added COLLADA Physics export. import will follow soon.

Note that the exporter/importer doesn't handle GIMPACT and btStaticPlaneShape yet.

Extras/MayaPlugin/Makefile

@@ -28,7 +28,7 @@ LDFLAGS =-Wl,-Bsymbolic -shared
 
 BULLET_INCLUDE=-I$(BULLET)/src -I$(BULLET)/Extras/GIMPACT/include
 BULLET_LIB=-L$(BULLET)/out/linux/optimize/libs -L$(BULLET)/src \
-                -lGIMPACT -lGIMPACTUtils -lbulletdynamics \
+               -lBulletColladaConverter -lcolladadom -llibxml -lGIMPACT -lGIMPACTUtils -lbulletdynamics \
                  -lbulletmath -lbulletcollision -lbulletopenglsupport
 
 GL_LIB=-lGL -lGLU 
@@ -36,7 +36,7 @@ GL_LIB=-lGL -lGLU
 MAYA_INCLUDE=-I$(MAYA)/include
 MAYA_LIB=-L$(MAYA)/lib -lOpenMaya -lFoundation -lOpenMayaUI -lOpenMayaFX
 
-SOURCES = pluginMain.cpp rigidBodyNode.cpp rigidBodyArrayNode.cpp collisionShapeNode.cpp \
+SOURCES = pluginMain.cpp colladaExport.cpp rigidBodyNode.cpp rigidBodyArrayNode.cpp collisionShapeNode.cpp \
 	  solver.cpp bt_solver.cpp dSolverNode.cpp dSolverCmd.cpp dRigidBodyCmd.cpp dRigidBodyArrayCmd.cpp \
 	  pdbIO.cpp drawUtils.cpp
 

Extras/MayaPlugin/Makefile.mac

@@ -30,7 +30,7 @@ LDFLAGS =-bundle -ldl -shared
 
 BULLET_INCLUDE=-I$(BULLET)/src -I$(BULLET)/Extras/GIMPACT/include
 BULLET_LIB=-L$(BULLET)/out/macosxx86/optimize/libs -L$(BULLET)/src \
-                -lGIMPACT -lGIMPACTUtils -lbulletdynamics \
+                -lBulletColladaConverter -lcolladadom -llibxml  -lGIMPACT -lGIMPACTUtils -lbulletdynamics \
                  -lbulletmath -lbulletcollision -lbulletopenglsupport
 
 GL_LIB=-framework OpenGL
@@ -38,7 +38,7 @@ GL_LIB=-framework OpenGL
 MAYA_INCLUDE=-I$(MAYA)/include
 MAYA_LIB=-L/Applications/Autodesk/maya2008/Maya.app/Contents/MacOS -lOpenMaya -lFoundation -Wl,-executable_path,/Applications/Autodesk/maya2008/Maya.app/Contents/MacOS  -lOpenMayaUI -lOpenMayaFX -lOpenMaya -lFoundation
 
-SOURCES = pluginMain.cpp rigidBodyNode.cpp rigidBodyArrayNode.cpp collisionShapeNode.cpp \
+SOURCES = pluginMain.cpp colladaExport.cpp rigidBodyNode.cpp rigidBodyArrayNode.cpp collisionShapeNode.cpp \
 	  solver.cpp bt_solver.cpp dSolverNode.cpp dSolverCmd.cpp dRigidBodyCmd.cpp dRigidBodyArrayCmd.cpp \
 	  pdbIO.cpp drawUtils.cpp
 

Extras/MayaPlugin/bt_solver.cpp

@@ -23,14 +23,31 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
 //bt_solver.cpp
 
 #include "bt_solver.h"
+#include "../BulletColladaConverter/ColladaConverter.h"
+
+btVector3 minWorld(-10000,-10000,-10000);
+btVector3 maxWorld(10000,10000,10000);
+int maxNumObj=32768;
 
 
-btVector3 worldAabbMin(-10000, -10000, -10000);
+void bt_solver_t::export_collada_file(const char* fileName)
-btVector3 worldAabbMax(10000, 10000, 10000);
+{
-int	maxProxies = 32000;
+	ColladaConverter tmpConverter(m_dynamicsWorld.get());
+	tmpConverter.save(fileName);
+
+}
+
+void bt_solver_t::import_collada_file(const char* filename)
+{
+//todo: need to create actual bodies etc
+	ColladaConverter tmpConverter(m_dynamicsWorld.get());
+	tmpConverter.load(filename);
+}
+
 
 bt_solver_t::bt_solver_t():
-            m_broadphase(new btAxisSweep3(worldAabbMin, worldAabbMax, maxProxies)),
+//            m_broadphase(new btAxisSweep3(minWorld,maxWorld,maxNumObj)),
+	m_broadphase(new btDbvtBroadphase()),  
           m_solver(new btSequentialImpulseConstraintSolver),
             m_collisionConfiguration(new btDefaultCollisionConfiguration),
             m_dispatcher(new btCollisionDispatcher(m_collisionConfiguration.get())),
@@ -39,6 +56,7 @@ bt_solver_t::bt_solver_t():
                                                         m_solver.get(),
                                                         m_collisionConfiguration.get()))
 {
+
     //register algorithm for concave meshes
     btGImpactCollisionAlgorithm::registerAlgorithm(m_dispatcher.get());
 

Extras/MayaPlugin/bt_solver.h

@@ -98,6 +98,11 @@ public:
         m_dynamicsWorld->stepSimulation(dt, 1000, 1.0 / 120.0);
     }
 
+    virtual void export_collada_file(const char* fileName);
+
+    virtual void import_collada_file(const char* filename);
+
+
 protected:
     friend class solver_t;
     bt_solver_t();

Extras/MayaPlugin/colladaExport.cpp

@@ -0,0 +1,148 @@
+/*
+Bullet Continuous Collision Detection and Physics Library Maya Plugin
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising
+from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must
+not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#include "colladaExport.h"
+#include "solver.h"
+#include "solver_impl.h"
+
+#if defined (_WIN32)
+#define strcasecmp stricmp
+#elif defined  (OSMac_)
+extern "C" int strcasecmp (const char *, const char *);
+
+#endif
+
+#define NO_SMOOTHING_GROUP      -1
+#define INITIALIZE_SMOOTHING    -2
+#define INVALID_ID              -1
+
+//////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////
+
+void* ObjTranslator::creator()
+{
+    return new ObjTranslator();
+}
+
+//////////////////////////////////////////////////////////////
+
+MStatus ObjTranslator::reader ( const MFileObject& file,
+                                const MString& options,
+                                FileAccessMode mode)
+{
+    fprintf(stderr, "COLLADA Physics import will be available very soon, please stay tuned.\n");
+    return MS::kFailure;
+}
+
+
+
+MStatus ObjTranslator::writer ( const MFileObject& file,
+                                const MString& options,
+                                FileAccessMode mode )
+
+{
+    MStatus status;
+    
+    MString mname = file.fullName(), unitName;
+   
+//just pass in the filename
+
+#if defined (OSMac_)
+	char fname[256];//MAXPATHLEN];
+	strcpy (fname, file.fullName().asChar());
+//	fp = fopen(fname,"wb");//MAYAMACTODO
+#else
+    const char *fname = mname.asChar();
+  //  fp = fopen(fname,"w");
+#endif
+
+shared_ptr<solver_impl_t> solv = solver_t::get_solver();
+
+solv->export_collada_file(fname);
+
+return status;
+
+}
+//////////////////////////////////////////////////////////////
+
+bool ObjTranslator::haveReadMethod () const
+{
+    return true;
+}
+//////////////////////////////////////////////////////////////
+
+bool ObjTranslator::haveWriteMethod () const
+{
+    return true;
+}
+//////////////////////////////////////////////////////////////
+
+MString ObjTranslator::defaultExtension () const
+{
+    return "dae";
+}
+//////////////////////////////////////////////////////////////
+
+MPxFileTranslator::MFileKind ObjTranslator::identifyFile (
+                                        const MFileObject& fileName,
+                                        const char* buffer,
+                                        short size) const
+{
+    const char * name = fileName.name().asChar();
+    int   nameLength = strlen(name);
+    
+    if ((nameLength > 4) && !strcasecmp(name+nameLength-4, ".dae"))
+        return kCouldBeMyFileType;
+    else
+        return kNotMyFileType;
+}
+//////////////////////////////////////////////////////////////
+
+//////////////////////////////////////////////////////////////
+MStatus ObjTranslator::exportSelected( )
+{
+	MStatus status;
+	MString filename;
+
+
+	// Create an iterator for the active selection list
+	//
+	MSelectionList slist;
+	MGlobal::getActiveSelectionList( slist );
+	MItSelectionList iter( slist );
+
+	if (iter.isDone()) {
+	    fprintf(stderr,"Error: Nothing is selected.\n");
+	    return MS::kFailure;
+	}
+
+	
+	return status;
+}
+
+//////////////////////////////////////////////////////////////
+
+MStatus ObjTranslator::exportAll( )
+{
+	MStatus status = MS::kSuccess;
+
+	return status;
+}

Extras/MayaPlugin/colladaExport.h

@@ -0,0 +1,89 @@
+/*
+Bullet Continuous Collision Detection and Physics Library Maya Plugin
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising
+from the use of this software.
+Permission is granted to anyone to use this software for any purpose,
+including commercial applications, and to alter it and redistribute it freely,
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must
+not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+
+#ifndef COLLADA_EXPORT_H
+#define COLLADA_EXPORT_H
+
+#include <string.h> 
+#include <sys/types.h>
+#include <maya/MStatus.h>
+#include <maya/MPxCommand.h>
+#include <maya/MString.h>
+#include <maya/MStringArray.h>
+#include <maya/MArgList.h>
+#include <maya/MGlobal.h>
+#include <maya/MSelectionList.h>
+#include <maya/MItSelectionList.h>
+#include <maya/MPoint.h>
+#include <maya/MPointArray.h>
+#include <maya/MDagPath.h>
+#include <maya/MDagPathArray.h>
+//#include <maya/MFnPlugin.h>
+#include <maya/MFnMesh.h>
+#include <maya/MFnSet.h>
+#include <maya/MItMeshPolygon.h>
+#include <maya/MItMeshVertex.h>
+#include <maya/MItMeshEdge.h>
+#include <maya/MFloatVector.h>
+#include <maya/MFloatVectorArray.h>
+#include <maya/MFloatArray.h>
+#include <maya/MObjectArray.h>
+#include <maya/MObject.h>
+//#include <maya/MPlug.h>
+#include <maya/MPxFileTranslator.h>
+#include <maya/MFnDagNode.h>
+#include <maya/MItDag.h>
+#include <maya/MDistance.h>
+#include <maya/MIntArray.h>
+#include <maya/MIOStream.h>
+
+
+//////////////////////////////////////////////////////////////
+class ObjTranslator : public MPxFileTranslator {
+public:
+                    ObjTranslator () {};
+    virtual         ~ObjTranslator () {};
+    static void*    creator();
+
+    MStatus         reader ( const MFileObject& file,
+                             const MString& optionsString,
+                             FileAccessMode mode);
+
+    MStatus         writer ( const MFileObject& file,
+                             const MString& optionsString,
+                             FileAccessMode mode );
+    bool            haveReadMethod () const;
+    bool            haveWriteMethod () const;
+    MString         defaultExtension () const;
+    MFileKind       identifyFile ( const MFileObject& fileName,
+                                   const char* buffer,
+                                   short size) const;
+private:
+    MStatus         exportSelected();
+    MStatus         exportAll();
+
+private:
+	
+};
+
+
+#endif //COLLADA_EXPORT_H
+

Extras/MayaPlugin/pluginMain.cpp

@@ -34,6 +34,17 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
 #include "dRigidBodyCmd.h"
 #include "dRigidBodyArrayCmd.h" 
 #include "mvl/util.h"
+#include "colladaExport.h"
+
+const char *const colladaOptionScript = "colladaExportOptions";
+const char *const colladaDefaultOptions =
+    "groups=1;"
+    "ptgroups=1;"
+    "materials=1;"
+    "smoothing=1;"
+    "normals=1;"
+    ;
+
 
 MStatus initializePlugin( MObject obj )
 {
@@ -42,7 +53,17 @@ MStatus initializePlugin( MObject obj )
 
     solver_t::initialize();
 
-    // 
+
+// Register the translator with the system
+   status =  plugin.registerFileTranslator( "COLLADA Physics export", "none",
+                                          ObjTranslator::creator,
+                                          (char *)colladaOptionScript,
+                                          (char *)colladaDefaultOptions );
+
+	MCHECKSTATUS(status,"registerFileTranslator COLLADA Physics export")
+
+    
+// 
     status = plugin.registerNode( rigidBodyNode::typeName, rigidBodyNode::typeId,
                                   rigidBodyNode::creator,
                                   rigidBodyNode::initialize,
@@ -121,6 +142,9 @@ MStatus uninitializePlugin( MObject obj )
     status = plugin.deregisterNode(rigidBodyNode::typeId);
     MCHECKSTATUS(status, "deregistering rigidBodyNode")
 
+    status =  plugin.deregisterFileTranslator( "OBJexport" );
+    MCHECKSTATUS(status,"deregistering OBJexport" )
+
     solver_t::cleanup();
 
     return status;

Extras/MayaPlugin/solver.cpp

@@ -28,6 +28,12 @@ Written by: Nicola Candussi <nicola@fluidinteractive.com>
 shared_ptr<solver_impl_t> solver_t::m_impl;
 std::set<rigid_body_t::pointer> solver_t::m_rigid_bodies;
 
+shared_ptr<solver_impl_t> solver_t::get_solver()
+{
+    return m_impl;
+}
+
+
 
 void solver_t::initialize()
 {

Extras/MayaPlugin/solver.h

@@ -77,6 +77,8 @@ public:
     //
     static void step_simulation(float dt);
 
+    static shared_ptr<solver_impl_t> get_solver();
+
 private:
     static shared_ptr<solver_impl_t> m_impl;
     static std::set<rigid_body_t::pointer> m_rigid_bodies;

Extras/MayaPlugin/solver_impl.h

@@ -55,6 +55,10 @@ public:
 
     virtual void set_split_impulse(bool enabled) = 0;
 
+    virtual void export_collada_file(const char* fileName) = 0;
+
+    virtual void import_collada_file(const char* filename) = 0;
+
     virtual void step_simulation(float dt) = 0;
 
 public: