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

Generate a single bullet.h headerfile for serialization, to make it easier to load .bullet files with no dependencies on the Bullet SDK (except Bullet/LinearMath and Bullet/Extras/Serialize/BulletFileLoader)

Browse Source 
Added a work-in-progress example how to load a .bullet file using this bullet.h file (and not using the Bullet SDK)
This commit is contained in:
erwin.coumans
2011-02-21 22:32:12 +00:00
parent f19995aeab
commit ecaf8d2594
54 changed files with 1419 additions and 2321 deletions
Download Patch File Download Diff File Expand all files Collapse all files

345
Extras/Serialize/ReadBulletSample/BulletDataExtractor.cpp Normal file
View File

@@ -0,0 +1,345 @@
#include "BulletDataExtractor.h"
#include "../BulletFileLoader/btBulletFile.h"
#include <stdio.h>
///work-in-progress
///This ReadBulletSample is kept as simple as possible without dependencies to the Bullet SDK.
///It can be used to load .bullet data for other physics SDKs
///For a more complete example how to load and convert Bullet data using the Bullet SDK check out
///the Bullet/Demos/SerializeDemo and Bullet/Serialize/BulletWorldImporter
using namespace Bullet;
enum LocalBroadphaseNativeTypes
{
// polyhedral convex shapes
BOX_SHAPE_PROXYTYPE,
TRIANGLE_SHAPE_PROXYTYPE,
TETRAHEDRAL_SHAPE_PROXYTYPE,
CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
CONVEX_HULL_SHAPE_PROXYTYPE,
CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
CUSTOM_POLYHEDRAL_SHAPE_TYPE,
//implicit convex shapes
IMPLICIT_CONVEX_SHAPES_START_HERE,
SPHERE_SHAPE_PROXYTYPE,
MULTI_SPHERE_SHAPE_PROXYTYPE,
CAPSULE_SHAPE_PROXYTYPE,
CONE_SHAPE_PROXYTYPE,
CONVEX_SHAPE_PROXYTYPE,
CYLINDER_SHAPE_PROXYTYPE,
UNIFORM_SCALING_SHAPE_PROXYTYPE,
MINKOWSKI_SUM_SHAPE_PROXYTYPE,
MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
BOX_2D_SHAPE_PROXYTYPE,
CONVEX_2D_SHAPE_PROXYTYPE,
CUSTOM_CONVEX_SHAPE_TYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
TRIANGLE_MESH_SHAPE_PROXYTYPE,
SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
///used for demo integration FAST/Swift collision library and Bullet
FAST_CONCAVE_MESH_PROXYTYPE,
//terrain
TERRAIN_SHAPE_PROXYTYPE,
///Used for GIMPACT Trimesh integration
GIMPACT_SHAPE_PROXYTYPE,
///Multimaterial mesh
MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
EMPTY_SHAPE_PROXYTYPE,
STATIC_PLANE_PROXYTYPE,
CUSTOM_CONCAVE_SHAPE_TYPE,
CONCAVE_SHAPES_END_HERE,
COMPOUND_SHAPE_PROXYTYPE,
SOFTBODY_SHAPE_PROXYTYPE,
HFFLUID_SHAPE_PROXYTYPE,
HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
INVALID_SHAPE_PROXYTYPE,
MAX_BROADPHASE_COLLISION_TYPES
};
btBulletDataExtractor::btBulletDataExtractor()
{
}
btBulletDataExtractor::~btBulletDataExtractor()
{
}
void btBulletDataExtractor::convertAllObjects(bParse::btBulletFile* bulletFile2)
{
int i;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
{
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
if (shapeData->m_name)
printf("converting shape %s\n", shapeData->m_name);
void* shape = convertCollisionShape(shapeData);
}
}
void* btBulletDataExtractor::convertCollisionShape( btCollisionShapeData* shapeData )
{
void* shape = 0;
switch (shapeData->m_shapeType)
{
case STATIC_PLANE_PROXYTYPE:
{
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)shapeData;
void* shape = createPlaneShape(planeData->m_planeNormal,planeData->m_planeConstant, planeData->m_localScaling);
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
case CAPSULE_SHAPE_PROXYTYPE:
case BOX_SHAPE_PROXYTYPE:
case SPHERE_SHAPE_PROXYTYPE:
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
switch (shapeData->m_shapeType)
{
case BOX_SHAPE_PROXYTYPE:
{
shape = createBoxShape(bsd->m_implicitShapeDimensions, bsd->m_localScaling,bsd->m_collisionMargin);
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
shape = createSphereShape(bsd->m_implicitShapeDimensions.m_floats[0],bsd->m_localScaling, bsd->m_collisionMargin);
break;
}
#if 0
case CAPSULE_SHAPE_PROXYTYPE:
{
btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
switch (capData->m_upAxis)
{
case 0:
{
shape = createCapsuleShapeX(implicitShapeDimensions.getY(),2*implicitShapeDimensions.getX());
break;
}
case 1:
{
shape = createCapsuleShapeY(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getY());
break;
}
case 2:
{
shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getZ());
break;
}
default:
{
printf("error: wrong up axis for btCapsuleShape\n");
}
};
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
btVector3 halfExtents = implicitShapeDimensions+margin;
switch (cylData->m_upAxis)
{
case 0:
{
shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
break;
}
case 1:
{
shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
break;
}
case 2:
{
shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
break;
}
default:
{
printf("unknown Cylinder up axis\n");
}
};
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
int numSpheres = mss->m_localPositionArraySize;
int i;
for ( i=0;i<numSpheres;i++)
{
tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
}
shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
int numPoints = convexData->m_numUnscaledPoints;
btAlignedObjectArray<btVector3> tmpPoints;
tmpPoints.resize(numPoints);
int i;
for ( i=0;i<numPoints;i++)
{
if (convexData->m_unscaledPointsFloatPtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
}
shape = createConvexHullShape();
return shape;
break;
}
#endif
default:
{
printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
}
}
break;
}
#if 0
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
btTriangleMeshShapeData* trimesh = (btTriangleMeshShapeData*)shapeData;
btTriangleIndexVertexArray* meshInterface = createMeshInterface(trimesh->m_meshInterface);
if (!meshInterface->getNumSubParts())
{
return 0;
}
btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
meshInterface->setScaling(scaling);
btOptimizedBvh* bvh = 0;
btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface,bvh);
trimeshShape->setMargin(trimesh->m_collisionMargin);
shape = trimeshShape;
if (trimesh->m_triangleInfoMap)
{
btTriangleInfoMap* map = createTriangleInfoMap();
map->deSerialize(*trimesh->m_triangleInfoMap);
trimeshShape->setTriangleInfoMap(map);
#ifdef USE_INTERNAL_EDGE_UTILITY
gContactAddedCallback = btAdjustInternalEdgeContactsCallback;
#endif //USE_INTERNAL_EDGE_UTILITY
}
//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
break;
}
case COMPOUND_SHAPE_PROXYTYPE:
{
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
btCompoundShape* compoundShape = createCompoundShape();
btAlignedObjectArray<btCollisionShape*> childShapes;
for (int i=0;i<compoundData->m_numChildShapes;i++)
{
btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
if (childShape)
{
btTransform localTransform;
localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
compoundShape->addChildShape(localTransform,childShape);
} else
{
printf("error: couldn't create childShape for compoundShape\n");
}
}
shape = compoundShape;
break;
}
case GIMPACT_SHAPE_PROXYTYPE:
{
btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*) shapeData;
if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
{
btTriangleIndexVertexArray* meshInterface = createMeshInterface(gimpactData->m_meshInterface);
btGImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
btVector3 localScaling;
localScaling.deSerializeFloat(gimpactData->m_localScaling);
gimpactShape->setLocalScaling(localScaling);
gimpactShape->setMargin(btScalar(gimpactData->m_collisionMargin));
gimpactShape->updateBound();
shape = gimpactShape;
} else
{
printf("unsupported gimpact sub type\n");
}
break;
}
case SOFTBODY_SHAPE_PROXYTYPE:
{
return 0;
}
#endif
default:
{
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
}
}
return shape;
}
void* btBulletDataExtractor::createBoxShape( const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
{
printf("createBoxShape with halfDimensions %f,%f,%f\n",halfDimensions.m_floats[0], halfDimensions.m_floats[1],halfDimensions.m_floats[2]);
return 0;
}
void* btBulletDataExtractor::createSphereShape( float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
{
printf("createSphereShape with radius %f\n",radius);
return 0;
}
void* btBulletDataExtractor::createPlaneShape( const btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling)
{
printf("createPlaneShape with normal %f,%f,%f and planeConstant\n",planeNormal.m_floats[0], planeNormal.m_floats[1],planeNormal.m_floats[2],planeConstant);
return 0;
}

32
Extras/Serialize/ReadBulletSample/BulletDataExtractor.h Normal file
View File

@@ -0,0 +1,32 @@
#ifndef BULLET_DATA_EXTRACTOR_H
#define BULLET_DATA_EXTRACTOR_H
#include "../BulletFileLoader/autogenerated/bullet.h"
namespace bParse
{
class btBulletFile;
};
class btBulletDataExtractor
{
public:
btBulletDataExtractor();
virtual ~btBulletDataExtractor();
virtual void convertAllObjects(bParse::btBulletFile* bulletFile);
virtual void* convertCollisionShape( Bullet::btCollisionShapeData* shapeData );
virtual void* createPlaneShape( const Bullet::btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling);
virtual void* createBoxShape( const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
virtual void* createSphereShape( float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin);
};
#endif //BULLET_DATA_EXTRACTOR_H

33
Extras/Serialize/ReadBulletSample/CMakeLists.txt Normal file
View File

@@ -0,0 +1,33 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
)
LINK_LIBRARIES(
BulletFileLoader
)
IF (WIN32)
SET(ADDITIONAL_SRC
${BULLET_PHYSICS_SOURCE_DIR}/msvc/bullet.rc
)
ENDIF()
SET(READBULLET_SRC
main.cpp
BulletDataExtractor.cpp
BulletDataExtractor.h
${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp
${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btAlignedAllocator.cpp
)
ADD_EXECUTABLE(AppReadBulletSample
${READBULLET_SRC}
${ADDITIONAL_SRC}
)
IF (INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)
SET_TARGET_PROPERTIES(AppReadBulletSample PROPERTIES DEBUG_POSTFIX "_Debug")
SET_TARGET_PROPERTIES(AppReadBulletSample PROPERTIES MINSIZEREL_POSTFIX "_MinsizeRel")
SET_TARGET_PROPERTIES(AppReadBulletSample PROPERTIES RELWITHDEBINFO_POSTFIX "_RelWithDebugInfo")
ENDIF(INTERNAL_ADD_POSTFIX_EXECUTABLE_NAMES)

63
Extras/Serialize/ReadBulletSample/main.cpp Normal file
View File

@@ -0,0 +1,63 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2011 Erwin Coumans http://continuousphysics.com/Bullet/
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 <stdio.h>
#include "../BulletFileLoader/btBulletFile.h"
#include "BulletDataExtractor.h"
///This ReadBulletSample is kept as simple as possible without dependencies to the Bullet SDK.
///It can be used to load .bullet data for other physics SDKs
///For a more complete example how to load and convert Bullet data using the Bullet SDK check out
///the Bullet/Demos/SerializeDemo and Bullet/Serialize/BulletWorldImporter
int main(int argc, char** argv)
{
const char* fileName="testFile.bullet";
bool verboseDumpAllTypes = false;
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
if (ok)
bulletFile2->parse(verboseDumpAllTypes);
else
{
printf("Error loading file %s.\n",fileName);
exit(0);
}
ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
if (!ok)
{
printf("Error parsing file %s.\n",fileName);
exit(0);
}
if (verboseDumpAllTypes)
{
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
}
btBulletDataExtractor extractor;
extractor.convertAllObjects(bulletFile2);
delete bulletFile2;
return 0;
}