a7a6ab8835
Note that BulletFileLoader is has no dependencies on BulletDynamics/BulletCollision. Also added a custom build step to copy asset (.bullet and .obj file) into the executable folder Made a few 'char*' 'const char*' to avoid compiler warnings
348 lines
11 KiB
C++
348 lines
11 KiB
C++
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#include "btBulletWorldImporter.h"
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#include "btBulletFile.h"
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#include "btBulletDynamicsCommon.h"
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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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bool btBulletWorldImporter::loadFileFromMemory( 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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bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
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{
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bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
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if (ok)
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bulletFile2->parse(m_verboseDumpAllTypes);
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else
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return false;
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if (m_verboseDumpAllTypes)
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{
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bulletFile2->dumpChunks(bulletFile2->getFileDNA());
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}
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int i;
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btHashMap<btHashPtr,btCollisionShape*> shapeMap;
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for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
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{
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btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
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switch (shapeData->m_shapeType)
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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 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
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btCollisionShape* shape = 0;
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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+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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shape = createCapsuleShape(implicitShapeDimensions.getX(),implicitShapeDimensions.getY());
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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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btVector3 halfExtents = implicitShapeDimensions+margin;
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shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
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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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for (int 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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for (int 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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shape = new btConvexHullShape(&tmpPoints[0].getX(),numPoints,sizeof(btVector3));
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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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shapeMap.insert(shapeData,shape);
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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 = new btTriangleIndexVertexArray();
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for (int i=0;i<trimesh->m_meshInterface.m_numMeshParts;i++)
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{
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btIndexedMesh meshPart;
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if (trimesh->m_meshInterface.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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meshPart.m_triangleIndexBase = (const unsigned char*)trimesh->m_meshInterface.m_meshPartsPtr[i].m_indices32;
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} else
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{
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meshPart.m_indexType = PHY_SHORT;
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meshPart.m_triangleIndexStride = 3*sizeof(short int);
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meshPart.m_triangleIndexBase = (const unsigned char*)trimesh->m_meshInterface.m_meshPartsPtr[i].m_indices16;
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}
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if (trimesh->m_meshInterface.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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meshPart.m_vertexBase = (const unsigned char*)trimesh->m_meshInterface.m_meshPartsPtr[i].m_vertices3f;
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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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meshPart.m_vertexBase = (const unsigned char*)trimesh->m_meshInterface.m_meshPartsPtr[i].m_vertices3d;
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}
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meshPart.m_numTriangles = trimesh->m_meshInterface.m_meshPartsPtr[i].m_numTriangles;
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meshPart.m_numVertices = trimesh->m_meshInterface.m_meshPartsPtr[i].m_numVertices;
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meshInterface->addIndexedMesh(meshPart);
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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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btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,true);
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trimeshShape->setMargin(trimesh->m_collisionMargin);
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shapeMap.insert(shapeData,trimeshShape);
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//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
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break;
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}
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default:
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{
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printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
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}
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}
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}
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for (i=0;i<bulletFile2->m_rigidBodies.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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btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
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btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
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btVector3 localInertia;
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localInertia.setZero();
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btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
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if (shapePtr && *shapePtr)
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{
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btTransform startTransform;
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startTransform.deSerializeDouble(colObjData->m_collisionObjectData.m_worldTransform);
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// startTransform.setBasis(btMatrix3x3::getIdentity());
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btCollisionShape* shape = (btCollisionShape*)*shapePtr;
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if (mass)
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{
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shape->calculateLocalInertia(mass,localInertia);
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}
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bool isDynamic = mass!=0.f;
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createRigidBody(isDynamic,mass,startTransform,shape);
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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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} else
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{
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btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
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btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
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btVector3 localInertia;
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localInertia.setZero();
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btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
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if (shapePtr && *shapePtr)
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{
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btTransform startTransform;
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startTransform.deSerializeFloat(colObjData->m_collisionObjectData.m_worldTransform);
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// startTransform.setBasis(btMatrix3x3::getIdentity());
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btCollisionShape* shape = (btCollisionShape*)*shapePtr;
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if (mass)
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{
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shape->calculateLocalInertia(mass,localInertia);
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}
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bool isDynamic = mass!=0.f;
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createRigidBody(isDynamic,mass,startTransform,shape);
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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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}
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}
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for (i=0;i<bulletFile2->m_collisionObjects.size();i++)
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{
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btCollisionObjectData* colObjData = (btCollisionObjectData*)bulletFile2->m_collisionObjects[i];
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printf("bla");
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}
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return false;
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}
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btTypedConstraint* btBulletWorldImporter::createUniversalD6Constraint(class btRigidBody* body0,class btRigidBody* otherBody,
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btTransform& localAttachmentFrameRef,
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btTransform& localAttachmentOther,
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const btVector3& linearMinLimits,
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const btVector3& linearMaxLimits,
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const btVector3& angularMinLimits,
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const btVector3& angularMaxLimits,
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bool disableCollisionsBetweenLinkedBodies)
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{
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return 0;
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}
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btRigidBody* btBulletWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape)
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{
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btVector3 localInertia;
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if (mass)
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shape->calculateLocalInertia(mass,localInertia);
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btRigidBody* body = new btRigidBody(mass,0,shape,localInertia);
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body->setWorldTransform(startTransform);
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m_dynamicsWorld->addRigidBody(body);
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return body;
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}
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btCollisionShape* btBulletWorldImporter::createPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
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{
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return 0;
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}
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btCollisionShape* btBulletWorldImporter::createBoxShape(const btVector3& halfExtents)
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{
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return new btBoxShape(halfExtents);
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}
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btCollisionShape* btBulletWorldImporter::createSphereShape(btScalar radius)
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{
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return new btSphereShape(radius);
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}
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btCollisionShape* btBulletWorldImporter::createCapsuleShape(btScalar radius, btScalar height)
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{
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return new btCapsuleShape(radius,height);
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}
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btCollisionShape* btBulletWorldImporter::createCylinderShapeY(btScalar radius,btScalar height)
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{
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return new btCylinderShape(btVector3(radius,height,radius));
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}
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btTriangleMesh* btBulletWorldImporter::createTriangleMeshContainer()
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{
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return 0;
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}
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btCollisionShape* btBulletWorldImporter::createBvhTriangleMeshShape(btTriangleMesh* trimesh)
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{
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return 0;
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}
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btCollisionShape* btBulletWorldImporter::createConvexTriangleMeshShape(btTriangleMesh* trimesh)
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{
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return 0;
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}
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btCollisionShape* btBulletWorldImporter::createGimpactShape(btTriangleMesh* trimesh)
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{
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return 0;
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}
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btConvexHullShape* btBulletWorldImporter::createConvexHullShape()
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{
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return 0;
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}
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btCompoundShape* btBulletWorldImporter::createCompoundShape()
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{
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return 0;
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} |