10ed7bffd5
Skip btGeneric6DofSpringConstraintData parts of the data that will be invalid in .bullet files version 280 or older This fixes Issue 618, thanks to cyrfer for the report. minor improvements in premake build (name library output so multiple Visual Studio installations don't conflict) remove msvc folder
1573 lines
48 KiB
C++
1573 lines
48 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2010 Erwin Coumans http://continuousphysics.com/Bullet/
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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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#include "btBulletWorldImporter.h"
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#include "../BulletFileLoader/btBulletFile.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletCollision/Gimpact/btGImpactShape.h"
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//#define USE_INTERNAL_EDGE_UTILITY
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#ifdef USE_INTERNAL_EDGE_UTILITY
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#include "BulletCollision/CollisionDispatch/btInternalEdgeUtility.h"
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#endif //USE_INTERNAL_EDGE_UTILITY
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btBulletWorldImporter::btBulletWorldImporter(btDynamicsWorld* world)
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:m_dynamicsWorld(world),
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m_verboseDumpAllTypes(false)
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{
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}
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btBulletWorldImporter::~btBulletWorldImporter()
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{
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}
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void btBulletWorldImporter::deleteAllData()
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{
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int i;
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for (i=0;i<m_allocatedConstraints.size();i++)
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{
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if(m_dynamicsWorld)
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m_dynamicsWorld->removeConstraint(m_allocatedConstraints[i]);
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delete m_allocatedConstraints[i];
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}
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m_allocatedConstraints.clear();
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for (i=0;i<m_allocatedRigidBodies.size();i++)
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{
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if(m_dynamicsWorld)
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m_dynamicsWorld->removeRigidBody(btRigidBody::upcast(m_allocatedRigidBodies[i]));
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delete m_allocatedRigidBodies[i];
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}
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m_allocatedRigidBodies.clear();
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for (i=0;i<m_allocatedCollisionShapes.size();i++)
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{
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delete m_allocatedCollisionShapes[i];
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}
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m_allocatedCollisionShapes.clear();
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for (i=0;i<m_allocatedBvhs.size();i++)
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{
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delete m_allocatedBvhs[i];
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}
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m_allocatedBvhs.clear();
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for (i=0;i<m_allocatedTriangleInfoMaps.size();i++)
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{
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delete m_allocatedTriangleInfoMaps[i];
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}
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m_allocatedTriangleInfoMaps.clear();
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for (i=0;i<m_allocatedTriangleIndexArrays.size();i++)
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{
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delete m_allocatedTriangleIndexArrays[i];
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}
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m_allocatedTriangleIndexArrays.clear();
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for (i=0;i<m_allocatedNames.size();i++)
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{
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delete[] m_allocatedNames[i];
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}
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m_allocatedNames.clear();
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for (i=0;i<m_allocatedbtStridingMeshInterfaceDatas.size();i++)
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{
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btStridingMeshInterfaceData* curData = m_allocatedbtStridingMeshInterfaceDatas[i];
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for(int a = 0;a < curData->m_numMeshParts;a++)
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{
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btMeshPartData* curPart = &curData->m_meshPartsPtr[a];
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if(curPart->m_vertices3f)
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delete [] curPart->m_vertices3f;
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if(curPart->m_vertices3d)
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delete [] curPart->m_vertices3d;
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if(curPart->m_indices32)
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delete [] curPart->m_indices32;
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if(curPart->m_3indices16)
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delete [] curPart->m_3indices16;
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if(curPart->m_indices16)
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delete [] curPart->m_indices16;
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if (curPart->m_3indices8)
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delete [] curPart->m_3indices8;
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}
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delete [] curData->m_meshPartsPtr;
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delete curData;
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}
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m_allocatedbtStridingMeshInterfaceDatas.clear();
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for (i=0;i<m_indexArrays.size();i++)
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{
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btAlignedFree(m_indexArrays[i]);
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}
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for (i=0;i<m_shortIndexArrays.size();i++)
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{
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btAlignedFree(m_shortIndexArrays[i]);
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}
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for (i=0;i<m_charIndexArrays.size();i++)
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{
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btAlignedFree(m_charIndexArrays[i]);
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}
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for (i=0;i<m_floatVertexArrays.size();i++)
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{
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btAlignedFree(m_floatVertexArrays[i]);
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}
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for (i=0;i<m_doubleVertexArrays.size();i++)
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{
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btAlignedFree(m_doubleVertexArrays[i]);
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}
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}
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bool btBulletWorldImporter::loadFile( const char* fileName)
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{
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bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
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bool result = loadFileFromMemory(bulletFile2);
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delete bulletFile2;
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return result;
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}
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bool btBulletWorldImporter::loadFileFromMemory( char* memoryBuffer, int len)
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{
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bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(memoryBuffer,len);
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bool result = loadFileFromMemory(bulletFile2);
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delete bulletFile2;
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return result;
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}
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btTriangleIndexVertexArray* btBulletWorldImporter::createMeshInterface(btStridingMeshInterfaceData& meshData)
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{
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btTriangleIndexVertexArray* meshInterface = createTriangleMeshContainer();
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for (int i=0;i<meshData.m_numMeshParts;i++)
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{
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btIndexedMesh meshPart;
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meshPart.m_numTriangles = meshData.m_meshPartsPtr[i].m_numTriangles;
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meshPart.m_numVertices = meshData.m_meshPartsPtr[i].m_numVertices;
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if (meshData.m_meshPartsPtr[i].m_indices32)
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{
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meshPart.m_indexType = PHY_INTEGER;
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meshPart.m_triangleIndexStride = 3*sizeof(int);
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int* indexArray = (int*)btAlignedAlloc(sizeof(int)*3*meshPart.m_numTriangles,16);
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m_indexArrays.push_back(indexArray);
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for (int j=0;j<3*meshPart.m_numTriangles;j++)
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{
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indexArray[j] = meshData.m_meshPartsPtr[i].m_indices32[j].m_value;
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}
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meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
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} else
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{
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if (meshData.m_meshPartsPtr[i].m_3indices16)
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{
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meshPart.m_indexType = PHY_SHORT;
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meshPart.m_triangleIndexStride = sizeof(short int)*3;//sizeof(btShortIntIndexTripletData);
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short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int)*3*meshPart.m_numTriangles,16);
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m_shortIndexArrays.push_back(indexArray);
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for (int j=0;j<meshPart.m_numTriangles;j++)
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{
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indexArray[3*j] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[0];
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indexArray[3*j+1] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[1];
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indexArray[3*j+2] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[2];
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}
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meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
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}
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if (meshData.m_meshPartsPtr[i].m_indices16)
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{
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meshPart.m_indexType = PHY_SHORT;
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meshPart.m_triangleIndexStride = 3*sizeof(short int);
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short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int)*3*meshPart.m_numTriangles,16);
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m_shortIndexArrays.push_back(indexArray);
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for (int j=0;j<3*meshPart.m_numTriangles;j++)
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{
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indexArray[j] = meshData.m_meshPartsPtr[i].m_indices16[j].m_value;
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}
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meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
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}
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if (meshData.m_meshPartsPtr[i].m_3indices8)
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{
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meshPart.m_indexType = PHY_UCHAR;
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meshPart.m_triangleIndexStride = sizeof(unsigned char)*3;
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unsigned char* indexArray = (unsigned char*)btAlignedAlloc(sizeof(unsigned char)*3*meshPart.m_numTriangles,16);
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m_charIndexArrays.push_back(indexArray);
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for (int j=0;j<meshPart.m_numTriangles;j++)
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{
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indexArray[3*j] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[0];
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indexArray[3*j+1] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[1];
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indexArray[3*j+2] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[2];
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}
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meshPart.m_triangleIndexBase = (const unsigned char*)indexArray;
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}
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}
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if (meshData.m_meshPartsPtr[i].m_vertices3f)
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{
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meshPart.m_vertexType = PHY_FLOAT;
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meshPart.m_vertexStride = sizeof(btVector3FloatData);
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btVector3FloatData* vertices = (btVector3FloatData*) btAlignedAlloc(sizeof(btVector3FloatData)*meshPart.m_numVertices,16);
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m_floatVertexArrays.push_back(vertices);
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for (int j=0;j<meshPart.m_numVertices;j++)
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{
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vertices[j].m_floats[0] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[0];
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vertices[j].m_floats[1] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[1];
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vertices[j].m_floats[2] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[2];
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vertices[j].m_floats[3] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[3];
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}
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meshPart.m_vertexBase = (const unsigned char*)vertices;
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} else
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{
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meshPart.m_vertexType = PHY_DOUBLE;
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meshPart.m_vertexStride = sizeof(btVector3DoubleData);
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btVector3DoubleData* vertices = (btVector3DoubleData*) btAlignedAlloc(sizeof(btVector3DoubleData)*meshPart.m_numVertices,16);
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m_doubleVertexArrays.push_back(vertices);
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for (int j=0;j<meshPart.m_numVertices;j++)
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{
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vertices[j].m_floats[0] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[0];
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vertices[j].m_floats[1] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[1];
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vertices[j].m_floats[2] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[2];
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vertices[j].m_floats[3] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[3];
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}
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meshPart.m_vertexBase = (const unsigned char*)vertices;
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}
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if (meshPart.m_triangleIndexBase && meshPart.m_vertexBase)
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{
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meshInterface->addIndexedMesh(meshPart,meshPart.m_indexType);
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}
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}
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return meshInterface;
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}
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btStridingMeshInterfaceData* btBulletWorldImporter::createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData)
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{
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//create a new btStridingMeshInterfaceData that is an exact copy of shapedata and store it in the WorldImporter
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btStridingMeshInterfaceData* newData = new btStridingMeshInterfaceData;
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newData->m_scaling = interfaceData->m_scaling;
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newData->m_numMeshParts = interfaceData->m_numMeshParts;
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newData->m_meshPartsPtr = new btMeshPartData[newData->m_numMeshParts];
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for(int i = 0;i < newData->m_numMeshParts;i++)
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{
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btMeshPartData* curPart = &interfaceData->m_meshPartsPtr[i];
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btMeshPartData* curNewPart = &newData->m_meshPartsPtr[i];
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curNewPart->m_numTriangles = curPart->m_numTriangles;
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curNewPart->m_numVertices = curPart->m_numVertices;
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if(curPart->m_vertices3f)
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{
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curNewPart->m_vertices3f = new btVector3FloatData[curNewPart->m_numVertices];
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memcpy(curNewPart->m_vertices3f,curPart->m_vertices3f,sizeof(btVector3FloatData) * curNewPart->m_numVertices);
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}
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else
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curNewPart->m_vertices3f = NULL;
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if(curPart->m_vertices3d)
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{
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curNewPart->m_vertices3d = new btVector3DoubleData[curNewPart->m_numVertices];
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memcpy(curNewPart->m_vertices3d,curPart->m_vertices3d,sizeof(btVector3DoubleData) * curNewPart->m_numVertices);
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}
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else
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curNewPart->m_vertices3d = NULL;
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int numIndices = curNewPart->m_numTriangles * 3;
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///the m_3indices8 was not initialized in some Bullet versions, this can cause crashes at loading time
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///we catch it by only dealing with m_3indices8 if none of the other indices are initialized
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bool uninitialized3indices8Workaround =false;
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if(curPart->m_indices32)
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{
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uninitialized3indices8Workaround=true;
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curNewPart->m_indices32 = new btIntIndexData[numIndices];
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memcpy(curNewPart->m_indices32,curPart->m_indices32,sizeof(btIntIndexData) * numIndices);
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}
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else
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curNewPart->m_indices32 = NULL;
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if(curPart->m_3indices16)
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{
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uninitialized3indices8Workaround=true;
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curNewPart->m_3indices16 = new btShortIntIndexTripletData[curNewPart->m_numTriangles];
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memcpy(curNewPart->m_3indices16,curPart->m_3indices16,sizeof(btShortIntIndexTripletData) * curNewPart->m_numTriangles);
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}
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else
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curNewPart->m_3indices16 = NULL;
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if(curPart->m_indices16)
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{
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uninitialized3indices8Workaround=true;
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curNewPart->m_indices16 = new btShortIntIndexData[numIndices];
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memcpy(curNewPart->m_indices16,curPart->m_indices16,sizeof(btShortIntIndexData) * numIndices);
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}
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else
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curNewPart->m_indices16 = NULL;
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if(!uninitialized3indices8Workaround && curPart->m_3indices8)
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{
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curNewPart->m_3indices8 = new btCharIndexTripletData[curNewPart->m_numTriangles];
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memcpy(curNewPart->m_3indices8,curPart->m_3indices8,sizeof(btCharIndexTripletData) * curNewPart->m_numTriangles);
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}
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else
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curNewPart->m_3indices8 = NULL;
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}
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m_allocatedbtStridingMeshInterfaceDatas.push_back(newData);
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return(newData);
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}
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#ifdef USE_INTERNAL_EDGE_UTILITY
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extern ContactAddedCallback gContactAddedCallback;
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static bool btAdjustInternalEdgeContactsCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
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{
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btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1);
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//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE);
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//btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED);
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return true;
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}
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#endif //USE_INTERNAL_EDGE_UTILITY
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btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShapeData* shapeData )
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{
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btCollisionShape* shape = 0;
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switch (shapeData->m_shapeType)
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{
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case STATIC_PLANE_PROXYTYPE:
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{
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btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)shapeData;
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btVector3 planeNormal,localScaling;
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planeNormal.deSerializeFloat(planeData->m_planeNormal);
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localScaling.deSerializeFloat(planeData->m_localScaling);
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shape = createPlaneShape(planeNormal,planeData->m_planeConstant);
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shape->setLocalScaling(localScaling);
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break;
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}
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case SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE:
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{
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btScaledTriangleMeshShapeData* scaledMesh = (btScaledTriangleMeshShapeData*) shapeData;
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btCollisionShapeData* colShapeData = (btCollisionShapeData*) &scaledMesh->m_trimeshShapeData;
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colShapeData->m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE;
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btCollisionShape* childShape = convertCollisionShape(colShapeData);
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btBvhTriangleMeshShape* meshShape = (btBvhTriangleMeshShape*)childShape;
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btVector3 localScaling;
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localScaling.deSerializeFloat(scaledMesh->m_localScaling);
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shape = createScaledTrangleMeshShape(meshShape, localScaling);
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break;
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}
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case GIMPACT_SHAPE_PROXYTYPE:
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{
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btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*) shapeData;
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if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
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{
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btStridingMeshInterfaceData* interfaceData = createStridingMeshInterfaceData(&gimpactData->m_meshInterface);
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btTriangleIndexVertexArray* meshInterface = createMeshInterface(*interfaceData);
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btGImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
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btVector3 localScaling;
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localScaling.deSerializeFloat(gimpactData->m_localScaling);
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gimpactShape->setLocalScaling(localScaling);
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gimpactShape->setMargin(btScalar(gimpactData->m_collisionMargin));
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gimpactShape->updateBound();
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shape = gimpactShape;
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} else
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{
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printf("unsupported gimpact sub type\n");
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}
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break;
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}
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case CYLINDER_SHAPE_PROXYTYPE:
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case CAPSULE_SHAPE_PROXYTYPE:
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case BOX_SHAPE_PROXYTYPE:
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case SPHERE_SHAPE_PROXYTYPE:
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case MULTI_SPHERE_SHAPE_PROXYTYPE:
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
|
|
btVector3 implicitShapeDimensions;
|
|
implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
|
|
btVector3 localScaling;
|
|
localScaling.deSerializeFloat(bsd->m_localScaling);
|
|
btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
|
|
switch (shapeData->m_shapeType)
|
|
{
|
|
case BOX_SHAPE_PROXYTYPE:
|
|
{
|
|
shape = createBoxShape(implicitShapeDimensions/localScaling+margin);
|
|
break;
|
|
}
|
|
case SPHERE_SHAPE_PROXYTYPE:
|
|
{
|
|
shape = createSphereShape(implicitShapeDimensions.getX());
|
|
break;
|
|
}
|
|
case CAPSULE_SHAPE_PROXYTYPE:
|
|
{
|
|
btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
|
|
switch (capData->m_upAxis)
|
|
{
|
|
case 0:
|
|
{
|
|
shape = createCapsuleShapeX(implicitShapeDimensions.getY()+bsd->m_collisionMargin*2,2*implicitShapeDimensions.getX());
|
|
break;
|
|
}
|
|
case 1:
|
|
{
|
|
shape = createCapsuleShapeY(implicitShapeDimensions.getX()+bsd->m_collisionMargin*2,2*implicitShapeDimensions.getY());
|
|
break;
|
|
}
|
|
case 2:
|
|
{
|
|
shape = createCapsuleShapeZ(implicitShapeDimensions.getX()+bsd->m_collisionMargin*2,2*implicitShapeDimensions.getZ());
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
printf("error: wrong up axis for btCapsuleShape\n");
|
|
}
|
|
bsd->m_collisionMargin = 0.f;
|
|
|
|
};
|
|
|
|
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;
|
|
|
|
btAlignedObjectArray<btVector3> tmpPos;
|
|
btAlignedObjectArray<btScalar> radii;
|
|
radii.resize(numSpheres);
|
|
tmpPos.resize(numSpheres);
|
|
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:
|
|
{
|
|
// int sz = sizeof(btConvexHullShapeData);
|
|
// int sz2 = sizeof(btConvexInternalShapeData);
|
|
// int sz3 = sizeof(btCollisionShapeData);
|
|
btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
|
|
int numPoints = convexData->m_numUnscaledPoints;
|
|
|
|
btAlignedObjectArray<btVector3> tmpPoints;
|
|
tmpPoints.resize(numPoints);
|
|
int i;
|
|
for ( i=0;i<numPoints;i++)
|
|
{
|
|
#ifdef BT_USE_DOUBLE_PRECISION
|
|
if (convexData->m_unscaledPointsDoublePtr)
|
|
tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
|
|
if (convexData->m_unscaledPointsFloatPtr)
|
|
tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
|
|
#else
|
|
if (convexData->m_unscaledPointsFloatPtr)
|
|
tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
|
|
if (convexData->m_unscaledPointsDoublePtr)
|
|
tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
|
|
#endif //BT_USE_DOUBLE_PRECISION
|
|
}
|
|
btConvexHullShape* hullShape = createConvexHullShape();
|
|
for (i=0;i<numPoints;i++)
|
|
{
|
|
hullShape->addPoint(tmpPoints[i]);
|
|
}
|
|
shape = hullShape;
|
|
break;
|
|
}
|
|
default:
|
|
{
|
|
printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
|
|
}
|
|
}
|
|
|
|
if (shape)
|
|
{
|
|
//shape->setMargin(bsd->m_collisionMargin);
|
|
btVector3 localScaling;
|
|
localScaling.deSerializeFloat(bsd->m_localScaling);
|
|
shape->setLocalScaling(localScaling);
|
|
|
|
}
|
|
break;
|
|
}
|
|
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
|
|
{
|
|
btTriangleMeshShapeData* trimesh = (btTriangleMeshShapeData*)shapeData;
|
|
btStridingMeshInterfaceData* interfaceData = createStridingMeshInterfaceData(&trimesh->m_meshInterface);
|
|
btTriangleIndexVertexArray* meshInterface = createMeshInterface(*interfaceData);
|
|
if (!meshInterface->getNumSubParts())
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
|
|
meshInterface->setScaling(scaling);
|
|
|
|
|
|
btOptimizedBvh* bvh = 0;
|
|
#if 0
|
|
if (trimesh->m_quantizedFloatBvh)
|
|
{
|
|
btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedFloatBvh);
|
|
if (bvhPtr && *bvhPtr)
|
|
{
|
|
bvh = *bvhPtr;
|
|
} else
|
|
{
|
|
bvh = createOptimizedBvh();
|
|
bvh->deSerializeFloat(*trimesh->m_quantizedFloatBvh);
|
|
}
|
|
}
|
|
if (trimesh->m_quantizedDoubleBvh)
|
|
{
|
|
btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedDoubleBvh);
|
|
if (bvhPtr && *bvhPtr)
|
|
{
|
|
bvh = *bvhPtr;
|
|
} else
|
|
{
|
|
bvh = createOptimizedBvh();
|
|
bvh->deSerializeDouble(*trimesh->m_quantizedDoubleBvh);
|
|
}
|
|
}
|
|
#endif
|
|
|
|
|
|
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
|
|
{
|
|
#ifdef _DEBUG
|
|
printf("error: couldn't create childShape for compoundShape\n");
|
|
#endif
|
|
}
|
|
|
|
}
|
|
shape = compoundShape;
|
|
|
|
break;
|
|
}
|
|
case SOFTBODY_SHAPE_PROXYTYPE:
|
|
{
|
|
return 0;
|
|
}
|
|
default:
|
|
{
|
|
#ifdef _DEBUG
|
|
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
|
|
#endif
|
|
}
|
|
}
|
|
|
|
return shape;
|
|
|
|
}
|
|
|
|
char* btBulletWorldImporter::duplicateName(const char* name)
|
|
{
|
|
if (name)
|
|
{
|
|
int l = (int)strlen(name);
|
|
char* newName = new char[l+1];
|
|
memcpy(newName,name,l);
|
|
newName[l] = 0;
|
|
m_allocatedNames.push_back(newName);
|
|
return newName;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
|
|
{
|
|
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
|
|
|
|
if (ok)
|
|
bulletFile2->parse(m_verboseDumpAllTypes);
|
|
else
|
|
return false;
|
|
|
|
if (m_verboseDumpAllTypes)
|
|
{
|
|
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
|
|
}
|
|
|
|
return convertAllObjects(bulletFile2);
|
|
|
|
}
|
|
|
|
bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
|
|
{
|
|
|
|
m_shapeMap.clear();
|
|
m_bodyMap.clear();
|
|
|
|
int i;
|
|
|
|
for (i=0;i<bulletFile2->m_bvhs.size();i++)
|
|
{
|
|
btOptimizedBvh* bvh = createOptimizedBvh();
|
|
|
|
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
|
|
{
|
|
btQuantizedBvhDoubleData* bvhData = (btQuantizedBvhDoubleData*)bulletFile2->m_bvhs[i];
|
|
bvh->deSerializeDouble(*bvhData);
|
|
} else
|
|
{
|
|
btQuantizedBvhFloatData* bvhData = (btQuantizedBvhFloatData*)bulletFile2->m_bvhs[i];
|
|
bvh->deSerializeFloat(*bvhData);
|
|
}
|
|
m_bvhMap.insert(bulletFile2->m_bvhs[i],bvh);
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
|
|
{
|
|
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
|
|
btCollisionShape* shape = convertCollisionShape(shapeData);
|
|
if (shape)
|
|
{
|
|
// printf("shapeMap.insert(%x,%x)\n",shapeData,shape);
|
|
m_shapeMap.insert(shapeData,shape);
|
|
}
|
|
|
|
if (shape&& shapeData->m_name)
|
|
{
|
|
char* newname = duplicateName(shapeData->m_name);
|
|
m_objectNameMap.insert(shape,newname);
|
|
m_nameShapeMap.insert(newname,shape);
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
|
|
{
|
|
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
|
|
{
|
|
btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
|
|
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
|
|
btVector3 localInertia;
|
|
localInertia.setZero();
|
|
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
|
|
if (shapePtr && *shapePtr)
|
|
{
|
|
btTransform startTransform;
|
|
colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[3] = 0.f;
|
|
startTransform.deSerializeDouble(colObjData->m_collisionObjectData.m_worldTransform);
|
|
|
|
// startTransform.setBasis(btMatrix3x3::getIdentity());
|
|
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
|
|
if (shape->isNonMoving())
|
|
{
|
|
mass = 0.f;
|
|
}
|
|
|
|
if (mass)
|
|
{
|
|
shape->calculateLocalInertia(mass,localInertia);
|
|
}
|
|
bool isDynamic = mass!=0.f;
|
|
|
|
btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape,colObjData->m_collisionObjectData.m_name);
|
|
#ifdef USE_INTERNAL_EDGE_UTILITY
|
|
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
|
|
if (trimesh->getTriangleInfoMap())
|
|
{
|
|
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
}
|
|
}
|
|
#endif //USE_INTERNAL_EDGE_UTILITY
|
|
m_bodyMap.insert(colObjData,body);
|
|
} else
|
|
{
|
|
printf("error: no shape found\n");
|
|
}
|
|
|
|
} else
|
|
{
|
|
btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
|
|
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
|
|
btVector3 localInertia;
|
|
localInertia.setZero();
|
|
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
|
|
if (shapePtr && *shapePtr)
|
|
{
|
|
btTransform startTransform;
|
|
colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[3] = 0.f;
|
|
startTransform.deSerializeFloat(colObjData->m_collisionObjectData.m_worldTransform);
|
|
|
|
// startTransform.setBasis(btMatrix3x3::getIdentity());
|
|
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
|
|
if (shape->isNonMoving())
|
|
{
|
|
mass = 0.f;
|
|
}
|
|
if (mass)
|
|
{
|
|
shape->calculateLocalInertia(mass,localInertia);
|
|
}
|
|
bool isDynamic = mass!=0.f;
|
|
btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape,colObjData->m_collisionObjectData.m_name);
|
|
body->setFriction(colObjData->m_collisionObjectData.m_friction);
|
|
body->setRestitution(colObjData->m_collisionObjectData.m_restitution);
|
|
|
|
|
|
#ifdef USE_INTERNAL_EDGE_UTILITY
|
|
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
|
|
if (trimesh->getTriangleInfoMap())
|
|
{
|
|
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
}
|
|
}
|
|
#endif //USE_INTERNAL_EDGE_UTILITY
|
|
m_bodyMap.insert(colObjData,body);
|
|
} else
|
|
{
|
|
printf("error: no shape found\n");
|
|
}
|
|
}
|
|
}
|
|
|
|
for (i=0;i<bulletFile2->m_collisionObjects.size();i++)
|
|
{
|
|
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
|
|
{
|
|
btCollisionObjectDoubleData* colObjData = (btCollisionObjectDoubleData*)bulletFile2->m_collisionObjects[i];
|
|
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
|
|
if (shapePtr && *shapePtr)
|
|
{
|
|
btTransform startTransform;
|
|
colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
|
|
startTransform.deSerializeDouble(colObjData->m_worldTransform);
|
|
|
|
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
|
|
btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
|
|
body->setFriction(btScalar(colObjData->m_friction));
|
|
body->setRestitution(btScalar(colObjData->m_restitution));
|
|
|
|
#ifdef USE_INTERNAL_EDGE_UTILITY
|
|
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
|
|
if (trimesh->getTriangleInfoMap())
|
|
{
|
|
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
}
|
|
}
|
|
#endif //USE_INTERNAL_EDGE_UTILITY
|
|
m_bodyMap.insert(colObjData,body);
|
|
} else
|
|
{
|
|
printf("error: no shape found\n");
|
|
}
|
|
|
|
} else
|
|
{
|
|
btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i];
|
|
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
|
|
if (shapePtr && *shapePtr)
|
|
{
|
|
btTransform startTransform;
|
|
colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
|
|
startTransform.deSerializeFloat(colObjData->m_worldTransform);
|
|
|
|
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
|
|
btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
|
|
|
|
#ifdef USE_INTERNAL_EDGE_UTILITY
|
|
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
|
|
{
|
|
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
|
|
if (trimesh->getTriangleInfoMap())
|
|
{
|
|
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
|
|
}
|
|
}
|
|
#endif //USE_INTERNAL_EDGE_UTILITY
|
|
m_bodyMap.insert(colObjData,body);
|
|
} else
|
|
{
|
|
printf("error: no shape found\n");
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
for (i=0;i<bulletFile2->m_constraints.size();i++)
|
|
{
|
|
btTypedConstraintData* constraintData = (btTypedConstraintData*)bulletFile2->m_constraints[i];
|
|
btCollisionObject** colAptr = m_bodyMap.find(constraintData->m_rbA);
|
|
btCollisionObject** colBptr = m_bodyMap.find(constraintData->m_rbB);
|
|
|
|
btRigidBody* rbA = 0;
|
|
btRigidBody* rbB = 0;
|
|
|
|
if (colAptr)
|
|
{
|
|
rbA = btRigidBody::upcast(*colAptr);
|
|
if (!rbA)
|
|
rbA = &getFixedBody();
|
|
}
|
|
if (colBptr)
|
|
{
|
|
rbB = btRigidBody::upcast(*colBptr);
|
|
if (!rbB)
|
|
rbB = &getFixedBody();
|
|
}
|
|
if (!rbA && !rbB)
|
|
continue;
|
|
|
|
btTypedConstraint* constraint = 0;
|
|
|
|
switch (constraintData->m_objectType)
|
|
{
|
|
case POINT2POINT_CONSTRAINT_TYPE:
|
|
{
|
|
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
|
|
{
|
|
btPoint2PointConstraintDoubleData* p2pData = (btPoint2PointConstraintDoubleData*)constraintData;
|
|
if (rbA && rbB)
|
|
{
|
|
btVector3 pivotInA,pivotInB;
|
|
pivotInA.deSerializeDouble(p2pData->m_pivotInA);
|
|
pivotInB.deSerializeDouble(p2pData->m_pivotInB);
|
|
constraint = createPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB);
|
|
} else
|
|
{
|
|
btVector3 pivotInA;
|
|
pivotInA.deSerializeDouble(p2pData->m_pivotInA);
|
|
constraint = createPoint2PointConstraint(*rbA,pivotInA);
|
|
}
|
|
} else
|
|
{
|
|
btPoint2PointConstraintFloatData* p2pData = (btPoint2PointConstraintFloatData*)constraintData;
|
|
if (rbA&& rbB)
|
|
{
|
|
btVector3 pivotInA,pivotInB;
|
|
pivotInA.deSerializeFloat(p2pData->m_pivotInA);
|
|
pivotInB.deSerializeFloat(p2pData->m_pivotInB);
|
|
constraint = createPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB);
|
|
|
|
} else
|
|
{
|
|
btVector3 pivotInA;
|
|
pivotInA.deSerializeFloat(p2pData->m_pivotInA);
|
|
constraint = createPoint2PointConstraint(*rbA,pivotInA);
|
|
}
|
|
|
|
}
|
|
|
|
break;
|
|
}
|
|
case HINGE_CONSTRAINT_TYPE:
|
|
{
|
|
btHingeConstraint* hinge = 0;
|
|
|
|
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
|
|
{
|
|
btHingeConstraintDoubleData* hingeData = (btHingeConstraintDoubleData*)constraintData;
|
|
if (rbA&& rbB)
|
|
{
|
|
btTransform rbAFrame,rbBFrame;
|
|
rbAFrame.deSerializeDouble(hingeData->m_rbAFrame);
|
|
rbBFrame.deSerializeDouble(hingeData->m_rbBFrame);
|
|
hinge = createHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0);
|
|
} else
|
|
{
|
|
btTransform rbAFrame;
|
|
rbAFrame.deSerializeDouble(hingeData->m_rbAFrame);
|
|
hinge = createHingeConstraint(*rbA,rbAFrame,hingeData->m_useReferenceFrameA!=0);
|
|
}
|
|
if (hingeData->m_enableAngularMotor)
|
|
{
|
|
hinge->enableAngularMotor(true,hingeData->m_motorTargetVelocity,hingeData->m_maxMotorImpulse);
|
|
}
|
|
hinge->setAngularOnly(hingeData->m_angularOnly!=0);
|
|
hinge->setLimit(btScalar(hingeData->m_lowerLimit),btScalar(hingeData->m_upperLimit),btScalar(hingeData->m_limitSoftness),btScalar(hingeData->m_biasFactor),btScalar(hingeData->m_relaxationFactor));
|
|
} else
|
|
{
|
|
btHingeConstraintFloatData* hingeData = (btHingeConstraintFloatData*)constraintData;
|
|
if (rbA&& rbB)
|
|
{
|
|
btTransform rbAFrame,rbBFrame;
|
|
rbAFrame.deSerializeFloat(hingeData->m_rbAFrame);
|
|
rbBFrame.deSerializeFloat(hingeData->m_rbBFrame);
|
|
hinge = createHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0);
|
|
} else
|
|
{
|
|
btTransform rbAFrame;
|
|
rbAFrame.deSerializeFloat(hingeData->m_rbAFrame);
|
|
hinge = createHingeConstraint(*rbA,rbAFrame,hingeData->m_useReferenceFrameA!=0);
|
|
}
|
|
if (hingeData->m_enableAngularMotor)
|
|
{
|
|
hinge->enableAngularMotor(true,hingeData->m_motorTargetVelocity,hingeData->m_maxMotorImpulse);
|
|
}
|
|
hinge->setAngularOnly(hingeData->m_angularOnly!=0);
|
|
hinge->setLimit(btScalar(hingeData->m_lowerLimit),btScalar(hingeData->m_upperLimit),btScalar(hingeData->m_limitSoftness),btScalar(hingeData->m_biasFactor),btScalar(hingeData->m_relaxationFactor));
|
|
}
|
|
|
|
constraint = hinge;
|
|
break;
|
|
|
|
}
|
|
case CONETWIST_CONSTRAINT_TYPE:
|
|
{
|
|
btConeTwistConstraintData* coneData = (btConeTwistConstraintData*)constraintData;
|
|
btConeTwistConstraint* coneTwist = 0;
|
|
|
|
if (rbA&& rbB)
|
|
{
|
|
btTransform rbAFrame,rbBFrame;
|
|
rbAFrame.deSerializeFloat(coneData->m_rbAFrame);
|
|
rbBFrame.deSerializeFloat(coneData->m_rbBFrame);
|
|
coneTwist = createConeTwistConstraint(*rbA,*rbB,rbAFrame,rbBFrame);
|
|
} else
|
|
{
|
|
btTransform rbAFrame;
|
|
rbAFrame.deSerializeFloat(coneData->m_rbAFrame);
|
|
coneTwist = createConeTwistConstraint(*rbA,rbAFrame);
|
|
}
|
|
coneTwist->setLimit(coneData->m_swingSpan1,coneData->m_swingSpan2,coneData->m_twistSpan,coneData->m_limitSoftness,coneData->m_biasFactor,coneData->m_relaxationFactor);
|
|
coneTwist->setDamping(coneData->m_damping);
|
|
|
|
constraint = coneTwist;
|
|
break;
|
|
}
|
|
|
|
case D6_SPRING_CONSTRAINT_TYPE:
|
|
{
|
|
|
|
btGeneric6DofSpringConstraintData* dofData = (btGeneric6DofSpringConstraintData*)constraintData;
|
|
int sz = sizeof(btGeneric6DofSpringConstraintData);
|
|
btGeneric6DofSpringConstraint* dof = 0;
|
|
|
|
if (rbA && rbB)
|
|
{
|
|
btTransform rbAFrame,rbBFrame;
|
|
rbAFrame.deSerializeFloat(dofData->m_6dofData.m_rbAFrame);
|
|
rbBFrame.deSerializeFloat(dofData->m_6dofData.m_rbBFrame);
|
|
dof = createGeneric6DofSpringConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_6dofData.m_useLinearReferenceFrameA!=0);
|
|
} else
|
|
{
|
|
printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n");
|
|
}
|
|
|
|
if (dof)
|
|
{
|
|
btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit;
|
|
angLowerLimit.deSerializeFloat(dofData->m_6dofData.m_angularLowerLimit);
|
|
angUpperLimit.deSerializeFloat(dofData->m_6dofData.m_angularUpperLimit);
|
|
linLowerLimit.deSerializeFloat(dofData->m_6dofData.m_linearLowerLimit);
|
|
linUpperlimit.deSerializeFloat(dofData->m_6dofData.m_linearUpperLimit);
|
|
|
|
angLowerLimit.setW(0.f);
|
|
dof->setAngularLowerLimit(angLowerLimit);
|
|
dof->setAngularUpperLimit(angUpperLimit);
|
|
dof->setLinearLowerLimit(linLowerLimit);
|
|
dof->setLinearUpperLimit(linUpperlimit);
|
|
|
|
int i;
|
|
if (bulletFile2->getVersion()>280)
|
|
{
|
|
for (i=0;i<6;i++)
|
|
{
|
|
dof->setStiffness(i,dofData->m_springStiffness[i]);
|
|
dof->setEquilibriumPoint(i,dofData->m_equilibriumPoint[i]);
|
|
dof->enableSpring(i,dofData->m_springEnabled[i]!=0);
|
|
dof->setDamping(i,dofData->m_springDamping[i]);
|
|
}
|
|
}
|
|
}
|
|
|
|
constraint = dof;
|
|
break;
|
|
}
|
|
case D6_CONSTRAINT_TYPE:
|
|
{
|
|
btGeneric6DofConstraintData* dofData = (btGeneric6DofConstraintData*)constraintData;
|
|
btGeneric6DofConstraint* dof = 0;
|
|
|
|
if (rbA&& rbB)
|
|
{
|
|
btTransform rbAFrame,rbBFrame;
|
|
rbAFrame.deSerializeFloat(dofData->m_rbAFrame);
|
|
rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
|
|
dof = createGeneric6DofConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_useLinearReferenceFrameA!=0);
|
|
} else
|
|
{
|
|
if (rbB)
|
|
{
|
|
btTransform rbBFrame;
|
|
rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
|
|
dof = createGeneric6DofConstraint(*rbB,rbBFrame,dofData->m_useLinearReferenceFrameA!=0);
|
|
} else
|
|
{
|
|
printf("Error in btWorldImporter::createGeneric6DofConstraint: missing rbB\n");
|
|
}
|
|
}
|
|
|
|
if (dof)
|
|
{
|
|
btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit;
|
|
angLowerLimit.deSerializeFloat(dofData->m_angularLowerLimit);
|
|
angUpperLimit.deSerializeFloat(dofData->m_angularUpperLimit);
|
|
linLowerLimit.deSerializeFloat(dofData->m_linearLowerLimit);
|
|
linUpperlimit.deSerializeFloat(dofData->m_linearUpperLimit);
|
|
|
|
dof->setAngularLowerLimit(angLowerLimit);
|
|
dof->setAngularUpperLimit(angUpperLimit);
|
|
dof->setLinearLowerLimit(linLowerLimit);
|
|
dof->setLinearUpperLimit(linUpperlimit);
|
|
}
|
|
|
|
constraint = dof;
|
|
break;
|
|
}
|
|
case SLIDER_CONSTRAINT_TYPE:
|
|
{
|
|
btSliderConstraintData* sliderData = (btSliderConstraintData*)constraintData;
|
|
btSliderConstraint* slider = 0;
|
|
if (rbA&& rbB)
|
|
{
|
|
btTransform rbAFrame,rbBFrame;
|
|
rbAFrame.deSerializeFloat(sliderData->m_rbAFrame);
|
|
rbBFrame.deSerializeFloat(sliderData->m_rbBFrame);
|
|
slider = createSliderConstraint(*rbA,*rbB,rbAFrame,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0);
|
|
} else
|
|
{
|
|
btTransform rbBFrame;
|
|
rbBFrame.deSerializeFloat(sliderData->m_rbBFrame);
|
|
slider = createSliderConstraint(*rbB,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0);
|
|
}
|
|
slider->setLowerLinLimit(sliderData->m_linearLowerLimit);
|
|
slider->setUpperLinLimit(sliderData->m_linearUpperLimit);
|
|
slider->setLowerAngLimit(sliderData->m_angularLowerLimit);
|
|
slider->setUpperAngLimit(sliderData->m_angularUpperLimit);
|
|
slider->setUseFrameOffset(sliderData->m_useOffsetForConstraintFrame!=0);
|
|
constraint = slider;
|
|
break;
|
|
}
|
|
|
|
default:
|
|
{
|
|
printf("unknown constraint type\n");
|
|
}
|
|
};
|
|
|
|
if (constraint)
|
|
{
|
|
constraint->setDbgDrawSize(constraintData->m_dbgDrawSize);
|
|
///those fields didn't exist and set to zero for pre-280 versions, so do a check here
|
|
if (bulletFile2->getVersion()>=280)
|
|
{
|
|
constraint->setBreakingImpulseThreshold(constraintData->m_breakingImpulseThreshold);
|
|
constraint->setEnabled(constraintData->m_isEnabled!=0);
|
|
constraint->setOverrideNumSolverIterations(constraintData->m_overrideNumSolverIterations);
|
|
}
|
|
|
|
if (constraintData->m_name)
|
|
{
|
|
char* newname = duplicateName(constraintData->m_name);
|
|
m_nameConstraintMap.insert(newname,constraint);
|
|
m_objectNameMap.insert(constraint,newname);
|
|
}
|
|
if(m_dynamicsWorld)
|
|
m_dynamicsWorld->addConstraint(constraint,constraintData->m_disableCollisionsBetweenLinkedBodies!=0);
|
|
}
|
|
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
|
|
btCollisionObject* btBulletWorldImporter::createCollisionObject(const btTransform& startTransform,btCollisionShape* shape, const char* bodyName)
|
|
{
|
|
return createRigidBody(false,0,startTransform,shape,bodyName);
|
|
}
|
|
|
|
|
|
|
|
btRigidBody* btBulletWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape,const char* bodyName)
|
|
{
|
|
btVector3 localInertia;
|
|
localInertia.setZero();
|
|
|
|
if (mass)
|
|
shape->calculateLocalInertia(mass,localInertia);
|
|
|
|
btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
|
|
body->setWorldTransform(startTransform);
|
|
|
|
if (m_dynamicsWorld)
|
|
m_dynamicsWorld->addRigidBody(body);
|
|
|
|
if (bodyName)
|
|
{
|
|
char* newname = duplicateName(bodyName);
|
|
m_objectNameMap.insert(body,newname);
|
|
m_nameBodyMap.insert(newname,body);
|
|
}
|
|
m_allocatedRigidBodies.push_back(body);
|
|
return body;
|
|
|
|
}
|
|
|
|
btCollisionShape* btBulletWorldImporter::createPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
|
|
{
|
|
btStaticPlaneShape* shape = new btStaticPlaneShape(planeNormal,planeConstant);
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
btCollisionShape* btBulletWorldImporter::createBoxShape(const btVector3& halfExtents)
|
|
{
|
|
btBoxShape* shape = new btBoxShape(halfExtents);
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
btCollisionShape* btBulletWorldImporter::createSphereShape(btScalar radius)
|
|
{
|
|
btSphereShape* shape = new btSphereShape(radius);
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
|
|
btCollisionShape* btBulletWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height)
|
|
{
|
|
btCapsuleShapeX* shape = new btCapsuleShapeX(radius,height);
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
btCollisionShape* btBulletWorldImporter::createCapsuleShapeY(btScalar radius, btScalar height)
|
|
{
|
|
btCapsuleShape* shape = new btCapsuleShape(radius,height);
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
btCollisionShape* btBulletWorldImporter::createCapsuleShapeZ(btScalar radius, btScalar height)
|
|
{
|
|
btCapsuleShapeZ* shape = new btCapsuleShapeZ(radius,height);
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
btCollisionShape* btBulletWorldImporter::createCylinderShapeX(btScalar radius,btScalar height)
|
|
{
|
|
btCylinderShapeX* shape = new btCylinderShapeX(btVector3(height,radius,radius));
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
btCollisionShape* btBulletWorldImporter::createCylinderShapeY(btScalar radius,btScalar height)
|
|
{
|
|
btCylinderShape* shape = new btCylinderShape(btVector3(radius,height,radius));
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
btCollisionShape* btBulletWorldImporter::createCylinderShapeZ(btScalar radius,btScalar height)
|
|
{
|
|
btCylinderShapeZ* shape = new btCylinderShapeZ(btVector3(radius,radius,height));
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
btTriangleIndexVertexArray* btBulletWorldImporter::createTriangleMeshContainer()
|
|
{
|
|
btTriangleIndexVertexArray* in = new btTriangleIndexVertexArray();
|
|
m_allocatedTriangleIndexArrays.push_back(in);
|
|
return in;
|
|
}
|
|
|
|
btOptimizedBvh* btBulletWorldImporter::createOptimizedBvh()
|
|
{
|
|
btOptimizedBvh* bvh = new btOptimizedBvh();
|
|
m_allocatedBvhs.push_back(bvh);
|
|
return bvh;
|
|
}
|
|
|
|
|
|
btTriangleInfoMap* btBulletWorldImporter::createTriangleInfoMap()
|
|
{
|
|
btTriangleInfoMap* tim = new btTriangleInfoMap();
|
|
m_allocatedTriangleInfoMaps.push_back(tim);
|
|
return tim;
|
|
}
|
|
|
|
btBvhTriangleMeshShape* btBulletWorldImporter::createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh)
|
|
{
|
|
if (bvh)
|
|
{
|
|
btBvhTriangleMeshShape* bvhTriMesh = new btBvhTriangleMeshShape(trimesh,bvh->isQuantized(), false);
|
|
bvhTriMesh->setOptimizedBvh(bvh);
|
|
m_allocatedCollisionShapes.push_back(bvhTriMesh);
|
|
return bvhTriMesh;
|
|
}
|
|
|
|
btBvhTriangleMeshShape* ts = new btBvhTriangleMeshShape(trimesh,true);
|
|
m_allocatedCollisionShapes.push_back(ts);
|
|
return ts;
|
|
|
|
}
|
|
btCollisionShape* btBulletWorldImporter::createConvexTriangleMeshShape(btStridingMeshInterface* trimesh)
|
|
{
|
|
return 0;
|
|
}
|
|
btGImpactMeshShape* btBulletWorldImporter::createGimpactShape(btStridingMeshInterface* trimesh)
|
|
{
|
|
btGImpactMeshShape* shape = new btGImpactMeshShape(trimesh);
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
|
|
}
|
|
btConvexHullShape* btBulletWorldImporter::createConvexHullShape()
|
|
{
|
|
btConvexHullShape* shape = new btConvexHullShape();
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
btCompoundShape* btBulletWorldImporter::createCompoundShape()
|
|
{
|
|
btCompoundShape* shape = new btCompoundShape();
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
|
|
btScaledBvhTriangleMeshShape* btBulletWorldImporter::createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScaling)
|
|
{
|
|
btScaledBvhTriangleMeshShape* shape = new btScaledBvhTriangleMeshShape(meshShape,localScaling);
|
|
m_allocatedCollisionShapes.push_back(shape);
|
|
return shape;
|
|
}
|
|
|
|
|
|
btRigidBody& btBulletWorldImporter::getFixedBody()
|
|
{
|
|
static btRigidBody s_fixed(0, 0,0);
|
|
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
|
|
return s_fixed;
|
|
}
|
|
|
|
btPoint2PointConstraint* btBulletWorldImporter::createPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
|
|
{
|
|
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(rbA,rbB,pivotInA,pivotInB);
|
|
m_allocatedConstraints.push_back(p2p);
|
|
return p2p;
|
|
}
|
|
|
|
btPoint2PointConstraint* btBulletWorldImporter::createPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
|
|
{
|
|
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(rbA,pivotInA);
|
|
m_allocatedConstraints.push_back(p2p);
|
|
return p2p;
|
|
}
|
|
|
|
|
|
btHingeConstraint* btBulletWorldImporter::createHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
|
|
{
|
|
btHingeConstraint* hinge = new btHingeConstraint(rbA,rbB,rbAFrame,rbBFrame,useReferenceFrameA);
|
|
m_allocatedConstraints.push_back(hinge);
|
|
return hinge;
|
|
}
|
|
|
|
btHingeConstraint* btBulletWorldImporter::createHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA)
|
|
{
|
|
btHingeConstraint* hinge = new btHingeConstraint(rbA,rbAFrame,useReferenceFrameA);
|
|
m_allocatedConstraints.push_back(hinge);
|
|
return hinge;
|
|
}
|
|
|
|
btConeTwistConstraint* btBulletWorldImporter::createConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame)
|
|
{
|
|
btConeTwistConstraint* cone = new btConeTwistConstraint(rbA,rbB,rbAFrame,rbBFrame);
|
|
m_allocatedConstraints.push_back(cone);
|
|
return cone;
|
|
}
|
|
|
|
btConeTwistConstraint* btBulletWorldImporter::createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame)
|
|
{
|
|
btConeTwistConstraint* cone = new btConeTwistConstraint(rbA,rbAFrame);
|
|
m_allocatedConstraints.push_back(cone);
|
|
return cone;
|
|
}
|
|
|
|
|
|
btGeneric6DofConstraint* btBulletWorldImporter::createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
|
|
{
|
|
btGeneric6DofConstraint* dof = new btGeneric6DofConstraint(rbA,rbB,frameInA,frameInB,useLinearReferenceFrameA);
|
|
m_allocatedConstraints.push_back(dof);
|
|
return dof;
|
|
}
|
|
|
|
btGeneric6DofConstraint* btBulletWorldImporter::createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
|
|
{
|
|
btGeneric6DofConstraint* dof = new btGeneric6DofConstraint(rbB,frameInB,useLinearReferenceFrameB);
|
|
m_allocatedConstraints.push_back(dof);
|
|
return dof;
|
|
}
|
|
|
|
btGeneric6DofSpringConstraint* btBulletWorldImporter::createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
|
|
{
|
|
btGeneric6DofSpringConstraint* dof = new btGeneric6DofSpringConstraint(rbA,rbB,frameInA,frameInB,useLinearReferenceFrameA);
|
|
m_allocatedConstraints.push_back(dof);
|
|
return dof;
|
|
}
|
|
|
|
|
|
btSliderConstraint* btBulletWorldImporter::createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
|
|
{
|
|
btSliderConstraint* slider = new btSliderConstraint(rbA,rbB,frameInA,frameInB,useLinearReferenceFrameA);
|
|
m_allocatedConstraints.push_back(slider);
|
|
return slider;
|
|
}
|
|
|
|
btSliderConstraint* btBulletWorldImporter::createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
|
|
{
|
|
btSliderConstraint* slider = new btSliderConstraint(rbB,frameInB,useLinearReferenceFrameA);
|
|
m_allocatedConstraints.push_back(slider);
|
|
return slider;
|
|
}
|
|
|
|
|
|
// query for data
|
|
int btBulletWorldImporter::getNumCollisionShapes() const
|
|
{
|
|
return m_allocatedCollisionShapes.size();
|
|
}
|
|
|
|
btCollisionShape* btBulletWorldImporter::getCollisionShapeByIndex(int index)
|
|
{
|
|
return m_allocatedCollisionShapes[index];
|
|
}
|
|
|
|
btCollisionShape* btBulletWorldImporter::getCollisionShapeByName(const char* name)
|
|
{
|
|
btCollisionShape** shapePtr = m_nameShapeMap.find(name);
|
|
if (shapePtr&& *shapePtr)
|
|
{
|
|
return *shapePtr;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
btRigidBody* btBulletWorldImporter::getRigidBodyByName(const char* name)
|
|
{
|
|
btRigidBody** bodyPtr = m_nameBodyMap.find(name);
|
|
if (bodyPtr && *bodyPtr)
|
|
{
|
|
return *bodyPtr;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
btTypedConstraint* btBulletWorldImporter::getConstraintByName(const char* name)
|
|
{
|
|
btTypedConstraint** constraintPtr = m_nameConstraintMap.find(name);
|
|
if (constraintPtr && *constraintPtr)
|
|
{
|
|
return *constraintPtr;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
const char* btBulletWorldImporter::getNameForPointer(const void* ptr) const
|
|
{
|
|
const char*const * namePtr = m_objectNameMap.find(ptr);
|
|
if (namePtr && *namePtr)
|
|
return *namePtr;
|
|
return 0;
|
|
}
|
|
|
|
|
|
int btBulletWorldImporter::getNumRigidBodies() const
|
|
{
|
|
return m_allocatedRigidBodies.size();
|
|
}
|
|
|
|
btCollisionObject* btBulletWorldImporter::getRigidBodyByIndex(int index) const
|
|
{
|
|
return m_allocatedRigidBodies[index];
|
|
}
|
|
int btBulletWorldImporter::getNumConstraints() const
|
|
{
|
|
return m_allocatedConstraints.size();
|
|
}
|
|
|
|
btTypedConstraint* btBulletWorldImporter::getConstraintByIndex(int index) const
|
|
{
|
|
return m_allocatedConstraints[index];
|
|
}
|
|
|
|
int btBulletWorldImporter::getNumBvhs() const
|
|
{
|
|
return m_allocatedBvhs.size();
|
|
}
|
|
btOptimizedBvh* btBulletWorldImporter::getBvhByIndex(int index) const
|
|
{
|
|
return m_allocatedBvhs[index];
|
|
}
|
|
|
|
int btBulletWorldImporter::getNumTriangleInfoMaps() const
|
|
{
|
|
return m_allocatedTriangleInfoMaps.size();
|
|
}
|
|
|
|
btTriangleInfoMap* btBulletWorldImporter::getTriangleInfoMapByIndex(int index) const
|
|
{
|
|
return m_allocatedTriangleInfoMaps[index];
|
|
}
|
|
|