Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Basic support for COLLADA physics constraints (each DOF can be completely locked or free, no limits yet)

Browse Source
This commit is contained in:
ejcoumans
2006-07-28 21:49:26 +00:00
parent 63594284c3
commit b8cbfe5f72
5 changed files with 379 additions and 120 deletions
Download Patch File Download Diff File Expand all files Collapse all files

219
Demos/ColladaDemo/ColladaDemo.cpp
View File

@@ -87,9 +87,57 @@ extern int gForwardAxis;
#include "dae.h"
#include "dom/domCOLLADA.h"
DAE* collada = 0;
domCOLLADA* dom = 0;
domMatrix_Array emptyMatrixArray;
SimdTransform GetSimdTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
domRotate_Array& rotateArray,
domTranslate_Array& translateArray
)
{
SimdTransform startTransform;
startTransform.setIdentity();
int i;
//either load the matrix (worldspace) or incrementally build the transform from 'translate'/'rotate'
for (i=0;i<matrixArray.getCount();i++)
{
domMatrixRef matrixRef = matrixArray[i];
domFloat4x4 fl16 = matrixRef->getValue();
SimdVector3 origin(fl16.get(3),fl16.get(7),fl16.get(11));
startTransform.setOrigin(origin);
SimdMatrix3x3 basis(fl16.get(0),fl16.get(1),fl16.get(2),
fl16.get(4),fl16.get(5),fl16.get(6),
fl16.get(8),fl16.get(9),fl16.get(10));
startTransform.setBasis(basis);
}
for (i=0;i<rotateArray.getCount();i++)
{
domRotateRef rotateRef = rotateArray[i];
domFloat4 fl4 = rotateRef->getValue();
float angleRad = SIMD_RADS_PER_DEG*fl4.get(3);
SimdQuaternion rotQuat(SimdVector3(fl4.get(0),fl4.get(1),fl4.get(2)),angleRad);
startTransform.getBasis() = startTransform.getBasis() * SimdMatrix3x3(rotQuat);
}
for (i=0;i<translateArray.getCount();i++)
{
domTranslateRef translateRef = translateArray[i];
domFloat3 fl3 = translateRef->getValue();
startTransform.getOrigin() += SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
return startTransform;
}
#endif
@@ -160,7 +208,7 @@ CollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of
////////////////////////////////////
///Very basic import
void CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
CcdPhysicsController* CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
{
startTransforms[numObjects] = startTransform;
@@ -245,8 +293,8 @@ void CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startT
}
numObjects++;
//return newly created PhysicsController
return physObjects[numObjects++];
}
@@ -1449,38 +1497,12 @@ int main(int argc,char** argv)
//find transform of the node that this rigidbody maps to
int i;
//either load the matrix (worldspace) or incrementally build the transform from 'translate'/'rotate'
for (i=0;i<node->getMatrix_array().getCount();i++)
{
domMatrixRef matrixRef = node->getMatrix_array()[i];
domFloat4x4 fl16 = matrixRef->getValue();
SimdVector3 origin(fl16.get(3),fl16.get(7),fl16.get(11));
startTransform.setOrigin(origin);
SimdMatrix3x3 basis(fl16.get(0),fl16.get(1),fl16.get(2),
fl16.get(4),fl16.get(5),fl16.get(6),
fl16.get(8),fl16.get(9),fl16.get(10));
startTransform.setBasis(basis);
}
for (i=0;i<node->getRotate_array().getCount();i++)
{
domRotateRef rotateRef = node->getRotate_array()[i];
domFloat4 fl4 = rotateRef->getValue();
float angleRad = SIMD_RADS_PER_DEG*fl4.get(3);
SimdQuaternion rotQuat(SimdVector3(fl4.get(0),fl4.get(1),fl4.get(2)),angleRad);
startTransform.getBasis() = startTransform.getBasis() * SimdMatrix3x3(rotQuat);
}
for (i=0;i<node->getTranslate_array().getCount();i++)
{
domTranslateRef translateRef = node->getTranslate_array()[i];
domFloat3 fl3 = translateRef->getValue();
startTransform.getOrigin() += SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
startTransform = GetSimdTransformFromCOLLADA_DOM(
node->getMatrix_array(),
node->getRotate_array(),
node->getTranslate_array()
);
for (i=0;i<node->getScale_array().getCount();i++)
{
@@ -1493,7 +1515,9 @@ int main(int argc,char** argv)
CreatePhysicsObject(isDynamics,mass,startTransform,colShape);
CcdPhysicsController* ctrl = CreatePhysicsObject(isDynamics,mass,startTransform,colShape);
//for bodyName lookup in constraints
ctrl->setNewClientInfo((void*)bodyName);
}
@@ -1527,19 +1551,128 @@ int main(int argc,char** argv)
if (rigidConstraintRef->getSid() && !strcmp(rigidConstraintRef->getSid(),constraintName))
{
/*
//two bodies
rigidConstraintRef->getRef_attachment();
rigidConstraintRef->getAttachment();
const domRigid_constraint::domRef_attachmentRef attachRefBody = rigidConstraintRef->getRef_attachment();
const domRigid_constraint::domAttachmentRef attachBody1 = rigidConstraintRef->getAttachment();
daeString uri = attachRefBody->getRigid_body().getURI();
daeString orgUri0 = attachRefBody->getRigid_body().getOriginalURI();
daeString orgUri1 = attachBody1->getRigid_body().getOriginalURI();
CcdPhysicsController* ctrl0=0,*ctrl1=0;
for (int i=0;i<numObjects;i++)
{
char* bodyName = (char*)physObjects[i]->getNewClientInfo();
if (!strcmp(bodyName,orgUri0))
{
printf("found\n");
ctrl0=physObjects[i];
}
if (!strcmp(bodyName,orgUri1))
{
ctrl1=physObjects[i];
}
}
const domRigid_constraint::domAttachmentRef attachOtherBody = rigidConstraintRef->getAttachment();
const domRigid_constraint::domTechnique_commonRef commonRef = rigidConstraintRef->getTechnique_common();
domFloat3 flMax = commonRef->getLimits()->getLinear()->getMax()->getValue();
SimdVector3 maxLinearLimit(flMax.get(0),flMax.get(1),flMax.get(2));
domFloat3 flMin = commonRef->getLimits()->getLinear()->getMin()->getValue();
SimdVector3 minLinearLimit(flMin.get(0),flMin.get(1),flMin.get(2));
commonRef->getLimits()->getSwing_cone_and_twist();
*/
domFloat3 flMax = commonRef->getLimits()->getLinear()->getMax()->getValue();
SimdVector3 maxLinearLimit(flMax.get(0),flMax.get(1),flMax.get(2));
domFloat3 coneMinLimit = commonRef->getLimits()->getSwing_cone_and_twist()->getMin()->getValue();
SimdVector3 angularMin(coneMinLimit.get(0),coneMinLimit.get(1),coneMinLimit.get(2));
domFloat3 coneMaxLimit = commonRef->getLimits()->getSwing_cone_and_twist()->getMax()->getValue();
SimdVector3 angularMax(coneMaxLimit.get(0),coneMaxLimit.get(1),coneMaxLimit.get(2));
{
int constraintId;
SimdTransform attachFrameRef0;
attachFrameRef0 =
GetSimdTransformFromCOLLADA_DOM
(
emptyMatrixArray,
attachRefBody->getRotate_array(),
attachRefBody->getTranslate_array());
SimdTransform attachFrameOther;
attachFrameOther =
GetSimdTransformFromCOLLADA_DOM
(
emptyMatrixArray,
attachBody1->getRotate_array(),
attachBody1->getTranslate_array()
);
//convert INF / -INF into lower > upper
//currently there is a hack in the DOM to detect INF / -INF
//see daeMetaAttribute.cpp
//INF -> 999999.9
//-INF -> -999999.9
float linearCheckTreshold = 999999.0;
float angularCheckTreshold = 180.0;//check this
//free means upper < lower,
//locked means upper == lower
//limited means upper > lower
//limitIndex: first 3 are linear, next 3 are angular
SimdVector3 linearLowerLimits = minLinearLimit;
SimdVector3 linearUpperLimits = maxLinearLimit;
SimdVector3 angularLowerLimits = angularMin;
SimdVector3 angularUpperLimits = angularMax;
{
for (int i=0;i<3;i++)
{
if ((linearLowerLimits[i] < -linearCheckTreshold) ||
(linearUpperLimits[i] > linearCheckTreshold))
{
//disable limits
linearLowerLimits[i] = 1;
linearUpperLimits[i] = 0;
}
if ((angularLowerLimits[i] < -angularCheckTreshold) ||
(angularUpperLimits[i] > angularCheckTreshold))
{
//disable limits
angularLowerLimits[i] = 1;
angularUpperLimits[i] = 0;
}
}
}
constraintId =physicsEnvironmentPtr->createUniversalD6Constraint(
ctrl0,
ctrl1,
attachFrameRef0,
attachFrameOther,
linearLowerLimits,
linearUpperLimits,
angularLowerLimits,
angularUpperLimits
);
}
}
}