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Diffstat (limited to 'thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp | 1147 |
1 files changed, 1147 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp new file mode 100644 index 0000000000..f2b0837808 --- /dev/null +++ b/thirdparty/bullet/BulletCollision/CollisionDispatch/btCollisionWorldImporter.cpp @@ -0,0 +1,1147 @@ +/* +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]; +} + + |