmlWorldImporter::fixupCollisionDataPointers(btCollisionShapeData*
} }
} }
void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pParent) void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pParent)
{ {
int numChildren = 0; int numChildren = 0;
@@ -724,7 +697,6 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare
continue; continue;
} }
if (!strcmp(pChild->Value(), "btConvexInternalShapeData")) if (!strcmp(pChild->Value(), "btConvexInternalShapeData"))
{ {
deSerializeConvexInternalShapeData(pChild); deSerializeConvexInternalShapeData(pChild);
@@ -764,7 +736,6 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare
{ {
btCollisionShapeData* shapeData = m_collisionShapeData[i]; btCollisionShapeData* shapeData = m_collisionShapeData[i];
fixupCollisionDataPointers(shapeData); fixupCollisionDataPointers(shapeData);
} }
///now fixup pointers ///now fixup pointers
@@ -783,13 +754,10 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare
} }
} }
for (int i = 0; i < m_constraintData.size(); i++) for (int i = 0; i < m_constraintData.size(); i++)
{ {
btTypedConstraintData2* tcd = m_constraintData[i]; btTypedConstraintData2* tcd = m_constraintData[i];
fixupConstraintData(tcd); fixupConstraintData(tcd);
} }
///================================================================= ///=================================================================
///convert data into Bullet data in the right order ///convert data into Bullet data in the right order
@@ -845,7 +813,6 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(XMLNode* pPare
btAssert(0); //todo btAssert(0); //todo
//convertConstraint(tcd,rbA,rbB,isDoublePrecision, m_fileVersion); //convertConstraint(tcd,rbA,rbB,isDoublePrecision, m_fileVersion);
} }
} }
} }
@@ -863,20 +830,17 @@ void btBulletXmlWorldImporter::auto_serialize(XMLNode* pParent)
auto_serialize_root_level_children(pChild); auto_serialize_root_level_children(pChild);
} }
} }
} else }
else
{ {
printf("ERROR: no bullet_physics element\n"); printf("ERROR: no bullet_physics element\n");
} }
} }
bool btBulletXmlWorldImporter::loadFile(const char* fileName) bool btBulletXmlWorldImporter::loadFile(const char* fileName)
{ {
XMLDocument doc; XMLDocument doc;
XMLError loadOkay = doc.LoadFile(fileName); XMLError loadOkay = doc.LoadFile(fileName);
if (loadOkay == XML_SUCCESS) if (loadOkay == XML_SUCCESS)
@@ -891,13 +855,8 @@ bool btBulletXmlWorldImporter::loadFile(const char* fileName)
auto_serialize(&doc); auto_serialize(&doc);
return m_fileOk; return m_fileOk;
} }
} }
} }
return false; return false;
} }

5
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
View File

@@ -39,17 +39,13 @@ struct btTypedConstraintFloatData;
#define btRigidBodyData btRigidBodyFloatData #define btRigidBodyData btRigidBodyFloatData
#endif //BT_USE_DOUBLE_PRECISION #endif //BT_USE_DOUBLE_PRECISION
struct btCompoundShapeChildData; struct btCompoundShapeChildData;
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#include "btWorldImporter.h" #include "btWorldImporter.h"
class btBulletXmlWorldImporter : public btWorldImporter class btBulletXmlWorldImporter : public btWorldImporter
{ {
protected: protected:
btAlignedObjectArray<btCollisionShapeData*> m_collisionShapeData; btAlignedObjectArray<btCollisionShapeData*> m_collisionShapeData;
btAlignedObjectArray<btAlignedObjectArray<btCompoundShapeChildData>*> m_compoundShapeChildDataArrays; btAlignedObjectArray<btAlignedObjectArray<btCompoundShapeChildData>*> m_compoundShapeChildDataArrays;
@@ -88,7 +84,6 @@ protected:
virtual ~btBulletXmlWorldImporter(); virtual ~btBulletXmlWorldImporter();
bool loadFile(const char* fileName); bool loadFile(const char* fileName);
}; };
#endif //BT_BULLET_XML_WORLD_IMPORTER_H #endif //BT_BULLET_XML_WORLD_IMPORTER_H

61
Extras/Serialize/BulletXmlWorldImporter/string_split.cpp
View File

@@ -34,9 +34,7 @@ namespace bullet_utils
str_array_free(strArray); str_array_free(strArray);
} }
}; }; // namespace bullet_utils
/* Append an item to a dynamically allocated array of strings. On failure, /* Append an item to a dynamically allocated array of strings. On failure,
return NULL, in which case the original array is intact. The item return NULL, in which case the original array is intact. The item
@@ -50,7 +48,8 @@ char **str_array_append(char **array, size_t nitems, const char *item,
char *copy; char *copy;
if (item == NULL) if (item == NULL)
copy = NULL; copy = NULL;
else { else
{
copy = (char *)malloc(itemlen + 1); copy = (char *)malloc(itemlen + 1);
if (copy == NULL) if (copy == NULL)
return NULL; return NULL;
@@ -62,7 +61,8 @@ char **str_array_append(char **array, size_t nitems, const char *item,
in case it did not yet exist. This might mean it is a teeny bit in case it did not yet exist. This might mean it is a teeny bit
too big, but we don't care. */ too big, but we don't care. */
array = (char **)realloc(array, (nitems + 2) * sizeof(array[0])); array = (char **)realloc(array, (nitems + 2) * sizeof(array[0]));
if (array == NULL) { if (array == NULL)
{
free(copy); free(copy);
return NULL; return NULL;
} }
@@ -73,7 +73,6 @@ char **str_array_append(char **array, size_t nitems, const char *item,
return array; return array;
} }
/* Free a dynamic array of dynamic strings. */ /* Free a dynamic array of dynamic strings. */
void str_array_free(char **array) void str_array_free(char **array)
{ {
@@ -84,7 +83,6 @@ void str_array_free(char **array)
free(array); free(array);
} }
/* Split a string into substrings. Return dynamic array of dynamically /* Split a string into substrings. Return dynamic array of dynamically
allocated substrings, or NULL if there was an error. Caller is allocated substrings, or NULL if there was an error. Caller is
expected to free the memory, for example with str_array_free. */ expected to free the memory, for example with str_array_free. */
@@ -98,29 +96,37 @@ char **str_split(const char *input, const char *sep)
const char *item; const char *item;
size_t itemlen; size_t itemlen;
for (;;) { for (;;)
{
next = strstr(start, sep); next = strstr(start, sep);
if (next == NULL) { if (next == NULL)
{
/* Add the remaining string (or empty string, if input ends with /* Add the remaining string (or empty string, if input ends with
separator. */ separator. */
char **newstr = str_array_append(array, nitems, start, strlen(start)); char **newstr = str_array_append(array, nitems, start, strlen(start));
if (newstr == NULL) { if (newstr == NULL)
{
str_array_free(array); str_array_free(array);
return NULL; return NULL;
} }
array = newstr; array = newstr;
++nitems; ++nitems;
break; break;
} else if (next == input) { }
else if (next == input)
{
/* Input starts with separator. */ /* Input starts with separator. */
item = ""; item = "";
itemlen = 0; itemlen = 0;
} else { }
else
{
item = start; item = start;
itemlen = next - item; itemlen = next - item;
} }
char **newstr = str_array_append(array, nitems, item, itemlen); char **newstr = str_array_append(array, nitems, item, itemlen);
if (newstr == NULL) { if (newstr == NULL)
{
str_array_free(array); str_array_free(array);
return NULL; return NULL;
} }
@@ -129,7 +135,8 @@ char **str_split(const char *input, const char *sep)
start = next + seplen; start = next + seplen;
} }
if (nitems == 0) { if (nitems == 0)
{
/* Input does not contain separator at all. */ /* Input does not contain separator at all. */
assert(array == NULL); assert(array == NULL);
array = str_array_append(array, nitems, input, strlen(input)); array = str_array_append(array, nitems, input, strlen(input));
@@ -138,7 +145,6 @@ char **str_split(const char *input, const char *sep)
return array; return array;
} }
/* Return length of a NULL-delimited array of strings. */ /* Return length of a NULL-delimited array of strings. */
size_t str_array_len(char **array) size_t str_array_len(char **array)
{ {
@@ -153,10 +159,10 @@ size_t str_array_len(char **array)
#define MAX_OUTPUT 20 #define MAX_OUTPUT 20
int main(void) int main(void)
{ {
struct { struct
{
const char *input; const char *input;
const char *sep; const char *sep;
char *output[MAX_OUTPUT]; char *output[MAX_OUTPUT];
@@ -208,11 +214,13 @@ int main(void)
errors = false; errors = false;
for (int i = 0; i < tab_len; ++i) { for (int i = 0; i < tab_len; ++i)
{
printf("test %d\n", i); printf("test %d\n", i);
char **output = str_split(tab[i].input, tab[i].sep); char **output = str_split(tab[i].input, tab[i].sep);
if (output == NULL) { if (output == NULL)
{
fprintf(stderr, "output is NULL\n"); fprintf(stderr, "output is NULL\n");
errors = true; errors = true;
break; break;
@@ -221,13 +229,18 @@ int main(void)
printf("num_output %lu\n", (unsigned long)num_output); printf("num_output %lu\n", (unsigned long)num_output);
size_t num_correct = str_array_len(tab[i].output); size_t num_correct = str_array_len(tab[i].output);
if (num_output != num_correct) { if (num_output != num_correct)
{
fprintf(stderr, "wrong number of outputs (%lu, not %lu)\n", fprintf(stderr, "wrong number of outputs (%lu, not %lu)\n",
(unsigned long)num_output, (unsigned long)num_correct); (unsigned long)num_output, (unsigned long)num_correct);
errors = true; errors = true;
} else { }
for (size_t j = 0; j < num_output; ++j) { else
if (strcmp(tab[i].output[j], output[j]) != 0) { {
for (size_t j = 0; j < num_output; ++j)
{
if (strcmp(tab[i].output[j], output[j]) != 0)
{
fprintf(stderr, "output[%lu] is '%s' not '%s'\n", fprintf(stderr, "output[%lu] is '%s' not '%s'\n",
(unsigned long)j, output[j], tab[i].output[j]); (unsigned long)j, output[j], tab[i].output[j]);
errors = true; errors = true;
@@ -246,5 +259,3 @@ int main(void)
} }
#endif // #endif //

3
Extras/Serialize/BulletXmlWorldImporter/string_split.h
View File

@@ -16,7 +16,6 @@ subject to the following restrictions:
///The string split C code is by Lars Wirzenius ///The string split C code is by Lars Wirzenius
///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char ///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
#ifndef STRING_SPLIT_H #ifndef STRING_SPLIT_H
#define STRING_SPLIT_H #define STRING_SPLIT_H
@@ -33,7 +32,6 @@ namespace bullet_utils
///The string split C code is by Lars Wirzenius ///The string split C code is by Lars Wirzenius
///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char ///See http://stackoverflow.com/questions/2531605/how-to-split-a-string-with-a-delimiter-larger-than-one-single-char
/* Split a string into substrings. Return dynamic array of dynamically /* Split a string into substrings. Return dynamic array of dynamically
allocated substrings, or NULL if there was an error. Caller is allocated substrings, or NULL if there was an error. Caller is
expected to free the memory, for example with str_array_free. */ expected to free the memory, for example with str_array_free. */
@@ -46,4 +44,3 @@ void str_array_free(char** array);
size_t str_array_len(char** array); size_t str_array_len(char** array);
#endif //STRING_SPLIT_H #endif //STRING_SPLIT_H

32
Extras/Serialize/HeaderGenerator/apiGen.cpp
View File

@@ -36,13 +36,11 @@ typedef std::map<bString, bString> bStringMap;
typedef std::vector<class bVariable> bVariableList; typedef std::vector<class bVariable> bVariableList;
typedef std::vector<bString> bStringList; typedef std::vector<bString> bStringList;
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
static FILE *dump = 0; static FILE *dump = 0;
static bDNA *mDNA = 0; static bDNA *mDNA = 0;
static bStringMap mStructs; static bStringMap mStructs;
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
class bVariable class bVariable
{ {
@@ -50,11 +48,9 @@ public:
bVariable(); bVariable();
~bVariable(); ~bVariable();
bString dataType; bString dataType;
bString variableName; bString variableName;
bString functionName; bString functionName;
bString classCtor; bString classCtor;
@@ -62,7 +58,6 @@ public:
bString memberDataType; bString memberDataType;
bString functionArgs; bString functionArgs;
void initialize(bString dataType, bString variable, bStringMap refDataTable); void initialize(bString dataType, bString variable, bStringMap refDataTable);
bool isPtr; bool isPtr;
@@ -114,7 +109,6 @@ void writeTemplate(short *structData)
bVariableList dataTypes; bVariableList dataTypes;
bStringMap includeFiles; bStringMap includeFiles;
for (int dataVal = 0; dataVal < thisLen; dataVal++, structData += 2) for (int dataVal = 0; dataVal < thisLen; dataVal++, structData += 2)
{ {
bString dataType = mDNA->getType(structData[0]); bString dataType = mDNA->getType(structData[0]);
@@ -148,7 +142,6 @@ void writeTemplate(short *structData)
if (dataName[0] != '*') if (dataName[0] != '*')
{ {
} }
} }
} }
@@ -160,7 +153,6 @@ void writeTemplate(short *structData)
} }
} }
bStringMap::iterator include = mStructs.find(dataType); bStringMap::iterator include = mStructs.find(dataType);
if (include != mStructs.end()) if (include != mStructs.end())
{ {
@@ -174,7 +166,6 @@ void writeTemplate(short *structData)
} }
} }
fprintf(dump, "###############################################################\n"); fprintf(dump, "###############################################################\n");
fprintf(dump, "%s = bStructClass()\n", fileName.c_str()); fprintf(dump, "%s = bStructClass()\n", fileName.c_str());
fprintf(dump, "%s.name = '%s'\n", fileName.c_str(), className.c_str()); fprintf(dump, "%s.name = '%s'\n", fileName.c_str(), className.c_str());
@@ -196,7 +187,6 @@ void writeTemplate(short *structData)
fprintf(dump, "DataTypeList.append(%s)\n", fileName.c_str()); fprintf(dump, "DataTypeList.append(%s)\n", fileName.c_str());
} }
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
char data[] = { char data[] = {
"\n" "\n"
@@ -207,9 +197,7 @@ char data[]={
" self.includes = []\n" " self.includes = []\n"
" self.dataTypes = []\n" " self.dataTypes = []\n"
"\n\n" "\n\n"
"DataTypeList = []\n" "DataTypeList = []\n"};
};
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
int main(int argc, char **argv) int main(int argc, char **argv)
@@ -217,11 +205,9 @@ int main(int argc,char** argv)
using namespace bParse; using namespace bParse;
dump = fopen("dump.py", "w"); dump = fopen("dump.py", "w");
if (!dump) return 0; if (!dump) return 0;
fprintf(dump, "%s\n", data); fprintf(dump, "%s\n", data);
#if 0 #if 0
char* filename = "../../../../data/r2d2_multibody.bullet"; char* filename = "../../../../data/r2d2_multibody.bullet";
@@ -279,7 +265,6 @@ int main(int argc,char** argv)
int len = sBulletDNAlen; int len = sBulletDNAlen;
#endif #endif
char *blenderData = memBuf; char *blenderData = memBuf;
int sdnaPos = 0; int sdnaPos = 0;
int mDataStart = 12; int mDataStart = 12;
@@ -299,8 +284,6 @@ int main(int argc,char** argv)
tempBuffer++; tempBuffer++;
} }
FILE *fpdna = fopen("dnaString.txt", "w"); FILE *fpdna = fopen("dnaString.txt", "w");
char buf[1024]; char buf[1024];
@@ -311,26 +294,22 @@ int main(int argc,char** argv)
if ((i % 32) == 0) if ((i % 32) == 0)
{ {
sprintf(buf, "%d,\n", dnaval); sprintf(buf, "%d,\n", dnaval);
}
} else else
{ {
sprintf(buf, "%d,", dnaval); sprintf(buf, "%d,", dnaval);
} }
fwrite(buf, strlen(buf), 1, fpdna); fwrite(buf, strlen(buf), 1, fpdna);
} }
fclose(fpdna); fclose(fpdna);
mDNA = new bDNA(); mDNA = new bDNA();
//mDNA->initMemory(); //mDNA->initMemory();
mDNA->init(memBuf + sdnaPos, len - sdnaPos, swap); mDNA->init(memBuf + sdnaPos, len - sdnaPos, swap);
for (int i = 0; i < mDNA->getNumStructs(); i++) for (int i = 0; i < mDNA->getNumStructs(); i++)
{ {
short *structData = mDNA->getStruct(i); short *structData = mDNA->getStruct(i);
@@ -340,7 +319,6 @@ int main(int argc,char** argv)
mStructs[type] = className; mStructs[type] = className;
} }
for (int i = 0; i < mDNA->getNumStructs(); i++) for (int i = 0; i < mDNA->getNumStructs(); i++)
{ {
short *structData = mDNA->getStruct(i); short *structData = mDNA->getStruct(i);
@@ -353,7 +331,6 @@ int main(int argc,char** argv)
} }
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
int _getArraySize(char *str) int _getArraySize(char *str)
{ {
@@ -397,7 +374,6 @@ bVariable::bVariable()
{ {
} }
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
bVariable::~bVariable() bVariable::~bVariable()
{ {
@@ -405,7 +381,6 @@ bVariable::~bVariable()
variableName.clear(); variableName.clear();
} }
/////////////////////////////////////////////////////////////////////////////// ///////////////////////////////////////////////////////////////////////////////
void bVariable::initialize(bString type, bString variable, bStringMap refDataTable) void bVariable::initialize(bString type, bString variable, bStringMap refDataTable)
{ {
@@ -441,7 +416,6 @@ void bVariable::initialize(bString type, bString variable, bStringMap refDataTab
if (dataType[0] == '/' && dataType[1] == '/') if (dataType[0] == '/' && dataType[1] == '/')
isCommentedOut = true; isCommentedOut = true;
if (refDataTable.find(dataType) != refDataTable.end()) if (refDataTable.find(dataType) != refDataTable.end())
isGeneratedType = true; isGeneratedType = true;

6
Extras/Serialize/ReadBulletSample/BulletDataExtractor.cpp
View File

@@ -85,11 +85,8 @@ void btBulletDataExtractor::convertAllObjects(bParse::btBulletFile* bulletFile2)
printf("converting shape %s\n", shapeData->m_name); printf("converting shape %s\n", shapeData->m_name);
void* shape = convertCollisionShape(shapeData); void* shape = convertCollisionShape(shapeData);
} }
} }
void* btBulletDataExtractor::convertCollisionShape(btCollisionShapeData* shapeData) void* btBulletDataExtractor::convertCollisionShape(btCollisionShapeData* shapeData)
{ {
void* shape = 0; void* shape = 0;
@@ -321,7 +318,6 @@ void* btBulletDataExtractor::convertCollisionShape( btCollisionShapeData* shape
} }
return shape; return shape;
} }
void* btBulletDataExtractor::createBoxShape(const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin) void* btBulletDataExtractor::createBoxShape(const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
@@ -336,10 +332,8 @@ void* btBulletDataExtractor::createSphereShape( float radius, const Bullet::btVe
return 0; return 0;
} }
void* btBulletDataExtractor::createPlaneShape(const btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling) void* btBulletDataExtractor::createPlaneShape(const btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling)
{ {
printf("createPlaneShape with normal %f,%f,%f and planeConstant\n", planeNormal.m_floats[0], planeNormal.m_floats[1], planeNormal.m_floats[2], planeConstant); printf("createPlaneShape with normal %f,%f,%f and planeConstant\n", planeNormal.m_floats[0], planeNormal.m_floats[1], planeNormal.m_floats[2], planeConstant);
return 0; return 0;
} }

3
Extras/Serialize/ReadBulletSample/BulletDataExtractor.h
View File

@@ -1,7 +1,6 @@
#ifndef BULLET_DATA_EXTRACTOR_H #ifndef BULLET_DATA_EXTRACTOR_H
#define BULLET_DATA_EXTRACTOR_H #define BULLET_DATA_EXTRACTOR_H
#include "../BulletFileLoader/autogenerated/bullet.h" #include "../BulletFileLoader/autogenerated/bullet.h"
namespace bParse namespace bParse
@@ -12,7 +11,6 @@ namespace bParse
class btBulletDataExtractor class btBulletDataExtractor
{ {
public: public:
btBulletDataExtractor(); btBulletDataExtractor();
virtual ~btBulletDataExtractor(); virtual ~btBulletDataExtractor();
@@ -26,7 +24,6 @@ class btBulletDataExtractor
virtual void* createBoxShape(const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin); virtual void* createBoxShape(const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
virtual void* createSphereShape(float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin); virtual void* createSphereShape(float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
}; };
#endif //BULLET_DATA_EXTRACTOR_H #endif //BULLET_DATA_EXTRACTOR_H

3
Extras/Serialize/ReadBulletSample/main.cpp
View File

@@ -13,7 +13,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution. 3. This notice may not be removed or altered from any source distribution.
*/ */
#include <stdio.h> #include <stdio.h>
#include "../BulletFileLoader/btBulletFile.h" #include "../BulletFileLoader/btBulletFile.h"
#include "BulletDataExtractor.h" #include "BulletDataExtractor.h"
@@ -51,7 +50,6 @@ int main(int argc, char** argv)
bulletFile2->dumpChunks(bulletFile2->getFileDNA()); bulletFile2->dumpChunks(bulletFile2->getFileDNA());
} }
btBulletDataExtractor extractor; btBulletDataExtractor extractor;
extractor.convertAllObjects(bulletFile2); extractor.convertAllObjects(bulletFile2);
@@ -60,4 +58,3 @@ int main(int argc, char** argv)
return 0; return 0;
} }

3
Extras/Serialize/makesdna/DNA_rigidbody.h
View File

@@ -2,7 +2,6 @@
#ifndef DNA_RIGIDBODY_H #ifndef DNA_RIGIDBODY_H
#define DNA_RIGIDBODY_H #define DNA_RIGIDBODY_H
struct PointerArray struct PointerArray
{ {
int m_size; int m_size;
@@ -10,7 +9,6 @@ struct PointerArray
void *m_data; void *m_data;
}; };
struct btPhysicsSystem struct btPhysicsSystem
{ {
PointerArray m_collisionShapes; PointerArray m_collisionShapes;
@@ -25,5 +23,4 @@ struct ListBase
void *last; void *last;
}; };
#endif #endif

383
Extras/Serialize/makesdna/makesdna.cpp
View File

@@ -49,9 +49,9 @@
* numbers give more output. * numbers give more output.
* */ * */
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C"
{
#endif #endif
#if defined(_WIN32) && !defined(FREE_WINDOWS) #if defined(_WIN32) && !defined(FREE_WINDOWS)
@@ -80,8 +80,6 @@ typedef unsigned __int64 uint64_t;
typedef intptr_t btintptr_t; typedef intptr_t btintptr_t;
#endif #endif
#elif defined(__linux__) || defined(__NetBSD__) #elif defined(__linux__) || defined(__NetBSD__)
/* Linux-i386, Linux-Alpha, Linux-ppc */ /* Linux-i386, Linux-Alpha, Linux-ppc */
@@ -108,7 +106,6 @@ typedef intptr_t btintptr_t;
} }
#endif #endif
#include <string.h> #include <string.h>
#include <stdlib.h> #include <stdlib.h>
#include <stdio.h> #include <stdio.h>
@@ -205,8 +202,7 @@ char *includefiles[] = {
"../../../src/BulletDynamics/Featherstone/btMultiBody.h", "../../../src/BulletDynamics/Featherstone/btMultiBody.h",
"../../../src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h", "../../../src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h",
// empty string to indicate end of includefiles // empty string to indicate end of includefiles
"" ""};
};
void *malloc_and_setzero(int numbytes) void *malloc_and_setzero(int numbytes)
{ {
@@ -288,8 +284,6 @@ void dna_write(FILE *file, void *pntr, int size);
*/ */
void printStructLenghts(void); void printStructLenghts(void);
/* ************************************************************************** */ /* ************************************************************************** */
/* Implementation */ /* Implementation */
/* ************************************************************************** */ /* ************************************************************************** */
@@ -304,9 +298,12 @@ int add_type(char *str, int len)
if (str[0] == 0) return -1; if (str[0] == 0) return -1;
/* search through type array */ /* search through type array */
for(nr=0; nr<nr_types; nr++) { for (nr = 0; nr < nr_types; nr++)
if(strcmp(str, types[nr])==0) { {
if (len) { if (strcmp(str, types[nr]) == 0)
{
if (len)
{
typelens[nr] = len; typelens[nr] = len;
alphalens[nr] = len; alphalens[nr] = len;
} }
@@ -315,8 +312,10 @@ int add_type(char *str, int len)
} }
/* append new type */ /* append new type */
if(nr_types==0) cp= typedata; if (nr_types == 0)
else { cp = typedata;
else
{
cp = types[nr_types - 1] + strlen(types[nr_types - 1]) + 1; cp = types[nr_types - 1] + strlen(types[nr_types - 1]) + 1;
} }
strcpy(cp, str); strcpy(cp, str);
@@ -324,9 +323,11 @@ int add_type(char *str, int len)
typelens[nr_types] = len; typelens[nr_types] = len;
alphalens[nr_types] = len; alphalens[nr_types] = len;
if(nr_types>=maxnr) { if (nr_types >= maxnr)
{
printf("too many types\n"); printf("too many types\n");
return nr_types-1;; return nr_types - 1;
;
} }
nr_types++; nr_types++;
@@ -352,13 +353,15 @@ int add_name(char *str)
if ((str[0] == 0) /* || (str[1]==0) */) return -1; if ((str[0] == 0) /* || (str[1]==0) */) return -1;
if (str[0] == '(' && str[1] == '*') { if (str[0] == '(' && str[1] == '*')
{
if (debugSDNA > 3) printf("\t\t\t\t*** Function pointer found\n"); if (debugSDNA > 3) printf("\t\t\t\t*** Function pointer found\n");
/* functionpointer: transform the type (sometimes) */ /* functionpointer: transform the type (sometimes) */
i = 0; i = 0;
j = 0; j = 0;
while (str[i] != ')') { while (str[i] != ')')
{
buf[i] = str[i]; buf[i] = str[i];
i++; i++;
} }
@@ -371,27 +374,34 @@ int add_name(char *str)
if (debugSDNA > 3) printf("first brace after offset %d\n", i); if (debugSDNA > 3) printf("first brace after offset %d\n", i);
j++; /* j beyond closing brace ? */ j++; /* j beyond closing brace ? */
while ((str[j] != 0) && (str[j] != ')' )) { while ((str[j] != 0) && (str[j] != ')'))
{
if (debugSDNA > 3) printf("seen %c ( %d) \n", str[j], str[j]); if (debugSDNA > 3) printf("seen %c ( %d) \n", str[j], str[j]);
j++; j++;
} }
if (debugSDNA > 3) printf("seen %c ( %d) \n", str[j], str[j]); if (debugSDNA > 3) printf("seen %c ( %d) \n", str[j], str[j]);
if (debugSDNA > 3) printf("special after offset %d\n", j); if (debugSDNA > 3) printf("special after offset %d\n", j);
if (str[j] == 0 ) { if (str[j] == 0)
{
if (debugSDNA > 3) printf("offsetting for space\n"); if (debugSDNA > 3) printf("offsetting for space\n");
/* get additional offset */ /* get additional offset */
k = 0; k = 0;
while (str[j] != ')') { while (str[j] != ')')
{
j++; j++;
k++; k++;
} }
if (debugSDNA > 3) printf("extra offset %d\n", k); if (debugSDNA > 3) printf("extra offset %d\n", k);
additional_slen_offset = k; additional_slen_offset = k;
} else if (str[j] == ')' ) { }
else if (str[j] == ')')
{
if (debugSDNA > 3) printf("offsetting for brace\n"); if (debugSDNA > 3) printf("offsetting for brace\n");
; /* don't get extra offset */ ; /* don't get extra offset */
} else { }
else
{
printf("Error during tokening function pointer argument list\n"); printf("Error during tokening function pointer argument list\n");
} }
@@ -409,8 +419,8 @@ int add_name(char *str)
* */ * */
buf[i] = 0; buf[i] = 0;
if (debugSDNA > 3) printf("Name before chomping: %s\n", buf); if (debugSDNA > 3) printf("Name before chomping: %s\n", buf);
if ( (strncmp(buf,"(*headdraw", 10) == 0) if ((strncmp(buf, "(*headdraw", 10) == 0) || (strncmp(buf, "(*windraw", 9) == 0))
|| (strncmp(buf,"(*windraw", 9) == 0) ) { {
buf[i] = ')'; buf[i] = ')';
buf[i + 1] = '('; buf[i + 1] = '(';
buf[i + 2] = 'v'; buf[i + 2] = 'v';
@@ -419,7 +429,9 @@ int add_name(char *str)
buf[i + 5] = 'd'; buf[i + 5] = 'd';
buf[i + 6] = ')'; buf[i + 6] = ')';
buf[i + 7] = 0; buf[i + 7] = 0;
} else { }
else
{
buf[i] = ')'; buf[i] = ')';
buf[i + 1] = '('; buf[i + 1] = '(';
buf[i + 2] = ')'; buf[i + 2] = ')';
@@ -428,27 +440,34 @@ int add_name(char *str)
/* now precede with buf*/ /* now precede with buf*/
if (debugSDNA > 3) printf("\t\t\t\t\tProposing fp name %s\n", buf); if (debugSDNA > 3) printf("\t\t\t\t\tProposing fp name %s\n", buf);
name = buf; name = buf;
} else { }
else
{
/* normal field: old code */ /* normal field: old code */
name = str; name = str;
} }
/* search name array */ /* search name array */
for(nr=0; nr<nr_names; nr++) { for (nr = 0; nr < nr_names; nr++)
if(strcmp(name, names[nr])==0) { {
if (strcmp(name, names[nr]) == 0)
{
return nr; return nr;
} }
} }
/* append new type */ /* append new type */
if(nr_names==0) cp= namedata; if (nr_names == 0)
else { cp = namedata;
else
{
cp = names[nr_names - 1] + strlen(names[nr_names - 1]) + 1; cp = names[nr_names - 1] + strlen(names[nr_names - 1]) + 1;
} }
strcpy(cp, name); strcpy(cp, name);
names[nr_names] = cp; names[nr_names] = cp;
if(nr_names>=maxnr) { if (nr_names >= maxnr)
{
printf("too many names\n"); printf("too many names\n");
return nr_names - 1; return nr_names - 1;
} }
@@ -462,10 +481,12 @@ short *add_struct(int namecode)
int len; int len;
short *sp; short *sp;
if(nr_structs==0) { if (nr_structs == 0)
{
structs[0] = structdata; structs[0] = structdata;
} }
else { else
{
sp = structs[nr_structs - 1]; sp = structs[nr_structs - 1];
len = sp[1]; len = sp[1];
structs[nr_structs] = sp + 2 * len + 2; structs[nr_structs] = sp + 2 * len + 2;
@@ -474,7 +495,8 @@ short *add_struct(int namecode)
sp = structs[nr_structs]; sp = structs[nr_structs];
sp[0] = namecode; sp[0] = namecode;
if(nr_structs>=maxnr) { if (nr_structs >= maxnr)
{
printf("too many structs\n"); printf("too many structs\n");
return sp; return sp;
} }
@@ -496,39 +518,48 @@ int preprocess_include(char *maindata, int len)
cp = temp; cp = temp;
a = len; a = len;
comment = 0; comment = 0;
while(a--) { while (a--)
if(cp[0]=='/' && cp[1]=='/') { {
if (cp[0] == '/' && cp[1] == '/')
{
comment = 1; comment = 1;
} else if (*cp<32) { }
else if (*cp < 32)
{
comment = 0; comment = 0;
} }
if (comment || *cp < 32 || *cp > 128) *cp = 32; if (comment || *cp < 32 || *cp > 128) *cp = 32;
cp++; cp++;
} }
/* data from temp copy to maindata, remove comments and double spaces */ /* data from temp copy to maindata, remove comments and double spaces */
cp = temp; cp = temp;
md = maindata; md = maindata;
newlen = 0; newlen = 0;
comment = 0; comment = 0;
a = len; a = len;
while(a--) { while (a--)
{
if(cp[0]=='/' && cp[1]=='*') { if (cp[0] == '/' && cp[1] == '*')
{
comment = 1; comment = 1;
cp[0] = cp[1] = 32; cp[0] = cp[1] = 32;
} }
if(cp[0]=='*' && cp[1]=='/') { if (cp[0] == '*' && cp[1] == '/')
{
comment = 0; comment = 0;
cp[0] = cp[1] = 32; cp[0] = cp[1] = 32;
} }
/* do not copy when: */ /* do not copy when: */
if(comment); if (comment)
else if( cp[0]==' ' && cp[1]==' ' ); ;
else if( cp[-1]=='*' && cp[0]==' ' ); /* pointers with a space */ else if (cp[0] == ' ' && cp[1] == ' ')
else { ;
else if (cp[-1] == '*' && cp[0] == ' ')
; /* pointers with a space */
else
{
md[0] = cp[0]; md[0] = cp[0];
md++; md++;
newlen++; newlen++;
@@ -549,7 +580,8 @@ static void *read_file_data(char *filename, int *len_r)
#endif #endif
void *data; void *data;
if (!fp) { if (!fp)
{
*len_r = -1; *len_r = -1;
return NULL; return NULL;
} }
@@ -559,13 +591,15 @@ static void *read_file_data(char *filename, int *len_r)
fseek(fp, 0L, SEEK_SET); fseek(fp, 0L, SEEK_SET);
data = malloc_and_setzero(*len_r); data = malloc_and_setzero(*len_r);
if (!data) { if (!data)
{
*len_r = -1; *len_r = -1;
fclose(fp); fclose(fp);
return NULL; return NULL;
} }
if (fread(data, *len_r, 1, fp)!=1) { if (fread(data, *len_r, 1, fp) != 1)
{
*len_r = -1; *len_r = -1;
free(data); free(data);
fclose(fp); fclose(fp);
@@ -576,7 +610,6 @@ static void *read_file_data(char *filename, int *len_r)
return data; return data;
} }
const char *skipStructTypes[] = const char *skipStructTypes[] =
{ {
"btContactSolverInfoData", "btContactSolverInfoData",
@@ -585,8 +618,7 @@ const char* skipStructTypes[]=
"btConstraintInfo2", "btConstraintInfo2",
"btConstraintSetting", "btConstraintSetting",
"btTriangleInfo", "btTriangleInfo",
"" ""};
};
int skipStruct(const char *structType) int skipStruct(const char *structType)
{ {
@@ -612,7 +644,8 @@ int convert_include(char *filename)
char *maindata, *mainend, *md, *md1; char *maindata, *mainend, *md, *md1;
md = maindata = (char *)read_file_data(filename, &filelen); md = maindata = (char *)read_file_data(filename, &filelen);
if (filelen==-1) { if (filelen == -1)
{
printf("Can't read file %s\n", filename); printf("Can't read file %s\n", filename);
return 1; return 1;
} }
@@ -623,28 +656,31 @@ int convert_include(char *filename)
/* we look for '{' and then back to 'struct' */ /* we look for '{' and then back to 'struct' */
count = 0; count = 0;
overslaan = 0; overslaan = 0;
while(count<filelen) { while (count < filelen)
{
/* code for skipping a struct: two hashes on 2 lines. (preprocess added a space) */ /* code for skipping a struct: two hashes on 2 lines. (preprocess added a space) */
if(md[0]=='#' && md[1]==' ' && md[2]=='#') { if (md[0] == '#' && md[1] == ' ' && md[2] == '#')
{
overslaan = 1; overslaan = 1;
} }
if(md[0]=='{') { if (md[0] == '{')
{
md[0] = 0; md[0] = 0;
if(overslaan) { if (overslaan)
{
overslaan = 0; overslaan = 0;
} }
else { else
{
if (md[-1] == ' ') md[-1] = 0; if (md[-1] == ' ') md[-1] = 0;
md1 = md - 2; md1 = md - 2;
while (*md1 != 32) md1--; /* to beginning of word */ while (*md1 != 32) md1--; /* to beginning of word */
md1++; md1++;
/* we've got a struct name when... */ /* we've got a struct name when... */
if( strncmp(md1-7, "struct", 6)==0 ) { if (strncmp(md1 - 7, "struct", 6) == 0)
{
if (!skipStruct(md1)) if (!skipStruct(md1))
{ {
strct = add_type(md1, 0); strct = add_type(md1, 0);
@@ -655,7 +691,8 @@ int convert_include(char *filename)
/* first lets make it all nice strings */ /* first lets make it all nice strings */
md1 = md + 1; md1 = md + 1;
while(*md1 != '}') { while (*md1 != '}')
{
if (md1 > mainend) break; if (md1 > mainend) break;
if (*md1 == ',' || *md1 == ' ') *md1 = 0; if (*md1 == ',' || *md1 == ' ') *md1 = 0;
@@ -664,11 +701,13 @@ int convert_include(char *filename)
/* read types and names until first character that is not '}' */ /* read types and names until first character that is not '}' */
md1 = md + 1; md1 = md + 1;
while( *md1 != '}' ) { while (*md1 != '}')
{
if (md1 > mainend) break; if (md1 > mainend) break;
/* skip when it says 'struct' or 'unsigned' or 'const' */ /* skip when it says 'struct' or 'unsigned' or 'const' */
if(*md1) { if (*md1)
{
if (strncmp(md1, "struct", 6) == 0) md1 += 7; if (strncmp(md1, "struct", 6) == 0) md1 += 7;
if (strncmp(md1, "unsigned", 8) == 0) md1 += 9; if (strncmp(md1, "unsigned", 8) == 0) md1 += 9;
if (strncmp(md1, "const", 5) == 0) md1 += 6; if (strncmp(md1, "const", 5) == 0) md1 += 6;
@@ -680,20 +719,21 @@ int convert_include(char *filename)
md1 += strlen(md1); md1 += strlen(md1);
/* read until ';' */ /* read until ';' */
while( *md1 != ';' ) { while (*md1 != ';')
{
if (md1 > mainend) break; if (md1 > mainend) break;
if(*md1) { if (*md1)
{
/* We've got a name. slen needs /* We've got a name. slen needs
* correction for function * correction for function
* pointers! */ * pointers! */
slen = (int)strlen(md1); slen = (int)strlen(md1);
if( md1[slen-1]==';' ) { if (md1[slen - 1] == ';')
{
md1[slen - 1] = 0; md1[slen - 1] = 0;
name = add_name(md1); name = add_name(md1);
slen += additional_slen_offset; slen += additional_slen_offset;
sp[0] = type; sp[0] = type;
@@ -708,7 +748,6 @@ int convert_include(char *filename)
break; break;
} }
name = add_name(md1); name = add_name(md1);
slen += additional_slen_offset; slen += additional_slen_offset;
@@ -725,7 +764,6 @@ int convert_include(char *filename)
} }
if (debugSDNA > 1) printf(")\n"); if (debugSDNA > 1) printf(")\n");
} }
md1++; md1++;
} }
@@ -749,11 +787,14 @@ int arraysize(char *astr, int len)
memcpy(str, astr, len + 1); memcpy(str, astr, len + 1);
for(a=0; a<len; a++) { for (a = 0; a < len; a++)
if( str[a]== '[' ) { {
if (str[a] == '[')
{
cp = &(str[a + 1]); cp = &(str[a + 1]);
} }
else if( str[a]==']' && cp) { else if (str[a] == ']' && cp)
{
str[a] = 0; str[a] = 0;
mul *= atoi(cp); mul *= atoi(cp);
} }
@@ -769,110 +810,131 @@ static int calculate_structlens(int firststruct)
char *cp; char *cp;
int has_pointer, dna_error = 0; int has_pointer, dna_error = 0;
while(unknown) { while (unknown)
{
lastunknown = unknown; lastunknown = unknown;
unknown = 0; unknown = 0;
/* check all structs... */ /* check all structs... */
for(a=0; a<nr_structs; a++) { for (a = 0; a < nr_structs; a++)
{
structpoin = structs[a]; structpoin = structs[a];
structtype = structpoin[0]; structtype = structpoin[0];
/* when length is not known... */ /* when length is not known... */
if(typelens[structtype]==0) { if (typelens[structtype] == 0)
{
sp = structpoin + 2; sp = structpoin + 2;
len = 0; len = 0;
alphalen = 0; alphalen = 0;
has_pointer = 0; has_pointer = 0;
/* check all elements in struct */ /* check all elements in struct */
for(b=0; b<structpoin[1]; b++, sp+=2) { for (b = 0; b < structpoin[1]; b++, sp += 2)
{
type = sp[0]; type = sp[0];
cp = names[sp[1]]; cp = names[sp[1]];
namelen = (int)strlen(cp); namelen = (int)strlen(cp);
/* is it a pointer or function pointer? */ /* is it a pointer or function pointer? */
if(cp[0]=='*' || cp[1]=='*') { if (cp[0] == '*' || cp[1] == '*')
{
has_pointer = 1; has_pointer = 1;
/* has the name an extra length? (array) */ /* has the name an extra length? (array) */
mul = 1; mul = 1;
if (cp[namelen - 1] == ']') mul = arraysize(cp, namelen); if (cp[namelen - 1] == ']') mul = arraysize(cp, namelen);
/* 4-8 aligned/ */ /* 4-8 aligned/ */
if(sizeof(void *) == 4) { if (sizeof(void *) == 4)
if (len % 4) { {
if (len % 4)
{
printf("Align pointer error in struct (len4): %s %s\n", types[structtype], cp); printf("Align pointer error in struct (len4): %s %s\n", types[structtype], cp);
dna_error = 1; dna_error = 1;
} }
} else { }
if (len % 8) { else
{
if (len % 8)
{
printf("Align pointer error in struct (len8): %s %s\n", types[structtype], cp); printf("Align pointer error in struct (len8): %s %s\n", types[structtype], cp);
dna_error = 1; dna_error = 1;
} }
} }
if (alphalen % 8) { if (alphalen % 8)
{
printf("Align pointer error in struct (alphalen8): %s %s\n", types[structtype], cp); printf("Align pointer error in struct (alphalen8): %s %s\n", types[structtype], cp);
dna_error = 1; dna_error = 1;
} }
len += sizeof(void *) * mul; len += sizeof(void *) * mul;
alphalen += 8 * mul; alphalen += 8 * mul;
}
} else if( typelens[type] ) { else if (typelens[type])
{
/* has the name an extra length? (array) */ /* has the name an extra length? (array) */
mul = 1; mul = 1;
if (cp[namelen - 1] == ']') mul = arraysize(cp, namelen); if (cp[namelen - 1] == ']') mul = arraysize(cp, namelen);
/* struct alignment */ /* struct alignment */
if(type >= firststruct) { if (type >= firststruct)
if(sizeof(void *)==8 && (len % 8) ) { {
if (sizeof(void *) == 8 && (len % 8))
{
printf("Align struct error: %s %s\n", types[structtype], cp); printf("Align struct error: %s %s\n", types[structtype], cp);
dna_error = 1; dna_error = 1;
} }
} }
/* 2-4 aligned/ */ /* 2-4 aligned/ */
if(typelens[type]>3 && (len % 4) ) { if (typelens[type] > 3 && (len % 4))
{
printf("Align 4 error in struct: %s %s (add %d padding bytes)\n", types[structtype], cp, len % 4); printf("Align 4 error in struct: %s %s (add %d padding bytes)\n", types[structtype], cp, len % 4);
dna_error = 1; dna_error = 1;
} }
else if(typelens[type]==2 && (len % 2) ) { else if (typelens[type] == 2 && (len % 2))
{
printf("Align 2 error in struct: %s %s (add %d padding bytes)\n", types[structtype], cp, len % 2); printf("Align 2 error in struct: %s %s (add %d padding bytes)\n", types[structtype], cp, len % 2);
dna_error = 1; dna_error = 1;
} }
len += mul * typelens[type]; len += mul * typelens[type];
alphalen += mul * alphalens[type]; alphalen += mul * alphalens[type];
}
} else { else
{
len = 0; len = 0;
alphalen = 0; alphalen = 0;
break; break;
} }
} }
if (len==0) { if (len == 0)
{
unknown++; unknown++;
} else { }
else
{
typelens[structtype] = len; typelens[structtype] = len;
alphalens[structtype] = alphalen; alphalens[structtype] = alphalen;
// two ways to detect if a struct contains a pointer: // two ways to detect if a struct contains a pointer:
// has_pointer is set or alphalen != len // has_pointer is set or alphalen != len
if (has_pointer || alphalen != len) { if (has_pointer || alphalen != len)
if (alphalen % 8) { {
if (alphalen % 8)
{
printf("alphalen = %d len = %d\n", alphalen, len); printf("alphalen = %d len = %d\n", alphalen, len);
printf("Sizeerror 8 in struct: %s (add %d bytes)\n", types[structtype], alphalen % 8); printf("Sizeerror 8 in struct: %s (add %d bytes)\n", types[structtype], alphalen % 8);
dna_error = 1; dna_error = 1;
} }
} }
if(len % 4) { if (len % 4)
{
printf("Sizeerror 4 in struct: %s (add %d bytes)\n", types[structtype], len % 4); printf("Sizeerror 4 in struct: %s (add %d bytes)\n", types[structtype], len % 4);
dna_error = 1; dna_error = 1;
} }
} }
} }
} }
@@ -880,32 +942,37 @@ static int calculate_structlens(int firststruct)
if (unknown == lastunknown) break; if (unknown == lastunknown) break;
} }
if(unknown) { if (unknown)
{
printf("ERROR: still %d structs unknown\n", unknown); printf("ERROR: still %d structs unknown\n", unknown);
if (debugSDNA) { if (debugSDNA)
{
printf("*** Known structs : \n"); printf("*** Known structs : \n");
for(a=0; a<nr_structs; a++) { for (a = 0; a < nr_structs; a++)
{
structpoin = structs[a]; structpoin = structs[a];
structtype = structpoin[0]; structtype = structpoin[0];
/* length unknown */ /* length unknown */
if(typelens[structtype]!=0) { if (typelens[structtype] != 0)
{
printf(" %s\n", types[structtype]); printf(" %s\n", types[structtype]);
} }
} }
} }
printf("*** Unknown structs : \n"); printf("*** Unknown structs : \n");
for(a=0; a<nr_structs; a++) { for (a = 0; a < nr_structs; a++)
{
structpoin = structs[a]; structpoin = structs[a];
structtype = structpoin[0]; structtype = structpoin[0];
/* length unkown yet */ /* length unkown yet */
if(typelens[structtype]==0) { if (typelens[structtype] == 0)
{
printf(" %s\n", types[structtype]); printf(" %s\n", types[structtype]);
} }
} }
@@ -914,7 +981,6 @@ static int calculate_structlens(int firststruct)
return (dna_error); return (dna_error);
} }
#define MAX_DNA_LINE_LENGTH 20 #define MAX_DNA_LINE_LENGTH 20
void dna_write(FILE *file, void *pntr, int size) void dna_write(FILE *file, void *pntr, int size)
@@ -929,7 +995,8 @@ void dna_write(FILE *file, void *pntr, int size)
{ {
fprintf(file, "char(%d),", data[i]); fprintf(file, "char(%d),", data[i]);
linelength++; linelength++;
if (linelength >= MAX_DNA_LINE_LENGTH) { if (linelength >= MAX_DNA_LINE_LENGTH)
{
fprintf(file, "\n"); fprintf(file, "\n");
linelength = 0; linelength = 0;
} }
@@ -942,12 +1009,14 @@ void printStructLenghts(void)
short *structpoin; short *structpoin;
printf("\n\n*** All detected structs:\n"); printf("\n\n*** All detected structs:\n");
while(unknown) { while (unknown)
{
lastunknown = unknown; lastunknown = unknown;
unknown = 0; unknown = 0;
/* check all structs... */ /* check all structs... */
for(a=0; a<nr_structs; a++) { for (a = 0; a < nr_structs; a++)
{
structpoin = structs[a]; structpoin = structs[a];
structtype = structpoin[0]; structtype = structpoin[0];
printf("\t%s\t:%d\n", types[structtype], typelens[structtype]); printf("\t%s\t:%d\n", types[structtype], typelens[structtype]);
@@ -955,10 +1024,8 @@ void printStructLenghts(void)
} }
printf("*** End of list\n"); printf("*** End of list\n");
} }
int make_structDNA(char *baseDirectory, FILE *file) int make_structDNA(char *baseDirectory, FILE *file)
{ {
int len, i; int len, i;
@@ -968,10 +1035,10 @@ int make_structDNA(char *baseDirectory, FILE *file)
char str[SDNA_MAX_FILENAME_LENGTH], *cp; char str[SDNA_MAX_FILENAME_LENGTH], *cp;
int firststruct; int firststruct;
if (debugSDNA > -1) { if (debugSDNA > -1)
{
fflush(stdout); fflush(stdout);
printf("Running makesdna at debug level %d\n", debugSDNA); printf("Running makesdna at debug level %d\n", debugSDNA);
} }
/* the longest known struct is 50k, so we assume 100k is sufficent! */ /* the longest known struct is 50k, so we assume 100k is sufficent! */
@@ -1007,21 +1074,23 @@ int make_structDNA(char *baseDirectory, FILE *file)
/* little test first... */ /* little test first... */
/* Mind the breaking condition here! */ /* Mind the breaking condition here! */
if (debugSDNA) printf("\tStart of header scan:\n"); if (debugSDNA) printf("\tStart of header scan:\n");
for (i = 0; strlen(includefiles[i]); i++) { for (i = 0; strlen(includefiles[i]); i++)
{
sprintf(str, "%s%s", baseDirectory, includefiles[i]); sprintf(str, "%s%s", baseDirectory, includefiles[i]);
if (debugSDNA) printf("\t|-- Converting %s\n", str); if (debugSDNA) printf("\t|-- Converting %s\n", str);
if (convert_include(str)) { if (convert_include(str))
{
return (1); return (1);
} }
} }
if (debugSDNA) printf("\tFinished scanning %d headers.\n", i); if (debugSDNA) printf("\tFinished scanning %d headers.\n", i);
if (calculate_structlens(firststruct)) { if (calculate_structlens(firststruct))
{
// error // error
return (1); return (1);
} }
/* FOR DEBUG */ /* FOR DEBUG */
if (debugSDNA > 1) if (debugSDNA > 1)
{ {
@@ -1030,24 +1099,28 @@ int make_structDNA(char *baseDirectory, FILE *file)
short num_types; short num_types;
printf("nr_names %d nr_types %d nr_structs %d\n", nr_names, nr_types, nr_structs); printf("nr_names %d nr_types %d nr_structs %d\n", nr_names, nr_types, nr_structs);
for(a=0; a<nr_names; a++) { for (a = 0; a < nr_names; a++)
{
printf(" %s \n", names[a]); printf(" %s \n", names[a]);
} }
printf("\n"); printf("\n");
sp = typelens; sp = typelens;
for(a=0; a<nr_types; a++, sp++) { for (a = 0; a < nr_types; a++, sp++)
{
printf(" %s %d\n", types[a], *sp); printf(" %s %d\n", types[a], *sp);
} }
printf("\n"); printf("\n");
for(a=0; a<nr_structs; a++) { for (a = 0; a < nr_structs; a++)
{
sp = structs[a]; sp = structs[a];
printf(" struct %s elems: %d size: %d\n", types[sp[0]], sp[1], typelens[sp[0]]); printf(" struct %s elems: %d size: %d\n", types[sp[0]], sp[1], typelens[sp[0]]);
num_types = sp[1]; num_types = sp[1];
sp += 2; sp += 2;
/* ? num_types was elem? */ /* ? num_types was elem? */
for(b=0; b< num_types; b++, sp+= 2) { for (b = 0; b < num_types; b++, sp += 2)
{
printf(" %s %s\n", types[sp[0]], names[sp[1]]); printf(" %s %s\n", types[sp[0]], names[sp[1]]);
} }
} }
@@ -1057,8 +1130,10 @@ int make_structDNA(char *baseDirectory, FILE *file)
if (debugSDNA > -1) printf("Writing file ... "); if (debugSDNA > -1) printf("Writing file ... ");
if(nr_names==0 || nr_structs==0); if (nr_names == 0 || nr_structs == 0)
else { ;
else
{
strcpy(str, "SDNA"); strcpy(str, "SDNA");
dna_write(file, str, 4); dna_write(file, str, 4);
@@ -1112,24 +1187,29 @@ int make_structDNA(char *baseDirectory, FILE *file)
dna_write(file, structs[0], len); dna_write(file, structs[0], len);
/* a simple dna padding test */ /* a simple dna padding test */
if (0) { if (0)
{
FILE *fp; FILE *fp;
int a; int a;
fp = fopen("padding.c", "w"); fp = fopen("padding.c", "w");
if(fp==NULL); if (fp == NULL)
else { ;
else
{
// add all include files defined in the global array // add all include files defined in the global array
for (i = 0; strlen(includefiles[i]); i++) { for (i = 0; strlen(includefiles[i]); i++)
{
fprintf(fp, "#include \"%s%s\"\n", baseDirectory, includefiles[i]); fprintf(fp, "#include \"%s%s\"\n", baseDirectory, includefiles[i]);
} }
fprintf(fp, "main(){\n"); fprintf(fp, "main(){\n");
sp = typelens; sp = typelens;
sp += firststruct; sp += firststruct;
for(a=firststruct; a<nr_types; a++, sp++) { for (a = firststruct; a < nr_types; a++, sp++)
if(*sp) { {
if (*sp)
{
fprintf(fp, "\tif(sizeof(struct %s) - %d) printf(\"ALIGN ERROR:", types[a], *sp); fprintf(fp, "\tif(sizeof(struct %s) - %d) printf(\"ALIGN ERROR:", types[a], *sp);
fprintf(fp, "%%d %s %d ", types[a], *sp); fprintf(fp, "%%d %s %d ", types[a], *sp);
fprintf(fp, "\\n\", sizeof(struct %s) - %d);\n", types[a], *sp); fprintf(fp, "\\n\", sizeof(struct %s) - %d);\n", types[a], *sp);
@@ -1142,7 +1222,6 @@ int make_structDNA(char *baseDirectory, FILE *file)
/* end end padding test */ /* end end padding test */
} }
free(namedata); free(namedata);
free(typedata); free(typedata);
free(structdata); free(structdata);
@@ -1210,42 +1289,56 @@ int main(int argc, char ** argv)
FILE *file; FILE *file;
int return_status = 0; int return_status = 0;
if (argc!=2 && argc!=3) { if (argc != 2 && argc != 3)
{
printf("Usage: %s outfile.c [base directory]\n", argv[0]); printf("Usage: %s outfile.c [base directory]\n", argv[0]);
return_status = 1; return_status = 1;
} else { }
else
{
file = fopen(argv[1], "w"); file = fopen(argv[1], "w");
if (!file) { if (!file)
{
printf("Unable to open file: %s\n", argv[1]); printf("Unable to open file: %s\n", argv[1]);
return_status = 1; return_status = 1;
} else { }
else
{
char baseDirectory[256]; char baseDirectory[256];
if (argc==3) { if (argc == 3)
{
strcpy(baseDirectory, argv[2]); strcpy(baseDirectory, argv[2]);
} else { }
else
{
strcpy(baseDirectory, BASE_HEADER); strcpy(baseDirectory, BASE_HEADER);
} }
if (sizeof(void *) == 8) if (sizeof(void *) == 8)
{ {
fprintf(file, "char sBulletDNAstr64[]= {\n"); fprintf(file, "char sBulletDNAstr64[]= {\n");
} else }
else
{ {
fprintf(file, "char sBulletDNAstr[]= {\n"); fprintf(file, "char sBulletDNAstr[]= {\n");
} }
if (make_structDNA(baseDirectory, file)) { if (make_structDNA(baseDirectory, file))
{
// error // error
fclose(file); fclose(file);
make_bad_file(argv[1]); make_bad_file(argv[1]);
return_status = 1; return_status = 1;
} else { }
else
{
fprintf(file, "};\n"); fprintf(file, "};\n");
if (sizeof(void *) == 8) if (sizeof(void *) == 8)
{ {
fprintf(file, "int sBulletDNAlen64= sizeof(sBulletDNAstr64);\n"); fprintf(file, "int sBulletDNAlen64= sizeof(sBulletDNAstr64);\n");
} else }
else
{ {
fprintf(file, "int sBulletDNAlen= sizeof(sBulletDNAstr);\n"); fprintf(file, "int sBulletDNAlen= sizeof(sBulletDNAstr);\n");
} }
@@ -1255,9 +1348,7 @@ int main(int argc, char ** argv)
} }
} }
return (return_status); return (return_status);
} }
/* end of list */ /* end of list */

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