60bf599246
add compound shape support to BulletXmlWorldImporter and fix some compile issue under Debian (hopefully) object picking change in the demos: create a ball-socket picking constraint when holding shift while mouse dragging, otherwise a fixed (6dof) constraint add assert in constraint solver, when both objects have their inertia tensor rows set to zero btPolyhedralContactClipping: add edge-edge contact point in findSeparatingAxis (similar to the default GJK case)
83 lines
3.1 KiB
C++
83 lines
3.1 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_BULLET_XML_WORLD_IMPORTER_H
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#define BT_BULLET_XML_WORLD_IMPORTER_H
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#include "LinearMath/btScalar.h"
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class btDynamicsWorld;
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class TiXmlNode;
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struct btConvexInternalShapeData;
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struct btCollisionShapeData;
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#ifdef BT_USE_DOUBLE_PRECISION
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struct btRigidBodyDoubleData;
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#define btRigidBodyData btRigidBodyDoubleData
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#else
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struct btRigidBodyFloatData;
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#define btRigidBodyData btRigidBodyFloatData
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#endif//BT_USE_DOUBLE_PRECISION
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struct btTypedConstraintData;
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struct btCompoundShapeChildData;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btWorldImporter.h"
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class btBulletXmlWorldImporter : public btWorldImporter
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{
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protected:
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btAlignedObjectArray<btCollisionShapeData*> m_collisionShapeData;
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btAlignedObjectArray<btAlignedObjectArray<btCompoundShapeChildData>* > m_compoundShapeChildDataArrays;
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btAlignedObjectArray<btRigidBodyData*> m_rigidBodyData;
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btAlignedObjectArray<btTypedConstraintData*> m_constraintData;
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btHashMap<btHashPtr,void*> m_pointerLookup;
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int m_fileVersion;
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bool m_fileOk;
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void auto_serialize_root_level_children(TiXmlNode* pParent);
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void auto_serialize(TiXmlNode* pParent);
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void deSerializeVector3FloatData(TiXmlNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors);
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void fixupCollisionDataPointers(btCollisionShapeData* shapeData);
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void fixupConstraintData(btTypedConstraintData* tcd);
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//collision shapes data
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void deSerializeCollisionShapeData(TiXmlNode* pParent,btCollisionShapeData* colShapeData);
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void deSerializeConvexInternalShapeData(TiXmlNode* pParent);
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void deSerializeStaticPlaneShapeData(TiXmlNode* pParent);
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void deSerializeCompoundShapeData(TiXmlNode* pParent);
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void deSerializeCompoundShapeChildData(TiXmlNode* pParent);
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void deSerializeConvexHullShapeData(TiXmlNode* pParent);
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void deSerializeDynamicsWorldData(TiXmlNode* parent);
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///bodies
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void deSerializeRigidBodyFloatData(TiXmlNode* pParent);
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///constraints
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void deSerializeGeneric6DofConstraintData(TiXmlNode* pParent);
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public:
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btBulletXmlWorldImporter(btDynamicsWorld* world);
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virtual ~btBulletXmlWorldImporter();
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bool loadFile(const char* fileName);
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};
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#endif //BT_BULLET_XML_WORLD_IMPORTER_H
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