btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShapeData* shapeData )
{
btCollisionShape* shape = 0;
switch (shapeData->m_shapeType)
{
case STATIC_PLANE_PROXYTYPE:
{
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)shapeData;
btVector3 planeNormal,localScaling;
planeNormal.deSerializeFloat(planeData->m_planeNormal);
localScaling.deSerializeFloat(planeData->m_localScaling);
shape = createPlaneShape(planeNormal,planeData->m_planeConstant);
shape->setLocalScaling(localScaling);
break;
}
case GIMPACT_SHAPE_PROXYTYPE:
{
btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*) shapeData;
if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
{
btTriangleIndexVertexArray* meshInterface = createMeshInterface(gimpactData->m_meshInterface);
btGImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
btVector3 localScaling;
localScaling.deSerializeFloat(gimpactData->m_localScaling);
gimpactShape->setLocalScaling(localScaling);
gimpactShape->setMargin(btScalar(gimpactData->m_collisionMargin));
gimpactShape->updateBound();
shape = gimpactShape;
} else
{
printf("unsupported gimpact sub type\n");
}
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
case CAPSULE_SHAPE_PROXYTYPE:
case BOX_SHAPE_PROXYTYPE:
case SPHERE_SHAPE_PROXYTYPE:
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
btVector3 implicitShapeDimensions;
implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
btVector3 localScaling;
localScaling.deSerializeFloat(bsd->m_localScaling);
btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
switch (shapeData->m_shapeType)
{
case BOX_SHAPE_PROXYTYPE:
{
shape = createBoxShape(implicitShapeDimensions/localScaling+margin);
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
shape = createSphereShape(implicitShapeDimensions.getX());
break;
}
case CAPSULE_SHAPE_PROXYTYPE:
{
btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
switch (capData->m_upAxis)
{
case 0:
{
shape = createCapsuleShapeX(implicitShapeDimensions.getY(),2*implicitShapeDimensions.getX());
break;
}
case 1:
{
shape = createCapsuleShapeY(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getY());
break;
}
case 2:
{
shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getZ());
break;
}
default:
{
printf("error: wrong up axis for btCapsuleShape\n");
}
};
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
btVector3 halfExtents = implicitShapeDimensions+margin;
switch (cylData->m_upAxis)
{
case 0:
{
shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
break;
}
case 1:
{
shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
break;
}
case 2:
{
shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
break;
}
default:
{
printf("unknown Cylinder up axis\n");
}
};
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
int numSpheres = mss->m_localPositionArraySize;
btAlignedObjectArray<btVector3> tmpPos;
btAlignedObjectArray<btScalar> radii;
radii.resize(numSpheres);
tmpPos.resize(numSpheres);
int i;
for ( i=0;i<numSpheres;i++)
{
tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
}
shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
// int sz = sizeof(btConvexHullShapeData);
// int sz2 = sizeof(btConvexInternalShapeData);
// int sz3 = sizeof(btCollisionShapeData);
btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
int numPoints = convexData->m_numUnscaledPoints;
btAlignedObjectArray<btVector3> tmpPoints;
tmpPoints.resize(numPoints);
int i;
for ( i=0;i<numPoints;i++)
{
#ifdef BT_USE_DOUBLE_PRECISION
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
if (convexData->m_unscaledPointsFloatPtr)
tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
#else
if (convexData->m_unscaledPointsFloatPtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
#endif //BT_USE_DOUBLE_PRECISION
}
btConvexHullShape* hullShape = createConvexHullShape();
for (i=0;i<numPoints;i++)
{
hullShape->addPoint(tmpPoints[i]);
}
shape = hullShape;
break;
}
default:
{
printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
}
}
if (shape)
{
shape->setMargin(bsd->m_collisionMargin);
btVector3 localScaling;
localScaling.deSerializeFloat(bsd->m_localScaling);
shape->setLocalScaling(localScaling);
}
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
btTriangleMeshShapeData* trimesh = (btTriangleMeshShapeData*)shapeData;
btTriangleIndexVertexArray* meshInterface = createMeshInterface(trimesh->m_meshInterface);
if (!meshInterface->getNumSubParts())
{
return 0;
}
btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
meshInterface->setScaling(scaling);
btOptimizedBvh* bvh = 0;
#if 0
if (trimesh->m_quantizedFloatBvh)
{
btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedFloatBvh);
if (bvhPtr && *bvhPtr)
{
bvh = *bvhPtr;
} else
{
bvh = createOptimizedBvh();
bvh->deSerializeFloat(*trimesh->m_quantizedFloatBvh);
}
}
if (trimesh->m_quantizedDoubleBvh)
{
btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedDoubleBvh);
if (bvhPtr && *bvhPtr)
{
bvh = *bvhPtr;
} else
{
bvh = createOptimizedBvh();
bvh->deSerializeDouble(*trimesh->m_quantizedDoubleBvh);
}
}
#endif
btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface,bvh);
trimeshShape->setMargin(trimesh->m_collisionMargin);
shape = trimeshShape;
if (trimesh->m_triangleInfoMap)
{
btTriangleInfoMap* map = createTriangleInfoMap();
map->deSerialize(*trimesh->m_triangleInfoMap);
trimeshShape->setTriangleInfoMap(map);
#ifdef USE_INTERNAL_EDGE_UTILITY
gContactAddedCallback = btAdjustInternalEdgeContactsCallback;
#endif //USE_INTERNAL_EDGE_UTILITY
}
//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;
}
default:
{
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
}
}
return shape;
}
bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
{
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);
}
btHashMap<btHashPtr,btCollisionShape*> shapeMap;
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);
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);
}
}
btHashMap<btHashPtr,btCollisionObject*> bodyMap;
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 = 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
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 = 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
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 = 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
bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");
}
} else
{
btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i];
btCollisionShape** shapePtr = 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
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 = bodyMap.find(constraintData->m_rbA);
btCollisionObject** colBptr = 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();
}
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;
}
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 (int i=0;i<bulletFile2->m_dynamicsWorldInfo.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btDynamicsWorldDoubleData* solverInfoData = (btDynamicsWorldDoubleData*)bulletFile2->m_dynamicsWorldInfo[i];
btContactSolverInfo solverInfo;
btVector3 gravity;
gravity.deSerializeDouble(solverInfoData->m_gravity);
solverInfo.m_tau = btScalar(solverInfoData->m_solverInfo.m_tau);
solverInfo.m_damping = btScalar(solverInfoData->m_solverInfo.m_damping);
solverInfo.m_friction = btScalar(solverInfoData->m_solverInfo.m_friction);
solverInfo.m_timeStep = btScalar(solverInfoData->m_solverInfo.m_timeStep);
solverInfo.m_restitution = btScalar(solverInfoData->m_solverInfo.m_restitution);
solverInfo.m_maxErrorReduction = btScalar(solverInfoData->m_solverInfo.m_maxErrorReduction);
solverInfo.m_sor = btScalar(solverInfoData->m_solverInfo.m_sor);
solverInfo.m_erp = btScalar(solverInfoData->m_solverInfo.m_erp);
solverInfo.m_erp2 = btScalar(solverInfoData->m_solverInfo.m_erp2);
solverInfo.m_globalCfm = btScalar(solverInfoData->m_solverInfo.m_globalCfm);
solverInfo.m_splitImpulsePenetrationThreshold = btScalar(solverInfoData->m_solverInfo.m_splitImpulsePenetrationThreshold);
solverInfo.m_splitImpulseTurnErp = btScalar(solverInfoData->m_solverInfo.m_splitImpulseTurnErp);
solverInfo.m_linearSlop = btScalar(solverInfoData->m_solverInfo.m_linearSlop);
solverInfo.m_warmstartingFactor = btScalar(solverInfoData->m_solverInfo.m_warmstartingFactor);
solverInfo.m_maxGyroscopicForce = btScalar(solverInfoData->m_solverInfo.m_maxGyroscopicForce);
solverInfo.m_singleAxisRollingFrictionThreshold = btScalar(solverInfoData->m_solverInfo.m_singleAxisRollingFrictionThreshold);
solverInfo.m_numIterations = solverInfoData->m_solverInfo.m_numIterations;
solverInfo.m_solverMode = solverInfoData->m_solverInfo.m_solverMode;
solverInfo.m_restingContactRestitutionThreshold = solverInfoData->m_solverInfo.m_restingContactRestitutionThreshold;
solverInfo.m_minimumSolverBatchSize = solverInfoData->m_solverInfo.m_minimumSolverBatchSize;
solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
setDynamicsWorldInfo(gravity,solverInfo);
} else
{
btDynamicsWorldFloatData* solverInfoData = (btDynamicsWorldFloatData*)bulletFile2->m_dynamicsWorldInfo[i];
btContactSolverInfo solverInfo;
btVector3 gravity;
gravity.deSerializeFloat(solverInfoData->m_gravity);
solverInfo.m_tau = solverInfoData->m_solverInfo.m_tau;
solverInfo.m_damping = solverInfoData->m_solverInfo.m_damping;
solverInfo.m_friction = solverInfoData->m_solverInfo.m_friction;
solverInfo.m_timeStep = solverInfoData->m_solverInfo.m_timeStep;
solverInfo.m_restitution = solverInfoData->m_solverInfo.m_restitution;
solverInfo.m_maxErrorReduction = solverInfoData->m_solverInfo.m_maxErrorReduction;
solverInfo.m_sor = solverInfoData->m_solverInfo.m_sor;
solverInfo.m_erp = solverInfoData->m_solverInfo.m_erp;
solverInfo.m_erp2 = solverInfoData->m_solverInfo.m_erp2;
solverInfo.m_globalCfm = solverInfoData->m_solverInfo.m_globalCfm;
solverInfo.m_splitImpulsePenetrationThreshold = solverInfoData->m_solverInfo.m_splitImpulsePenetrationThreshold;
solverInfo.m_splitImpulseTurnErp = solverInfoData->m_solverInfo.m_splitImpulseTurnErp;
solverInfo.m_linearSlop = solverInfoData->m_solverInfo.m_linearSlop;
solverInfo.m_warmstartingFactor = solverInfoData->m_solverInfo.m_warmstartingFactor;
solverInfo.m_maxGyroscopicForce = solverInfoData->m_solverInfo.m_maxGyroscopicForce;
solverInfo.m_singleAxisRollingFrictionThreshold = solverInfoData->m_solverInfo.m_singleAxisRollingFrictionThreshold;
solverInfo.m_numIterations = solverInfoData->m_solverInfo.m_numIterations;
solverInfo.m_solverMode = solverInfoData->m_solverInfo.m_solverMode;
solverInfo.m_restingContactRestitutionThreshold = solverInfoData->m_solverInfo.m_restingContactRestitutionThreshold;
solverInfo.m_minimumSolverBatchSize = solverInfoData->m_solverInfo.m_minimumSolverBatchSize;
solverInfo.m_splitImpulse = solverInfoData->m_solverInfo.m_splitImpulse;
setDynamicsWorldInfo(gravity,solverInfo);
}
}
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
convertRigidBodyDouble(colObjData);
} else
{
btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
convertRigidBodyFloat(colObjData);
}
}
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;
colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
startTransform.deSerializeDouble(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
body->setFriction(btScalar(colObjData->m_friction));
body->setRestitution(btScalar(colObjData->m_restitution));
#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;
colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
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");
}
}
}
for (i=0;i<bulletFile2->m_constraints.size();i++)
{
btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i];
btTypedConstraintFloatData* singleC = (btTypedConstraintFloatData*)bulletFile2->m_constraints[i];
btTypedConstraintDoubleData* doubleC = (btTypedConstraintDoubleData*)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;
bool isDoublePrecisionData = (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)!=0;
if (isDoublePrecisionData)
{
if (bulletFile2->getVersion()>=282)
{
btTypedConstraintDoubleData* dc = (btTypedConstraintDoubleData*)constraintData;
convertConstraintDouble(dc, rbA,rbB, bulletFile2->getVersion());
} else
{
//double-precision constraints were messed up until 2.82, try to recover data...
btTypedConstraintData* oldData = (btTypedConstraintData*)constraintData;
convertConstraintBackwardsCompatible281(oldData, rbA,rbB, bulletFile2->getVersion());
}
}
else
{
btTypedConstraintFloatData* dc = (btTypedConstraintFloatData*)constraintData;
convertConstraintFloat(dc, rbA,rbB, bulletFile2->getVersion());
}
}
return true;
}
bool btCollisionWorldImporter::convertAllObjects( btBulletSerializedArrays* arrays)
{
m_shapeMap.clear();
m_bodyMap.clear();
int i;
for (i=0;i<arrays->m_bvhsDouble.size();i++)
{
btOptimizedBvh* bvh = createOptimizedBvh();
btQuantizedBvhDoubleData* bvhData = arrays->m_bvhsDouble[i];
bvh->deSerializeDouble(*bvhData);
m_bvhMap.insert(arrays->m_bvhsDouble[i],bvh);
}
for (i=0;i<arrays->m_bvhsFloat.size();i++)
{
btOptimizedBvh* bvh = createOptimizedBvh();
btQuantizedBvhFloatData* bvhData = arrays->m_bvhsFloat[i];
bvh->deSerializeFloat(*bvhData);
m_bvhMap.insert(arrays->m_bvhsFloat[i],bvh);
}
for (i=0;i<arrays->m_colShapeData.size();i++)
{
btCollisionShapeData* shapeData = arrays->m_colShapeData[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<arrays->m_collisionObjectDataDouble.size();i++)
{
btCollisionObjectDoubleData* colObjData = arrays->m_collisionObjectDataDouble[i];
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
startTransform.deSerializeDouble(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
body->setFriction(btScalar(colObjData->m_friction));
body->setRestitution(btScalar(colObjData->m_restitution));
#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<arrays->m_collisionObjectDataFloat.size();i++)
{
btCollisionObjectFloatData* colObjData = arrays->m_collisionObjectDataFloat[i];
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
colObjData->m_worldTransform.m_origin.m_floats[3] = 0.f;
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");
}
}
return true;
}
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());
}
int i;
btHashMap<btHashPtr,btCollisionShape*> shapeMap;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
{
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
btCollisionShape* shape = convertCollisionShape(shapeData);
if (shape)
shapeMap.insert(shapeData,shape);
}
btHashMap<btHashPtr,btCollisionObject*> bodyMap;
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 = 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 (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
bool isDynamic = mass!=0.f;
btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape);
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 = 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 (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
bool isDynamic = mass!=0.f;
btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape);
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 = shapeMap.find(colObjData->m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
startTransform.deSerializeDouble(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape);
bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");
}
} else
{
btCollisionObjectFloatData* colObjData = (btCollisionObjectFloatData*)bulletFile2->m_collisionObjects[i];
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
startTransform.deSerializeFloat(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape);
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 = bodyMap.find(constraintData->m_rbA);
btCollisionObject** colBptr = 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();
}
switch (constraintData->m_objectType)
{
case POINT2POINT_CONSTRAINT_TYPE:
{
btPoint2PointConstraint* constraint = 0;
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 = new btPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB);
} else
{
btVector3 pivotInA;
pivotInA.deSerializeDouble(p2pData->m_pivotInA);
constraint = new btPoint2PointConstraint(*rbA,pivotInA);
}
} else
{
btPoint2PointConstraintFloatData* p2pData = (btPoint2PointConstraintFloatData*)constraintData;
if (rbA&& rbB)
{
btVector3 pivotInA,pivotInB;
pivotInA.deSerializeFloat(p2pData->m_pivotInA);
pivotInB.deSerializeFloat(p2pData->m_pivotInB);
constraint = new btPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB);
} else
{
btVector3 pivotInA;
pivotInA.deSerializeFloat(p2pData->m_pivotInA);
constraint = new btPoint2PointConstraint(*rbA,pivotInA);
}
}
m_dynamicsWorld->addConstraint(constraint,constraintData->m_disableCollisionsBetweenLinkedBodies!=0);
constraint->setDbgDrawSize(constraintData->m_dbgDrawSize);
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 = new btHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0);
} else
{
btTransform rbAFrame;
rbAFrame.deSerializeDouble(hingeData->m_rbAFrame);
hinge = new btHingeConstraint(*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 = new btHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0);
} else
{
btTransform rbAFrame;
rbAFrame.deSerializeFloat(hingeData->m_rbAFrame);
hinge = new btHingeConstraint(*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));
}
m_dynamicsWorld->addConstraint(hinge,constraintData->m_disableCollisionsBetweenLinkedBodies!=0);
hinge->setDbgDrawSize(constraintData->m_dbgDrawSize);
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 = new btConeTwistConstraint(*rbA,*rbB,rbAFrame,rbBFrame);
} else
{
btTransform rbAFrame;
rbAFrame.deSerializeFloat(coneData->m_rbAFrame);
coneTwist = new btConeTwistConstraint(*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);
m_dynamicsWorld->addConstraint(coneTwist,constraintData->m_disableCollisionsBetweenLinkedBodies!=0);
coneTwist->setDbgDrawSize(constraintData->m_dbgDrawSize);
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 = new btGeneric6DofConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_useLinearReferenceFrameA!=0);
} else
{
btTransform rbBFrame;
rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
dof = new btGeneric6DofConstraint(*rbB,rbBFrame,dofData->m_useLinearReferenceFrameA!=0);
}
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);
m_dynamicsWorld->addConstraint(dof,constraintData->m_disableCollisionsBetweenLinkedBodies!=0);
dof->setDbgDrawSize(constraintData->m_dbgDrawSize);
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 = new btSliderConstraint(*rbA,*rbB,rbAFrame,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0);
} else
{
btTransform rbBFrame;
rbBFrame.deSerializeFloat(sliderData->m_rbBFrame);
slider = new btSliderConstraint(*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);
m_dynamicsWorld->addConstraint(slider,constraintData->m_disableCollisionsBetweenLinkedBodies!=0);
slider->setDbgDrawSize(constraintData->m_dbgDrawSize);
break;
}
default:
{
printf("unknown constraint type\n");
}
};
}
return true;
}
int b3BulletDataExtractor::convertCollisionShape( Bullet3SerializeBullet2::b3CollisionShapeData* shapeData )
{
int shapeIndex = -1;
switch (shapeData->m_shapeType)
{
case STATIC_PLANE_PROXYTYPE:
{
Bullet3SerializeBullet2::b3StaticPlaneShapeData* planeData = (Bullet3SerializeBullet2::b3StaticPlaneShapeData*)shapeData;
shapeIndex = createPlaneShape(planeData->m_planeNormal,planeData->m_planeConstant, planeData->m_localScaling);
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
case CAPSULE_SHAPE_PROXYTYPE:
case BOX_SHAPE_PROXYTYPE:
case SPHERE_SHAPE_PROXYTYPE:
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
Bullet3SerializeBullet2::b3ConvexInternalShapeData* bsd = (Bullet3SerializeBullet2::b3ConvexInternalShapeData*)shapeData;
switch (shapeData->m_shapeType)
{
case BOX_SHAPE_PROXYTYPE:
{
shapeIndex = createBoxShape(bsd->m_implicitShapeDimensions, bsd->m_localScaling,bsd->m_collisionMargin);
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
shapeIndex = createSphereShape(bsd->m_implicitShapeDimensions.m_floats[0],bsd->m_localScaling, bsd->m_collisionMargin);
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
Bullet3SerializeBullet2::b3ConvexHullShapeData* convexData = (Bullet3SerializeBullet2::b3ConvexHullShapeData*)bsd;
int numPoints = convexData->m_numUnscaledPoints;
b3Vector3 localScaling;
localScaling.deSerializeFloat((b3Vector3FloatData&)bsd->m_localScaling);
b3AlignedObjectArray<b3Vector3> tmpPoints;
int i;
if (convexData->m_unscaledPointsFloatPtr)
{
for ( i=0;i<numPoints;i++)
{
b3Vector3 pt = b3MakeVector3(convexData->m_unscaledPointsFloatPtr[i].m_floats[0],
convexData->m_unscaledPointsFloatPtr[i].m_floats[1],
convexData->m_unscaledPointsFloatPtr[i].m_floats[2]);//convexData->m_unscaledPointsFloatPtr[i].m_floats[3]);
tmpPoints.push_back(pt*localScaling);
}
}
float unitScaling[4] = {1,1,1,1};
int strideInBytes = sizeof(b3Vector3);
strideInBytes = 4*sizeof(float);
int noHeightField = 1;
shapeIndex = m_np.registerConvexHullShape(&tmpPoints[0].m_floats[0],strideInBytes, numPoints,&unitScaling[0]);
printf("createConvexHull with %d vertices\n",numPoints);
GraphicsShape* gfxShape = createGraphicsShapeFromConvexHull(&tmpPoints[0],tmpPoints.size());
m_graphicsShapes.push_back(gfxShape);
return shapeIndex;
break;
}
#if 0
case CAPSULE_SHAPE_PROXYTYPE:
{
b3CapsuleShapeData* capData = (b3CapsuleShapeData*)shapeData;
switch (capData->m_upAxis)
{
case 0:
{
shape = createCapsuleShapeX(implicitShapeDimensions.getY(),2*implicitShapeDimensions.getX());
break;
}
case 1:
{
shape = createCapsuleShapeY(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getY());
break;
}
case 2:
{
shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getZ());
break;
}
default:
{
printf("error: wrong up axis for b3CapsuleShape\n");
}
};
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
b3CylinderShapeData* cylData = (b3CylinderShapeData*) shapeData;
b3Vector3 halfExtents = implicitShapeDimensions+margin;
switch (cylData->m_upAxis)
{
case 0:
{
shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
break;
}
case 1:
{
shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
break;
}
case 2:
{
shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
break;
}
default:
{
printf("unknown Cylinder up axis\n");
}
};
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
b3MultiSphereShapeData* mss = (b3MultiSphereShapeData*)bsd;
int numSpheres = mss->m_localPositionArraySize;
int i;
for ( i=0;i<numSpheres;i++)
{
tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
}
shape = new b3MultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
break;
}
#endif
default:
{
printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
}
}
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
Bullet3SerializeBullet2::b3TriangleMeshShapeData* trimesh = (Bullet3SerializeBullet2::b3TriangleMeshShapeData*)shapeData;
printf("numparts = %d\n",trimesh->m_meshInterface.m_numMeshParts);
if (trimesh->m_meshInterface.m_numMeshParts)
{
for (int i=0;i<trimesh->m_meshInterface.m_numMeshParts;i++)
{
Bullet3SerializeBullet2::b3MeshPartData& dat = trimesh->m_meshInterface.m_meshPartsPtr[i];
printf("numtris = %d, numverts = %d\n", dat.m_numTriangles,dat.m_numVertices);//,dat.m_vertices3f,dat.m_3indices16
printf("scaling = %f,%f,%f\n", trimesh->m_meshInterface.m_scaling.m_floats[0],trimesh->m_meshInterface.m_scaling.m_floats[1],trimesh->m_meshInterface.m_scaling.m_floats[2]);
// dat.
//dat.
}
///trimesh->m_meshInterface.m_meshPartsPtr
//trimesh->m_meshInterface.m_scaling
}
//trimesh->m_meshInterface
//b3TriangleIndexVertexArray* meshInterface = createMeshInterface(trimesh->m_meshInterface);
//scaling
//b3Vector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
//meshInterface->setScaling(scaling);
//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
break;
}
#if 0
case COMPOUND_SHAPE_PROXYTYPE:
{
b3CompoundShapeData* compoundData = (b3CompoundShapeData*)shapeData;
b3CompoundShape* compoundShape = createCompoundShape();
b3AlignedObjectArray<b3CollisionShape*> childShapes;
for (int i=0;i<compoundData->m_numChildShapes;i++)
{
b3CollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
if (childShape)
{
b3Transform 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 GIMPACT_SHAPE_PROXYTYPE:
{
b3GImpactMeshShapeData* gimpactData = (b3GImpactMeshShapeData*) shapeData;
if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
{
b3TriangleIndexVertexArray* meshInterface = createMeshInterface(gimpactData->m_meshInterface);
b3GImpactMeshShape* gimpactShape = createGimpactShape(meshInterface);
b3Vector3 localScaling;
localScaling.deSerializeFloat(gimpactData->m_localScaling);
gimpactShape->setLocalScaling(localScaling);
gimpactShape->setMargin(b3Scalar(gimpactData->m_collisionMargin));
gimpactShape->updateBound();
shape = gimpactShape;
} else
{
printf("unsupported gimpact sub type\n");
}
break;
}
case SOFTBODY_SHAPE_PROXYTYPE:
{
return 0;
}
#endif
default:
{
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
}
}
return shapeIndex;
}
void b3BulletDataExtractor::convertAllObjects(bParse::b3BulletFile* bulletFile2)
{
int i;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
{
Bullet3SerializeBullet2::b3CollisionShapeData* shapeData = (Bullet3SerializeBullet2::b3CollisionShapeData*)bulletFile2->m_collisionShapes[i];
if (shapeData->m_name)
printf("converting shape %s\n", shapeData->m_name);
int shapeIndex = convertCollisionShape(shapeData);
//valid conversion?
if (shapeIndex>=0)
{
InstanceGroup* group = new InstanceGroup;
group->m_shape = shapeData;
group->m_collisionShapeIndex = shapeIndex;
m_instanceGroups.push_back(group);
}
}
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
{
Bullet3SerializeBullet2::b3RigidBodyFloatData* colObjData = (Bullet3SerializeBullet2::b3RigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
Bullet3SerializeBullet2::b3CollisionShapeData* shapeData = (Bullet3SerializeBullet2::b3CollisionShapeData*)colObjData->m_collisionObjectData.m_collisionShape;
for (int j=0;j<m_instanceGroups.size();j++)
{
if (m_instanceGroups[j]->m_shape == shapeData)
{
m_instanceGroups[j]->m_rigidBodies.push_back(bulletFile2->m_rigidBodies[i]);
}
}
}
//now register all objects in order
for (int i=0;i<m_instanceGroups.size();i++)
{
if (m_instanceGroups[i]->m_rigidBodies.size()>0)
{
m_renderer.registerShape(m_graphicsShapes[i]->m_vertices,m_graphicsShapes[i]->m_numvertices,m_graphicsShapes[i]->m_indices,m_graphicsShapes[i]->m_numIndices);
for (int j=0;j<m_instanceGroups[i]->m_rigidBodies.size();j++)
{
Bullet3SerializeBullet2::b3RigidBodyFloatData* colObjData = (Bullet3SerializeBullet2::b3RigidBodyFloatData*)m_instanceGroups[i]->m_rigidBodies[j];
b3Matrix3x3 mat;
mat.deSerializeFloat((const b3Matrix3x3FloatData&)colObjData->m_collisionObjectData.m_worldTransform.m_basis);
b3Quaternion orn;
mat.getRotation(orn);
float quaternion[4] = {orn[0],orn[1],orn[2],orn[3]};
float pos[4] = {colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[0],
colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[1],
colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[2],
0.f};
float color[4] = {0,0,0,1};
float mass = 0.f;
if (colObjData->m_inverseMass==0.f)
{
color[1] = 1;
} else
{
mass = 1.f/colObjData->m_inverseMass;
color[2] = 1;
}
if (keepStaticObjects || colObjData->m_inverseMass!=0.f)
{
m_rbPipeline.registerPhysicsInstance(mass,pos,quaternion,m_instanceGroups[i]->m_collisionShapeIndex,0,true);
m_renderer.registerGraphicsInstance(m_instanceGroups[i]->m_collisionShapeIndex,pos,quaternion,color,m_graphicsShapes[i]->m_scaling);
}
}
}
}
for (i=0;i<bulletFile2->m_collisionObjects.size();i++)
{
}
m_rbPipeline.writeAllInstancesToGpu();
}
