395 lines
13 KiB
C++
395 lines
13 KiB
C++
#include "btMultiBodyWorldImporter.h"
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#include "LinearMath/btSerializer.h"
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#include "../BulletFileLoader/btBulletFile.h"
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#include "btBulletWorldImporter.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
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struct btMultiBodyWorldImporterInternalData
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{
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btMultiBodyDynamicsWorld* m_mbDynamicsWorld;
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btHashMap<btHashPtr, btMultiBody*> m_mbMap;
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};
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btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* world)
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:btBulletWorldImporter(world)
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{
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m_data = new btMultiBodyWorldImporterInternalData;
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m_data->m_mbDynamicsWorld = world;
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}
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btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
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{
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delete m_data;
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}
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void btMultiBodyWorldImporter::deleteAllData()
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{
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btBulletWorldImporter::deleteAllData();
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}
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bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
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{
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bool result = false;
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btAlignedObjectArray<btQuaternion> scratchQ;
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btAlignedObjectArray<btVector3> scratchM;
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if (m_importerFlags&eRESTORE_EXISTING_OBJECTS)
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{
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//check if the snapshot is valid for the existing world
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//equal number of objects, # links etc
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if (bulletFile2->m_multiBodies.size() != m_data->m_mbDynamicsWorld->getNumMultibodies())
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{
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result = false;
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return result;
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}
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result = true;
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//convert all multibodies
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if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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{
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//for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
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for (int i = bulletFile2->m_multiBodies.size()-1; i >=0; i--)
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{
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btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
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bool isFixedBase = mbd->m_baseMass == 0;
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bool canSleep = false;
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btVector3 baseInertia;
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baseInertia.deSerializeDouble(mbd->m_baseInertia);
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btMultiBody* mb = m_data->m_mbDynamicsWorld->getMultiBody(i);
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btVector3 baseWorldPos;
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baseWorldPos.deSerializeDouble(mbd->m_baseWorldPosition);
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mb->setBasePos(baseWorldPos);
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btQuaternion baseWorldRot;
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baseWorldRot.deSerializeDouble(mbd->m_baseWorldOrientation);
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mb->setWorldToBaseRot(baseWorldRot.inverse());
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btVector3 baseLinVal;
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baseLinVal.deSerializeDouble(mbd->m_baseLinearVelocity);
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btVector3 baseAngVel;
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baseAngVel.deSerializeDouble(mbd->m_baseAngularVelocity);
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mb->setBaseVel(baseLinVal);
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mb->setBaseOmega(baseAngVel);
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for (int i = 0; i < mbd->m_numLinks; i++)
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{
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switch (mbd->m_links[i].m_jointType)
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{
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case btMultibodyLink::eFixed:
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{
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break;
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}
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case btMultibodyLink::ePrismatic:
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{
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mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
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mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
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break;
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}
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case btMultibodyLink::eRevolute:
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{
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mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
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mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
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break;
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}
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case btMultibodyLink::eSpherical:
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{
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btScalar jointPos[3] = { mbd->m_links[i].m_jointPos[0], mbd->m_links[i].m_jointPos[1], mbd->m_links[i].m_jointPos[2] };
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btScalar jointVel[3] = { mbd->m_links[i].m_jointVel[0], mbd->m_links[i].m_jointVel[1], mbd->m_links[i].m_jointVel[2] };
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mb->setJointPosMultiDof(i, jointPos);
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mb->setJointVelMultiDof(i, jointVel);
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break;
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}
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case btMultibodyLink::ePlanar:
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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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mb->forwardKinematics(scratchQ, scratchM);
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mb->updateCollisionObjectWorldTransforms(scratchQ, scratchM);
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}
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//todo: check why body1 pointer is not properly deserialized
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for (int i = 0; i < bulletFile2->m_contactManifolds.size(); i++)
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{
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btPersistentManifoldDoubleData* manifoldData = (btPersistentManifoldDoubleData*)bulletFile2->m_contactManifolds[i];
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void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
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if (ptr)
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{
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manifoldData->m_body1 = ptr;
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btCollisionObjectDoubleData* cdd = (btCollisionObjectDoubleData*)ptr;
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}
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}
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btDispatcherInfo& dispatchInfo = m_data->m_mbDynamicsWorld->getDispatchInfo();
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{
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m_data->m_mbDynamicsWorld->updateAabbs();
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m_data->m_mbDynamicsWorld->computeOverlappingPairs();
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btDispatcher* dispatcher = m_data->m_mbDynamicsWorld->getDispatcher();
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if (dispatcher)
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{
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btOverlappingPairCache* pairCache = m_data->m_mbDynamicsWorld->getBroadphase()->getOverlappingPairCache();
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if (dispatcher)
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{
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dispatcher->dispatchAllCollisionPairs(pairCache, dispatchInfo, dispatcher);
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}
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int numExistingManifolds = m_data->m_mbDynamicsWorld->getDispatcher()->getNumManifolds();
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btManifoldArray manifoldArray;
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for (int i = 0; i < pairCache->getNumOverlappingPairs(); i++)
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{
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btBroadphasePair& pair = pairCache->getOverlappingPairArray()[i];
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if (pair.m_algorithm)
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{
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pair.m_algorithm->getAllContactManifolds(manifoldArray);
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//for each existing manifold, search a matching manifoldData and reconstruct
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for (int m = 0; m < manifoldArray.size(); m++)
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{
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btPersistentManifold* existingManifold = manifoldArray[m];
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int uid0 = existingManifold->getBody0()->getBroadphaseHandle()->m_uniqueId;
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int uid1 = existingManifold->getBody1()->getBroadphaseHandle()->m_uniqueId;
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int matchingManifoldIndex = -1;
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for (int q= 0; q < bulletFile2->m_contactManifolds.size(); q++)
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{
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btPersistentManifoldDoubleData* manifoldData = (btPersistentManifoldDoubleData*)bulletFile2->m_contactManifolds[q];
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btCollisionObjectDoubleData* cdd0 = (btCollisionObjectDoubleData*)manifoldData->m_body0;
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btCollisionObjectDoubleData* cdd1 = (btCollisionObjectDoubleData*)manifoldData->m_body1;
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if (uid0 == cdd0->m_uniqueId && uid1 == cdd1->m_uniqueId)
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{
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matchingManifoldIndex = q;
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}
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}
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if (matchingManifoldIndex >= 0)
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{
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btPersistentManifoldDoubleData* manifoldData = (btPersistentManifoldDoubleData*)bulletFile2->m_contactManifolds[matchingManifoldIndex];
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existingManifold->deSerializeDouble(manifoldData);
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}
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else
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{
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existingManifold->setNumContacts(0);
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//printf("Issue: cannot find maching contact manifold (%d, %d), may cause issues in determinism.\n", uid0, uid1);
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}
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manifoldArray.clear();
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}
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}
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}
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}
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}
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}
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}
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else
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{
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result = btBulletWorldImporter::convertAllObjects(bulletFile2);
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//convert all multibodies
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for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
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{
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if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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{
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btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
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bool isFixedBase = mbd->m_baseMass == 0;
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bool canSleep = false;
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btVector3 baseInertia;
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baseInertia.deSerializeDouble(mbd->m_baseInertia);
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btMultiBody* mb = new btMultiBody(mbd->m_numLinks, mbd->m_baseMass, baseInertia, isFixedBase, canSleep);
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mb->setHasSelfCollision(false);
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btVector3 baseWorldPos;
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baseWorldPos.deSerializeDouble(mbd->m_baseWorldPosition);
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btQuaternion baseWorldOrn;
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baseWorldOrn.deSerializeDouble(mbd->m_baseWorldOrientation);
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mb->setBasePos(baseWorldPos);
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mb->setWorldToBaseRot(baseWorldOrn.inverse());
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m_data->m_mbMap.insert(mbd, mb);
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for (int i = 0; i < mbd->m_numLinks; i++)
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{
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btVector3 localInertiaDiagonal;
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localInertiaDiagonal.deSerializeDouble(mbd->m_links[i].m_linkInertia);
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btQuaternion parentRotToThis;
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parentRotToThis.deSerializeDouble(mbd->m_links[i].m_zeroRotParentToThis);
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btVector3 parentComToThisPivotOffset;
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parentComToThisPivotOffset.deSerializeDouble(mbd->m_links[i].m_parentComToThisComOffset);
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btVector3 thisPivotToThisComOffset;
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thisPivotToThisComOffset.deSerializeDouble(mbd->m_links[i].m_thisPivotToThisComOffset);
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switch (mbd->m_links[i].m_jointType)
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{
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case btMultibodyLink::eFixed:
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{
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mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
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parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset);
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//search for the collider
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//mbd->m_links[i].m_linkCollider
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break;
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}
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case btMultibodyLink::ePrismatic:
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{
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btVector3 jointAxis;
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jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisBottom[0]);
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bool disableParentCollision = true;//todo
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mb->setupPrismatic(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
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parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
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mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
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mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
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break;
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}
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case btMultibodyLink::eRevolute:
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{
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btVector3 jointAxis;
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jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisTop[0]);
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bool disableParentCollision = true;//todo
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mb->setupRevolute(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
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parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
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mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
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mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
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break;
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}
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case btMultibodyLink::eSpherical:
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{
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btAssert(0);
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bool disableParentCollision = true;//todo
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mb->setupSpherical(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
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parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
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btScalar jointPos[3] = { mbd->m_links[i].m_jointPos[0], mbd->m_links[i].m_jointPos[1], mbd->m_links[i].m_jointPos[2] };
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btScalar jointVel[3] = { mbd->m_links[i].m_jointVel[0], mbd->m_links[i].m_jointVel[1], mbd->m_links[i].m_jointVel[2] };
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mb->setJointPosMultiDof(i, jointPos);
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mb->setJointVelMultiDof(i, jointVel);
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break;
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}
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case btMultibodyLink::ePlanar:
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{
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btAssert(0);
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break;
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}
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default:
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{
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btAssert(0);
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}
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}
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}
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}
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}
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//forward kinematics, so that the link world transforms are valid, for collision detection
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for (int i = 0; i < m_data->m_mbMap.size(); i++)
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{
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btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
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if (ptr)
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{
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btMultiBody* mb = *ptr;
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mb->finalizeMultiDof();
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btVector3 linvel = mb->getBaseVel();
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btVector3 angvel = mb->getBaseOmega();
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mb->forwardKinematics(scratchQ, scratchM);
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}
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}
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//convert all multibody link colliders
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for (int i = 0; i < bulletFile2->m_multiBodyLinkColliders.size(); i++)
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{
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if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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{
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btMultiBodyLinkColliderDoubleData* mblcd = (btMultiBodyLinkColliderDoubleData*)bulletFile2->m_multiBodyLinkColliders[i];
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btMultiBody** ptr = m_data->m_mbMap[mblcd->m_multiBody];
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if (ptr)
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{
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btMultiBody* multiBody = *ptr;
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btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
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if (shapePtr && *shapePtr)
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{
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btTransform startTransform;
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mblcd->m_colObjData.m_worldTransform.m_origin.m_floats[3] = 0.f;
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startTransform.deSerializeDouble(mblcd->m_colObjData.m_worldTransform);
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btCollisionShape* shape = (btCollisionShape*)*shapePtr;
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if (shape)
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{
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(multiBody, mblcd->m_link);
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col->setCollisionShape(shape);
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//btCollisionObject* body = createCollisionObject(startTransform,shape,mblcd->m_colObjData.m_name);
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col->setFriction(btScalar(mblcd->m_colObjData.m_friction));
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col->setRestitution(btScalar(mblcd->m_colObjData.m_restitution));
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//m_bodyMap.insert(colObjData,body);
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if (mblcd->m_link == -1)
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{
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col->setWorldTransform(multiBody->getBaseWorldTransform());
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multiBody->setBaseCollider(col);
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}
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else
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{
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col->setWorldTransform(multiBody->getLink(mblcd->m_link).m_cachedWorldTransform);
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multiBody->getLink(mblcd->m_link).m_collider = col;
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}
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int mbLinkIndex = mblcd->m_link;
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bool isDynamic = (mbLinkIndex < 0 && multiBody->hasFixedBase()) ? false : true;
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int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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#if 0
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int colGroup = 0, colMask = 0;
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int collisionFlags = mblcd->m_colObjData.m_collisionFlags;
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if (collisionFlags & URDF_HAS_COLLISION_GROUP)
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{
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collisionFilterGroup = colGroup;
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}
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if (collisionFlags & URDF_HAS_COLLISION_MASK)
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{
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collisionFilterMask = colMask;
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}
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#endif
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m_data->m_mbDynamicsWorld->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
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}
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}
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else
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{
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printf("error: no shape found\n");
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}
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#if 0
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//base and fixed? -> static, otherwise flag as dynamic
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world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
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#endif
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}
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}
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}
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for (int i = 0; i < m_data->m_mbMap.size(); i++)
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{
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btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
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if (ptr)
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{
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btMultiBody* mb = *ptr;
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mb->finalizeMultiDof();
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m_data->m_mbDynamicsWorld->addMultiBody(mb);
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}
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}
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}
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return result;
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} |