add btInMemorySerializer (experiments, allows for in-memory deep copy of worlds, bypassing the BulletFileLoader mechanism)
add btCollisionWorldImporter that can load a .bullet file, or use the btInMemorySerializer for deep-copy
This commit is contained in:
Erwin Coumans
@@ -18,6 +18,7 @@ SET(BulletCollision_SRCS
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CollisionDispatch/btCollisionDispatcher.cpp
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CollisionDispatch/btCollisionObject.cpp
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CollisionDispatch/btCollisionWorld.cpp
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CollisionDispatch/btCollisionWorldImporter.cpp
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CollisionDispatch/btCompoundCollisionAlgorithm.cpp
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CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
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CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
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@@ -126,6 +127,7 @@ SET(CollisionDispatch_HDRS
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CollisionDispatch/btCollisionObject.h
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CollisionDispatch/btCollisionObjectWrapper.h
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CollisionDispatch/btCollisionWorld.h
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CollisionDispatch/btCollisionWorldImporter.h
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CollisionDispatch/btCompoundCollisionAlgorithm.h
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CollisionDispatch/btCompoundCompoundCollisionAlgorithm.h
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CollisionDispatch/btConvexConcaveCollisionAlgorithm.h
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1147
src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
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1147
src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp
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File diff suppressed because it is too large
Load Diff
190
src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
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190
src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h
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@@ -0,0 +1,190 @@
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2014 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_COLLISION_WORLD_IMPORTER_H
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#define BT_COLLISION_WORLD_IMPORTER_H
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btHashMap.h"
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class btCollisionShape;
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class btCollisionObject;
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class btBulletSerializedArrays;
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struct ConstraintInput;
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class btCollisionWorld;
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struct btCollisionShapeData;
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class btTriangleIndexVertexArray;
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class btStridingMeshInterface;
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struct btStridingMeshInterfaceData;
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class btGImpactMeshShape;
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class btOptimizedBvh;
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struct btTriangleInfoMap;
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class btBvhTriangleMeshShape;
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class btPoint2PointConstraint;
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class btHingeConstraint;
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class btConeTwistConstraint;
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class btGeneric6DofConstraint;
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class btGeneric6DofSpringConstraint;
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class btSliderConstraint;
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class btGearConstraint;
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struct btContactSolverInfo;
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class btCollisionWorldImporter
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{
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protected:
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btCollisionWorld* m_collisionWorld;
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int m_verboseMode;
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btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
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btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
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btAlignedObjectArray<btOptimizedBvh*> m_allocatedBvhs;
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btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
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btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
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btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;
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btAlignedObjectArray<btCollisionObject*> m_allocatedCollisionObjects;
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btAlignedObjectArray<char*> m_allocatedNames;
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btAlignedObjectArray<int*> m_indexArrays;
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btAlignedObjectArray<short int*> m_shortIndexArrays;
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btAlignedObjectArray<unsigned char*> m_charIndexArrays;
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btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
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btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
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btHashMap<btHashPtr,btOptimizedBvh*> m_bvhMap;
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btHashMap<btHashPtr,btTriangleInfoMap*> m_timMap;
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btHashMap<btHashString,btCollisionShape*> m_nameShapeMap;
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btHashMap<btHashString,btCollisionObject*> m_nameColObjMap;
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btHashMap<btHashPtr,const char*> m_objectNameMap;
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btHashMap<btHashPtr,btCollisionShape*> m_shapeMap;
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btHashMap<btHashPtr,btCollisionObject*> m_bodyMap;
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//methods
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char* duplicateName(const char* name);
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btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
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public:
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btCollisionWorldImporter(btCollisionWorld* world);
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virtual ~btCollisionWorldImporter();
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bool convertAllObjects( btBulletSerializedArrays* arrays);
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///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
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///make sure you don't use the dynamics world containing objects after you call this method
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virtual void deleteAllData();
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void setVerboseMode(int verboseMode)
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{
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m_verboseMode = verboseMode;
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}
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int getVerboseMode() const
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{
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return m_verboseMode;
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}
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// query for data
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int getNumCollisionShapes() const;
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btCollisionShape* getCollisionShapeByIndex(int index);
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int getNumRigidBodies() const;
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btCollisionObject* getRigidBodyByIndex(int index) const;
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int getNumConstraints() const;
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int getNumBvhs() const;
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btOptimizedBvh* getBvhByIndex(int index) const;
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int getNumTriangleInfoMaps() const;
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btTriangleInfoMap* getTriangleInfoMapByIndex(int index) const;
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// queris involving named objects
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btCollisionShape* getCollisionShapeByName(const char* name);
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btCollisionObject* getCollisionObjectByName(const char* name);
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const char* getNameForPointer(const void* ptr) const;
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///those virtuals are called by load and can be overridden by the user
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//bodies
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virtual btCollisionObject* createCollisionObject( const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
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///shapes
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virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
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virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
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virtual btCollisionShape* createSphereShape(btScalar radius);
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virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
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virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
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virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
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virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
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virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
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virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
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virtual btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
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virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
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virtual btCollisionShape* createConeShapeZ(btScalar radius,btScalar height);
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virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
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virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
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virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
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#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
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virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
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#endif //SUPPORT_GIMPACT_SHAPE_IMPORT
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virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
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virtual class btConvexHullShape* createConvexHullShape();
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virtual class btCompoundShape* createCompoundShape();
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virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
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virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
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virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
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///acceleration and connectivity structures
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virtual btOptimizedBvh* createOptimizedBvh();
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virtual btTriangleInfoMap* createTriangleInfoMap();
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};
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#endif //BT_WORLD_IMPORTER_H
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@@ -149,12 +149,13 @@ struct btBulletSerializedArrays
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btAlignedObjectArray<struct btDynamicsWorldFloatData*> m_dynamicWorldInfoDataFloat;
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btAlignedObjectArray<struct btRigidBodyDoubleData*> m_rigidBodyDataDouble;
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btAlignedObjectArray<struct btRigidBodyFloatData*> m_rigidBodyDataFloat;
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btAlignedObjectArray<struct btCollisionObjectDoubleData*> m_collisionDataDouble;
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btAlignedObjectArray<struct btCollisionObjectFloatData*> m_collisionDataFloat;
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btAlignedObjectArray<struct btCollisionObjectDoubleData*> m_collisionObjectDataDouble;
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btAlignedObjectArray<struct btCollisionObjectFloatData*> m_collisionObjectDataFloat;
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btAlignedObjectArray<struct btTypedConstraintFloatData*> m_constraintDataFloat;
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btAlignedObjectArray<struct btTypedConstraintDoubleData*> m_constraintDataDouble;
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btAlignedObjectArray<struct btTypedConstraintData*> m_constraintData;//for backwards compatibility
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btAlignedObjectArray<struct btSoftBodyFloatData*> m_softBodyFloatData;
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btAlignedObjectArray<struct btSoftBodyDoubleData*> m_softBodyDoubleData;
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};
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@@ -668,6 +669,180 @@ public:
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}
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};
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///In general it is best to use btDefaultSerializer,
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///in particular when writing the data to disk or sending it over the network.
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///The btInMemorySerializer is experimental and only suitable in a few cases.
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///The btInMemorySerializer takes a shortcut and can be useful to create a deep-copy
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///of objects. There will be a demo on how to use the btInMemorySerializer.
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struct btInMemorySerializer : public btDefaultSerializer
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{
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btHashMap<btHashPtr,btChunk*> m_uid2ChunkPtr;
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btHashMap<btHashPtr,void*> m_orgPtr2UniqueDataPtr;
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btHashMap<btHashString,const void*> m_names2Ptr;
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btHashMap<btHashPtr,void*> m_skipPointers;
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btBulletSerializedArrays m_arrays;
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virtual void startSerialization()
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{
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m_uid2ChunkPtr.clear();
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//todo: m_arrays.clear();
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btDefaultSerializer::startSerialization();
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}
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btChunk* findChunkFromUniquePointer(void* uniquePointer)
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{
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btChunk** chkPtr = m_uid2ChunkPtr[uniquePointer];
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if (chkPtr)
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{
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return *chkPtr;
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}
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return 0;
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}
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virtual void registerNameForPointer(const void* ptr, const char* name)
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{
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btDefaultSerializer::registerNameForPointer(ptr,name);
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m_names2Ptr.insert(name,ptr);
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}
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virtual void finishSerialization()
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{
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}
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virtual void* getUniquePointer(void*oldPtr)
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{
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if (oldPtr==0)
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return 0;
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// void* uniquePtr = getUniquePointer(oldPtr);
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btChunk* chunk = findChunkFromUniquePointer(oldPtr);
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if (chunk)
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{
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return chunk->m_oldPtr;
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} else
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{
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const char* n = (const char*) oldPtr;
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const void** ptr = m_names2Ptr[n];
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if (ptr)
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{
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return oldPtr;
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} else
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{
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void** ptr2 = m_skipPointers[oldPtr];
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if (ptr2)
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{
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return 0;
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} else
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{
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//If this assert hit, serialization happened in the wrong order
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// 'getUniquePointer'
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btAssert(0);
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}
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}
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return 0;
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}
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return oldPtr;
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}
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virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)
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{
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if (!(m_serializationFlags&BT_SERIALIZE_NO_DUPLICATE_ASSERT))
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{
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btAssert(!findPointer(oldPtr));
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}
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chunk->m_dna_nr = getReverseType(structType);
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chunk->m_chunkCode = chunkCode;
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//void* uniquePtr = getUniquePointer(oldPtr);
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m_chunkP.insert(oldPtr,oldPtr);//chunk->m_oldPtr);
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// chunk->m_oldPtr = uniquePtr;//oldPtr;
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void* uid = findPointer(oldPtr);
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m_uid2ChunkPtr.insert(uid,chunk);
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switch (chunk->m_chunkCode)
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{
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case BT_SOFTBODY_CODE:
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{
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#ifdef BT_USE_DOUBLE_PRECISION
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m_arrays.m_softBodyDoubleData.push_back((btSoftBodyDoubleData*) chunk->m_oldPtr);
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#else
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m_arrays.m_softBodyFloatData.push_back((btSoftBodyFloatData*) chunk->m_oldPtr);
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#endif
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break;
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}
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case BT_COLLISIONOBJECT_CODE:
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{
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#ifdef BT_USE_DOUBLE_PRECISION
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m_arrays.m_collisionObjectDataDouble.push_back((btCollisionObjectDoubleData*)chunk->m_oldPtr);
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#else//BT_USE_DOUBLE_PRECISION
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m_arrays.m_collisionObjectDataFloat.push_back((btCollisionObjectFloatData*)chunk->m_oldPtr);
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#endif //BT_USE_DOUBLE_PRECISION
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break;
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}
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case BT_RIGIDBODY_CODE:
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{
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#ifdef BT_USE_DOUBLE_PRECISION
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m_arrays.m_rigidBodyDataDouble.push_back((btRigidBodyDoubleData*)chunk->m_oldPtr);
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#else
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m_arrays.m_rigidBodyDataFloat.push_back((btRigidBodyFloatData*)chunk->m_oldPtr);
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#endif//BT_USE_DOUBLE_PRECISION
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break;
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};
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case BT_CONSTRAINT_CODE:
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{
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#ifdef BT_USE_DOUBLE_PRECISION
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m_arrays.m_constraintDataDouble.push_back(btTypedConstraintDoubleData*)chunk->m_oldPtr);
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#else
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m_arrays.m_constraintDataFloat.push_back((btTypedConstraintFloatData*)chunk->m_oldPtr);
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#endif
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break;
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}
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case BT_QUANTIZED_BVH_CODE:
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{
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#ifdef BT_USE_DOUBLE_PRECISION
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m_arrays.m_bvhsFloat.push_back((btQuantizedBvhDoubleData*) chunk->m_oldPtr);
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#else
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m_arrays.m_bvhsFloat.push_back((btQuantizedBvhFloatData*) chunk->m_oldPtr);
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#endif
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break;
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}
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case BT_SHAPE_CODE:
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{
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btCollisionShapeData* shapeData = (btCollisionShapeData*) chunk->m_oldPtr;
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m_arrays.m_colShapeData.push_back(shapeData);
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break;
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}
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case BT_TRIANLGE_INFO_MAP:
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case BT_ARRAY_CODE:
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case BT_SBMATERIAL_CODE:
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case BT_SBNODE_CODE:
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case BT_DYNAMICSWORLD_CODE:
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case BT_DNA_CODE:
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{
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break;
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}
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default:
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{
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}
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};
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}
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int getNumChunks() const
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{
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return m_uid2ChunkPtr.size();
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}
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const btChunk* getChunk(int chunkIndex) const
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{
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return *m_uid2ChunkPtr.getAtIndex(chunkIndex);
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}
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};
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#endif //BT_SERIALIZER_H
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Reference in New Issue
Block a user