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plumb URDF/SDF audio_source into PhysicsServerCommandProcessor, allow to play sounds on collision !

Browse Source 
See also https://youtu.be/eppOjTfx5Jg for a first test, and this modified URDF how to add sounds:
https://github.com/bulletphysics/bullet3/blob/master/data/plane_with_collision_audio.urdf
Add the --audio flag to enable sound in pybullet/Bullet-C-API
This commit is contained in:
Erwin Coumans
2017-05-01 11:14:09 -07:00
parent 3a330c4280
commit af6bf8ddc8
22 changed files with 389 additions and 108 deletions
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37
data/plane_with_collision_audio.urdf Normal file
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@@ -0,0 +1,37 @@
<?xml version="0.0" ?>
<robot name="plane">
<link name="planeLink">
<audio_source filename="wav/cardboardbox0.wav">
<collision_force_threshold>0.4</collision_force_threshold>
<attack_rate>0.01</attack_rate>
<decay_rate>0.0001</decay_rate>
<sustain_level>0.5</sustain_level>
<release_rate>0.005</release_rate>
<gain>.5</gain>
</audio_source>
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -5"/>
<geometry>
<box size="30 30 10"/>
</geometry>
</collision>
</link>
</robot>

2
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -48,7 +48,7 @@
//quick test for file import, @todo(erwincoumans) make it more general and add other file formats
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportBullet/SerializeSetup.h"
#include "../Utils/b3HashString.h"
#include "Bullet3Common/b3HashMap.h"
struct GL3TexLoader : public MyTextureLoader

20
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -1134,9 +1134,9 @@ bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
return false;
}
bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const
bool BulletURDFImporter::getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const
{
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(urdflinkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
@@ -1146,6 +1146,22 @@ bool BulletURDFImporter::getLinkContactInfo(int linkIndex, URDFLinkContactInfo&
return false;
}
bool BulletURDFImporter::getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const
{
UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
if (linkPtr)
{
const UrdfLink* link = *linkPtr;
if (link->m_audioSource.m_flags & SDFAudioSource::SDFAudioSourceValid)
{
audioSource = link->m_audioSource;
return true;
}
}
return false;
}
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const
{
if (m_data->m_customVisualShapesConverter)

4
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
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@@ -41,8 +41,10 @@ public:
virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const;
virtual bool getLinkContactInfo(int urdflinkIndex, URDFLinkContactInfo& contactInfo ) const;
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const;
virtual std::string getJointName(int linkIndex) const;
virtual void getMassAndInertia(int linkIndex, btScalar& mass,btVector3& localInertiaDiagonal, btTransform& inertialFrame) const;

2
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
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@@ -4,6 +4,7 @@
#include "MultiBodyCreationInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btHashMap.h"
struct GUIHelperInterface;
class btMultiBody;
@@ -28,7 +29,6 @@ protected:
struct GUIHelperInterface* m_guiHelper;
btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_6DofConstraints;
public:

46
examples/Importers/ImportURDFDemo/SDFAudioTypes.h Normal file
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@@ -0,0 +1,46 @@
#ifndef SDF_AUDIO_TYPES_H
#define SDF_AUDIO_TYPES_H
#include <string>
///See audio_source element in http://sdformat.org/spec?ver=1.6&elem=link
struct SDFAudioSource
{
enum
{
SDFAudioSourceValid=1,
SDFAudioSourceLooping=2,
};
int m_flags; //repeat mode (0 = no repeat, 1 = loop forever)
std::string m_uri; //media filename of the sound, .wav file
double m_pitch; //1 = regular rate, -1 play in reverse
double m_gain; //normalized volume in range [0..1] where 0 is silent, 1 is most loud
double m_attackRate;
double m_decayRate;
double m_sustainLevel;
double m_releaseRate;
double m_collisionForceThreshold; //force that will trigger the audio, in Newton. If < 0, audio source is invalid
int m_userIndex;
SDFAudioSource()
: m_flags(0),
m_pitch(1),
m_gain(1),
m_attackRate(0.0001),
m_decayRate(0.00001),
m_sustainLevel(0.5),
m_releaseRate(0.0005),
m_collisionForceThreshold(0.5),
m_userIndex(-1)
{
}
};
#endif //SDF_AUDIO_TYPES_H

4
examples/Importers/ImportURDFDemo/URDFImporterInterface.h
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@@ -5,7 +5,7 @@
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btTransform.h"
#include "URDFJointTypes.h"
#include "SDFAudioTypes.h"
class URDFImporterInterface
{
@@ -40,6 +40,8 @@ public:
///this API will likely change, don't override it!
virtual bool getLinkContactInfo(int linkIndex, URDFLinkContactInfo& contactInfo ) const { return false;}
virtual bool getLinkAudioSource(int linkIndex, SDFAudioSource& audioSource) const { return false;}
virtual std::string getJointName(int linkIndex) const = 0;
//fill mass and inertial data. If inertial data is missing, please initialize mass, inertia to sensitive values, and inertialFrame to identity.

76
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -663,6 +663,82 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
{
//optional 'audio_source' parameters
//modified version of SDF audio_source specification in //http://sdformat.org/spec?ver=1.6&elem=link
#if 0
<audio_source>
<uri>file://media/audio/cheer.mp3</uri>
<pitch>2.0</pitch>
<gain>1.0</gain>
<loop>false</loop>
<contact>
<collision>collision</collision>
</contact>
</audio_source>
#endif
TiXmlElement* ci = config->FirstChildElement("audio_source");
if (ci)
{
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceValid;
const char* fn = ci->Attribute("filename");
if (fn)
{
link.m_audioSource.m_uri = fn;
} else
{
if (TiXmlElement* filename_xml = ci->FirstChildElement("uri"))
{
link.m_audioSource.m_uri = filename_xml->GetText();
}
}
if (TiXmlElement* pitch_xml = ci->FirstChildElement("pitch"))
{
link.m_audioSource.m_pitch = urdfLexicalCast<double>(pitch_xml->GetText());
}
if (TiXmlElement* gain_xml = ci->FirstChildElement("gain"))
{
link.m_audioSource.m_gain = urdfLexicalCast<double>(gain_xml->GetText());
}
if (TiXmlElement* attack_rate_xml = ci->FirstChildElement("attack_rate"))
{
link.m_audioSource.m_attackRate = urdfLexicalCast<double>(attack_rate_xml->GetText());
}
if (TiXmlElement* decay_rate_xml = ci->FirstChildElement("decay_rate"))
{
link.m_audioSource.m_decayRate = urdfLexicalCast<double>(decay_rate_xml->GetText());
}
if (TiXmlElement* sustain_level_xml = ci->FirstChildElement("sustain_level"))
{
link.m_audioSource.m_sustainLevel = urdfLexicalCast<double>(sustain_level_xml->GetText());
}
if (TiXmlElement* release_rate_xml = ci->FirstChildElement("release_rate"))
{
link.m_audioSource.m_releaseRate = urdfLexicalCast<double>(release_rate_xml->GetText());
}
if (TiXmlElement* loop_xml = ci->FirstChildElement("loop"))
{
std::string looptxt = loop_xml->GetText();
if (looptxt == "true")
{
link.m_audioSource.m_flags |= SDFAudioSource::SDFAudioSourceLooping;
}
}
if (TiXmlElement* forceThreshold_xml = ci->FirstChildElement("collision_force_threshold"))
{
link.m_audioSource.m_collisionForceThreshold= urdfLexicalCast<double>(forceThreshold_xml->GetText());
}
//todo: see other audio_source children
//pitch, gain, loop, contact
}
}
{
//optional 'contact' parameters
TiXmlElement* ci = config->FirstChildElement("contact");

3
examples/Importers/ImportURDFDemo/UrdfParser.h
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@@ -5,6 +5,7 @@
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btHashMap.h"
#include "URDFJointTypes.h"
#include "SDFAudioTypes.h"
#define btArray btAlignedObjectArray
#include <string>
@@ -140,6 +141,8 @@ struct UrdfLink
URDFLinkContactInfo m_contactInfo;
SDFAudioSource m_audioSource;
UrdfLink()
:m_parentLink(0),
m_parentJoint(0)

1
examples/RobotSimulator/MinitaurSetup.cpp
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@@ -2,6 +2,7 @@
#include "b3RobotSimulatorClientAPI.h"
#include "Bullet3Common/b3HashMap.h"
#include "../Utils/b3HashString.h"
struct MinitaurSetupInternalData
{

4
examples/RobotSimulator/RobotSimulatorMain.cpp
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@@ -16,7 +16,7 @@ int main(int argc, char* argv[])
//sim->connect(eCONNECT_UDP, "localhost", 1234);
sim->configureDebugVisualizer( COV_ENABLE_GUI, 0);
// sim->configureDebugVisualizer( COV_ENABLE_SHADOWS, 0);//COV_ENABLE_WIREFRAME
sim->setTimeOut(10);
sim->setTimeOut(12345);
//syncBodies is only needed when connecting to an existing physics server that has already some bodies
sim->syncBodies();
b3Scalar fixedTimeStep = 1./240.;
@@ -33,7 +33,7 @@ int main(int argc, char* argv[])
//b3BodyInfo bodyInfo;
//sim->getBodyInfo(blockId,&bodyInfo);
sim->loadURDF("plane.urdf");
sim->loadURDF("plane_with_collision_audio.urdf");
b3RobotSimulatorLoadUrdfFileArgs args;
args.m_startPosition.setValue(0,0,2);

126
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -119,6 +119,7 @@ struct SharedMemoryDebugDrawer : public btIDebugDraw
};
struct InteralBodyData
{
btMultiBody* m_multiBody;
@@ -128,6 +129,9 @@ struct InteralBodyData
btTransform m_rootLocalInertialFrame;
btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
#ifdef B3_ENABLE_TINY_AUDIO
btHashMap<btHashInt, SDFAudioSource> m_audioSources;
#endif //B3_ENABLE_TINY_AUDIO
InteralBodyData()
:m_multiBody(0),
@@ -1303,7 +1307,6 @@ struct PhysicsServerCommandProcessorInternalData
TinyRendererVisualShapeConverter m_visualConverter;
#ifdef B3_ENABLE_TINY_AUDIO
b3SoundEngine m_soundEngine;
int m_wavIds[3];
#endif
PhysicsServerCommandProcessorInternalData()
@@ -1513,49 +1516,66 @@ void PhysicsServerCommandProcessor::processCollisionForces(btScalar timeStep)
for (int i = 0; i < numContactManifolds; i++)
{
const btPersistentManifold* manifold = m_data->m_dynamicsWorld->getDispatcher()->getInternalManifoldPointer()[i];
for (int p=0;p<manifold->getNumContacts();p++)
bool objHasSound[2];
objHasSound[0] = (0!=(manifold->getBody0()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
objHasSound[1] = (0!=(manifold->getBody1()->getCollisionFlags() & btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER));
const btCollisionObject* colObjs[2] = {manifold->getBody0(),manifold->getBody1()};
for (int ob = 0;ob<2;ob++)
{
double imp = manifold->getContactPoint(p).getAppliedImpulse();
//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);
if (imp>0.4 && manifold->getContactPoint(p).getLifeTime()==1)
if (objHasSound[ob])
{
int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
if (soundSourceIndex>=0)
int uid0 = -1;
int linkIndex = -2;
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(colObjs[ob]);
if (mblB && mblB->m_multiBody)
{
b3SoundMessage msg;
msg.m_releaseRate = 0.0001;
msg.m_attackRate = 1.;
msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
int cardboardIndex = float(rand())/float(RAND_MAX)*2.9;
linkIndex = mblB->m_link;
uid0 = mblB->m_multiBody->getUserIndex2();
}
const btRigidBody* bodyB = btRigidBody::upcast(colObjs[ob]);
if (bodyB)
{
uid0 = bodyB->getUserIndex2();
linkIndex = -1;
}
msg.m_wavId = m_data->m_wavIds[cardboardIndex];
if ((uid0<0)||(linkIndex<-1))
continue;
float rnd = rand()% 2;
msg.m_frequency = 100+rnd*10.;
InternalBodyHandle* bodyHandle0 = m_data->getHandle(uid0);
SDFAudioSource* audioSrc = bodyHandle0->m_audioSources[linkIndex];
if (audioSrc==0)
continue;
m_data->m_soundEngine.startSound(soundSourceIndex,msg);
m_data->m_soundEngine.releaseSound(soundSourceIndex);
for (int p=0;p<manifold->getNumContacts();p++)
{
double imp = manifold->getContactPoint(p).getAppliedImpulse();
//printf ("manifold %d, contact %d, lifeTime:%d, appliedImpulse:%f\n",i,p, manifold->getContactPoint(p).getLifeTime(),imp);
if (imp>audioSrc->m_collisionForceThreshold && manifold->getContactPoint(p).getLifeTime()==1)
{
int soundSourceIndex = m_data->m_soundEngine.getAvailableSoundSource();
if (soundSourceIndex>=0)
{
b3SoundMessage msg;
msg.m_attackRate = audioSrc->m_attackRate;
msg.m_decayRate = audioSrc->m_decayRate;
msg.m_sustainLevel = audioSrc->m_sustainLevel;
msg.m_releaseRate = audioSrc->m_releaseRate;
msg.m_amplitude = audioSrc->m_gain;
msg.m_frequency = audioSrc->m_pitch;
msg.m_type = B3_SOUND_SOURCE_WAV_FILE;
msg.m_wavId = audioSrc->m_userIndex;
msg.m_autoKeyOff = true;
m_data->m_soundEngine.startSound(soundSourceIndex,msg);
}
}
}
}
}
int linkIndexA = -1;
int linkIndexB = -1;
int objectIndexB = -1;
const btRigidBody* bodyB = btRigidBody::upcast(manifold->getBody1());
if (bodyB)
{
objectIndexB = bodyB->getUserIndex2();
}
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
if (mblB && mblB->m_multiBody)
{
}
}
#endif//B3_ENABLE_TINY_AUDIO
}
@@ -1623,9 +1643,6 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
#ifdef B3_ENABLE_TINY_AUDIO
m_data->m_soundEngine.init(16,true);
m_data->m_wavIds[0] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox0.wav");
m_data->m_wavIds[1] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox1.wav");
m_data->m_wavIds[2] = m_data->m_soundEngine.loadWavFile("wav/cardboardbox2.wav");
//we don't use those callbacks (yet), experimental
// gContactAddedCallback = MyContactAddedCallback;
@@ -2039,7 +2056,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -2111,6 +2127,22 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
}
createJointMotors(mb);
#ifdef B3_ENABLE_TINY_AUDIO
{
SDFAudioSource audioSource;
int urdfRootLink = u2b.getRootLinkIndex();//LinkIndex = creation.m_mb2urdfLink[-1];
if (u2b.getLinkAudioSource(urdfRootLink,audioSource))
{
int flags = mb->getBaseCollider()->getCollisionFlags();
mb->getBaseCollider()->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
if (audioSource.m_userIndex>=0)
{
bodyHandle->m_audioSources.insert(-1, audioSource);
}
}
}
#endif
//serialize the btMultiBody and send the data to the client. This is one way to get the link/joint names across the (shared memory) wire
UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
@@ -2130,6 +2162,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
for (int i=0;i<mb->getNumLinks();i++)
{
int link=i;
//disable serialization of the collision objects
util->m_memSerializer->m_skipPointers.insert(mb->getLink(i).m_collider,0);
int urdfLinkIndex = creation.m_mb2urdfLink[i];
@@ -2148,8 +2181,23 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
m_data->m_strings.push_back(jointName);
util->m_memSerializer->registerNameForPointer(jointName->c_str(),jointName->c_str());
mb->getLink(i).m_jointName = jointName->c_str();
#ifdef B3_ENABLE_TINY_AUDIO
{
SDFAudioSource audioSource;
int urdfLinkIndex = creation.m_mb2urdfLink[link];
if (u2b.getLinkAudioSource(urdfLinkIndex,audioSource))
{
int flags = mb->getLink(link).m_collider->getCollisionFlags();
mb->getLink(i).m_collider->setCollisionFlags(flags | btCollisionObject::CF_HAS_COLLISION_SOUND_TRIGGER);
audioSource.m_userIndex = m_data->m_soundEngine.loadWavFile(audioSource.m_uri.c_str());
if (audioSource.m_userIndex>=0)
{
bodyHandle->m_audioSources.insert(link, audioSource);
}
}
}
}
#endif
std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
m_data->m_strings.push_back(baseName);

14
examples/TinyAudio/b3ADSR.cpp
View File

@@ -23,6 +23,7 @@ b3ADSR::b3ADSR()
m_releaseRate = 0.0005;
m_sustainLevel = 0.5;
m_state = ADSR_IDLE;
m_autoKeyOff = false;
}
b3ADSR::~b3ADSR()
@@ -51,6 +52,10 @@ double b3ADSR::tick()
{
m_value = m_sustainLevel;
m_state = ADSR_SUSTAIN;
if (m_autoKeyOff)
{
keyOff();
}
}
}
else
@@ -60,6 +65,11 @@ double b3ADSR::tick()
{
m_value = m_sustainLevel;
m_state = ADSR_SUSTAIN;
if (m_autoKeyOff)
{
keyOff();
}
}
}
break;
@@ -81,8 +91,9 @@ bool b3ADSR::isIdle() const
return m_state == ADSR_IDLE;
}
void b3ADSR::keyOn()
void b3ADSR::keyOn(bool autoKeyOff)
{
m_autoKeyOff = autoKeyOff;
if (m_target <= 0.0)
m_target = 1.0;
if (m_attackRate==1)
@@ -94,6 +105,7 @@ void b3ADSR::keyOn()
void b3ADSR::keyOff()
{
m_autoKeyOff = false;
m_target = 0.0;
m_state = ADSR_RELEASE;

4
examples/TinyAudio/b3ADSR.h
View File

@@ -11,7 +11,7 @@ class b3ADSR
double m_releaseRate;
double m_releaseTime;
double m_sustainLevel;
bool m_autoKeyOff;
public:
b3ADSR();
@@ -19,7 +19,7 @@ public:
double tick();
bool isIdle() const;
void keyOn();
void keyOn(bool autoKeyOff);
void keyOff();
void setValues(double attack,double decay,double sustain,double release)

27
examples/TinyAudio/b3SoundEngine.cpp
View File

@@ -7,6 +7,8 @@
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "b3ReadWavFile.h"
#include "../Utils/b3ResourcePath.h"
#include "../Utils/b3HashString.h"
#include "Bullet3Common/b3HashMap.h"
// The default real-time audio input and output buffer size. If
@@ -24,6 +26,8 @@ struct b3SoundEngineInternalData
b3AlignedObjectArray<b3SoundSource*> m_soundSources;
b3HashMap<b3HashInt, b3ReadWavFile*> m_wavFiles;
b3HashMap<b3HashString, int> m_name2wav;
int m_wavFileUidGenerator;
b3SoundEngineInternalData()
@@ -84,6 +88,19 @@ void b3SoundEngine::exit()
delete m_data->m_soundSources[i];
}
m_data->m_soundSources.clear();
for (int i=0;i<m_data->m_wavFiles.size();i++)
{
b3ReadWavFile** wavPtr = m_data->m_wavFiles.getAtIndex(i);
if (wavPtr && *wavPtr)
{
b3ReadWavFile* wav = *wavPtr;
delete wav;
}
}
m_data->m_wavFiles.clear();
m_data->m_name2wav.clear();
}
int b3SoundEngine::getAvailableSoundSource()
@@ -113,7 +130,7 @@ void b3SoundEngine::startSound(int soundSourceIndex, b3SoundMessage msg)
soundSource->setOscillatorFrequency(0, msg.m_frequency);
soundSource->setOscillatorFrequency(1, msg.m_frequency);
soundSource->startSound();
soundSource->startSound(msg.m_autoKeyOff);
break;
}
case B3_SOUND_SOURCE_WAV_FILE:
@@ -124,7 +141,7 @@ void b3SoundEngine::startSound(int soundSourceIndex, b3SoundMessage msg)
b3ReadWavFile* wavFile = *wavFilePtr;
soundSource->setWavFile(0,wavFile,getSampleRate());
soundSource->setWavFile(1,wavFile,getSampleRate());
soundSource->startSound();
soundSource->startSound(msg.m_autoKeyOff);
}
break;
}
@@ -142,6 +159,11 @@ void b3SoundEngine::releaseSound(int soundSourceIndex)
int b3SoundEngine::loadWavFile(const char* fileName)
{
int* wavUidPtr = m_data->m_name2wav[fileName];
if (wavUidPtr)
{
return *wavUidPtr;
}
char resourcePath[1024];
if (b3ResourcePath::findResourcePath(fileName, resourcePath, 1024))
@@ -153,6 +175,7 @@ int b3SoundEngine::loadWavFile(const char* fileName)
wavFile->normalize(1);
int wavUID = m_data->m_wavFileUidGenerator++;
m_data->m_wavFiles.insert(wavUID, wavFile);
m_data->m_name2wav.insert(fileName,wavUID);
return wavUID;
}
return 0;

4
examples/TinyAudio/b3SoundEngine.h
View File

@@ -16,6 +16,7 @@ struct b3SoundMessage
double m_decayRate;
double m_sustainLevel;
double m_releaseRate;
bool m_autoKeyOff;
b3SoundMessage()
:m_type(B3_SOUND_SOURCE_SINE_OSCILLATOR),
@@ -25,7 +26,8 @@ struct b3SoundMessage
m_attackRate(0.001),
m_decayRate(0.00001),
m_sustainLevel(0.5),
m_releaseRate(0.0005)
m_releaseRate(0.0005),
m_autoKeyOff(false)
{
}
};

4
examples/TinyAudio/b3SoundSource.cpp
View File

@@ -183,7 +183,7 @@ bool b3SoundSource::isAvailable() const
return m_data->m_envelope.isIdle();
}
void b3SoundSource::startSound()
void b3SoundSource::startSound(bool autoKeyOff)
{
if (m_data->m_envelope.isIdle())
{
@@ -209,7 +209,7 @@ void b3SoundSource::startSound()
}
}
}
m_data->m_envelope.keyOn();
m_data->m_envelope.keyOn(autoKeyOff);
}
void b3SoundSource::stopSound()

2
examples/TinyAudio/b3SoundSource.h
View File

@@ -24,7 +24,7 @@ public:
bool setWavFile(int oscillatorIndex, class b3ReadWavFile* wavFilePtr, int sampleRate);
void startSound();
void startSound(bool autoKeyOff);
void stopSound();
bool isAvailable() const;

59
examples/Utils/b3HashString.h Normal file
View File

@@ -0,0 +1,59 @@
#ifndef B3_HASH_STRING_H
#define B3_HASH_STRING_H
#include <string>
///very basic hashable string implementation, compatible with b3HashMap
struct b3HashString
{
std::string m_string;
unsigned int m_hash;
B3_FORCE_INLINE unsigned int getHash()const
{
return m_hash;
}
b3HashString(const char* name)
:m_string(name)
{
/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
static const unsigned int InitialFNV = 2166136261u;
static const unsigned int FNVMultiple = 16777619u;
/* Fowler / Noll / Vo (FNV) Hash */
unsigned int hash = InitialFNV;
for(int i = 0; m_string[i]; i++)
{
hash = hash ^ (m_string[i]); /* xor the low 8 bits */
hash = hash * FNVMultiple; /* multiply by the magic number */
}
m_hash = hash;
}
int portableStringCompare(const char* src, const char* dst) const
{
int ret = 0 ;
while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
++src, ++dst;
if ( ret < 0 )
ret = -1 ;
else if ( ret > 0 )
ret = 1 ;
return( ret );
}
bool equals(const b3HashString& other) const
{
return (m_string == other.m_string);
}
};
#endif //B3_HASH_STRING_H

52
src/Bullet3Common/b3HashMap.h
View File

@@ -19,58 +19,6 @@ subject to the following restrictions:
#include "b3AlignedObjectArray.h"
///very basic hashable string implementation, compatible with b3HashMap
struct b3HashString
{
const char* m_string;
unsigned int m_hash;
B3_FORCE_INLINE unsigned int getHash()const
{
return m_hash;
}
b3HashString(const char* name)
:m_string(name)
{
/* magic numbers from http://www.isthe.com/chongo/tech/comp/fnv/ */
static const unsigned int InitialFNV = 2166136261u;
static const unsigned int FNVMultiple = 16777619u;
/* Fowler / Noll / Vo (FNV) Hash */
unsigned int hash = InitialFNV;
for(int i = 0; m_string[i]; i++)
{
hash = hash ^ (m_string[i]); /* xor the low 8 bits */
hash = hash * FNVMultiple; /* multiply by the magic number */
}
m_hash = hash;
}
int portableStringCompare(const char* src, const char* dst) const
{
int ret = 0 ;
while( ! (ret = *(unsigned char *)src - *(unsigned char *)dst) && *dst)
++src, ++dst;
if ( ret < 0 )
ret = -1 ;
else if ( ret > 0 )
ret = 1 ;
return( ret );
}
bool equals(const b3HashString& other) const
{
return (m_string == other.m_string) ||
(0==portableStringCompare(m_string,other.m_string));
}
};
const int B3_HASH_NULL=0xffffffff;

1
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -140,6 +140,7 @@ public:
CF_HAS_CONTACT_STIFFNESS_DAMPING = 128,
CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256,
CF_HAS_FRICTION_ANCHOR = 512,
CF_HAS_COLLISION_SOUND_TRIGGER = 1024
};
enum CollisionObjectTypes

5
src/LinearMath/btHashMap.h
View File

@@ -79,6 +79,11 @@ class btHashInt
{
int m_uid;
public:
btHashInt()
{
}
btHashInt(int uid) :m_uid(uid)
{
}