Did a bit more Collada physics importing work.

Also did a quick workaround to allow different camera UP. This demo stuff really needs to be cleaned up now!

Demos/ColladaDemo/ColladaDemo.cpp

@@ -27,7 +27,8 @@ subject to the following restrictions:
 #include "CollisionShapes/TriangleMeshShape.h"
 
 
-
+extern SimdVector3 gCameraUp;
+extern int	gForwardAxis;
 
 #include "CollisionShapes/Simplex1to4Shape.h"
 #include "CollisionShapes/EmptyShape.h"
@@ -44,6 +45,9 @@ subject to the following restrictions:
 
 #include "GLDebugDrawer.h"
 
+//either FCollada or Collada-dom
+#define USE_FCOLLADA 1
+#ifdef USE_FCOLLADA
 
 //Collada Physics test
 //#define NO_LIBXML //need LIBXML, because FCDocument/FCDPhysicsRigidBody.h needs FUDaeWriter, through FCDPhysicsParameter.hpp
@@ -67,11 +71,14 @@ subject to the following restrictions:
 #include "FCDocument/FCDPhysicsAnalyticalGeometry.h"
 
 
-//aaa
+#else
-
+//Use Collada-dom
-
+
+#include "dae.h"
+#include "dom/domCOLLADA.h"
 
 
+#endif
 
 
 
@@ -216,6 +223,8 @@ void	CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startT
 
 
 
+#ifdef USE_FCOLLADA
+
 
 bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
 {
@@ -281,7 +290,11 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
 					//right now as we would also have to migrate all the animation curves.
 
 
-					//FRTScaleList scaleTransforms;
+					SimdVector3 localScaling(1.f,1.f,1.f);
+
+					
+
+					
 
 					SimdTransform accumulatedWorldTransform;
 					accumulatedWorldTransform.setIdentity();
@@ -290,6 +303,19 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
 
 					for (uint32 i=0; i<numTransforms; i++)
 					{
+
+						if (targetNode->GetTransforms()[i]->GetType() == FCDTransform::SCALE)
+						{
+
+							FCDTScale* scaleTrans = (FCDTScale*)targetNode->GetTransforms()[i];
+							const FMVector3& scaling = scaleTrans->GetScale();
+							localScaling[0] = scaling.x;
+							localScaling[1] = scaling.y;
+							localScaling[2] = scaling.z;
+
+						} else
+						{
+
 							FMMatrix44 mat = (targetNode->GetTransforms()[i])->ToMatrix();
 							SimdVector3 pos(mat.GetTranslation().x,mat.GetTranslation().y,mat.GetTranslation().z);
 
@@ -303,6 +329,7 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
 
 							//TODO: check pre or post multiply
 							accumulatedWorldTransform = accumulatedWorldTransform * trans;
+						}
 
 					}
 
@@ -552,6 +579,7 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
 
 								} else
 								{
+									printf("static not yet?\n");
 
 									//should be static triangle mesh!
 
@@ -751,6 +779,9 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
 						printf("create Physics Object\n");
 						//void	CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
 
+						collisionShape->setLocalScaling(localScaling);
+						ms[numObjects].m_localScaling = localScaling;
+
 						CreatePhysicsObject(isDynamic, mymass, accumulatedWorldTransform,collisionShape);
 
 
@@ -768,7 +799,10 @@ bool ConvertColladaPhysicsToBulletPhysics(const FCDPhysicsSceneNode* inputNode)
 	return true; 
 }
 
+#else
+//Collada-dom
 
+#endif
 
 
 
@@ -780,6 +814,8 @@ GLDebugDrawer debugDrawer;
 
 int main(int argc,char** argv)
 {
+	gCameraUp = SimdVector3(0,0,1);
+	gForwardAxis = 1;
 
 	///Setup a Physics Simulation Environment
 	CollisionDispatcher* dispatcher = new	CollisionDispatcher();
@@ -793,6 +829,7 @@ int main(int argc,char** argv)
 	physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
 
 	
+
 	/// Import Collada 1.4 Physics objects
 
 	//char* filename = "analyticalGeomPhysicsTest.dae";//ColladaPhysics.dae";
@@ -800,7 +837,7 @@ int main(int argc,char** argv)
 	
 	//char* filename = "friction.dae";
 
-	
+#ifdef USE_FCOLLADA
 
 	FCDocument* document = new FCDocument();
 	FUStatus status = document->LoadFromFile(filename);
@@ -818,7 +855,150 @@ int main(int argc,char** argv)
 			printf("ConvertColladaPhysicsToBulletPhysics failed\n");
 		}
 	}
+#else
+	//Collada-dom
+	DAE *collada = new DAE;
 
+	
+	int res = collada->load(filename);//,docBuffer);
+	if (res != DAE_OK)
+	{
+		printf("DAE/Collada-dom: Couldn't load %s\n",filename);
+	} else
+	{
+
+		domCOLLADA *dom = collada->getDom(filename);
+		if ( !dom )
+		{
+			printf("COLLADA File loaded to the dom, but query for the dom assets failed \n" );
+			printf("COLLADA Load Aborted! \n" );
+			delete collada;	
+			
+		} else
+		{
+
+			//succesfully loaded file, now convert data
+
+			if ( dom->getAsset()->getUp_axis() )
+			{
+				domAsset::domUp_axis * up = dom->getAsset()->getUp_axis();
+				switch( up->getValue() )
+				{
+					case UPAXISTYPE_X_UP:
+						printf("	X is Up Data and Hiearchies must be converted!\n" ); 
+						printf("  Conversion to X axis Up isn't currently supported!\n" ); 
+						printf("  COLLADA_RT defaulting to Y Up \n" ); 
+						break; 
+					case UPAXISTYPE_Y_UP:
+						printf("	Y Axis is Up for this file \n" ); 
+						printf("  COLLADA_RT set to Y Up \n" ); 
+						
+						break;
+					case UPAXISTYPE_Z_UP:
+						printf("	Z Axis is Up for this file \n" ); 
+						printf("  All Geometry and Hiearchies must be converted!\n" ); 
+						break; 
+					default:
+					
+						break; 
+				}
+			}
+
+
+
+			// Load all the geometry libraries
+			for ( int i = 0; i < dom->getLibrary_geometries_array().getCount(); i++)
+			{
+				domLibrary_geometriesRef libgeom = dom->getLibrary_geometries_array()[i];
+				
+				printf(" CrtScene::Reading Geometry Library \n" );
+				for ( int  i = 0; i < libgeom->getGeometry_array().getCount(); i++)
+				{
+					//ReadGeometry(  ); 
+					domGeometryRef lib = libgeom->getGeometry_array()[i];
+
+					domMesh			*meshElement		= lib->getMesh();
+					if (meshElement)
+					{
+						
+
+						// Find out how many groups we need to allocate space for 
+						int	numTriangleGroups = (int)meshElement->getTriangles_array().getCount();
+						int	numPolygonGroups  = (int)meshElement->getPolygons_array().getCount();
+						int	totalGroups		  = numTriangleGroups + numPolygonGroups;
+						if (totalGroups == 0) 
+						{
+							printf("No Triangles or Polygons found int Geometry %s \n", lib->getId() ); 
+						} else
+						{
+							printf("Found mesh geometry: numTriangleGroups:%i numPolygonGroups:%i\n",numTriangleGroups,numPolygonGroups);
+						}
+						
+
+					}
+					domConvex_mesh	*convexMeshElement	= lib->getConvex_mesh();
+					if (convexMeshElement)
+					{
+						printf("found convexmesh element\n");
+						// Find out how many groups we need to allocate space for 
+						int	numTriangleGroups = (int)convexMeshElement->getTriangles_array().getCount();
+						int	numPolygonGroups  = (int)convexMeshElement->getPolygons_array().getCount();
+						int	totalGroups		  = numTriangleGroups + numPolygonGroups;
+						if (totalGroups == 0) 
+						{
+							printf("No Triangles or Polygons found in ConvexMesh Geometry %s \n", lib->getId() ); 
+						}else
+						{
+							printf("Found convexmesh geometry: numTriangleGroups:%i numPolygonGroups:%i\n",numTriangleGroups,numPolygonGroups);
+						}
+					}//fi
+				}//for each geometry
+
+			}//for all geometry libraries
+
+			for ( int i = 0; i < dom->getLibrary_physics_scenes_array().getCount(); i++)
+			{
+				domLibrary_physics_scenesRef physicsScenesRef = dom->getLibrary_physics_scenes_array()[i];
+				for (int s=0;s<physicsScenesRef->getPhysics_scene_array().getCount();s++)
+				{
+					domPhysics_sceneRef physicsSceneRef = physicsScenesRef->getPhysics_scene_array()[s];
+
+					for (int m=0;m<physicsSceneRef->getInstance_physics_model_array().getCount();m++)
+					{
+						domInstance_physics_modelRef modelRef = physicsSceneRef->getInstance_physics_model_array()[m];
+
+						for (int r=0;r<modelRef->getInstance_rigid_body_array().getCount();r++)
+						{
+							domInstance_rigid_bodyRef rigidbodyRef = modelRef->getInstance_rigid_body_array()[r];
+							domInstance_rigid_body::domTechnique_commonRef techniqueRef = rigidbodyRef->getTechnique_common();
+							
+							if (techniqueRef)
+							{
+								float mass = techniqueRef->getMass()->getValue();
+								bool isDynamics = techniqueRef->getDynamic()->getValue();
+								printf("mass = %f, isDynamics %i\n",mass,isDynamics);
+							}
+
+						}
+
+						//we don't handle constraints just yet
+						for (int c=0;c<modelRef->getInstance_rigid_constraint_array().getCount();i++)
+						{
+
+						}
+
+					}
+
+				}
+			}
+
+		}
+
+
+
+	}
+
+#endif
 	clientResetScene();
 
 	setCameraDistance(26.f);
@@ -911,7 +1091,8 @@ void renderme()
 		}
 
 		char	extraDebug[125];
-		sprintf(extraDebug,"islId, Body=%i , %i",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId);
+		
+		sprintf(extraDebug,"islandId=%i, Body=%i, ShapeType=%s",physObjects[i]->GetRigidBody()->m_islandTag1,physObjects[i]->GetRigidBody()->m_debugBodyId,physObjects[i]->GetRigidBody()->GetCollisionShape()->GetName());
 		physObjects[i]->GetRigidBody()->GetCollisionShape()->SetExtraDebugInfo(extraDebug);
 		GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
 
@@ -1136,6 +1317,7 @@ float gOldPickingDist  = 0.f;
 RigidBody* pickedBody = 0;//for deactivation state
 
 
+
 SimdVector3	GetRayTo(int x,int y)
 {
 	float top = 1.f;
@@ -1151,7 +1333,8 @@ SimdVector3	GetRayTo(int x,int y)
 	rayForward*= farPlane;
 
 	SimdVector3 rightOffset;
-	SimdVector3 vertical(0.f,1.f,0.f);
+	SimdVector3 vertical = gCameraUp;
+
 	SimdVector3 hor;
 	hor = rayForward.cross(vertical);
 	hor.normalize();

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -170,6 +170,8 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 	}
 	
 
+	
+
 	if (useWireframeFallback)
 	{
 		/// for polyhedral shapes
@@ -195,12 +197,6 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 			glEnd();
 
 			
-
-			if (debugMode==IDebugDraw::DBG_DrawText)
-			{
-				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->GetName());
-			}
-
 			if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
 			{
 				BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),polyshape->GetExtraDebugInfo());
@@ -230,6 +226,8 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 					
 				}
 			}
+
+			
 		}
 	}
 
@@ -262,6 +260,17 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 
 	}
 	
+	glDisable(GL_DEPTH_BUFFER_BIT);
+	if (debugMode==IDebugDraw::DBG_DrawText)
+	{
+		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetName());
+	}
+
+	if (debugMode==IDebugDraw::DBG_DrawFeaturesText)
+	{
+		BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),shape->GetExtraDebugInfo());
+	}
+	glEnable(GL_DEPTH_BUFFER_BIT);
     
 	glPopMatrix();
     glPopMatrix();

Demos/OpenGL/GlutStuff.cpp

@@ -105,22 +105,40 @@ void toggleIdle() {
     }
 }
 
+#include "SimdMatrix3x3.h"
+
+SimdVector3 gCameraUp(0,1,0);
+int	gForwardAxis = 2;
 
 void setCamera() {
 
+
     glMatrixMode(GL_PROJECTION);
     glLoadIdentity();
 	float rele = ele * 0.01745329251994329547;// rads per deg
     float razi = azi * 0.01745329251994329547;// rads per deg
-    eye[0] = DISTANCE * sin(razi) * cos(rele);
-	eye[1] = DISTANCE * sin(rele);
-	eye[2] = DISTANCE * cos(razi) * cos(rele);
     
 
+	SimdQuaternion rot(gCameraUp,razi);
+
+
+	SimdVector3 eyePos(0,0,0);
+	eyePos[gForwardAxis] = -DISTANCE;
+
+	SimdVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
+	SimdVector3 right = gCameraUp.cross(forward);
+	SimdQuaternion roll(right,-rele);
+
+	eyePos = SimdMatrix3x3(rot) * SimdMatrix3x3(roll) * eyePos;
+
+	eye[0] = eyePos.getX();
+	eye[1] = eyePos.getY();
+	eye[2] = eyePos.getZ();
+ 
     glFrustum(-1.0, 1.0, -1.0, 1.0, 1.0, 100.0);
     gluLookAt(eye[0], eye[1], eye[2], 
               center[0], center[1], center[2], 
-              0, 1, 0);
+			  gCameraUp.getX(),gCameraUp.getY(),gCameraUp.getZ());
     glMatrixMode(GL_MODELVIEW);
 }
 

Extras/FCollada/FCDocument/FCDPhysicsSceneNode.cpp

@@ -24,7 +24,7 @@ using namespace FUDaeWriter;
 FCDPhysicsSceneNode::FCDPhysicsSceneNode(FCDocument* document) : FCDEntity(document, "PhysicsSceneNode")
 {
 	//FIXME: no default values are specified in the 1.4 spec!
-	gravity.x = 0.f; gravity.y = -9.8f; gravity.z = 0.f;
+	gravity.x = 0.f; gravity.y = 0.f; gravity.z = -9.8f;
 	timestep = 1.f;
 }
 

Extras/FCollada/FUtils/FUXmlParser.cpp

@@ -103,11 +103,14 @@ namespace FUXmlParser
 	// Returns the string value of a node's property
 	string ReadNodeProperty(xmlNode* node, const char* property)
 	{
-		string ret;
+		string ret="";
 		if (node != NULL && property != NULL)
 		{
 			xmlChar* data = xmlGetProp(node, xmlT(property));
-			if (data != NULL) ret = (const char*) data;
+			if (data != NULL) 
+			{
+				ret = (const char*) data;
+			}
 			xmlFree(data);
 		}
 

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp

@@ -535,6 +535,7 @@ PHY_IPhysicsController*	CcdPhysicsController::GetReplica()
 DefaultMotionState::DefaultMotionState()
 {
 	m_worldTransform.setIdentity();
+	m_localScaling.setValue(1.f,1.f,1.f);
 }
 
 
@@ -552,9 +553,9 @@ void	DefaultMotionState::getWorldPosition(float& posX,float& posY,float& posZ)
 
 void	DefaultMotionState::getWorldScaling(float& scaleX,float& scaleY,float& scaleZ)
 {
-	scaleX = 1.;
+	scaleX = m_localScaling.getX();
-	scaleY = 1.;
+	scaleY = m_localScaling.getY();
-	scaleZ = 1.;
+	scaleZ = m_localScaling.getZ();
 }
 
 void	DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h

@@ -208,6 +208,7 @@ class	DefaultMotionState : public PHY_IMotionState
 		virtual	void	calculateWorldTransformations();
 		
 		SimdTransform	m_worldTransform;
+		SimdVector3		m_localScaling;
 
 };
 

msvc/8/appColladaDemo.vcproj

@@ -47,7 +47,7 @@
 				Name="VCCLCompilerTool"
 				AdditionalOptions=" "
 				Optimization="2"
-				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common;..\..\Extras\ConvexDecomposition;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Extras\FCollada;..\..\Extras\FCollada\LibXML\include"
+				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common;..\..\Extras\ConvexDecomposition;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Extras\FCollada;..\..\Extras\FCollada\LibXML\include;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4"
 				PreprocessorDefinitions="NDEBUG;_CONSOLE;WIN32"
 				StringPooling="true"
 				ExceptionHandling="0"
@@ -152,7 +152,7 @@
 				Name="VCCLCompilerTool"
 				AdditionalOptions=" "
 				Optimization="0"
-				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common;..\..\Extras\ConvexDecomposition;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Extras\FCollada;..\..\Extras\FCollada\LibXML\include"
+				AdditionalIncludeDirectories=".;..\..;..\..\Bullet;..\..\BulletDynamics;..\..\LinearMath;..\..\Extras\PhysicsInterface\Common;..\..\Extras\ConvexDecomposition;..\..\Glut;..\..\Demos\OpenGL;..\..\Extras\PhysicsInterface\CcdPhysics;..\..\Extras\FCollada;..\..\Extras\FCollada\LibXML\include;..\..\Extras\COLLADA_DOM\include;..\..\Extras\COLLADA_DOM\include\1.4"
 				PreprocessorDefinitions="_DEBUG;_CONSOLE;WIN32"
 				MinimalRebuild="true"
 				ExceptionHandling="0"