6173a30bce
Updated the Bullet/Demos/SerializeDemo to load .bullet files with the softbody data. BulletSoftBody should use getWorldTransform and not getInterpolationWorldTransform Fix btBulletWorldImporter so that it creates a copy of the index/vertex data, this prevents crashes when deleting the .bullet file with triangle meshes.
1307 lines
39 KiB
C++
1307 lines
39 KiB
C++
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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_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_allocatedRigidBodies.size();i++)
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{
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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_allocatedConstraints.size();i++)
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{
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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_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_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_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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meshPart.m_indexType = PHY_SHORT;
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if (meshData.m_meshPartsPtr[i].m_3indices16)
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{
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meshPart.m_triangleIndexStride = 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_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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}
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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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#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 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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btTriangleIndexVertexArray* meshInterface = createMeshInterface(gimpactData->m_meshInterface);
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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;
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btVector3 implicitShapeDimensions;
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implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
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btVector3 localScaling;
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localScaling.deSerializeFloat(bsd->m_localScaling);
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btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
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switch (shapeData->m_shapeType)
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{
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case BOX_SHAPE_PROXYTYPE:
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{
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shape = createBoxShape(implicitShapeDimensions/localScaling+margin);
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break;
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}
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case SPHERE_SHAPE_PROXYTYPE:
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{
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shape = createSphereShape(implicitShapeDimensions.getX());
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break;
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}
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case CAPSULE_SHAPE_PROXYTYPE:
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{
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btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
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switch (capData->m_upAxis)
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{
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case 0:
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{
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shape = createCapsuleShapeX(implicitShapeDimensions.getY(),2*implicitShapeDimensions.getX());
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break;
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}
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case 1:
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{
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shape = createCapsuleShapeY(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getY());
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break;
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}
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case 2:
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{
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shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getZ());
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break;
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}
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default:
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{
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printf("error: wrong up axis for btCapsuleShape\n");
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}
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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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{
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btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
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btVector3 halfExtents = implicitShapeDimensions+margin;
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switch (cylData->m_upAxis)
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{
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case 0:
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{
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shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
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break;
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}
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case 1:
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{
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shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
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break;
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}
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case 2:
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{
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shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
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break;
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}
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default:
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{
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printf("unknown Cylinder up axis\n");
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}
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};
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break;
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}
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case MULTI_SPHERE_SHAPE_PROXYTYPE:
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{
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btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
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int numSpheres = mss->m_localPositionArraySize;
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btAlignedObjectArray<btVector3> tmpPos;
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btAlignedObjectArray<btScalar> radii;
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radii.resize(numSpheres);
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tmpPos.resize(numSpheres);
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int i;
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for ( i=0;i<numSpheres;i++)
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{
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tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
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radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
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}
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shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
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break;
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}
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case CONVEX_HULL_SHAPE_PROXYTYPE:
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{
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// int sz = sizeof(btConvexHullShapeData);
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// int sz2 = sizeof(btConvexInternalShapeData);
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// int sz3 = sizeof(btCollisionShapeData);
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btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
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int numPoints = convexData->m_numUnscaledPoints;
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btAlignedObjectArray<btVector3> tmpPoints;
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tmpPoints.resize(numPoints);
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int i;
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for ( i=0;i<numPoints;i++)
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{
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#ifdef BT_USE_DOUBLE_PRECISION
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if (convexData->m_unscaledPointsDoublePtr)
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tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
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if (convexData->m_unscaledPointsFloatPtr)
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tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
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#else
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if (convexData->m_unscaledPointsFloatPtr)
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tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
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if (convexData->m_unscaledPointsDoublePtr)
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tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
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#endif //BT_USE_DOUBLE_PRECISION
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}
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btConvexHullShape* hullShape = createConvexHullShape();
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for (i=0;i<numPoints;i++)
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{
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hullShape->addPoint(tmpPoints[i]);
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}
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shape = hullShape;
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break;
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}
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default:
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{
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printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
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}
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}
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if (shape)
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{
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shape->setMargin(bsd->m_collisionMargin);
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btVector3 localScaling;
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localScaling.deSerializeFloat(bsd->m_localScaling);
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shape->setLocalScaling(localScaling);
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}
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break;
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}
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case TRIANGLE_MESH_SHAPE_PROXYTYPE:
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{
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btTriangleMeshShapeData* trimesh = (btTriangleMeshShapeData*)shapeData;
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btTriangleIndexVertexArray* meshInterface = createMeshInterface(trimesh->m_meshInterface);
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if (!meshInterface->getNumSubParts())
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{
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return 0;
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}
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btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
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meshInterface->setScaling(scaling);
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btOptimizedBvh* bvh = 0;
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#if 0
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if (trimesh->m_quantizedFloatBvh)
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{
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btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedFloatBvh);
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if (bvhPtr && *bvhPtr)
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{
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bvh = *bvhPtr;
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} else
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{
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bvh = createOptimizedBvh();
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bvh->deSerializeFloat(*trimesh->m_quantizedFloatBvh);
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}
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}
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if (trimesh->m_quantizedDoubleBvh)
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{
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btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedDoubleBvh);
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if (bvhPtr && *bvhPtr)
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{
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bvh = *bvhPtr;
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} else
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{
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bvh = createOptimizedBvh();
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bvh->deSerializeDouble(*trimesh->m_quantizedDoubleBvh);
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}
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}
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#endif
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btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface,bvh);
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trimeshShape->setMargin(trimesh->m_collisionMargin);
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shape = trimeshShape;
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if (trimesh->m_triangleInfoMap)
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{
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btTriangleInfoMap* map = createTriangleInfoMap();
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map->deSerialize(*trimesh->m_triangleInfoMap);
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trimeshShape->setTriangleInfoMap(map);
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#ifdef USE_INTERNAL_EDGE_UTILITY
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gContactAddedCallback = btAdjustInternalEdgeContactsCallback;
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#endif //USE_INTERNAL_EDGE_UTILITY
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}
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|
|
//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
|
|
break;
|
|
}
|
|
case COMPOUND_SHAPE_PROXYTYPE:
|
|
{
|
|
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
|
|
btCompoundShape* compoundShape = createCompoundShape();
|
|
|
|
|
|
btAlignedObjectArray<btCollisionShape*> childShapes;
|
|
for (int i=0;i<compoundData->m_numChildShapes;i++)
|
|
{
|
|
btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
|
|
if (childShape)
|
|
{
|
|
btTransform localTransform;
|
|
localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
|
|
compoundShape->addChildShape(localTransform,childShape);
|
|
} else
|
|
{
|
|
printf("error: couldn't create childShape for compoundShape\n");
|
|
}
|
|
|
|
}
|
|
shape = compoundShape;
|
|
|
|
break;
|
|
}
|
|
case SOFTBODY_SHAPE_PROXYTYPE:
|
|
{
|
|
return 0;
|
|
}
|
|
default:
|
|
{
|
|
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
|
|
}
|
|
}
|
|
|
|
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;
|
|
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;
|
|
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);
|
|
#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;
|
|
startTransform.deSerializeDouble(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");
|
|
}
|
|
|
|
} else
|
|
{
|
|
btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i];
|
|
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
|
|
if (shapePtr && *shapePtr)
|
|
{
|
|
btTransform startTransform;
|
|
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");
|
|
}
|
|
}
|
|
|
|
printf("bla");
|
|
}
|
|
|
|
|
|
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_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);
|
|
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;
|
|
}
|
|
|
|
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;
|
|
}
|
|
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];
|
|
}
|
|
|