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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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134
Demos/ColladaDemo/ColladaConverter.cpp
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@@ -37,7 +37,7 @@ char* getLastFileName();
char* fixFileName(const char* lpCmdLine);
//todo: sort out this domInstance_rigid_bodyRef forward definition, put it in the headerfile and make it virtual (make code more re-usable)
struct RigidBodyInput
struct btRigidBodyInput
{
domInstance_rigid_bodyRef m_instanceRigidBodyRef;
domRigid_bodyRef m_rigidBodyRef2;
@@ -52,12 +52,12 @@ struct ConstraintInput
};
struct RigidBodyOutput
struct btRigidBodyOutput
{
float m_mass;
bool m_isDynamics;
CollisionShape* m_colShape;
CompoundShape* m_compoundShape;
btCollisionShape* m_colShape;
btCompoundShape* m_compoundShape;
};
@@ -66,13 +66,13 @@ domMatrix_Array emptyMatrixArray;
domNodeRef m_colladadomNodes[COLLADA_CONVERTER_MAX_NUM_OBJECTS];
SimdTransform GetSimdTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
btTransform GetbtTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
domRotate_Array& rotateArray,
domTranslate_Array& translateArray
)
{
SimdTransform startTransform;
btTransform startTransform;
startTransform.setIdentity();
unsigned int i;
@@ -81,9 +81,9 @@ SimdTransform GetSimdTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
{
domMatrixRef matrixRef = matrixArray[i];
domFloat4x4 fl16 = matrixRef->getValue();
SimdVector3 origin(fl16.get(3),fl16.get(7),fl16.get(11));
btVector3 origin(fl16.get(3),fl16.get(7),fl16.get(11));
startTransform.setOrigin(origin);
SimdMatrix3x3 basis(fl16.get(0),fl16.get(1),fl16.get(2),
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));
startTransform.setBasis(basis);
@@ -94,15 +94,15 @@ SimdTransform GetSimdTransformFromCOLLADA_DOM(domMatrix_Array& matrixArray,
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);
btQuaternion rotQuat(btVector3(fl4.get(0),fl4.get(1),fl4.get(2)),angleRad);
startTransform.getBasis() = startTransform.getBasis() * btMatrix3x3(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));
startTransform.getOrigin() += btVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
return startTransform;
}
@@ -185,20 +185,20 @@ bool ColladaConverter::convert()
printf(" X is Up Data and Hiearchies must be converted!\n" );
printf(" Conversion to X axis Up isn't currently supported!\n" );
printf(" COLLADA_RT defaulting to Y Up \n" );
SetGravity(SimdVector3(-10,0,0));
SetCameraInfo(SimdVector3(1,0,0),1);
SetGravity(btVector3(-10,0,0));
SetCameraInfo(btVector3(1,0,0),1);
break;
case UPAXISTYPE_Y_UP:
printf(" Y Axis is Up for this file \n" );
printf(" COLLADA_RT set to Y Up \n" );
SetGravity(SimdVector3(0,-10,0));
SetCameraInfo(SimdVector3(0,1,0),0);
SetGravity(btVector3(0,-10,0));
SetCameraInfo(btVector3(0,1,0),0);
break;
case UPAXISTYPE_Z_UP:
printf(" Z Axis is Up for this file \n" );
printf(" All Geometry and Hiearchies must be converted!\n" );
SetGravity(SimdVector3(0,0,-10));
SetGravity(btVector3(0,0,-10));
break;
default:
@@ -294,7 +294,7 @@ bool ColladaConverter::convert()
const domFloat3 grav = physicsSceneRef->getTechnique_common()->getGravity()->getValue();
printf("gravity set to %f,%f,%f\n",grav.get(0),grav.get(1),grav.get(2));
SetGravity(SimdVector3(grav.get(0),grav.get(1),grav.get(2)));
SetGravity(btVector3(grav.get(0),grav.get(1),grav.get(2)));
}
}
@@ -324,8 +324,8 @@ bool ColladaConverter::convert()
float mass = 1.f;
bool isDynamics = true;
CollisionShape* colShape = 0;
CompoundShape* compoundShape = 0;
btCollisionShape* colShape = 0;
btCompoundShape* compoundShape = 0;
xsNCName bodyName = instRigidbodyRef->getBody();
@@ -355,11 +355,11 @@ bool ColladaConverter::convert()
{
RigidBodyOutput output;
btRigidBodyOutput output;
output.m_colShape = colShape;
output.m_compoundShape = compoundShape;
RigidBodyInput rbInput;
btRigidBodyInput rbInput;
rbInput.m_rigidBodyRef2 = rigidBodyRef;
rbInput.m_instanceRigidBodyRef = instRigidbodyRef;
ConvertRigidBodyRef( rbInput , output );
@@ -380,7 +380,7 @@ bool ColladaConverter::convert()
if (colShape)
{
RigidBodyInput input;
btRigidBodyInput input;
input.m_instanceRigidBodyRef = instRigidbodyRef;
input.m_rigidBodyRef2 = 0;
input.m_bodyName = (char*)bodyName;
@@ -399,8 +399,8 @@ bool ColladaConverter::convert()
float mass = 1.f;
bool isDynamics = true;
CollisionShape* colShape = 0;
CompoundShape* compoundShape = 0;
btCollisionShape* colShape = 0;
btCompoundShape* compoundShape = 0;
xsNCName bodyName = instRigidbodyRef->getBody();
@@ -430,11 +430,11 @@ bool ColladaConverter::convert()
{
RigidBodyOutput output;
btRigidBodyOutput output;
output.m_colShape = colShape;
output.m_compoundShape = compoundShape;
RigidBodyInput rbInput;
btRigidBodyInput rbInput;
rbInput.m_rigidBodyRef2 = rigidBodyRef;
rbInput.m_instanceRigidBodyRef = instRigidbodyRef;
ConvertRigidBodyRef( rbInput , output );
@@ -455,7 +455,7 @@ bool ColladaConverter::convert()
if (colShape)
{
RigidBodyInput input;
btRigidBodyInput input;
input.m_instanceRigidBodyRef = instRigidbodyRef;
input.m_rigidBodyRef2 = 0;
input.m_bodyName = (char*)bodyName;
@@ -560,31 +560,31 @@ void ColladaConverter::PrepareConstraints(ConstraintInput& input)
const domRigid_constraint::domTechnique_commonRef commonRef = rigidConstraintRef->getTechnique_common();
domFloat3 flMin = commonRef->getLimits()->getLinear()->getMin()->getValue();
SimdVector3 minLinearLimit(flMin.get(0),flMin.get(1),flMin.get(2));
btVector3 minLinearLimit(flMin.get(0),flMin.get(1),flMin.get(2));
domFloat3 flMax = commonRef->getLimits()->getLinear()->getMax()->getValue();
SimdVector3 maxLinearLimit(flMax.get(0),flMax.get(1),flMax.get(2));
btVector3 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));
btVector3 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));
btVector3 angularMax(coneMaxLimit.get(0),coneMaxLimit.get(1),coneMaxLimit.get(2));
{
int constraintId;
SimdTransform attachFrameRef0;
btTransform attachFrameRef0;
attachFrameRef0 =
GetSimdTransformFromCOLLADA_DOM
GetbtTransformFromCOLLADA_DOM
(
emptyMatrixArray,
attachRefBody->getRotate_array(),
attachRefBody->getTranslate_array());
SimdTransform attachFrameOther;
btTransform attachFrameOther;
attachFrameOther =
GetSimdTransformFromCOLLADA_DOM
GetbtTransformFromCOLLADA_DOM
(
emptyMatrixArray,
attachBody1->getRotate_array(),
@@ -609,10 +609,10 @@ void ColladaConverter::PrepareConstraints(ConstraintInput& input)
//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;
btVector3 linearLowerLimits = minLinearLimit;
btVector3 linearUpperLimits = maxLinearLimit;
btVector3 angularLowerLimits = angularMin;
btVector3 angularUpperLimits = angularMax;
{
for (int i=0;i<3;i++)
{
@@ -665,11 +665,11 @@ void ColladaConverter::PrepareConstraints(ConstraintInput& input)
}
void ColladaConverter::PreparePhysicsObject(struct RigidBodyInput& input, bool isDynamics, float mass,CollisionShape* colShape)
void ColladaConverter::PreparePhysicsObject(struct btRigidBodyInput& input, bool isDynamics, float mass,btCollisionShape* colShape)
{
SimdTransform startTransform;
btTransform startTransform;
startTransform.setIdentity();
SimdVector3 startScale(1.f,1.f,1.f);
btVector3 startScale(1.f,1.f,1.f);
//The 'target' points to a graphics element/node, which contains the start (world) transform
daeElementRef elem = input.m_instanceRigidBodyRef->getTarget().getElement();
@@ -681,7 +681,7 @@ void ColladaConverter::PreparePhysicsObject(struct RigidBodyInput& input, bool i
//find transform of the node that this rigidbody maps to
startTransform = GetSimdTransformFromCOLLADA_DOM(
startTransform = GetbtTransformFromCOLLADA_DOM(
node->getMatrix_array(),
node->getRotate_array(),
node->getTranslate_array()
@@ -692,7 +692,7 @@ void ColladaConverter::PreparePhysicsObject(struct RigidBodyInput& input, bool i
{
domScaleRef scaleRef = node->getScale_array()[i];
domFloat3 fl3 = scaleRef->getValue();
startScale = SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
startScale = btVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
}
@@ -764,15 +764,15 @@ bool ColladaConverter::saveAs(const char* filename)
}
{
SimdQuaternion quat = m_physObjects[i]->GetRigidBody()->getCenterOfMassTransform().getRotation();
SimdVector3 axis(quat.getX(),quat.getY(),quat.getZ());
btQuaternion quat = m_physObjects[i]->GetRigidBody()->getCenterOfMassTransform().getRotation();
btVector3 axis(quat.getX(),quat.getY(),quat.getZ());
axis[3] = 0.f;
//check for axis length
SimdScalar len = axis.length2();
btScalar len = axis.length2();
if (len < SIMD_EPSILON*SIMD_EPSILON)
axis = SimdVector3(1.f,0.f,0.f);
axis = btVector3(1.f,0.f,0.f);
else
axis /= SimdSqrt(len);
axis /= btSqrt(len);
m_colladadomNodes[i]->getRotate_array().get(0)->getValue().set(0,axis[0]);
m_colladadomNodes[i]->getRotate_array().get(0)->getValue().set(1,axis[1]);
m_colladadomNodes[i]->getRotate_array().get(0)->getValue().set(2,axis[2]);
@@ -886,7 +886,7 @@ char* fixFileName(const char* lpCmdLine)
}
void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOutput& rbOutput)
void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBodyOutput& rbOutput)
{
const domRigid_body::domTechnique_commonRef techniqueRef = rbInput.m_rigidBodyRef2->getTechnique_common();
@@ -913,9 +913,9 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
if (planeRef->getEquation())
{
const domFloat4 planeEq = planeRef->getEquation()->getValue();
SimdVector3 planeNormal(planeEq.get(0),planeEq.get(1),planeEq.get(2));
SimdScalar planeConstant = planeEq.get(3);
rbOutput.m_colShape = new StaticPlaneShape(planeNormal,planeConstant);
btVector3 planeNormal(planeEq.get(0),planeEq.get(1),planeEq.get(2));
btScalar planeConstant = planeEq.get(3);
rbOutput.m_colShape = new btStaticPlaneShape(planeNormal,planeConstant);
}
}
@@ -928,14 +928,14 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
float x = halfExtents.get(0);
float y = halfExtents.get(1);
float z = halfExtents.get(2);
rbOutput.m_colShape = new BoxShape(SimdVector3(x,y,z));
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();
rbOutput.m_colShape = new SphereShape(radius);
rbOutput.m_colShape = new btSphereShape(radius);
}
if (shapeRef->getCylinder())
@@ -946,7 +946,7 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
domFloat radius0 = radius2.get(0);
//Cylinder around the local Y axis
rbOutput.m_colShape = new CylinderShape(SimdVector3(radius0,height,radius0));
rbOutput.m_colShape = new btCylinderShape(btVector3(radius0,height,radius0));
}
@@ -960,7 +960,7 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
{
const domMeshRef meshRef = geom->getMesh();
TriangleMesh* trimesh = new TriangleMesh();
btTriangleMesh* trimesh = new btTriangleMesh();
for (unsigned int tg = 0;tg<meshRef->getTriangles_array().getCount();tg++)
@@ -969,7 +969,7 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
domTrianglesRef triRef = meshRef->getTriangles_array()[tg];
const domPRef pRef = triRef->getP();
IndexedMesh meshPart;
btIndexedMesh meshPart;
meshPart.m_triangleIndexStride=0;
@@ -1024,7 +1024,7 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
for (;t<meshPart.m_numTriangles;t++)
{
SimdVector3 verts[3];
btVector3 verts[3];
int index0;
for (int i=0;i<3;i++)
{
@@ -1055,11 +1055,11 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
if (rbOutput.m_isDynamics)
{
printf("moving concave <mesh> not supported, transformed into convex\n");
rbOutput.m_colShape = new ConvexTriangleMeshShape(trimesh);
rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
} else
{
printf("static concave triangle <mesh> added\n");
rbOutput.m_colShape = new TriangleMeshShape(trimesh);
rbOutput.m_colShape = new btTriangleMeshShape(trimesh);
}
}
@@ -1086,7 +1086,7 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
ConvexHullShape* convexHullShape = new ConvexHullShape(0,0);
btConvexHullShape* convexHullShape = new btConvexHullShape(0,0);
//it is quite a trick to get to the vertices, using Collada.
//we are not there yet...
@@ -1144,7 +1144,7 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->AddPoint(SimdPoint3(fl0,fl1,fl2));
convexHullShape->AddPoint(btPoint3(fl0,fl1,fl2));
}
}
@@ -1192,7 +1192,7 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->AddPoint(SimdPoint3(fl0,fl1,fl2));
convexHullShape->AddPoint(btPoint3(fl0,fl1,fl2));
}
}
@@ -1237,14 +1237,14 @@ void ColladaConverter::ConvertRigidBodyRef( RigidBodyInput& rbInput,RigidBodyOut
if (!rbOutput.m_compoundShape)
{
rbOutput.m_compoundShape = new CompoundShape();
rbOutput.m_compoundShape = new btCompoundShape();
}
SimdTransform localTransform;
btTransform localTransform;
localTransform.setIdentity();
if (hasShapeLocalTransform)
{
localTransform = GetSimdTransformFromCOLLADA_DOM(
localTransform = GetbtTransformFromCOLLADA_DOM(
emptyMatrixArray,
shapeRef->getRotate_array(),
shapeRef->getTranslate_array()