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Did a bit more Collada physics importing work.

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Also did a quick workaround to allow different camera UP. This demo stuff really needs to be cleaned up now!
This commit is contained in:
ejcoumans
2006-06-03 02:13:59 +00:00
parent 9414d46266
commit ac11a0c06b
11 changed files with 1608 additions and 990 deletions
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199
Demos/ColladaDemo/ColladaDemo.cpp
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@@ -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();

21
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -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();

26
Demos/OpenGL/GlutStuff.cpp
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@@ -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);
}

2
Extras/FCollada/FCDocument/FCDPhysicsSceneNode.cpp
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@@ -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;
}

7
Extras/FCollada/FUtils/FUXmlParser.cpp
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@@ -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);
}

7
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.cpp
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@@ -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.;
scaleY = 1.;
scaleZ = 1.;
scaleX = m_localScaling.getX();
scaleY = m_localScaling.getY();
scaleZ = m_localScaling.getZ();
}
void DefaultMotionState::getWorldOrientation(float& quatIma0,float& quatIma1,float& quatIma2,float& quatReal)

1
Extras/PhysicsInterface/CcdPhysics/CcdPhysicsController.h
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@@ -208,6 +208,7 @@ class DefaultMotionState : public PHY_IMotionState
virtual void calculateWorldTransformations();
SimdTransform m_worldTransform;
SimdVector3 m_localScaling;
};

4
msvc/8/appColladaDemo.vcproj
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@@ -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"

615
msvc/8/wksbullet.sln
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