#include "btBulletWorldImporter.h"
#include "btBulletFile.h"
#include "btBulletDynamicsCommon.h"
#include "btGImpactShape.h"
//#define USE_INTERNAL_EDGE_UTILITY
#ifdef USE_INTERNAL_EDGE_UTILITY
#include "btInternalEdgeUtility.h"
#endif //USE_INTERNAL_EDGE_UTILITY
btBulletWorldImporter::btBulletWorldImporter(btDynamicsWorld* world)
:m_dynamicsWorld(world),
m_verboseDumpAllTypes(false)
{
}
btBulletWorldImporter::~btBulletWorldImporter()
{
}
void btBulletWorldImporter::deleteAllData()
{
int i;
for (i=0;i<m_allocatedConstraints.size();i++)
{
if(m_dynamicsWorld)
m_dynamicsWorld->removeConstraint(m_allocatedConstraints[i]);
delete m_allocatedConstraints[i];
}
m_allocatedConstraints.clear();
for (i=0;i<m_allocatedRigidBodies.size();i++)
{
if(m_dynamicsWorld)
m_dynamicsWorld->removeRigidBody(btRigidBody::upcast(m_allocatedRigidBodies[i]));
delete m_allocatedRigidBodies[i];
}
m_allocatedRigidBodies.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;
}
delete [] curData->m_meshPartsPtr;
delete curData;
}
m_allocatedbtStridingMeshInterfaceDatas.clear();
for (i=0;i<m_indexArrays.size();i++)
{
btAlignedFree(m_indexArrays[i]);
}
for (i=0;i<m_shortIndexArrays.size();i++)
{
btAlignedFree(m_shortIndexArrays[i]);
}
for (i=0;i<m_floatVertexArrays.size();i++)
{
btAlignedFree(m_floatVertexArrays[i]);
}
for (i=0;i<m_doubleVertexArrays.size();i++)
{
btAlignedFree(m_doubleVertexArrays[i]);
}
}
bool btBulletWorldImporter::loadFile( const char* fileName)
{
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
bool result = loadFileFromMemory(bulletFile2);
delete bulletFile2;
return result;
}
bool btBulletWorldImporter::loadFileFromMemory( char* memoryBuffer, int len)
{
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(memoryBuffer,len);
bool result = loadFileFromMemory(bulletFile2);
delete bulletFile2;
return result;
}
btTriangleIndexVertexArray* btBulletWorldImporter::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
{
meshPart.m_indexType = PHY_SHORT;
if (meshData.m_meshPartsPtr[i].m_3indices16)
{
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_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_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* btBulletWorldImporter::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;
if(curPart->m_indices32)
{
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)
{
curNewPart->m_3indices16 = new btShortIntIndexTripletData[numIndices];
memcpy(curNewPart->m_3indices16,curPart->m_3indices16,sizeof(btShortIntIndexTripletData) * numIndices);
}
else
curNewPart->m_3indices16 = NULL;
if(curPart->m_indices16)
{
curNewPart->m_indices16 = new btShortIntIndexData[numIndices];
memcpy(curNewPart->m_indices16,curPart->m_indices16,sizeof(btShortIntIndexData) * numIndices);
}
else
curNewPart->m_indices16 = 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
btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShapeData* shapeData )
{
btCollisionShape* shape = 0;
switch (shapeData->m_shapeType)
{
case STATIC_PLANE_PROXYTYPE:
{
btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)shapeData;
btVector3 planeNormal,localScaling;
planeNormal.deSerializeFloat(planeData->m_planeNormal);
localScaling.deSerializeFloat(planeData->m_localScaling);
shape = createPlaneShape(planeNormal,planeData->m_planeConstant);
shape->setLocalScaling(localScaling);
break;
}
case 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;
}
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;
}
case CYLINDER_SHAPE_PROXYTYPE:
case CAPSULE_SHAPE_PROXYTYPE:
case BOX_SHAPE_PROXYTYPE:
case SPHERE_SHAPE_PROXYTYPE:
case MULTI_SPHERE_SHAPE_PROXYTYPE:
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
btVector3 implicitShapeDimensions;
implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
btVector3 localScaling;
localScaling.deSerializeFloat(bsd->m_localScaling);
btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
switch (shapeData->m_shapeType)
{
case BOX_SHAPE_PROXYTYPE:
{
shape = createBoxShape(implicitShapeDimensions/localScaling+margin);
break;
}
case SPHERE_SHAPE_PROXYTYPE:
{
shape = createSphereShape(implicitShapeDimensions.getX());
break;
}
case CAPSULE_SHAPE_PROXYTYPE:
{
btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
switch (capData->m_upAxis)
{
case 0:
{
shape = createCapsuleShapeX(implicitShapeDimensions.getY(),2*implicitShapeDimensions.getX());
break;
}
case 1:
{
shape = createCapsuleShapeY(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getY());
break;
}
case 2:
{
shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getZ());
break;
}
default:
{
printf("error: wrong up axis for btCapsuleShape\n");
}
};
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
btVector3 halfExtents = implicitShapeDimensions+margin;
switch (cylData->m_upAxis)
{
case 0:
{
shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
break;
}
case 1:
{
shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
break;
}
case 2:
{
shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
break;
}
default:
{
printf("unknown Cylinder up axis\n");
}
};
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
{
btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
int numSpheres = mss->m_localPositionArraySize;
btAlignedObjectArray<btVector3> tmpPos;
btAlignedObjectArray<btScalar> radii;
radii.resize(numSpheres);
tmpPos.resize(numSpheres);
int i;
for ( i=0;i<numSpheres;i++)
{
tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
}
shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
break;
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
// int sz = sizeof(btConvexHullShapeData);
// int sz2 = sizeof(btConvexInternalShapeData);
// int sz3 = sizeof(btCollisionShapeData);
btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
int numPoints = convexData->m_numUnscaledPoints;
btAlignedObjectArray<btVector3> tmpPoints;
tmpPoints.resize(numPoints);
int i;
for ( i=0;i<numPoints;i++)
{
#ifdef BT_USE_DOUBLE_PRECISION
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
if (convexData->m_unscaledPointsFloatPtr)
tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
#else
if (convexData->m_unscaledPointsFloatPtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
#endif //BT_USE_DOUBLE_PRECISION
}
btConvexHullShape* hullShape = createConvexHullShape();
for (i=0;i<numPoints;i++)
{
hullShape->addPoint(tmpPoints[i]);
}
shape = hullShape;
break;
}
default:
{
printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
}
}
if (shape)
{
shape->setMargin(bsd->m_collisionMargin);
btVector3 localScaling;
localScaling.deSerializeFloat(bsd->m_localScaling);
shape->setLocalScaling(localScaling);
}
break;
}
case TRIANGLE_MESH_SHAPE_PROXYTYPE:
{
btTriangleMeshShapeData* trimesh = (btTriangleMeshShapeData*)shapeData;
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 0
if (trimesh->m_quantizedFloatBvh)
{
btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedFloatBvh);
if (bvhPtr && *bvhPtr)
{
bvh = *bvhPtr;
} else
{
bvh = createOptimizedBvh();
bvh->deSerializeFloat(*trimesh->m_quantizedFloatBvh);
}
}
if (trimesh->m_quantizedDoubleBvh)
{
btOptimizedBvh** bvhPtr = m_bvhMap.find(trimesh->m_quantizedDoubleBvh);
if (bvhPtr && *bvhPtr)
{
bvh = *bvhPtr;
} else
{
bvh = createOptimizedBvh();
bvh->deSerializeDouble(*trimesh->m_quantizedDoubleBvh);
}
}
#endif
btBvhTriangleMeshShape* trimeshShape = createBvhTriangleMeshShape(meshInterface,bvh);
trimeshShape->setMargin(trimesh->m_collisionMargin);
shape = trimeshShape;
if (trimesh->m_triangleInfoMap)
{
btTriangleInfoMap* map = createTriangleInfoMap();
map->deSerialize(*trimesh->m_triangleInfoMap);
trimeshShape->setTriangleInfoMap(map);
#ifdef USE_INTERNAL_EDGE_UTILITY
gContactAddedCallback = btAdjustInternalEdgeContactsCallback;
#endif //USE_INTERNAL_EDGE_UTILITY
}
//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
break;
}
case COMPOUND_SHAPE_PROXYTYPE:
{
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
btCompoundShape* compoundShape = createCompoundShape();
btAlignedObjectArray<btCollisionShape*> childShapes;
for (int i=0;i<compoundData->m_numChildShapes;i++)
{
btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
if (childShape)
{
btTransform localTransform;
localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
compoundShape->addChildShape(localTransform,childShape);
} else
{
printf("error: couldn't create childShape for compoundShape\n");
}
}
shape = compoundShape;
break;
}
case SOFTBODY_SHAPE_PROXYTYPE:
{
return 0;
}
default:
{
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
}
}
return shape;
}
char* btBulletWorldImporter::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;
}
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());
}
return convertAllObjects(bulletFile2);
}
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 (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 = m_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
m_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 = m_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
m_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 = m_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
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;
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++)
{
btTypedConstraintData* constraintData = (btTypedConstraintData*)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;
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_SPRING_CONSTRAINT_TYPE:
{
btGeneric6DofSpringConstraintData* dofData = (btGeneric6DofSpringConstraintData*)constraintData;
btGeneric6DofSpringConstraint* dof = 0;
if (rbA && rbB)
{
btTransform rbAFrame,rbBFrame;
rbAFrame.deSerializeFloat(dofData->m_6dofData.m_rbAFrame);
rbBFrame.deSerializeFloat(dofData->m_6dofData.m_rbBFrame);
dof = createGeneric6DofSpringConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_6dofData.m_useLinearReferenceFrameA!=0);
} else
{
printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n");
}
if (dof)
{
btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit;
angLowerLimit.deSerializeFloat(dofData->m_6dofData.m_angularLowerLimit);
angUpperLimit.deSerializeFloat(dofData->m_6dofData.m_angularUpperLimit);
linLowerLimit.deSerializeFloat(dofData->m_6dofData.m_linearLowerLimit);
linUpperlimit.deSerializeFloat(dofData->m_6dofData.m_linearUpperLimit);
dof->setAngularLowerLimit(angLowerLimit);
dof->setAngularUpperLimit(angUpperLimit);
dof->setLinearLowerLimit(linLowerLimit);
dof->setLinearUpperLimit(linUpperlimit);
int i;
for (i=0;i<6;i++)
{
dof->setStiffness(i,dofData->m_springStiffness[i]);
dof->setEquilibriumPoint(i,dofData->m_equilibriumPoint[i]);
dof->enableSpring(i,dofData->m_springEnabled[i]!=0);
dof->setDamping(i,dofData->m_springDamping[i]);
}
}
constraint = dof;
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;
}
btCollisionObject* btBulletWorldImporter::createCollisionObject(const btTransform& startTransform,btCollisionShape* shape, const char* bodyName)
{
return createRigidBody(false,0,startTransform,shape,bodyName);
}
btRigidBody* btBulletWorldImporter::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;
}
btCollisionShape* btBulletWorldImporter::createPlaneShape(const btVector3& planeNormal,btScalar planeConstant)
{
btStaticPlaneShape* shape = new btStaticPlaneShape(planeNormal,planeConstant);
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCollisionShape* btBulletWorldImporter::createBoxShape(const btVector3& halfExtents)
{
btBoxShape* shape = new btBoxShape(halfExtents);
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCollisionShape* btBulletWorldImporter::createSphereShape(btScalar radius)
{
btSphereShape* shape = new btSphereShape(radius);
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCollisionShape* btBulletWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height)
{
btCapsuleShapeX* shape = new btCapsuleShapeX(radius,height);
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCollisionShape* btBulletWorldImporter::createCapsuleShapeY(btScalar radius, btScalar height)
{
btCapsuleShape* shape = new btCapsuleShape(radius,height);
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCollisionShape* btBulletWorldImporter::createCapsuleShapeZ(btScalar radius, btScalar height)
{
btCapsuleShapeZ* shape = new btCapsuleShapeZ(radius,height);
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCollisionShape* btBulletWorldImporter::createCylinderShapeX(btScalar radius,btScalar height)
{
btCylinderShapeX* shape = new btCylinderShapeX(btVector3(height,radius,radius));
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCollisionShape* btBulletWorldImporter::createCylinderShapeY(btScalar radius,btScalar height)
{
btCylinderShape* shape = new btCylinderShape(btVector3(radius,height,radius));
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCollisionShape* btBulletWorldImporter::createCylinderShapeZ(btScalar radius,btScalar height)
{
btCylinderShapeZ* shape = new btCylinderShapeZ(btVector3(radius,radius,height));
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btTriangleIndexVertexArray* btBulletWorldImporter::createTriangleMeshContainer()
{
btTriangleIndexVertexArray* in = new btTriangleIndexVertexArray();
m_allocatedTriangleIndexArrays.push_back(in);
return in;
}
btOptimizedBvh* btBulletWorldImporter::createOptimizedBvh()
{
btOptimizedBvh* bvh = new btOptimizedBvh();
m_allocatedBvhs.push_back(bvh);
return bvh;
}
btTriangleInfoMap* btBulletWorldImporter::createTriangleInfoMap()
{
btTriangleInfoMap* tim = new btTriangleInfoMap();
m_allocatedTriangleInfoMaps.push_back(tim);
return tim;
}
btBvhTriangleMeshShape* btBulletWorldImporter::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* btBulletWorldImporter::createConvexTriangleMeshShape(btStridingMeshInterface* trimesh)
{
return 0;
}
btGImpactMeshShape* btBulletWorldImporter::createGimpactShape(btStridingMeshInterface* trimesh)
{
btGImpactMeshShape* shape = new btGImpactMeshShape(trimesh);
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btConvexHullShape* btBulletWorldImporter::createConvexHullShape()
{
btConvexHullShape* shape = new btConvexHullShape();
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btCompoundShape* btBulletWorldImporter::createCompoundShape()
{
btCompoundShape* shape = new btCompoundShape();
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btScaledBvhTriangleMeshShape* btBulletWorldImporter::createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScaling)
{
btScaledBvhTriangleMeshShape* shape = new btScaledBvhTriangleMeshShape(meshShape,localScaling);
m_allocatedCollisionShapes.push_back(shape);
return shape;
}
btRigidBody& btBulletWorldImporter::getFixedBody()
{
static btRigidBody s_fixed(0, 0,0);
s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
return s_fixed;
}
btPoint2PointConstraint* btBulletWorldImporter::createPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB)
{
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(rbA,rbB,pivotInA,pivotInB);
m_allocatedConstraints.push_back(p2p);
return p2p;
}
btPoint2PointConstraint* btBulletWorldImporter::createPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA)
{
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(rbA,pivotInA);
m_allocatedConstraints.push_back(p2p);
return p2p;
}
btHingeConstraint* btBulletWorldImporter::createHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA)
{
btHingeConstraint* hinge = new btHingeConstraint(rbA,rbB,rbAFrame,rbBFrame,useReferenceFrameA);
m_allocatedConstraints.push_back(hinge);
return hinge;
}
btHingeConstraint* btBulletWorldImporter::createHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA)
{
btHingeConstraint* hinge = new btHingeConstraint(rbA,rbAFrame,useReferenceFrameA);
m_allocatedConstraints.push_back(hinge);
return hinge;
}
btConeTwistConstraint* btBulletWorldImporter::createConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame)
{
btConeTwistConstraint* cone = new btConeTwistConstraint(rbA,rbB,rbAFrame,rbBFrame);
m_allocatedConstraints.push_back(cone);
return cone;
}
btConeTwistConstraint* btBulletWorldImporter::createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame)
{
btConeTwistConstraint* cone = new btConeTwistConstraint(rbA,rbAFrame);
m_allocatedConstraints.push_back(cone);
return cone;
}
btGeneric6DofConstraint* btBulletWorldImporter::createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
{
btGeneric6DofConstraint* dof = new btGeneric6DofConstraint(rbA,rbB,frameInA,frameInB,useLinearReferenceFrameA);
m_allocatedConstraints.push_back(dof);
return dof;
}
btGeneric6DofConstraint* btBulletWorldImporter::createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB)
{
btGeneric6DofConstraint* dof = new btGeneric6DofConstraint(rbB,frameInB,useLinearReferenceFrameB);
m_allocatedConstraints.push_back(dof);
return dof;
}
btGeneric6DofSpringConstraint* btBulletWorldImporter::createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
{
btGeneric6DofSpringConstraint* dof = new btGeneric6DofSpringConstraint(rbA,rbB,frameInA,frameInB,useLinearReferenceFrameA);
m_allocatedConstraints.push_back(dof);
return dof;
}
btSliderConstraint* btBulletWorldImporter::createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
{
btSliderConstraint* slider = new btSliderConstraint(rbA,rbB,frameInA,frameInB,useLinearReferenceFrameA);
m_allocatedConstraints.push_back(slider);
return slider;
}
btSliderConstraint* btBulletWorldImporter::createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA)
{
btSliderConstraint* slider = new btSliderConstraint(rbB,frameInB,useLinearReferenceFrameA);
m_allocatedConstraints.push_back(slider);
return slider;
}
// query for data
int btBulletWorldImporter::getNumCollisionShapes() const
{
return m_allocatedCollisionShapes.size();
}
btCollisionShape* btBulletWorldImporter::getCollisionShapeByIndex(int index)
{
return m_allocatedCollisionShapes[index];
}
btCollisionShape* btBulletWorldImporter::getCollisionShapeByName(const char* name)
{
btCollisionShape** shapePtr = m_nameShapeMap.find(name);
if (shapePtr&& *shapePtr)
{
return *shapePtr;
}
return 0;
}
btRigidBody* btBulletWorldImporter::getRigidBodyByName(const char* name)
{
btRigidBody** bodyPtr = m_nameBodyMap.find(name);
if (bodyPtr && *bodyPtr)
{
return *bodyPtr;
}
return 0;
}
btTypedConstraint* btBulletWorldImporter::getConstraintByName(const char* name)
{
btTypedConstraint** constraintPtr = m_nameConstraintMap.find(name);
if (constraintPtr && *constraintPtr)
{
return *constraintPtr;
}
return 0;
}
const char* btBulletWorldImporter::getNameForPointer(const void* ptr) const
{
const char*const * namePtr = m_objectNameMap.find(ptr);
if (namePtr && *namePtr)
return *namePtr;
return 0;
}
int btBulletWorldImporter::getNumRigidBodies() const
{
return m_allocatedRigidBodies.size();
}
btCollisionObject* btBulletWorldImporter::getRigidBodyByIndex(int index) const
{
return m_allocatedRigidBodies[index];
}
int btBulletWorldImporter::getNumConstraints() const
{
return m_allocatedConstraints.size();
}
btTypedConstraint* btBulletWorldImporter::getConstraintByIndex(int index) const
{
return m_allocatedConstraints[index];
}
int btBulletWorldImporter::getNumBvhs() const
{
return m_allocatedBvhs.size();
}
btOptimizedBvh* btBulletWorldImporter::getBvhByIndex(int index) const
{
return m_allocatedBvhs[index];
}
int btBulletWorldImporter::getNumTriangleInfoMaps() const
{
return m_allocatedTriangleInfoMaps.size();
}
btTriangleInfoMap* btBulletWorldImporter::getTriangleInfoMapByIndex(int index) const
{
return m_allocatedTriangleInfoMaps[index];
}
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