diff options
Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp | 1147 |
1 files changed, 0 insertions, 1147 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp deleted file mode 100644 index f2b083780..000000000 --- a/thirdparty/bullet/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp +++ /dev/null @@ -1,1147 +0,0 @@ -/* -Bullet Continuous Collision Detection and Physics Library -Copyright (c) 2003-2014 Erwin Coumans http://bulletphysics.org - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#include "btCollisionWorldImporter.h" -#include "btBulletCollisionCommon.h" -#include "LinearMath/btSerializer.h" //for btBulletSerializedArrays definition - -#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT -#include "BulletCollision/Gimpact/btGImpactShape.h" -#endif //SUPPORT_GIMPACT_SHAPE_IMPORT - -btCollisionWorldImporter::btCollisionWorldImporter(btCollisionWorld* world) -:m_collisionWorld(world), -m_verboseMode(0) -{ - -} - -btCollisionWorldImporter::~btCollisionWorldImporter() -{ -} - - - - - -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 btCollisionWorldImporter::deleteAllData() -{ - int i; - - for (i=0;i<m_allocatedCollisionObjects.size();i++) - { - if(m_collisionWorld) - m_collisionWorld->removeCollisionObject(m_allocatedCollisionObjects[i]); - delete m_allocatedCollisionObjects[i]; - } - - m_allocatedCollisionObjects.clear(); - - - for (i=0;i<m_allocatedCollisionShapes.size();i++) - { - delete m_allocatedCollisionShapes[i]; - } - m_allocatedCollisionShapes.clear(); - - - for (i=0;i<m_allocatedBvhs.size();i++) - { - delete m_allocatedBvhs[i]; - } - m_allocatedBvhs.clear(); - - for (i=0;i<m_allocatedTriangleInfoMaps.size();i++) - { - delete m_allocatedTriangleInfoMaps[i]; - } - m_allocatedTriangleInfoMaps.clear(); - for (i=0;i<m_allocatedTriangleIndexArrays.size();i++) - { - delete m_allocatedTriangleIndexArrays[i]; - } - m_allocatedTriangleIndexArrays.clear(); - for (i=0;i<m_allocatedNames.size();i++) - { - delete[] m_allocatedNames[i]; - } - m_allocatedNames.clear(); - - for (i=0;i<m_allocatedbtStridingMeshInterfaceDatas.size();i++) - { - btStridingMeshInterfaceData* curData = m_allocatedbtStridingMeshInterfaceDatas[i]; - - for(int a = 0;a < curData->m_numMeshParts;a++) - { - btMeshPartData* curPart = &curData->m_meshPartsPtr[a]; - if(curPart->m_vertices3f) - delete [] curPart->m_vertices3f; - - if(curPart->m_vertices3d) - delete [] curPart->m_vertices3d; - - if(curPart->m_indices32) - delete [] curPart->m_indices32; - - if(curPart->m_3indices16) - delete [] curPart->m_3indices16; - - if(curPart->m_indices16) - delete [] curPart->m_indices16; - - if (curPart->m_3indices8) - delete [] curPart->m_3indices8; - - } - delete [] curData->m_meshPartsPtr; - delete curData; - } - m_allocatedbtStridingMeshInterfaceDatas.clear(); - - for (i=0;i<m_indexArrays.size();i++) - { - btAlignedFree(m_indexArrays[i]); - } - m_indexArrays.clear(); - - for (i=0;i<m_shortIndexArrays.size();i++) - { - btAlignedFree(m_shortIndexArrays[i]); - } - m_shortIndexArrays.clear(); - - for (i=0;i<m_charIndexArrays.size();i++) - { - btAlignedFree(m_charIndexArrays[i]); - } - m_charIndexArrays.clear(); - - for (i=0;i<m_floatVertexArrays.size();i++) - { - btAlignedFree(m_floatVertexArrays[i]); - } - m_floatVertexArrays.clear(); - - for (i=0;i<m_doubleVertexArrays.size();i++) - { - btAlignedFree(m_doubleVertexArrays[i]); - } - m_doubleVertexArrays.clear(); - - -} - - - -btCollisionShape* btCollisionWorldImporter::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 SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE: - { - btScaledTriangleMeshShapeData* scaledMesh = (btScaledTriangleMeshShapeData*) shapeData; - btCollisionShapeData* colShapeData = (btCollisionShapeData*) &scaledMesh->m_trimeshShapeData; - colShapeData->m_shapeType = TRIANGLE_MESH_SHAPE_PROXYTYPE; - btCollisionShape* childShape = convertCollisionShape(colShapeData); - btBvhTriangleMeshShape* meshShape = (btBvhTriangleMeshShape*)childShape; - btVector3 localScaling; - localScaling.deSerializeFloat(scaledMesh->m_localScaling); - - shape = createScaledTrangleMeshShape(meshShape, localScaling); - break; - } -#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT - case GIMPACT_SHAPE_PROXYTYPE: - { - btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*) shapeData; - if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE) - { - btStridingMeshInterfaceData* interfaceData = createStridingMeshInterfaceData(&gimpactData->m_meshInterface); - btTriangleIndexVertexArray* meshInterface = createMeshInterface(*interfaceData); - - - 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; - } -#endif //SUPPORT_GIMPACT_SHAPE_IMPORT - //The btCapsuleShape* API has issue passing the margin/scaling/halfextents unmodified through the API - //so deal with this - case CAPSULE_SHAPE_PROXYTYPE: - { - btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData; - - - switch (capData->m_upAxis) - { - case 0: - { - shape = createCapsuleShapeX(1,1); - break; - } - case 1: - { - shape = createCapsuleShapeY(1,1); - break; - } - case 2: - { - shape = createCapsuleShapeZ(1,1); - break; - } - default: - { - printf("error: wrong up axis for btCapsuleShape\n"); - } - - - }; - if (shape) - { - btCapsuleShape* cap = (btCapsuleShape*) shape; - cap->deSerializeFloat(capData); - } - break; - } - case CYLINDER_SHAPE_PROXYTYPE: - case CONE_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: - { - btBoxShape* box= (btBoxShape*)createBoxShape(implicitShapeDimensions/localScaling+margin); - //box->initializePolyhedralFeatures(); - shape = box; - - break; - } - case SPHERE_SHAPE_PROXYTYPE: - { - shape = createSphereShape(implicitShapeDimensions.getX()); - 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 CONE_SHAPE_PROXYTYPE: - { - btConeShapeData* conData = (btConeShapeData*) shapeData; - btVector3 halfExtents = implicitShapeDimensions;//+margin; - switch (conData->m_upIndex) - { - case 0: - { - shape = createConeShapeX(halfExtents.getY(),halfExtents.getX()); - break; - } - case 1: - { - shape = createConeShapeY(halfExtents.getX(),halfExtents.getY()); - break; - } - case 2: - { - shape = createConeShapeZ(halfExtents.getX(),halfExtents.getZ()); - break; - } - default: - { - printf("unknown Cone 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 = createMultiSphereShape(&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]); - } - hullShape->setMargin(bsd->m_collisionMargin); - //hullShape->initializePolyhedralFeatures(); - 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; - btStridingMeshInterfaceData* interfaceData = createStridingMeshInterfaceData(&trimesh->m_meshInterface); - btTriangleIndexVertexArray* meshInterface = createMeshInterface(*interfaceData); - if (!meshInterface->getNumSubParts()) - { - return 0; - } - - btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling); - meshInterface->setScaling(scaling); - - - btOptimizedBvh* bvh = 0; -#if 1 - 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(); - - //btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0]; - - - btAlignedObjectArray<btCollisionShape*> childShapes; - for (int i=0;i<compoundData->m_numChildShapes;i++) - { - //btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i]; - - btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape; - - btCollisionShape* childShape = convertCollisionShape(cd); - if (childShape) - { - btTransform localTransform; - localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform); - compoundShape->addChildShape(localTransform,childShape); - } else - { -#ifdef _DEBUG - printf("error: couldn't create childShape for compoundShape\n"); -#endif - } - - } - shape = compoundShape; - - break; - } - case SOFTBODY_SHAPE_PROXYTYPE: - { - return 0; - } - default: - { -#ifdef _DEBUG - printf("unsupported shape type (%d)\n",shapeData->m_shapeType); -#endif - } - } - - return shape; - -} - - - -char* btCollisionWorldImporter::duplicateName(const char* name) -{ - if (name) - { - int l = (int)strlen(name); - char* newName = new char[l+1]; - memcpy(newName,name,l); - newName[l] = 0; - m_allocatedNames.push_back(newName); - return newName; - } - return 0; -} - - - - - - - - - - - -btTriangleIndexVertexArray* btCollisionWorldImporter::createMeshInterface(btStridingMeshInterfaceData& meshData) -{ - btTriangleIndexVertexArray* meshInterface = createTriangleMeshContainer(); - - for (int i=0;i<meshData.m_numMeshParts;i++) - { - btIndexedMesh meshPart; - meshPart.m_numTriangles = meshData.m_meshPartsPtr[i].m_numTriangles; - meshPart.m_numVertices = meshData.m_meshPartsPtr[i].m_numVertices; - - - if (meshData.m_meshPartsPtr[i].m_indices32) - { - meshPart.m_indexType = PHY_INTEGER; - meshPart.m_triangleIndexStride = 3*sizeof(int); - int* indexArray = (int*)btAlignedAlloc(sizeof(int)*3*meshPart.m_numTriangles,16); - m_indexArrays.push_back(indexArray); - for (int j=0;j<3*meshPart.m_numTriangles;j++) - { - indexArray[j] = meshData.m_meshPartsPtr[i].m_indices32[j].m_value; - } - meshPart.m_triangleIndexBase = (const unsigned char*)indexArray; - } else - { - if (meshData.m_meshPartsPtr[i].m_3indices16) - { - meshPart.m_indexType = PHY_SHORT; - meshPart.m_triangleIndexStride = sizeof(short int)*3;//sizeof(btShortIntIndexTripletData); - - short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int)*3*meshPart.m_numTriangles,16); - m_shortIndexArrays.push_back(indexArray); - - for (int j=0;j<meshPart.m_numTriangles;j++) - { - indexArray[3*j] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[0]; - indexArray[3*j+1] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[1]; - indexArray[3*j+2] = meshData.m_meshPartsPtr[i].m_3indices16[j].m_values[2]; - } - - meshPart.m_triangleIndexBase = (const unsigned char*)indexArray; - } - if (meshData.m_meshPartsPtr[i].m_indices16) - { - meshPart.m_indexType = PHY_SHORT; - meshPart.m_triangleIndexStride = 3*sizeof(short int); - short int* indexArray = (short int*)btAlignedAlloc(sizeof(short int)*3*meshPart.m_numTriangles,16); - m_shortIndexArrays.push_back(indexArray); - for (int j=0;j<3*meshPart.m_numTriangles;j++) - { - indexArray[j] = meshData.m_meshPartsPtr[i].m_indices16[j].m_value; - } - - meshPart.m_triangleIndexBase = (const unsigned char*)indexArray; - } - - if (meshData.m_meshPartsPtr[i].m_3indices8) - { - meshPart.m_indexType = PHY_UCHAR; - meshPart.m_triangleIndexStride = sizeof(unsigned char)*3; - - unsigned char* indexArray = (unsigned char*)btAlignedAlloc(sizeof(unsigned char)*3*meshPart.m_numTriangles,16); - m_charIndexArrays.push_back(indexArray); - - for (int j=0;j<meshPart.m_numTriangles;j++) - { - indexArray[3*j] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[0]; - indexArray[3*j+1] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[1]; - indexArray[3*j+2] = meshData.m_meshPartsPtr[i].m_3indices8[j].m_values[2]; - } - - meshPart.m_triangleIndexBase = (const unsigned char*)indexArray; - } - } - - if (meshData.m_meshPartsPtr[i].m_vertices3f) - { - meshPart.m_vertexType = PHY_FLOAT; - meshPart.m_vertexStride = sizeof(btVector3FloatData); - btVector3FloatData* vertices = (btVector3FloatData*) btAlignedAlloc(sizeof(btVector3FloatData)*meshPart.m_numVertices,16); - m_floatVertexArrays.push_back(vertices); - - for (int j=0;j<meshPart.m_numVertices;j++) - { - vertices[j].m_floats[0] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[0]; - vertices[j].m_floats[1] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[1]; - vertices[j].m_floats[2] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[2]; - vertices[j].m_floats[3] = meshData.m_meshPartsPtr[i].m_vertices3f[j].m_floats[3]; - } - meshPart.m_vertexBase = (const unsigned char*)vertices; - } else - { - meshPart.m_vertexType = PHY_DOUBLE; - meshPart.m_vertexStride = sizeof(btVector3DoubleData); - - - btVector3DoubleData* vertices = (btVector3DoubleData*) btAlignedAlloc(sizeof(btVector3DoubleData)*meshPart.m_numVertices,16); - m_doubleVertexArrays.push_back(vertices); - - for (int j=0;j<meshPart.m_numVertices;j++) - { - vertices[j].m_floats[0] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[0]; - vertices[j].m_floats[1] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[1]; - vertices[j].m_floats[2] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[2]; - vertices[j].m_floats[3] = meshData.m_meshPartsPtr[i].m_vertices3d[j].m_floats[3]; - } - meshPart.m_vertexBase = (const unsigned char*)vertices; - } - - if (meshPart.m_triangleIndexBase && meshPart.m_vertexBase) - { - meshInterface->addIndexedMesh(meshPart,meshPart.m_indexType); - } - } - - return meshInterface; -} - - -btStridingMeshInterfaceData* btCollisionWorldImporter::createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData) -{ - //create a new btStridingMeshInterfaceData that is an exact copy of shapedata and store it in the WorldImporter - btStridingMeshInterfaceData* newData = new btStridingMeshInterfaceData; - - newData->m_scaling = interfaceData->m_scaling; - newData->m_numMeshParts = interfaceData->m_numMeshParts; - newData->m_meshPartsPtr = new btMeshPartData[newData->m_numMeshParts]; - - for(int i = 0;i < newData->m_numMeshParts;i++) - { - btMeshPartData* curPart = &interfaceData->m_meshPartsPtr[i]; - btMeshPartData* curNewPart = &newData->m_meshPartsPtr[i]; - - curNewPart->m_numTriangles = curPart->m_numTriangles; - curNewPart->m_numVertices = curPart->m_numVertices; - - if(curPart->m_vertices3f) - { - curNewPart->m_vertices3f = new btVector3FloatData[curNewPart->m_numVertices]; - memcpy(curNewPart->m_vertices3f,curPart->m_vertices3f,sizeof(btVector3FloatData) * curNewPart->m_numVertices); - } - else - curNewPart->m_vertices3f = NULL; - - if(curPart->m_vertices3d) - { - curNewPart->m_vertices3d = new btVector3DoubleData[curNewPart->m_numVertices]; - memcpy(curNewPart->m_vertices3d,curPart->m_vertices3d,sizeof(btVector3DoubleData) * curNewPart->m_numVertices); - } - else - curNewPart->m_vertices3d = NULL; - - int numIndices = curNewPart->m_numTriangles * 3; - ///the m_3indices8 was not initialized in some Bullet versions, this can cause crashes at loading time - ///we catch it by only dealing with m_3indices8 if none of the other indices are initialized - bool uninitialized3indices8Workaround =false; - - if(curPart->m_indices32) - { - uninitialized3indices8Workaround=true; - curNewPart->m_indices32 = new btIntIndexData[numIndices]; - memcpy(curNewPart->m_indices32,curPart->m_indices32,sizeof(btIntIndexData) * numIndices); - } - else - curNewPart->m_indices32 = NULL; - - if(curPart->m_3indices16) - { - uninitialized3indices8Workaround=true; - curNewPart->m_3indices16 = new btShortIntIndexTripletData[curNewPart->m_numTriangles]; - memcpy(curNewPart->m_3indices16,curPart->m_3indices16,sizeof(btShortIntIndexTripletData) * curNewPart->m_numTriangles); - } - else - curNewPart->m_3indices16 = NULL; - - if(curPart->m_indices16) - { - uninitialized3indices8Workaround=true; - curNewPart->m_indices16 = new btShortIntIndexData[numIndices]; - memcpy(curNewPart->m_indices16,curPart->m_indices16,sizeof(btShortIntIndexData) * numIndices); - } - else - curNewPart->m_indices16 = NULL; - - if(!uninitialized3indices8Workaround && curPart->m_3indices8) - { - curNewPart->m_3indices8 = new btCharIndexTripletData[curNewPart->m_numTriangles]; - memcpy(curNewPart->m_3indices8,curPart->m_3indices8,sizeof(btCharIndexTripletData) * curNewPart->m_numTriangles); - } - else - curNewPart->m_3indices8 = NULL; - - } - - m_allocatedbtStridingMeshInterfaceDatas.push_back(newData); - - return(newData); -} - -#ifdef USE_INTERNAL_EDGE_UTILITY -extern ContactAddedCallback gContactAddedCallback; - -static bool btAdjustInternalEdgeContactsCallback(btManifoldPoint& cp, const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1) -{ - - btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1); - //btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_BACKFACE_MODE); - //btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1, BT_TRIANGLE_CONVEX_DOUBLE_SIDED+BT_TRIANGLE_CONCAVE_DOUBLE_SIDED); - return true; -} -#endif //USE_INTERNAL_EDGE_UTILITY - - -/* -btRigidBody* btWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape,const char* bodyName) -{ - btVector3 localInertia; - localInertia.setZero(); - - if (mass) - shape->calculateLocalInertia(mass,localInertia); - - btRigidBody* body = new btRigidBody(mass,0,shape,localInertia); - body->setWorldTransform(startTransform); - - if (m_dynamicsWorld) - m_dynamicsWorld->addRigidBody(body); - - if (bodyName) - { - char* newname = duplicateName(bodyName); - m_objectNameMap.insert(body,newname); - m_nameBodyMap.insert(newname,body); - } - m_allocatedRigidBodies.push_back(body); - return body; - -} -*/ - -btCollisionObject* btCollisionWorldImporter::getCollisionObjectByName(const char* name) -{ - btCollisionObject** bodyPtr = m_nameColObjMap.find(name); - if (bodyPtr && *bodyPtr) - { - return *bodyPtr; - } - return 0; -} - -btCollisionObject* btCollisionWorldImporter::createCollisionObject(const btTransform& startTransform,btCollisionShape* shape, const char* bodyName) -{ - btCollisionObject* colObj = new btCollisionObject(); - colObj->setWorldTransform(startTransform); - colObj->setCollisionShape(shape); - m_collisionWorld->addCollisionObject(colObj);//todo: flags etc - - if (bodyName) - { - char* newname = duplicateName(bodyName); - m_objectNameMap.insert(colObj,newname); - m_nameColObjMap.insert(newname,colObj); - } - m_allocatedCollisionObjects.push_back(colObj); - - return colObj; -} - - - -btCollisionShape* btCollisionWorldImporter::createPlaneShape(const btVector3& planeNormal,btScalar planeConstant) -{ - btStaticPlaneShape* shape = new btStaticPlaneShape(planeNormal,planeConstant); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} -btCollisionShape* btCollisionWorldImporter::createBoxShape(const btVector3& halfExtents) -{ - btBoxShape* shape = new btBoxShape(halfExtents); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} -btCollisionShape* btCollisionWorldImporter::createSphereShape(btScalar radius) -{ - btSphereShape* shape = new btSphereShape(radius); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - - -btCollisionShape* btCollisionWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height) -{ - btCapsuleShapeX* shape = new btCapsuleShapeX(radius,height); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btCollisionShape* btCollisionWorldImporter::createCapsuleShapeY(btScalar radius, btScalar height) -{ - btCapsuleShape* shape = new btCapsuleShape(radius,height); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btCollisionShape* btCollisionWorldImporter::createCapsuleShapeZ(btScalar radius, btScalar height) -{ - btCapsuleShapeZ* shape = new btCapsuleShapeZ(radius,height); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btCollisionShape* btCollisionWorldImporter::createCylinderShapeX(btScalar radius,btScalar height) -{ - btCylinderShapeX* shape = new btCylinderShapeX(btVector3(height,radius,radius)); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btCollisionShape* btCollisionWorldImporter::createCylinderShapeY(btScalar radius,btScalar height) -{ - btCylinderShape* shape = new btCylinderShape(btVector3(radius,height,radius)); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btCollisionShape* btCollisionWorldImporter::createCylinderShapeZ(btScalar radius,btScalar height) -{ - btCylinderShapeZ* shape = new btCylinderShapeZ(btVector3(radius,radius,height)); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btCollisionShape* btCollisionWorldImporter::createConeShapeX(btScalar radius,btScalar height) -{ - btConeShapeX* shape = new btConeShapeX(radius,height); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btCollisionShape* btCollisionWorldImporter::createConeShapeY(btScalar radius,btScalar height) -{ - btConeShape* shape = new btConeShape(radius,height); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btCollisionShape* btCollisionWorldImporter::createConeShapeZ(btScalar radius,btScalar height) -{ - btConeShapeZ* shape = new btConeShapeZ(radius,height); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btTriangleIndexVertexArray* btCollisionWorldImporter::createTriangleMeshContainer() -{ - btTriangleIndexVertexArray* in = new btTriangleIndexVertexArray(); - m_allocatedTriangleIndexArrays.push_back(in); - return in; -} - -btOptimizedBvh* btCollisionWorldImporter::createOptimizedBvh() -{ - btOptimizedBvh* bvh = new btOptimizedBvh(); - m_allocatedBvhs.push_back(bvh); - return bvh; -} - - -btTriangleInfoMap* btCollisionWorldImporter::createTriangleInfoMap() -{ - btTriangleInfoMap* tim = new btTriangleInfoMap(); - m_allocatedTriangleInfoMaps.push_back(tim); - return tim; -} - -btBvhTriangleMeshShape* btCollisionWorldImporter::createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh) -{ - if (bvh) - { - btBvhTriangleMeshShape* bvhTriMesh = new btBvhTriangleMeshShape(trimesh,bvh->isQuantized(), false); - bvhTriMesh->setOptimizedBvh(bvh); - m_allocatedCollisionShapes.push_back(bvhTriMesh); - return bvhTriMesh; - } - - btBvhTriangleMeshShape* ts = new btBvhTriangleMeshShape(trimesh,true); - m_allocatedCollisionShapes.push_back(ts); - return ts; - -} -btCollisionShape* btCollisionWorldImporter::createConvexTriangleMeshShape(btStridingMeshInterface* trimesh) -{ - return 0; -} -#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT -btGImpactMeshShape* btCollisionWorldImporter::createGimpactShape(btStridingMeshInterface* trimesh) -{ - btGImpactMeshShape* shape = new btGImpactMeshShape(trimesh); - m_allocatedCollisionShapes.push_back(shape); - return shape; - -} -#endif //SUPPORT_GIMPACT_SHAPE_IMPORT - -btConvexHullShape* btCollisionWorldImporter::createConvexHullShape() -{ - btConvexHullShape* shape = new btConvexHullShape(); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btCompoundShape* btCollisionWorldImporter::createCompoundShape() -{ - btCompoundShape* shape = new btCompoundShape(); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - - -btScaledBvhTriangleMeshShape* btCollisionWorldImporter::createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScaling) -{ - btScaledBvhTriangleMeshShape* shape = new btScaledBvhTriangleMeshShape(meshShape,localScaling); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - -btMultiSphereShape* btCollisionWorldImporter::createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres) -{ - btMultiSphereShape* shape = new btMultiSphereShape(positions, radi, numSpheres); - m_allocatedCollisionShapes.push_back(shape); - return shape; -} - - - - // query for data -int btCollisionWorldImporter::getNumCollisionShapes() const -{ - return m_allocatedCollisionShapes.size(); -} - -btCollisionShape* btCollisionWorldImporter::getCollisionShapeByIndex(int index) -{ - return m_allocatedCollisionShapes[index]; -} - -btCollisionShape* btCollisionWorldImporter::getCollisionShapeByName(const char* name) -{ - btCollisionShape** shapePtr = m_nameShapeMap.find(name); - if (shapePtr&& *shapePtr) - { - return *shapePtr; - } - return 0; -} - - -const char* btCollisionWorldImporter::getNameForPointer(const void* ptr) const -{ - const char*const * namePtr = m_objectNameMap.find(ptr); - if (namePtr && *namePtr) - return *namePtr; - return 0; -} - - -int btCollisionWorldImporter::getNumRigidBodies() const -{ - return m_allocatedRigidBodies.size(); -} - -btCollisionObject* btCollisionWorldImporter::getRigidBodyByIndex(int index) const -{ - return m_allocatedRigidBodies[index]; -} - - -int btCollisionWorldImporter::getNumBvhs() const -{ - return m_allocatedBvhs.size(); -} - btOptimizedBvh* btCollisionWorldImporter::getBvhByIndex(int index) const -{ - return m_allocatedBvhs[index]; -} - -int btCollisionWorldImporter::getNumTriangleInfoMaps() const -{ - return m_allocatedTriangleInfoMaps.size(); -} - -btTriangleInfoMap* btCollisionWorldImporter::getTriangleInfoMapByIndex(int index) const -{ - return m_allocatedTriangleInfoMaps[index]; -} - - |