void ColladaConverter::ConvertRigidBodyRef( btRigidBodyInput& rbInput,btRigidBodyOutput& rbOutput)
{
const domRigid_body::domTechnique_commonRef techniqueRef = rbInput.m_rigidBodyRef2->getTechnique_common();
if (techniqueRef)
{
if (techniqueRef->getMass())
{
rbOutput.m_mass = (float) techniqueRef->getMass()->getValue();
}
if (techniqueRef->getDynamic())
{
rbOutput.m_isDynamics = techniqueRef->getDynamic()->getValue();
}
//a hack to interpret <extra> PhysX profile:
//when <kinematic> is true, make <dynamic> false...
//using the DOM is a pain...
const domExtra_Array& extraArray = rbInput.m_rigidBodyRef2->getExtra_array();
unsigned int s=0;
for (s = 0;s< extraArray.getCount();s++)
{
const domExtraRef extraRef = extraArray[s];
const domTechnique_Array techniqueArray = extraRef->getTechnique_array();
unsigned int t=0;
for (t=0;t<techniqueArray.getCount();t++)
{
const domTechniqueRef techRef = techniqueArray[t];
const daeElementRefArray elemRefArray = techRef->getContents();
unsigned int u = 0;
for (u=0;u<elemRefArray.getCount();u++)
{
daeElementRef elemRef = elemRefArray[u];
daeString elemName = elemRef->getElementName();
if (elemName && !strcmp(elemName,"kinematic"))
{
//how can I make this cast safe?
const domAny* myAny = (const domAny*)elemRef.cast();
daeString myVal = myAny->getValue();
if (myVal)
{
if (!strcmp(myVal,"true"))
{
printf("revert bug in PhysX .dae export -> <kinematic>true</kinematic> means <dynamic>false</dynamic>\n");
rbOutput.m_isDynamics = false;
}
}
}
}
}
}
//shapes
for (s=0;s<techniqueRef->getShape_array().getCount();s++)
{
domRigid_body::domTechnique_common::domShapeRef shapeRef = techniqueRef->getShape_array()[s];
if (shapeRef->getPlane())
{
domPlaneRef planeRef = shapeRef->getPlane();
if (planeRef->getEquation())
{
const domFloat4 planeEq = planeRef->getEquation()->getValue();
btVector3 planeNormal((btScalar)planeEq.get(0),(btScalar)planeEq.get(1),(btScalar)planeEq.get(2));
btScalar planeConstant = (btScalar)planeEq.get(3)*(btScalar)m_unitMeterScaling;
rbOutput.m_colShape = new btStaticPlaneShape(planeNormal,planeConstant);
}
}
if (shapeRef->getBox())
{
domBoxRef boxRef = shapeRef->getBox();
domBox::domHalf_extentsRef domHalfExtentsRef = boxRef->getHalf_extents();
domFloat3& halfExtents = domHalfExtentsRef->getValue();
btScalar x = (btScalar)halfExtents.get(0)*m_unitMeterScaling;
btScalar y = (btScalar)halfExtents.get(1)*m_unitMeterScaling;
btScalar z = (btScalar)halfExtents.get(2)*m_unitMeterScaling;
rbOutput.m_colShape = new btBoxShape(btVector3(x,y,z));
}
if (shapeRef->getSphere())
{
domSphereRef sphereRef = shapeRef->getSphere();
domSphere::domRadiusRef radiusRef = sphereRef->getRadius();
btScalar radius = (btScalar)radiusRef->getValue()*m_unitMeterScaling;
rbOutput.m_colShape = new btSphereShape(radius);
}
if (shapeRef->getCylinder())
{
domCylinderRef cylinderRef = shapeRef->getCylinder();
domFloat height = cylinderRef->getHeight()->getValue()*m_unitMeterScaling;
domFloat2 radius2 = cylinderRef->getRadius()->getValue();
domFloat radius0 = radius2.get(0)*m_unitMeterScaling;
//Cylinder around the local Y axis
rbOutput.m_colShape = new btCylinderShapeZ(btVector3((btScalar)radius0,(btScalar)height,(btScalar)radius0));
}
if (shapeRef->getInstance_geometry())
{
const domInstance_geometryRef geomInstRef = shapeRef->getInstance_geometry();
daeElement* geomElem = geomInstRef->getUrl().getElement();
//elemRef->getTypeName();
domGeometry* geom = (domGeometry*) geomElem;
if (geom && geom->getMesh())
{
const domMeshRef meshRef = geom->getMesh();
//it can be either triangle mesh, or we just pick the vertices/positions
if (meshRef->getTriangles_array().getCount())
{
btTriangleMesh* trimesh = new btTriangleMesh();
for (unsigned int tg = 0;tg<meshRef->getTriangles_array().getCount();tg++)
{
domTrianglesRef triRef = meshRef->getTriangles_array()[tg];
const domPRef pRef = triRef->getP();
btIndexedMesh meshPart;
meshPart.m_triangleIndexStride=0;
int vertexoffset = -1;
domInputLocalOffsetRef indexOffsetRef;
for (unsigned int w=0;w<triRef->getInput_array().getCount();w++)
{
domUint offset = triRef->getInput_array()[w]->getOffset();
daeString str = triRef->getInput_array()[w]->getSemantic();
if (!strcmp(str,"VERTEX"))
{
indexOffsetRef = triRef->getInput_array()[w];
vertexoffset = (int) offset;
}
if ((int) offset > (int) meshPart.m_triangleIndexStride)
{
meshPart.m_triangleIndexStride = (int) offset;
}
}
meshPart.m_triangleIndexStride++;
domListOfUInts indexArray =triRef->getP()->getValue();
//int* m_triangleIndexBase;
meshPart.m_numTriangles = (int) triRef->getCount();
const domVerticesRef vertsRef = meshRef->getVertices();
size_t numInputs = vertsRef->getInput_array().getCount();
for (size_t i=0;i<numInputs;i++)
{
domInputLocalRef localRef = vertsRef->getInput_array()[i];
daeString str = localRef->getSemantic();
if ( !strcmp(str,"POSITION"))
{
domURIFragmentType& frag = localRef->getSource();
daeElementConstRef constElem = frag.getElement();
const domSourceRef node = *(const domSourceRef*)&constElem;
const domFloat_arrayRef flArray = node->getFloat_array();
if (flArray)
{
const domListOfFloats& listFloats = flArray->getValue();
int k=vertexoffset;
int t=0;
int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
for (;t<meshPart.m_numTriangles;t++)
{
btVector3 verts[3];
int index0;
for (int i=0;i<3;i++)
{
index0 = (int) indexArray.get(k)*vertexStride;
domFloat fl0 = listFloats.get(index0);
domFloat fl1 = listFloats.get(index0+1);
domFloat fl2 = listFloats.get(index0+2);
k+=meshPart.m_triangleIndexStride;
verts[i].setValue((btScalar)fl0*m_unitMeterScaling,(btScalar)fl1*m_unitMeterScaling,(btScalar)fl2*m_unitMeterScaling);
}
trimesh->addTriangle(verts[0],verts[1],verts[2]);
}
}
}
}
if (rbOutput.m_isDynamics)
{
printf("moving concave <mesh> not supported, transformed into convex\n");
rbOutput.m_colShape = new btConvexTriangleMeshShape(trimesh);
} else
{
printf("static concave triangle <mesh> added\n");
bool useQuantizedAabbCompression = false;
rbOutput.m_colShape = new btBvhTriangleMeshShape(trimesh,useQuantizedAabbCompression);
}
}
} else
{
btConvexHullShape* convexHull = new btConvexHullShape();
int numAddedVerts = 0;
const domVerticesRef vertsRef = meshRef->getVertices();
size_t numInputs = vertsRef->getInput_array().getCount();
for (size_t i=0;i<numInputs;i++)
{
domInputLocalRef localRef = vertsRef->getInput_array()[i];
daeString str = localRef->getSemantic();
if ( !strcmp(str,"POSITION"))
{
domURIFragmentType& frag = localRef->getSource();
daeElementConstRef constElem = frag.getElement();
const domSourceRef node = *(const domSourceRef*)&constElem;
const domFloat_arrayRef flArray = node->getFloat_array();
if (flArray)
{
const domListOfFloats& listFloats = flArray->getValue();
int vertexStride = 3;//instead of hardcoded stride, should use the 'accessor'
size_t vertIndex = 0;
for (vertIndex = 0;vertIndex < listFloats.getCount();vertIndex+=vertexStride)
{
domFloat fl0 = listFloats.get(vertIndex);
domFloat fl1 = listFloats.get(vertIndex+1);
domFloat fl2 = listFloats.get(vertIndex+2);
convexHull->addPoint(btPoint3((btScalar)fl0,(btScalar)fl1,(btScalar)fl2) * m_unitMeterScaling);
}
}
}
}
//convexHull->addPoint();
if (numAddedVerts > 0)
{
rbOutput.m_colShape = convexHull;
} else
{
delete convexHull;
printf("no vertices found for convex hull\n");
}
}
}
if (geom && geom->getConvex_mesh())
{
{
const domConvex_meshRef convexRef = geom->getConvex_mesh();
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
if ( otherElemRef != NULL )
{
domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
printf( "otherLinked\n");
} else
{
printf("convexMesh polyCount = %i\n",convexRef->getPolygons_array().getCount());
printf("convexMesh triCount = %i\n",convexRef->getTriangles_array().getCount());
}
}
btConvexHullShape* convexHullShape = new btConvexHullShape(0,0);
//it is quite a trick to get to the vertices, using Collada.
//we are not there yet...
const domConvex_meshRef convexRef = geom->getConvex_mesh();
//daeString urlref = convexRef->getConvex_hull_of().getURI();
daeString urlref2 = convexRef->getConvex_hull_of().getOriginalURI();
if (urlref2)
{
daeElementRef otherElemRef = convexRef->getConvex_hull_of().getElement();
// if ( otherElemRef != NULL )
// {
// domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
// Load all the geometry libraries
for ( unsigned int i = 0; i < m_dom->getLibrary_geometries_array().getCount(); i++)
{
domLibrary_geometriesRef libgeom = m_dom->getLibrary_geometries_array()[i];
//int index = libgeom->findLastIndexOf(urlref2);
//can't find it
for ( unsigned int i = 0; i < libgeom->getGeometry_array().getCount(); i++)
{
//ReadGeometry( );
domGeometryRef lib = libgeom->getGeometry_array()[i];
if (!strcmp(lib->getId(),urlref2))
{
//found convex_hull geometry
domMesh *meshElement = lib->getMesh();//linkedGeom->getMesh();
if (meshElement)
{
const domVerticesRef vertsRef = meshElement->getVertices();
size_t numInputs = vertsRef->getInput_array().getCount();
for (size_t i=0;i<numInputs;i++)
{
domInputLocalRef localRef = vertsRef->getInput_array()[i];
daeString str = localRef->getSemantic();
if ( !strcmp(str,"POSITION"))
{
domURIFragmentType& frag = localRef->getSource();
daeElementConstRef constElem = frag.getElement();
const domSourceRef node = *(const domSourceRef*)&constElem;
const domFloat_arrayRef flArray = node->getFloat_array();
if (flArray)
{
int numElem = (int) flArray->getCount();
const domListOfFloats& listFloats = flArray->getValue();
for (int k=0;k+2<numElem;k+=3)
{
domFloat fl0 = listFloats.get(k);
domFloat fl1 = listFloats.get(k+1);
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->addPoint(btPoint3((btScalar)fl0,(btScalar)fl1,(btScalar)fl2) * m_unitMeterScaling);
}
}
}
}
}
}
}
}
} else
{
//no getConvex_hull_of but direct vertices
const domVerticesRef vertsRef = convexRef->getVertices();
size_t numInputs = vertsRef->getInput_array().getCount();
for (size_t i=0;i<numInputs;i++)
{
domInputLocalRef localRef = vertsRef->getInput_array()[i];
daeString str = localRef->getSemantic();
if ( !strcmp(str,"POSITION"))
{
domURIFragmentType& frag = localRef->getSource();
daeElementConstRef constElem = frag.getElement();
const domSourceRef node = *(const domSourceRef*)&constElem;
const domFloat_arrayRef flArray = node->getFloat_array();
if (flArray)
{
int numElem = (int) flArray->getCount();
const domListOfFloats& listFloats = flArray->getValue();
for (int k=0;k+2<numElem;k+=3)
{
domFloat fl0 = listFloats.get(k);
domFloat fl1 = listFloats.get(k+1);
domFloat fl2 = listFloats.get(k+2);
//printf("float %f %f %f\n",fl0,fl1,fl2);
convexHullShape->addPoint(btPoint3((btScalar)fl0,(btScalar)fl1,(btScalar)fl2)*m_unitMeterScaling);
}
}
}
}
}
if (convexHullShape->getNumVertices())
{
rbOutput.m_colShape = convexHullShape;
printf("created convexHullShape with %i points\n",convexHullShape->getNumVertices());
} else
{
delete convexHullShape;
printf("failed to create convexHullShape\n");
}
//domGeometryRef linkedGeom = *(domGeometryRef*)&otherElemRef;
printf("convexmesh\n");
}
}
//if more then 1 shape, or a non-identity local shapetransform
//use a compound
bool hasShapeLocalTransform = ((shapeRef->getRotate_array().getCount() > 0) ||
(shapeRef->getTranslate_array().getCount() > 0));
if (rbOutput.m_colShape)
{
if ((techniqueRef->getShape_array().getCount()>1) ||
(hasShapeLocalTransform))
{
if (!rbOutput.m_compoundShape)
{
rbOutput.m_compoundShape = new btCompoundShape();
}
btTransform localTransform;
localTransform.setIdentity();
if (hasShapeLocalTransform)
{
localTransform = GetbtTransformFromCOLLADA_DOM(
emptyMatrixArray,
shapeRef->getRotate_array(),
shapeRef->getTranslate_array(),
m_unitMeterScaling
);
}
rbOutput.m_compoundShape->addChildShape(localTransform,rbOutput.m_colShape);
rbOutput.m_colShape = 0;
}
}
}//for each shape
}
}
