/**
* Copy constructor.
*
* @param other the SimpleLightSource object to copy.
*/
SimpleLightSource::SimpleLightSource(const SimpleLightSource &other)
: Object(), ValueChangedListener(), LightSource(other),
mReferenceObjectName(0), mLocalPosition(0), mReferenceObject(0),
mDistributionType(other.mDistributionType),
mSwitchYZAxes(other.mSwitchYZAxes)
{
mRadius = dynamic_cast<DoubleValue*>
(getParameter("Radius"));
mCenterBrightness = dynamic_cast<DoubleValue*>
(getParameter("CenterBrightness"));
mLightColor = dynamic_cast<ColorValue*>
(getParameter("LightColor"));
mHideLightCone = dynamic_cast<BoolValue*>
(getParameter("HideLightCone"));
mReferenceObjectName = dynamic_cast<StringValue*>
(getParameter("ReferenceObject"));
mLocalPosition = dynamic_cast<Vector3DValue*>
(getParameter("LocalPosition"));
mDistributionType = dynamic_cast<IntValue*>
(getParameter("DistributionType"));
mOutputValues.clear();
mInputValues.clear();
createCollisionObject();
updateLightCone();
}
/**
* Constructs a new SimpleLightSource.
*/
SimpleLightSource::SimpleLightSource(
const QString &name, double brightness, double radius, int type)
: LightSource(name, type), mRadius(0), mLightColor(0),
mHideLightCone(0), mReferenceObjectName(0),
mLocalPosition(0), mReferenceObject(0),
mDistributionType(0), mSwitchYZAxes(0)
{
mRadius = new DoubleValue(Math::max(0.0,radius));
mCenterBrightness = new DoubleValue(brightness);
mLightColor = new ColorValue("yellow");
mHideLightCone = new BoolValue(false);
mReferenceObjectName = new StringValue("");
mLocalPosition = new Vector3DValue(0.0, 0.0, 0.0);
mDistributionType = new IntValue(0);
mRadius->setDescription(
"Radius of light around the light source's center");
mCenterBrightness->setDescription(
"The light source's brightness at center");
mLightColor->setDescription(
"The color of the light for visualization/simulation");
mHideLightCone->setDescription(
"If set to True, the light cone is hidden in the simulation");
mReferenceObjectName->setDescription(
"The name on another simulation object "
"to attach the light source to");
mLocalPosition->setDescription(
"Position of the light source in the simulation environment");
mDistributionType->setDescription("The type of light distribution:\n"
"0: homogeneous distribution\n"
"1: linear decay from center\n"
"2: Quadratic decay from center\n"
"3: Cubic decay from the center");
addParameter("Radius", mRadius);
addParameter("CenterBrightness", mCenterBrightness);
addParameter("LightColor", mLightColor);
addParameter("HideLightCone", mHideLightCone);
addParameter("ReferenceObject", mReferenceObjectName);
addParameter("LocalPosition", mLocalPosition);
addParameter("DistributionType", mDistributionType);
Physics::getPhysicsManager();
if(mSwitchYZAxes == 0) {
mSwitchYZAxes = Core::getInstance()->getValueManager()->
getBoolValue(SimulationConstants::VALUE_SWITCH_YZ_AXES);
}
createCollisionObject();
updateLightCone();
}
SphereObstacle::SphereObstacle(std::string name,
double pos_x,
double pos_y,
double pos_z,
double radius,
const Terrain &terrain):
Obstacle(name, terrain),
pos_x_(pos_x),
pos_y_(pos_y),
pos_z_(pos_z),
radius_(radius){
createCollisionObject();
}
/**
* Method is used to detect collision. Use Bounding Box algorithm.
*/
void CollisionDetector::detectCollision()
{
vector< boost::shared_ptr<SceneEntity> >* scene = gameScene->getWorldScene();
unsigned int size = scene->size();
for(unsigned int i = 0; i < size; ++i)
{
BoundingBox firstBox;
firstBox.max = scene->at(i).get()->getBoundingBox()->max;
firstBox.min = scene->at(i).get()->getBoundingBox()->min;
firstBox.max += scene->at(i).get()->position;
firstBox.min += scene->at(i).get()->position;
bool firstHaveCollided = scene->at(i).get()->haveCollided;
for(unsigned int j = 3; j < size; ++j)
{
if(i == j)
continue;
BoundingBox secondBox;
bool secondHaveCollided = scene->at(j).get()->haveCollided;
secondBox.max = scene->at(j).get()->getBoundingBox()->max;
secondBox.min = scene->at(j).get()->getBoundingBox()->min;
secondBox.max += scene->at(j).get()->position;
secondBox.min += scene->at(j).get()->position;
Faction atypeID_1 = scene->at(i).get()->faction;
Faction atypeID_2 = scene->at(j).get()->faction;
if(isCollision(firstBox,secondBox))
{
scene->at(i).get()->haveCollided = true;
scene->at(j).get()->haveCollided = true;
//handler->collisionCollection.push_back(Collision(scene->at(j).get()->position,i,j));
Faction typeID_1 = scene->at(i).get()->faction;
Faction typeID_2 = scene->at(j).get()->faction;
handler->collisionCollection.push_back(
createCollisionObject(typeID_1, typeID_2, scene->at(j).get()->position, i, j, gameScene));
}
}
}
}
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;
}
void SBCollisionManager::start()
{
#ifndef SB_NO_ODE_PHYSICS
_singleChrCapsuleMode = getBoolAttribute("singleChrCapsuleMode");
float jointBVLenRadRatio = (float)(getDoubleAttribute("jointBVLenRadRatio"));
SR_CLIP(jointBVLenRadRatio, 0.001f, 1000.0f);
_jointBVLenRadRatio = jointBVLenRadRatio;
SBScene* scene = SmartBody::SBScene::getScene();
SBSteerManager* steerManager = scene->getSteerManager();
_characterRadius = (float) steerManager->getDoubleAttribute("initialConditions.radius");
double sceneScale = scene->getDoubleAttribute("scale");
if (sceneScale != 0.0)
{
_characterRadius *= (float) (1.0 / sceneScale);
}
_positions.clear();
_velocities.clear();
if (!collisionSpace)
{
collisionSpace = new ODECollisionSpace();
}
const std::vector<std::string>& characterNames = scene->getCharacterNames();
for (std::vector<std::string>::const_iterator iter = characterNames.begin();
iter != characterNames.end();
iter++)
{
_positions.insert(std::pair<std::string, SrVec>((*iter), SrVec()));
_velocities.insert(std::pair<std::string, SrVec>((*iter), SrVec()));
SBCharacter* character = scene->getCharacter(*iter);
if (!character->getGeomObject() || character->getGeomObject()->geomType() == "null") // no collision geometry setup for the character
{
if(_singleChrCapsuleMode)
{
//SBGeomObject* obj = new SBGeomCapsule()
SrBox bbox = character->getBoundingBox();
float yoffset = bbox.getMinimum().y - character->get_world_offset().get_translation().y;
SrVec size = SrVec(0,_characterRadius,0);
SBGeomObject* obj = createCollisionObject(character->getGeomObjectName(),"capsule",size,SrVec(0,yoffset,0),SrVec(0,yoffset+character->getHeight(),0));
obj->attachToObj(character);
addObjectToCollisionSpace(character->getGeomObjectName());
//new SBGeomCapsule(SrVec(0,yoffset,0),SrVec(0,yoffset+character->getHeight(),0),_characterRadius);
//character->setGeomObject(obj);
//collisionSpace->addCollisionObjects(obj);
}
else // create collision capsules based on skel bones
{
LOG(character->getName().c_str());
SkSkeleton* sk = character->getSkeleton();
const std::vector<SkJoint*>& origJnts = sk->joints();
sk->update_global_matrices();
std::vector<SkJoint*> jnt_excld_list;
for(unsigned int i=0; i<origJnts.size(); i++)
{
SkJoint* j = origJnts[i];
SrString jname(j->jointName().c_str());
if(jname.search("world_offset")>=0) { jnt_excld_list.push_back(j); continue; } // skip world_offset
if(jname.search("face")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("brow")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("eye")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("nose")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("lid")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("jaw")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("tongue")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("lip")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("cheek")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("finger")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("thumb")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("index")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("middle")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("pinky")>=0) { jnt_excld_list.push_back(j); continue; }
if(jname.search("ring")>=0) { jnt_excld_list.push_back(j); continue; }
}
std::string chrName = character->getGeomObjectName();
float chrHeight = character->getHeight();
for(unsigned int i=0; i<origJnts.size(); i++)
{
SkJoint* j = origJnts[i];
if(isJointExcluded(j, jnt_excld_list)) continue;
SrString jname(j->jointName().c_str());
for(int k=0; k<j->num_children(); k++)
{
SkJoint* j_ch = j->child(k);
if(isJointExcluded(j_ch, jnt_excld_list)) continue;
const SrVec& offset = j_ch->offset();
float offset_len = offset.norm();
float radius = offset_len / jointBVLenRadRatio;
if(offset_len < 0.03*chrHeight) continue; // skip short bones
std::string colObjName = chrName + ":" + j->jointName();
if(k>0) colObjName = colObjName + ":" + boost::lexical_cast<std::string>(k);
SBGeomObject* obj = createCollisionObject(colObjName,"capsule",SrVec(0, radius, 0),SrVec::null,offset);
LOG("SBColMan: col primitive added: %s, len: %f, radius: %f", colObjName.c_str(), offset_len, radius);
obj->attachToObj(dynamic_cast<SBTransformObjInterface*>(j));
addObjectToCollisionSpace(colObjName);
}
}
}
}
}
const std::vector<std::string>& pawnNames = scene->getPawnNames();
for (std::vector<std::string>::const_iterator iter = pawnNames.begin();
iter != pawnNames.end(); iter++)
{
SBPawn* pawn = scene->getPawn(*iter);
if(pawn->getGeomObject()->geomType() != "null")
{
//SBGeomObject* obj = pawn->getGeomObject();
SBGeomObject* obj = createCollisionObject(pawn->getGeomObjectName(),pawn->getGeomObject()->geomType(),pawn->getGeomObject()->getGeomSize(),SrVec::null,SrVec::null);
obj->attachToObj(pawn);
addObjectToCollisionSpace(pawn->getGeomObjectName());
}
}
#endif
}
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;
}
