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more refactoring, removed PhysicsInterface, cleaned up demos to make use of btDynamicsWorld derived classes.

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removed two cached optimizations, type in btTransform and cached inverse transform (todo: test performance impact)
committed fixes that make the code adhere to 'who creates it, also destroys it'
This commit is contained in:
ejcoumans
2006-09-30 01:36:39 +00:00
parent 14397a2f72
commit d38549aa54
37 changed files with 317 additions and 995 deletions
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46
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -14,7 +14,7 @@ subject to the following restrictions:
*/
#include "ColladaConverter.h"
#include "btBulletDynamicsCommon.h"
#include "dae.h"
#include "dom/domCOLLADA.h"
@@ -27,10 +27,9 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btTriangleMesh.h"
#include "BulletCollision/CollisionShapes/btConvexTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
//#include "BulletCollision/CollisionShapes/btTriangleIndexVertexArray.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "CcdPhysicsController.h"
char* getLastFileName();
@@ -537,18 +536,18 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
daeString orgUri0 = attachRefBody->getRigid_body().getOriginalURI();
daeString orgUri1 = attachBody1->getRigid_body().getOriginalURI();
CcdPhysicsController* ctrl0=0,*ctrl1=0;
btRigidBody* body0=0,*body1=0;
for (int i=0;i<m_numObjects;i++)
{
char* bodyName = (char*)m_physObjects[i]->getNewClientInfo();
char* bodyName = (char*)m_rigidBodies[i]->m_userObjectPointer;
if (!strcmp(bodyName,orgUri0))
{
ctrl0=m_physObjects[i];
body0=m_rigidBodies[i];
}
if (!strcmp(bodyName,orgUri1))
{
ctrl1=m_physObjects[i];
body1=m_rigidBodies[i];
}
}
@@ -572,8 +571,7 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
btVector3 angularMax(coneMaxLimit.get(0),coneMaxLimit.get(1),coneMaxLimit.get(2));
{
int constraintId;
btTransform attachFrameRef0;
attachFrameRef0 =
GetbtTransformFromCOLLADA_DOM
@@ -635,11 +633,11 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
}
if (ctrl0 && ctrl1)
if (body0&& body1)
{
constraintId = createUniversalD6Constraint(
ctrl0,
ctrl1,
createUniversalD6Constraint(
body0,
body1,
attachFrameRef0,
attachFrameOther,
linearLowerLimits,
@@ -699,12 +697,12 @@ void ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
CcdPhysicsController* ctrl = createPhysicsObject(isDynamics,mass,startTransform,colShape);
if (ctrl)
btRigidBody* body= createRigidBody(isDynamics,mass,startTransform,colShape);
if (body)
{
//for bodyName lookup in constraints
ctrl->setNewClientInfo((void*)input.m_bodyName);
m_physObjects[m_numObjects] = ctrl;
body->m_userObjectPointer = (void*)input.m_bodyName;
m_rigidBodies[m_numObjects] = body;
m_numObjects++;
}
@@ -733,12 +731,8 @@ bool ColladaConverter::saveAs(const char* filename)
{
float np[3];
btVector3 np = m_rigidBodies[i]->m_worldTransform.getOrigin();
domFloat3 newPos = m_colladadomNodes[i]->getTranslate_array().get(0)->getValue();
m_physObjects[i]->GetMotionState()->getWorldPosition(
np[0],
np[1],
np[2]);
newPos.set(0,np[0]);
newPos.set(1,np[1]);
newPos.set(2,np[2]);
@@ -764,7 +758,7 @@ bool ColladaConverter::saveAs(const char* filename)
}
{
btQuaternion quat = m_physObjects[i]->getRigidBody()->getCenterOfMassTransform().getRotation();
btQuaternion quat = m_rigidBodies[i]->getCenterOfMassTransform().getRotation();
btVector3 axis(quat.getX(),quat.getY(),quat.getZ());
axis[3] = 0.f;
//check for axis length
@@ -1059,7 +1053,11 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
} else
{
printf("static concave triangle <mesh> added\n");
rbOutput.m_colShape = new btTriangleMeshShape(trimesh);
//rbOutput.m_colShape = new btTriangleMeshShape(trimesh);//btBvhTriangleMeshShape(trimesh);
//rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
//btTriangleMeshShape
}
}