made shape construction virtual, to allow destruction of memory of btCollisionShape
This commit is contained in:
erwin.coumans
@@ -93,6 +93,11 @@ int btRigidBodyColladaInfo::getUid()
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int btRigidConstraintColladaInfo::getUid()
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{
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if (m_typedConstraint->getUid()==-1)
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@@ -2624,6 +2629,110 @@ char* ColladaConverter::fixFileName(const char* lpCmdLine)
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return m_cleaned_filename;
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}
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btCollisionShape* ColladaConverter::createPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
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{
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btCollisionShape* planeShape = new btStaticPlaneShape(planeNormal,planeConstant);
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m_allocatedCollisionShapes.push_back(planeShape);
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return planeShape;
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}
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btCollisionShape* ColladaConverter::createBoxShape(const btVector3& halfExtents)
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{
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btCollisionShape* shape = new btBoxShape(halfExtents);
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m_allocatedCollisionShapes.push_back(shape);
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return shape;
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}
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btCollisionShape* ColladaConverter::createSphereShape(btScalar radius)
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{
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btCollisionShape* shape = new btSphereShape(radius);
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m_allocatedCollisionShapes.push_back(shape);
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return shape;
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}
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btCompoundShape* ColladaConverter::createCompoundShape()
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{
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btCompoundShape* shape = new btCompoundShape();
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m_allocatedCollisionShapes.push_back(shape);
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return shape;
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}
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btCollisionShape* ColladaConverter::createCylinderShapeY(btScalar radius,btScalar height)
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{
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btCollisionShape* shape = new btCylinderShape(btVector3(radius,height,radius));
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m_allocatedCollisionShapes.push_back(shape);
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return shape;
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}
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btTriangleMesh* ColladaConverter::createTriangleMeshContainer()
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{
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btTriangleMesh* meshContainer = new btTriangleMesh(m_use32bitIndices,m_use4componentVertices);
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return meshContainer;
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}
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btConvexHullShape* ColladaConverter::createConvexHullShape()
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{
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btConvexHullShape* shape = new btConvexHullShape();
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m_allocatedCollisionShapes.push_back(shape);
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return shape;
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}
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btCollisionShape* ColladaConverter::createBvhTriangleMeshShape(btTriangleMesh* trimesh)
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{
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bool useQuantizedAabbCompression = true;
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btCollisionShape* shape = new btBvhTriangleMeshShape(trimesh,useQuantizedAabbCompression);
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m_allocatedCollisionShapes.push_back(shape);
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return shape;
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}
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btCollisionShape* ColladaConverter::createConvexTriangleMeshShape(btTriangleMesh* trimesh)
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{
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btCollisionShape* shape = new btConvexTriangleMeshShape(trimesh);
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m_allocatedCollisionShapes.push_back(shape);
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return shape;
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}
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int ColladaConverter::getNumCollisionShapes() const
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{
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return m_allocatedCollisionShapes.size();
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}
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btCollisionShape* ColladaConverter::getCollisionShape(int shapeIndex)
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{
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return m_allocatedCollisionShapes[shapeIndex];
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}
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void ColladaConverter::deleteAllocatedCollisionShapes()
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{
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int i;
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for (int i=0;i<m_allocatedCollisionShapes.size();i++)
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{
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delete m_allocatedCollisionShapes[i];
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}
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m_allocatedCollisionShapes.clear();
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}
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void ColladaConverter::deleteShape(btCollisionShape* shape)
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{
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for (int i=0;i<m_allocatedCollisionShapes.size();i++)
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{
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if (m_allocatedCollisionShapes[i]==shape)
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{
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delete m_allocatedCollisionShapes[i];
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m_allocatedCollisionShapes.swap( i,m_allocatedCollisionShapes.size()-1);
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m_allocatedCollisionShapes.pop_back();
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break;
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}
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}
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}
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void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBodyOutput& rbOutput)
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{
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@@ -2695,402 +2804,422 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
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{
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domRigid_body::domTechnique_common::domShapeRef shapeRef = techniqueRef->getShape_array()[s];
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if (shapeRef->getPlane())
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rbOutput.m_colShape = 0;
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//future shape instancing
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//rbOutput.m_colShape = findShapeForShapeRef(&shapeRef)
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if (rbOutput.m_colShape)
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{
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domPlaneRef planeRef = shapeRef->getPlane();
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if (planeRef->getEquation())
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} else
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{
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if (shapeRef->getPlane())
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{
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const domFloat4 planeEq = planeRef->getEquation()->getValue();
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btVector3 planeNormal(planeEq.get(0),planeEq.get(1),planeEq.get(2));
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btScalar planeConstant = planeEq.get(3)*m_unitMeterScaling;
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rbOutput.m_colShape = new btStaticPlaneShape(planeNormal,planeConstant);
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domPlaneRef planeRef = shapeRef->getPlane();
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if (planeRef->getEquation())
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{
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const domFloat4 planeEq = planeRef->getEquation()->getValue();
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btVector3 planeNormal(planeEq.get(0),planeEq.get(1),planeEq.get(2));
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btScalar planeConstant = planeEq.get(3)*m_unitMeterScaling;
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rbOutput.m_colShape = createPlaneShape(planeNormal,planeConstant);
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}
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}
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}
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if (shapeRef->getBox())
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{
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domBoxRef boxRef = shapeRef->getBox();
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domBox::domHalf_extentsRef domHalfExtentsRef = boxRef->getHalf_extents();
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domFloat3& halfExtents = domHalfExtentsRef->getValue();
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float x = halfExtents.get(0)*m_unitMeterScaling;
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float y = halfExtents.get(1)*m_unitMeterScaling;
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float z = halfExtents.get(2)*m_unitMeterScaling;
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rbOutput.m_colShape = new btBoxShape(btVector3(x,y,z));
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}
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if (shapeRef->getSphere())
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{
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domSphereRef sphereRef = shapeRef->getSphere();
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domSphere::domRadiusRef radiusRef = sphereRef->getRadius();
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domFloat radius = radiusRef->getValue()*m_unitMeterScaling;
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rbOutput.m_colShape = new btSphereShape(radius);
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}
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if (shapeRef->getCylinder())
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{
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domCylinderRef cylinderRef = shapeRef->getCylinder();
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domFloat height = cylinderRef->getHeight()->getValue()*m_unitMeterScaling;
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domFloat2 radius2 = cylinderRef->getRadius()->getValue();
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domFloat radius0 = radius2.get(0)*m_unitMeterScaling;
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//Cylinder around the local Y axis
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rbOutput.m_colShape = new btCylinderShape(btVector3(radius0,height,radius0));
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}
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if (shapeRef->getInstance_geometry())
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{
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const domInstance_geometryRef geomInstRef = shapeRef->getInstance_geometry();
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daeElement* geomElem = geomInstRef->getUrl().getElement();
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//elemRef->getTypeName();
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domGeometry* geom = (domGeometry*) geomElem;
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if (geom && geom->getMesh())
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if (shapeRef->getBox())
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{
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const domMeshRef meshRef = geom->getMesh();
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domBoxRef boxRef = shapeRef->getBox();
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domBox::domHalf_extentsRef domHalfExtentsRef = boxRef->getHalf_extents();
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domFloat3& halfExtents = domHalfExtentsRef->getValue();
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float x = halfExtents.get(0)*m_unitMeterScaling;
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float y = halfExtents.get(1)*m_unitMeterScaling;
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float z = halfExtents.get(2)*m_unitMeterScaling;
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rbOutput.m_colShape = createBoxShape(btVector3(x,y,z));
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}
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if (shapeRef->getSphere())
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{
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domSphereRef sphereRef = shapeRef->getSphere();
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domSphere::domRadiusRef radiusRef = sphereRef->getRadius();
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domFloat radius = radiusRef->getValue()*m_unitMeterScaling;
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rbOutput.m_colShape = createSphereShape(radius);
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}
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//it can be either triangle mesh, or we just pick the vertices/positions
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if (shapeRef->getCylinder())
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{
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domCylinderRef cylinderRef = shapeRef->getCylinder();
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domFloat height = cylinderRef->getHeight()->getValue()*m_unitMeterScaling;
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domFloat2 radius2 = cylinderRef->getRadius()->getValue();
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domFloat radius0 = radius2.get(0)*m_unitMeterScaling;
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if (meshRef->getTriangles_array().getCount())
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//Cylinder around the local Y axis
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rbOutput.m_colShape = createCylinderShapeY(radius0,height);
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}
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if (shapeRef->getInstance_geometry())
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{
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const domInstance_geometryRef geomInstRef = shapeRef->getInstance_geometry();
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daeElement* geomElem = geomInstRef->getUrl().getElement();
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//elemRef->getTypeName();
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domGeometry* geom = (domGeometry*) geomElem;
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if (geom && geom->getMesh())
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{
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const domMeshRef meshRef = geom->getMesh();
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btTriangleMesh* trimesh = new btTriangleMesh(m_use32bitIndices,m_use4componentVertices);
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//it can be either triangle mesh, or we just pick the vertices/positions
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for (unsigned int tg = 0;tg<meshRef->getTriangles_array().getCount();tg++)
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if (meshRef->getTriangles_array().getCount())
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{
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domTrianglesRef triRef = meshRef->getTriangles_array()[tg];
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const domPRef pRef = triRef->getP();
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btIndexedMesh meshPart;
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meshPart.m_triangleIndexStride=0;
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btTriangleMesh* trimesh = createTriangleMeshContainer();
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int vertexoffset = -1;
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domInputLocalOffsetRef indexOffsetRef;
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for (unsigned int w=0;w<triRef->getInput_array().getCount();w++)
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for (unsigned int tg = 0;tg<meshRef->getTriangles_array().getCount();tg++)
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{
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int offset = triRef->getInput_array()[w]->getOffset();
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daeString str = triRef->getInput_array()[w]->getSemantic();
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if (!strcmp(str,"VERTEX"))
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domTrianglesRef triRef = meshRef->getTriangles_array()[tg];
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const domPRef pRef = triRef->getP();
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btIndexedMesh meshPart;
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meshPart.m_triangleIndexStride=0;
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int vertexoffset = -1;
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domInputLocalOffsetRef indexOffsetRef;
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for (unsigned int w=0;w<triRef->getInput_array().getCount();w++)
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{
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indexOffsetRef = triRef->getInput_array()[w];
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vertexoffset = offset;
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}
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if (offset > meshPart.m_triangleIndexStride)
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{
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meshPart.m_triangleIndexStride = offset;
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}
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}
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meshPart.m_triangleIndexStride++;
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domListOfUInts indexArray =triRef->getP()->getValue();
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//int* m_triangleIndexBase;
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meshPart.m_numTriangles = triRef->getCount();
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const domVerticesRef vertsRef = meshRef->getVertices();
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int numInputs = vertsRef->getInput_array().getCount();
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for (int i=0;i<numInputs;i++)
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{
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domInputLocalRef localRef = vertsRef->getInput_array()[i];
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daeString str = localRef->getSemantic();
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if ( !strcmp(str,"POSITION"))
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{
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const domURIFragmentType& frag = localRef->getSource();
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daeElementConstRef constElem = frag.getElement();
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const domSourceRef node = *(const domSourceRef*)&constElem;
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const domFloat_arrayRef flArray = node->getFloat_array();
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if (flArray)
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int offset = triRef->getInput_array()[w]->getOffset();
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daeString str = triRef->getInput_array()[w]->getSemantic();
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if (!strcmp(str,"VERTEX"))
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{
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const domListOfFloats& listFloats = flArray->getValue();
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indexOffsetRef = triRef->getInput_array()[w];
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vertexoffset = offset;
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}
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if (offset > meshPart.m_triangleIndexStride)
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{
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meshPart.m_triangleIndexStride = offset;
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}
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}
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meshPart.m_triangleIndexStride++;
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domListOfUInts indexArray =triRef->getP()->getValue();
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int k=vertexoffset;
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int t=0;
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int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
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for (;t<meshPart.m_numTriangles;t++)
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//int* m_triangleIndexBase;
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meshPart.m_numTriangles = triRef->getCount();
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const domVerticesRef vertsRef = meshRef->getVertices();
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int numInputs = vertsRef->getInput_array().getCount();
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for (int i=0;i<numInputs;i++)
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{
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domInputLocalRef localRef = vertsRef->getInput_array()[i];
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daeString str = localRef->getSemantic();
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if ( !strcmp(str,"POSITION"))
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{
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const domURIFragmentType& frag = localRef->getSource();
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daeElementConstRef constElem = frag.getElement();
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const domSourceRef node = *(const domSourceRef*)&constElem;
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const domFloat_arrayRef flArray = node->getFloat_array();
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if (flArray)
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{
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btVector3 verts[3];
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int index0;
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for (int i=0;i<3;i++)
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const domListOfFloats& listFloats = flArray->getValue();
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int k=vertexoffset;
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int t=0;
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int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
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for (;t<meshPart.m_numTriangles;t++)
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{
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index0 = indexArray.get(k)*vertexStride;
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domFloat fl0 = listFloats.get(index0);
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domFloat fl1 = listFloats.get(index0+1);
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domFloat fl2 = listFloats.get(index0+2);
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k+=meshPart.m_triangleIndexStride;
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verts[i].setValue(fl0*m_unitMeterScaling,fl1*m_unitMeterScaling,fl2*m_unitMeterScaling);
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btVector3 verts[3];
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int index0;
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for (int i=0;i<3;i++)
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{
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index0 = indexArray.get(k)*vertexStride;
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domFloat fl0 = listFloats.get(index0);
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domFloat fl1 = listFloats.get(index0+1);
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domFloat fl2 = listFloats.get(index0+2);
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k+=meshPart.m_triangleIndexStride;
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verts[i].setValue(fl0*m_unitMeterScaling,fl1*m_unitMeterScaling,fl2*m_unitMeterScaling);
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}
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trimesh->addTriangle(verts[0],verts[1],verts[2]);
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}
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trimesh->addTriangle(verts[0],verts[1],verts[2]);
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}
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}
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}
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}
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}
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}
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if (rbOutput.m_isDynamics)
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{
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printf("moving concave <mesh> not supported, transformed into convex\n");
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rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
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} else
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{
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printf("static concave triangle <mesh> added\n");
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bool useQuantizedAabbCompression = true;
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rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh,useQuantizedAabbCompression);
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//rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
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//rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
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//btTriangleMeshShape
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}
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//rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
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} else
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{
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btConvexHullShape* convexHull = new btConvexHullShape();
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int numAddedVerts = 0;
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const domVerticesRef vertsRef = meshRef->getVertices();
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int numInputs = vertsRef->getInput_array().getCount();
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for (int i=0;i<numInputs;i++)
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if (rbOutput.m_isDynamics)
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{
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domInputLocalRef localRef = vertsRef->getInput_array()[i];
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daeString str = localRef->getSemantic();
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if ( !strcmp(str,"POSITION"))
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{
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const domURIFragmentType& frag = localRef->getSource();
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daeElementConstRef constElem = frag.getElement();
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const domSourceRef node = *(const domSourceRef*)&constElem;
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const domFloat_arrayRef flArray = node->getFloat_array();
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if (flArray)
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{
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const domListOfFloats& listFloats = flArray->getValue();
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int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
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unsigned int vertIndex = 0;
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for (vertIndex = 0;vertIndex < listFloats.getCount();vertIndex+=vertexStride)
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{
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//btVector3 verts[3];
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domFloat fl0 = listFloats.get(vertIndex);
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domFloat fl1 = listFloats.get(vertIndex+1);
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domFloat fl2 = listFloats.get(vertIndex+2);
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convexHull->addPoint(btPoint3(fl0,fl1,fl2) * m_unitMeterScaling);
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}
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}
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}
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}
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//convexHull->addPoint();
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if (numAddedVerts > 0)
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{
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rbOutput.m_colShape = convexHull;
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//rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
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printf("moving concave <mesh> not supported, transformed into convex\n");
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rbOutput.m_colShape = createConvexTriangleMeshShape(trimesh);
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} else
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{
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delete convexHull;
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printf("no vertices found for convex hull\n");
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printf("static concave triangle <mesh> added\n");
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|
||||
rbOutput.m_colShape = createBvhTriangleMeshShape(trimesh);
|
||||
|
||||
//rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
|
||||
//rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
|
||||
|
||||
//btTriangleMeshShape
|
||||
}
|
||||
//rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (geom && geom->getConvex_mesh())
|
||||
{
|
||||
|
||||
{
|
||||
const domConvex_meshRef convexRef = geom->getConvex_mesh();
|
||||
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
|
||||
if ( otherElemRef != NULL )
|
||||
{
|
||||
domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
|
||||
printf( "otherLinked\n");
|
||||
} else
|
||||
{
|
||||
printf("convexMesh polyCount = %i\n",convexRef->getPolygons_array().getCount());
|
||||
printf("convexMesh triCount = %i\n",convexRef->getTriangles_array().getCount());
|
||||
{
|
||||
|
||||
btConvexHullShape* convexHull = createConvexHullShape();
|
||||
int numAddedVerts = 0;
|
||||
|
||||
const domVerticesRef vertsRef = meshRef->getVertices();
|
||||
int numInputs = vertsRef->getInput_array().getCount();
|
||||
for (int i=0;i<numInputs;i++)
|
||||
{
|
||||
domInputLocalRef localRef = vertsRef->getInput_array()[i];
|
||||
daeString str = localRef->getSemantic();
|
||||
if ( !strcmp(str,"POSITION"))
|
||||
{
|
||||
const domURIFragmentType& frag = localRef->getSource();
|
||||
|
||||
daeElementConstRef constElem = frag.getElement();
|
||||
|
||||
const domSourceRef node = *(const domSourceRef*)&constElem;
|
||||
const domFloat_arrayRef flArray = node->getFloat_array();
|
||||
if (flArray)
|
||||
{
|
||||
const domListOfFloats& listFloats = flArray->getValue();
|
||||
int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
|
||||
unsigned int vertIndex = 0;
|
||||
for (vertIndex = 0;vertIndex < listFloats.getCount();vertIndex+=vertexStride)
|
||||
{
|
||||
//btVector3 verts[3];
|
||||
domFloat fl0 = listFloats.get(vertIndex);
|
||||
domFloat fl1 = listFloats.get(vertIndex+1);
|
||||
domFloat fl2 = listFloats.get(vertIndex+2);
|
||||
convexHull->addPoint(btPoint3(fl0,fl1,fl2) * m_unitMeterScaling);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
//convexHull->addPoint();
|
||||
if (numAddedVerts > 0)
|
||||
{
|
||||
rbOutput.m_colShape = convexHull;
|
||||
//rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
|
||||
} else
|
||||
{
|
||||
deleteShape( convexHull);
|
||||
printf("no vertices found for convex hull\n");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
btConvexHullShape* convexHullShape = new btConvexHullShape(0,0);
|
||||
|
||||
//it is quite a trick to get to the vertices, using Collada.
|
||||
//we are not there yet...
|
||||
|
||||
const domConvex_meshRef convexRef = geom->getConvex_mesh();
|
||||
//daeString urlref = convexRef->getConvex_hull_of().getURI();
|
||||
daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI();
|
||||
if (urlref2)
|
||||
if (geom && geom->getConvex_mesh())
|
||||
{
|
||||
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
|
||||
// if ( otherElemRef != NULL )
|
||||
// domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
|
||||
|
||||
// Load all the geometry libraries
|
||||
for ( unsigned int i = 0; i < m_dom->getLibrary_geometries_array().getCount(); i++)
|
||||
{
|
||||
domLibrary_geometriesRef libgeom = m_dom->getLibrary_geometries_array()[i];
|
||||
//int index = libgeom->findLastIndexOf(urlref2);
|
||||
//can't find it
|
||||
|
||||
for ( unsigned int i = 0; i < libgeom->getGeometry_array().getCount(); i++)
|
||||
const domConvex_meshRef convexRef = geom->getConvex_mesh();
|
||||
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
|
||||
if ( otherElemRef != NULL )
|
||||
{
|
||||
//ReadGeometry( );
|
||||
domGeometryRef lib = libgeom->getGeometry_array()[i];
|
||||
if (!strcmp(lib->getId(),urlref2+1)) // skip the # at the front of urlref2
|
||||
domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
|
||||
printf( "otherLinked\n");
|
||||
} else
|
||||
{
|
||||
printf("convexMesh polyCount = %i\n",convexRef->getPolygons_array().getCount());
|
||||
printf("convexMesh triCount = %i\n",convexRef->getTriangles_array().getCount());
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
btConvexHullShape* convexHullShape = createConvexHullShape();
|
||||
|
||||
//it is quite a trick to get to the vertices, using Collada.
|
||||
//we are not there yet...
|
||||
|
||||
const domConvex_meshRef convexRef = geom->getConvex_mesh();
|
||||
//daeString urlref = convexRef->getConvex_hull_of().getURI();
|
||||
daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI();
|
||||
if (urlref2)
|
||||
{
|
||||
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
|
||||
// if ( otherElemRef != NULL )
|
||||
// domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
|
||||
|
||||
// Load all the geometry libraries
|
||||
for ( unsigned int i = 0; i < m_dom->getLibrary_geometries_array().getCount(); i++)
|
||||
{
|
||||
domLibrary_geometriesRef libgeom = m_dom->getLibrary_geometries_array()[i];
|
||||
//int index = libgeom->findLastIndexOf(urlref2);
|
||||
//can't find it
|
||||
|
||||
for ( unsigned int i = 0; i < libgeom->getGeometry_array().getCount(); i++)
|
||||
{
|
||||
//found convex_hull geometry
|
||||
domMesh *meshElement = lib->getMesh();//linkedGeom->getMesh();
|
||||
if (meshElement)
|
||||
//ReadGeometry( );
|
||||
domGeometryRef lib = libgeom->getGeometry_array()[i];
|
||||
if (!strcmp(lib->getId(),urlref2+1)) // skip the # at the front of urlref2
|
||||
{
|
||||
const domVerticesRef vertsRef = meshElement->getVertices();
|
||||
int numInputs = vertsRef->getInput_array().getCount();
|
||||
for (int i=0;i<numInputs;i++)
|
||||
//found convex_hull geometry
|
||||
domMesh *meshElement = lib->getMesh();//linkedGeom->getMesh();
|
||||
if (meshElement)
|
||||
{
|
||||
domInputLocalRef localRef = vertsRef->getInput_array()[i];
|
||||
daeString str = localRef->getSemantic();
|
||||
if ( !strcmp(str,"POSITION"))
|
||||
const domVerticesRef vertsRef = meshElement->getVertices();
|
||||
int numInputs = vertsRef->getInput_array().getCount();
|
||||
for (int i=0;i<numInputs;i++)
|
||||
{
|
||||
const domURIFragmentType& frag = localRef->getSource();
|
||||
|
||||
daeElementConstRef constElem = frag.getElement();
|
||||
|
||||
const domSourceRef node = *(const domSourceRef*)&constElem;
|
||||
const domFloat_arrayRef flArray = node->getFloat_array();
|
||||
if (flArray)
|
||||
domInputLocalRef localRef = vertsRef->getInput_array()[i];
|
||||
daeString str = localRef->getSemantic();
|
||||
if ( !strcmp(str,"POSITION"))
|
||||
{
|
||||
int numElem = flArray->getCount();
|
||||
const domListOfFloats& listFloats = flArray->getValue();
|
||||
const domURIFragmentType& frag = localRef->getSource();
|
||||
|
||||
for (int k=0;k+2<numElem;k+=3)
|
||||
daeElementConstRef constElem = frag.getElement();
|
||||
|
||||
const domSourceRef node = *(const domSourceRef*)&constElem;
|
||||
const domFloat_arrayRef flArray = node->getFloat_array();
|
||||
if (flArray)
|
||||
{
|
||||
domFloat fl0 = listFloats.get(k);
|
||||
domFloat fl1 = listFloats.get(k+1);
|
||||
domFloat fl2 = listFloats.get(k+2);
|
||||
//printf("float %f %f %f\n",fl0,fl1,fl2);
|
||||
int numElem = flArray->getCount();
|
||||
const domListOfFloats& listFloats = flArray->getValue();
|
||||
|
||||
for (int k=0;k+2<numElem;k+=3)
|
||||
{
|
||||
domFloat fl0 = listFloats.get(k);
|
||||
domFloat fl1 = listFloats.get(k+1);
|
||||
domFloat fl2 = listFloats.get(k+2);
|
||||
//printf("float %f %f %f\n",fl0,fl1,fl2);
|
||||
|
||||
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2) * m_unitMeterScaling);
|
||||
}
|
||||
|
||||
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2) * m_unitMeterScaling);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
} else {
|
||||
//no getConvex_hull_of but direct vertices
|
||||
const domVerticesRef vertsRef = convexRef->getVertices();
|
||||
int numInputs = vertsRef->getInput_array().getCount();
|
||||
for (int i=0;i<numInputs;i++)
|
||||
{
|
||||
domInputLocalRef localRef = vertsRef->getInput_array()[i];
|
||||
daeString str = localRef->getSemantic();
|
||||
if ( !strcmp(str,"POSITION"))
|
||||
{
|
||||
const domURIFragmentType& frag = localRef->getSource();
|
||||
|
||||
daeElementConstRef constElem = frag.getElement();
|
||||
|
||||
const domSourceRef node = *(const domSourceRef*)&constElem;
|
||||
const domFloat_arrayRef flArray = node->getFloat_array();
|
||||
if (flArray)
|
||||
{
|
||||
int numElem = flArray->getCount();
|
||||
const domListOfFloats& listFloats = flArray->getValue();
|
||||
|
||||
for (int k=0;k+2<numElem;k+=3)
|
||||
{
|
||||
domFloat fl0 = listFloats.get(k);
|
||||
domFloat fl1 = listFloats.get(k+1);
|
||||
domFloat fl2 = listFloats.get(k+2);
|
||||
//printf("float %f %f %f\n",fl0,fl1,fl2);
|
||||
|
||||
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2)*m_unitMeterScaling);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
} else {
|
||||
//no getConvex_hull_of but direct vertices
|
||||
const domVerticesRef vertsRef = convexRef->getVertices();
|
||||
int numInputs = vertsRef->getInput_array().getCount();
|
||||
for (int i=0;i<numInputs;i++)
|
||||
|
||||
if (convexHullShape->getNumVertices())
|
||||
{
|
||||
domInputLocalRef localRef = vertsRef->getInput_array()[i];
|
||||
daeString str = localRef->getSemantic();
|
||||
if ( !strcmp(str,"POSITION"))
|
||||
{
|
||||
const domURIFragmentType& frag = localRef->getSource();
|
||||
|
||||
daeElementConstRef constElem = frag.getElement();
|
||||
|
||||
const domSourceRef node = *(const domSourceRef*)&constElem;
|
||||
const domFloat_arrayRef flArray = node->getFloat_array();
|
||||
if (flArray)
|
||||
{
|
||||
int numElem = flArray->getCount();
|
||||
const domListOfFloats& listFloats = flArray->getValue();
|
||||
|
||||
for (int k=0;k+2<numElem;k+=3)
|
||||
{
|
||||
domFloat fl0 = listFloats.get(k);
|
||||
domFloat fl1 = listFloats.get(k+1);
|
||||
domFloat fl2 = listFloats.get(k+2);
|
||||
//printf("float %f %f %f\n",fl0,fl1,fl2);
|
||||
|
||||
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2)*m_unitMeterScaling);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
rbOutput.m_colShape = convexHullShape;
|
||||
//rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
|
||||
printf("created convexHullShape with %i points\n",convexHullShape->getNumVertices());
|
||||
} else
|
||||
{
|
||||
deleteShape( convexHullShape);
|
||||
printf("failed to create convexHullShape\n");
|
||||
}
|
||||
|
||||
|
||||
//domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
|
||||
|
||||
printf("convexmesh\n");
|
||||
|
||||
}
|
||||
|
||||
if (convexHullShape->getNumVertices())
|
||||
{
|
||||
rbOutput.m_colShape = convexHullShape;
|
||||
//rbOutput.m_colShape->setTypedUserInfo (new btShapeColladaInfo (geom));
|
||||
printf("created convexHullShape with %i points\n",convexHullShape->getNumVertices());
|
||||
} else
|
||||
{
|
||||
delete convexHullShape;
|
||||
printf("failed to create convexHullShape\n");
|
||||
}
|
||||
|
||||
|
||||
//domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
|
||||
|
||||
printf("convexmesh\n");
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
//if more then 1 shape, or a non-identity local shapetransform
|
||||
//use a compound
|
||||
//if more then 1 shape, or a non-identity local shapetransform
|
||||
//use a compound
|
||||
|
||||
bool hasShapeLocalTransform = ((shapeRef->getRotate_array().getCount() > 0) ||
|
||||
(shapeRef->getTranslate_array().getCount() > 0));
|
||||
|
||||
if (rbOutput.m_colShape)
|
||||
{
|
||||
if ((techniqueRef->getShape_array().getCount()>1) ||
|
||||
(hasShapeLocalTransform))
|
||||
bool hasShapeLocalTransform = ((shapeRef->getRotate_array().getCount() > 0) ||
|
||||
(shapeRef->getTranslate_array().getCount() > 0));
|
||||
|
||||
if (rbOutput.m_colShape)
|
||||
{
|
||||
|
||||
if (!rbOutput.m_compoundShape)
|
||||
if ((techniqueRef->getShape_array().getCount()>1) ||
|
||||
(hasShapeLocalTransform))
|
||||
{
|
||||
rbOutput.m_compoundShape = new btCompoundShape();
|
||||
}
|
||||
|
||||
if (!rbOutput.m_compoundShape)
|
||||
{
|
||||
rbOutput.m_compoundShape = createCompoundShape();
|
||||
}
|
||||
|
||||
btTransform localTransform;
|
||||
localTransform.setIdentity();
|
||||
if (hasShapeLocalTransform)
|
||||
{
|
||||
localTransform = GetbtTransformFromCOLLADA_DOM(
|
||||
emptyMatrixArray,
|
||||
shapeRef->getRotate_array(),
|
||||
shapeRef->getTranslate_array(),
|
||||
m_unitMeterScaling
|
||||
);
|
||||
}
|
||||
btTransform localTransform;
|
||||
localTransform.setIdentity();
|
||||
if (hasShapeLocalTransform)
|
||||
{
|
||||
localTransform = GetbtTransformFromCOLLADA_DOM(
|
||||
emptyMatrixArray,
|
||||
shapeRef->getRotate_array(),
|
||||
shapeRef->getTranslate_array(),
|
||||
m_unitMeterScaling
|
||||
);
|
||||
}
|
||||
|
||||
rbOutput.m_compoundShape->addChildShape(localTransform,rbOutput.m_colShape);
|
||||
rbOutput.m_colShape = 0;
|
||||
rbOutput.m_compoundShape->addChildShape(localTransform,rbOutput.m_colShape);
|
||||
rbOutput.m_colShape = 0;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//for future shape instancing
|
||||
//storeShapeRef(shapeRef,rbOutput.m_colShape);
|
||||
|
||||
|
||||
}//for each shape
|
||||
}
|
||||
|
||||
|
||||
@@ -50,6 +50,8 @@ public:
|
||||
};
|
||||
|
||||
|
||||
|
||||
|
||||
class btRigidConstraintColladaInfo
|
||||
{
|
||||
public:
|
||||
@@ -77,11 +79,15 @@ public:
|
||||
class ColladaConverter
|
||||
{
|
||||
char m_cleaned_filename[513];
|
||||
|
||||
|
||||
|
||||
protected:
|
||||
|
||||
btDynamicsWorld* m_dynamicsWorld;
|
||||
|
||||
btAlignedObjectArray<class btCollisionShape*> m_allocatedCollisionShapes;
|
||||
|
||||
|
||||
btHashMap<btHashKeyPtr<btRigidBodyColladaInfo*>,btRigidBodyColladaInfo*> m_rbUserInfoHashMap;
|
||||
btHashMap<btHashKeyPtr<btRigidConstraintColladaInfo*>,btRigidConstraintColladaInfo*> m_constraintUserInfoHashMap;
|
||||
|
||||
@@ -213,6 +219,22 @@ public:
|
||||
{
|
||||
};
|
||||
|
||||
virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
|
||||
virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
|
||||
virtual btCollisionShape* createSphereShape(btScalar radius);
|
||||
virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
|
||||
virtual class btTriangleMesh* createTriangleMeshContainer();
|
||||
virtual btCollisionShape* createBvhTriangleMeshShape(btTriangleMesh* trimesh);
|
||||
virtual btCollisionShape* createConvexTriangleMeshShape(btTriangleMesh* trimesh);
|
||||
virtual class btConvexHullShape* createConvexHullShape();
|
||||
virtual class btCompoundShape* createCompoundShape();
|
||||
|
||||
int getNumCollisionShapes() const;
|
||||
btCollisionShape* getCollisionShape(int shapeIndex);
|
||||
void deleteAllocatedCollisionShapes();
|
||||
void deleteShape(btCollisionShape* shape);
|
||||
|
||||
|
||||
char* getLastFileName();
|
||||
|
||||
char* fixFileName(const char* lpCmdLine);
|
||||
|
||||
Reference in New Issue
Block a user