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- Added compressed/quantized AABB tree, 16 bytes per node, while supporting 32-bit (triangle) indices. Should be faster and smaller then original version (quantized aabb check is done in integer space)

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Original aabb nodes are 44 bytes (with full floating point precision and additional part index)
- added meter-unit scaling support in ColladaConverter.cpp
This commit is contained in:
ejcoumans
2007-02-25 06:11:23 +00:00
parent 7efef8e394
commit e610598d33
10 changed files with 571 additions and 184 deletions
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58
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -67,9 +67,11 @@ domMatrix_Array emptyMatrixArray;
domNodeRef m_colladadomNodes[COLLADA_CONVERTER_MAX_NUM_OBJECTS];
///This code is actually wrong: the order of transformations is lost, so we need to rewrite this!
btTransform GetbtTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
domRotate_Array& rotateArray,
domTranslate_Array& translateArray
domTranslate_Array& translateArray,
float meterScaling
)
{
@@ -83,7 +85,7 @@ btTransform GetbtTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
domMatrixRef matrixRef = matrixArray[i];
domFloat4x4 fl16 = matrixRef->getValue();
btVector3 origin(fl16.get(3),fl16.get(7),fl16.get(11));
startTransform.setOrigin(origin);
startTransform.setOrigin(origin*meterScaling);
btMatrix3x3 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));
@@ -103,7 +105,8 @@ btTransform GetbtTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
{
domTranslateRef translateRef = translateArray[i];
domFloat3 fl3 = translateRef->getValue();
startTransform.getOrigin() += btVector3(fl3.get(0),fl3.get(1),fl3.get(2));
btVector3 orgTrans(fl3.get(0),fl3.get(1),fl3.get(2));
startTransform.getOrigin() += orgTrans*meterScaling;
}
return startTransform;
}
@@ -116,7 +119,8 @@ ColladaConverter::ColladaConverter()
:m_collada(0),
m_dom(0),
m_filename(0),
m_numObjects(0)
m_numObjects(0),
m_unitMeterScaling(1.f)
{
//Collada-m_dom
m_collada = new DAE;
@@ -179,6 +183,15 @@ bool ColladaConverter::convert()
//succesfully loaded file, now convert data
if (m_dom->getAsset() && m_dom->getAsset()->getUnit())
{
domAsset::domUnitRef unit = m_dom->getAsset()->getUnit();
domFloat meter = unit->getMeter();
printf("asset unit meter=%f\n",meter);
m_unitMeterScaling = meter;
}
if ( m_dom->getAsset() && m_dom->getAsset()->getUp_axis() )
{
domAsset::domUp_axis * up = m_dom->getAsset()->getUp_axis();
@@ -593,7 +606,8 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
(
emptyMatrixArray,
attachRefBody->getRotate_array(),
attachRefBody->getTranslate_array());
attachRefBody->getTranslate_array(),
m_unitMeterScaling);
}
btTransform attachFrameOther;
@@ -605,7 +619,8 @@ void ColladaConverter::prepareConstraints(ConstraintInput& input)
(
emptyMatrixArray,
attachBody1->getRotate_array(),
attachBody1->getTranslate_array()
attachBody1->getTranslate_array(),
m_unitMeterScaling
);
}
@@ -718,7 +733,8 @@ void ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool
startTransform = GetbtTransformFromCOLLADA_DOM(
node->getMatrix_array(),
node->getRotate_array(),
node->getTranslate_array()
node->getTranslate_array(),
m_unitMeterScaling
);
unsigned int i;
@@ -994,7 +1010,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
{
const domFloat4 planeEq = planeRef->getEquation()->getValue();
btVector3 planeNormal(planeEq.get(0),planeEq.get(1),planeEq.get(2));
btScalar planeConstant = planeEq.get(3);
btScalar planeConstant = planeEq.get(3)*m_unitMeterScaling;
rbOutput.m_colShape = new btStaticPlaneShape(planeNormal,planeConstant);
}
@@ -1005,25 +1021,25 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domBoxRef boxRef = shapeRef->getBox();
domBox::domHalf_extentsRef domHalfExtentsRef = boxRef->getHalf_extents();
domFloat3& halfExtents = domHalfExtentsRef->getValue();
float x = halfExtents.get(0);
float y = halfExtents.get(1);
float z = halfExtents.get(2);
float x = halfExtents.get(0)*m_unitMeterScaling;
float y = halfExtents.get(1)*m_unitMeterScaling;
float z = halfExtents.get(2)*m_unitMeterScaling;
rbOutput.m_colShape = new btBoxShape(btVector3(x,y,z));
}
if (shapeRef->getSphere())
{
domSphereRef sphereRef = shapeRef->getSphere();
domSphere::domRadiusRef radiusRef = sphereRef->getRadius();
domFloat radius = radiusRef->getValue();
domFloat radius = radiusRef->getValue()*m_unitMeterScaling;
rbOutput.m_colShape = new btSphereShape(radius);
}
if (shapeRef->getCylinder())
{
domCylinderRef cylinderRef = shapeRef->getCylinder();
domFloat height = cylinderRef->getHeight()->getValue();
domFloat height = cylinderRef->getHeight()->getValue()*m_unitMeterScaling;
domFloat2 radius2 = cylinderRef->getRadius()->getValue();
domFloat radius0 = radius2.get(0);
domFloat radius0 = radius2.get(0)*m_unitMeterScaling;
//Cylinder around the local Y axis
rbOutput.m_colShape = new btCylinderShape(btVector3(radius0,height,radius0));
@@ -1117,7 +1133,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domFloat fl1 = listFloats.get(index0+1);
domFloat fl2 = listFloats.get(index0+2);
k+=meshPart.m_triangleIndexStride;
verts[i].setValue(fl0,fl1,fl2);
verts[i].setValue(fl0*m_unitMeterScaling,fl1*m_unitMeterScaling,fl2*m_unitMeterScaling);
}
trimesh->addTriangle(verts[0],verts[1],verts[2]);
}
@@ -1143,7 +1159,8 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
} else
{
printf("static concave triangle <mesh> added\n");
rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
bool useQuantizedAabbCompression = false;
rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh,useQuantizedAabbCompression);
//rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh);
//rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
@@ -1182,7 +1199,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domFloat fl0 = listFloats.get(vertIndex);
domFloat fl1 = listFloats.get(vertIndex+1);
domFloat fl2 = listFloats.get(vertIndex+2);
convexHull->addPoint(btPoint3(fl0,fl1,fl2));
convexHull->addPoint(btPoint3(fl0,fl1,fl2) * m_unitMeterScaling);
}
}
}
@@ -1280,7 +1297,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2));
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2) * m_unitMeterScaling);
}
}
@@ -1328,7 +1345,7 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2));
convexHullShape->addPoint(btPoint3(fl0,fl1,fl2)*m_unitMeterScaling);
}
}
@@ -1383,7 +1400,8 @@ void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBod
localTransform = GetbtTransformFromCOLLADA_DOM(
emptyMatrixArray,
shapeRef->getRotate_array(),
shapeRef->getTranslate_array()
shapeRef->getTranslate_array(),
m_unitMeterScaling
);
}