BasicTexture* findTexture(const char* fileName)
{
BasicTexture** result = m_textures.find(fileName);
if (result)
return *result;
return 0;
}
virtual bool convertAllObjects( bParse::btBulletFile* bulletFile2)
{
bool result = btBulletWorldImporter::convertAllObjects(bulletFile2);
int i;
//now the soft bodies
for (i=0;i<bulletFile2->m_softBodies.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btAssert(0); //not yet
//btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
} else
{
btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
int i;
int numNodes = softBodyData->m_numNodes;
btSoftBody* psb=new btSoftBody(&m_softRigidWorld->getWorldInfo());
m_softBodyMap.insert(softBodyData,psb);
//materials
for (i=0;i<softBodyData->m_numMaterials;i++)
{
SoftBodyMaterialData* matData = softBodyData->m_materials[i];
btSoftBody::Material** matPtr = m_materialMap.find(matData);
btSoftBody::Material* mat = 0;
if (matPtr&& *matPtr)
{
mat = *matPtr;
} else
{
mat = psb->appendMaterial();
mat->m_flags = matData->m_flags;
mat->m_kAST = matData->m_angularStiffness;
mat->m_kLST = matData->m_linearStiffness;
mat->m_kVST = matData->m_volumeStiffness;
m_materialMap.insert(matData,mat);
}
}
for (i=0;i<numNodes;i++)
{
SoftBodyNodeData& nodeData = softBodyData->m_nodes[i];
btVector3 position;
position.deSerializeFloat(nodeData.m_position);
btScalar mass = nodeData.m_inverseMass? 1./nodeData.m_inverseMass : 0.f;
psb->appendNode(position,mass);
btSoftBody::Node* node = &psb->m_nodes[psb->m_nodes.size()-1];
node->m_area = nodeData.m_area;
node->m_battach = nodeData.m_attach;
node->m_f.deSerializeFloat(nodeData.m_accumulatedForce);
node->m_im = nodeData.m_inverseMass;
btSoftBody::Material** matPtr = m_materialMap.find(nodeData.m_material);
if (matPtr && *matPtr)
{
node->m_material = *matPtr;
} else
{
printf("no mat?\n");
}
node->m_n.deSerializeFloat(nodeData.m_normal);
node->m_q = node->m_x;
node->m_v.deSerializeFloat(nodeData.m_velocity);
}
for (i=0;i<softBodyData->m_numLinks;i++)
{
SoftBodyLinkData& linkData = softBodyData->m_links[i];
btSoftBody::Material** matPtr = m_materialMap.find(linkData.m_material);
if (matPtr && *matPtr)
{
psb->appendLink(linkData.m_nodeIndices[0],linkData.m_nodeIndices[1],*matPtr);
} else
{
psb->appendLink(linkData.m_nodeIndices[0],linkData.m_nodeIndices[1]);
}
btSoftBody::Link* link = &psb->m_links[psb->m_links.size()-1];
link->m_bbending = linkData.m_bbending;
link->m_rl = linkData.m_restLength;
}
for (i=0;i<softBodyData->m_numFaces;i++)
{
SoftBodyFaceData& faceData = softBodyData->m_faces[i];
btSoftBody::Material** matPtr = m_materialMap.find(faceData.m_material);
if (matPtr && *matPtr)
{
psb->appendFace(faceData.m_nodeIndices[0],faceData.m_nodeIndices[1],faceData.m_nodeIndices[2],*matPtr);
} else
{
psb->appendFace(faceData.m_nodeIndices[0],faceData.m_nodeIndices[1],faceData.m_nodeIndices[2]);
}
btSoftBody::Face* face = &psb->m_faces[psb->m_faces.size()-1];
face->m_normal.deSerializeFloat(faceData.m_normal);
face->m_ra = faceData.m_restArea;
}
//anchors
for (i=0;i<softBodyData->m_numAnchors;i++)
{
btCollisionObject** colAptr = m_bodyMap.find(softBodyData->m_anchors[i].m_rigidBody);
if (colAptr && *colAptr)
{
btRigidBody* body = btRigidBody::upcast(*colAptr);
if (body)
{
bool disableCollision = false;
btVector3 localPivot;
localPivot.deSerializeFloat(softBodyData->m_anchors[i].m_localFrame);
psb->appendAnchor(softBodyData->m_anchors[i].m_nodeIndex,body,localPivot, disableCollision);
}
}
}
if (softBodyData->m_pose)
{
psb->m_pose.m_aqq.deSerializeFloat( softBodyData->m_pose->m_aqq);
psb->m_pose.m_bframe = (softBodyData->m_pose->m_bframe!=0);
psb->m_pose.m_bvolume = (softBodyData->m_pose->m_bvolume!=0);
psb->m_pose.m_com.deSerializeFloat(softBodyData->m_pose->m_com);
psb->m_pose.m_pos.resize(softBodyData->m_pose->m_numPositions);
for (i=0;i<softBodyData->m_pose->m_numPositions;i++)
{
psb->m_pose.m_pos[i].deSerializeFloat(softBodyData->m_pose->m_positions[i]);
}
psb->m_pose.m_rot.deSerializeFloat(softBodyData->m_pose->m_rot);
psb->m_pose.m_scl.deSerializeFloat(softBodyData->m_pose->m_scale);
psb->m_pose.m_wgh.resize(softBodyData->m_pose->m_numWeigts);
for (i=0;i<softBodyData->m_pose->m_numWeigts;i++)
{
psb->m_pose.m_wgh[i] = softBodyData->m_pose->m_weights[i];
}
psb->m_pose.m_volume = softBodyData->m_pose->m_restVolume;
}
#if 1
psb->m_cfg.piterations=softBodyData->m_config.m_positionIterations;
psb->m_cfg.diterations=softBodyData->m_config.m_driftIterations;
psb->m_cfg.citerations=softBodyData->m_config.m_clusterIterations;
psb->m_cfg.viterations=softBodyData->m_config.m_velocityIterations;
//psb->setTotalMass(0.1);
psb->m_cfg.aeromodel = (btSoftBody::eAeroModel::_)softBodyData->m_config.m_aeroModel;
psb->m_cfg.kLF = softBodyData->m_config.m_lift;
psb->m_cfg.kDG = softBodyData->m_config.m_drag;
psb->m_cfg.kMT = softBodyData->m_config.m_poseMatch;
psb->m_cfg.collisions = softBodyData->m_config.m_collisionFlags;
psb->m_cfg.kDF = 1.f;//softBodyData->m_config.m_dynamicFriction;
psb->m_cfg.kDP = softBodyData->m_config.m_damping;
psb->m_cfg.kPR = softBodyData->m_config.m_pressure;
psb->m_cfg.kVC = softBodyData->m_config.m_volume;
psb->m_cfg.kAHR = softBodyData->m_config.m_anchorHardness;
psb->m_cfg.kKHR = softBodyData->m_config.m_kineticContactHardness;
psb->m_cfg.kSHR = softBodyData->m_config.m_softContactHardness;
psb->m_cfg.kSRHR_CL = softBodyData->m_config.m_softRigidClusterHardness;
psb->m_cfg.kSKHR_CL = softBodyData->m_config.m_softKineticClusterHardness;
psb->m_cfg.kSSHR_CL = softBodyData->m_config.m_softSoftClusterHardness;
#endif
// pm->m_kLST = 1;
#if 1
//clusters
if (softBodyData->m_numClusters)
{
m_clusterBodyMap.insert(softBodyData->m_clusters,psb);
int j;
psb->m_clusters.resize(softBodyData->m_numClusters);
for (i=0;i<softBodyData->m_numClusters;i++)
{
psb->m_clusters[i] = new(btAlignedAlloc(sizeof(btSoftBody::Cluster),16)) btSoftBody::Cluster();
psb->m_clusters[i]->m_adamping = softBodyData->m_clusters[i].m_adamping;
psb->m_clusters[i]->m_av.deSerializeFloat(softBodyData->m_clusters[i].m_av);
psb->m_clusters[i]->m_clusterIndex = softBodyData->m_clusters[i].m_clusterIndex;
psb->m_clusters[i]->m_collide = (softBodyData->m_clusters[i].m_collide!=0);
psb->m_clusters[i]->m_com.deSerializeFloat(softBodyData->m_clusters[i].m_com);
psb->m_clusters[i]->m_containsAnchor = (softBodyData->m_clusters[i].m_containsAnchor!=0);
psb->m_clusters[i]->m_dimpulses[0].deSerializeFloat(softBodyData->m_clusters[i].m_dimpulses[0]);
psb->m_clusters[i]->m_dimpulses[1].deSerializeFloat(softBodyData->m_clusters[i].m_dimpulses[1]);
psb->m_clusters[i]->m_framerefs.resize(softBodyData->m_clusters[i].m_numFrameRefs);
for (j=0;j<softBodyData->m_clusters[i].m_numFrameRefs;j++)
{
psb->m_clusters[i]->m_framerefs[j].deSerializeFloat(softBodyData->m_clusters[i].m_framerefs[j]);
}
psb->m_clusters[i]->m_nodes.resize(softBodyData->m_clusters[i].m_numNodes);
for (j=0;j<softBodyData->m_clusters[i].m_numNodes;j++)
{
int nodeIndex = softBodyData->m_clusters[i].m_nodeIndices[j];
psb->m_clusters[i]->m_nodes[j] = &psb->m_nodes[nodeIndex];
}
psb->m_clusters[i]->m_masses.resize(softBodyData->m_clusters[i].m_numMasses);
for (j=0;j<softBodyData->m_clusters[i].m_numMasses;j++)
{
psb->m_clusters[i]->m_masses[j] = softBodyData->m_clusters[i].m_masses[j];
}
psb->m_clusters[i]->m_framexform.deSerializeFloat(softBodyData->m_clusters[i].m_framexform);
psb->m_clusters[i]->m_idmass = softBodyData->m_clusters[i].m_idmass;
psb->m_clusters[i]->m_imass = softBodyData->m_clusters[i].m_imass;
psb->m_clusters[i]->m_invwi.deSerializeFloat(softBodyData->m_clusters[i].m_invwi);
psb->m_clusters[i]->m_ldamping = softBodyData->m_clusters[i].m_ldamping;
psb->m_clusters[i]->m_locii.deSerializeFloat(softBodyData->m_clusters[i].m_locii);
psb->m_clusters[i]->m_lv.deSerializeFloat(softBodyData->m_clusters[i].m_lv);
psb->m_clusters[i]->m_matching = softBodyData->m_clusters[i].m_matching;
psb->m_clusters[i]->m_maxSelfCollisionImpulse = 0;//softBodyData->m_clusters[i].m_maxSelfCollisionImpulse;
psb->m_clusters[i]->m_ndamping = softBodyData->m_clusters[i].m_ndamping;
psb->m_clusters[i]->m_ndimpulses = softBodyData->m_clusters[i].m_ndimpulses;
psb->m_clusters[i]->m_nvimpulses = softBodyData->m_clusters[i].m_nvimpulses;
psb->m_clusters[i]->m_selfCollisionImpulseFactor = softBodyData->m_clusters[i].m_selfCollisionImpulseFactor;
psb->m_clusters[i]->m_vimpulses[0].deSerializeFloat(softBodyData->m_clusters[i].m_vimpulses[0]);
psb->m_clusters[i]->m_vimpulses[1].deSerializeFloat(softBodyData->m_clusters[i].m_vimpulses[1]);
}
//psb->initializeClusters();
//psb->updateClusters();
}
#else
psb->m_cfg.piterations = 2;
psb->m_cfg.collisions = btSoftBody::fCollision::CL_SS+ btSoftBody::fCollision::CL_RS;
//psb->setTotalMass(50,true);
//psb->generateClusters(64);
//psb->m_cfg.kDF=1;
psb->generateClusters(8);
#endif //
psb->updateConstants();
m_softRigidWorld->getWorldInfo().m_dispatcher = m_softRigidWorld->getDispatcher();
m_softRigidWorld->addSoftBody(psb);
}
}
//now the soft body joints
for (i=0;i<bulletFile2->m_softBodies.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btAssert(0); //not yet
//btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
} else
{
btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
btSoftBody** sbp = m_softBodyMap.find(softBodyData);
if (sbp && *sbp)
{
btSoftBody* sb = *sbp;
for (int i=0;i<softBodyData->m_numJoints;i++)
{
btSoftBodyJointData* sbjoint = &softBodyData->m_joints[i];
btSoftBody::Body bdyB;
btSoftBody* sbB = 0;
btTransform transA;
transA.setIdentity();
transA = sb->m_clusters[0]->m_framexform;
btCollisionObject** colBptr = m_bodyMap.find(sbjoint->m_bodyB);
if (colBptr && *colBptr)
{
btRigidBody* rbB = btRigidBody::upcast(*colBptr);
if (rbB)
{
bdyB = rbB;
} else
{
bdyB = *colBptr;
}
}
btSoftBody** bodyBptr = m_clusterBodyMap.find(sbjoint->m_bodyB);
if (bodyBptr && *bodyBptr )
{
sbB = *bodyBptr;
bdyB = sbB->m_clusters[0];
}
if (sbjoint->m_jointType==btSoftBody::Joint::eType::Linear)
{
btSoftBody::LJoint::Specs specs;
specs.cfm = sbjoint->m_cfm;
specs.erp = sbjoint->m_erp;
specs.split = sbjoint->m_split;
btVector3 relA;
relA.deSerializeFloat(sbjoint->m_refs[0]);
specs.position = transA*relA;
sb->appendLinearJoint(specs,sb->m_clusters[0],bdyB);
}
if (sbjoint->m_jointType==btSoftBody::Joint::eType::Angular)
{
btSoftBody::AJoint::Specs specs;
specs.cfm = sbjoint->m_cfm;
specs.erp = sbjoint->m_erp;
specs.split = sbjoint->m_split;
btVector3 relA;
relA.deSerializeFloat(sbjoint->m_refs[0]);
specs.axis = transA.getBasis()*relA;
sb->appendAngularJoint(specs,sb->m_clusters[0],bdyB);
}
}
}
}
}
return result;
}
