212 lines
9.6 KiB
C
212 lines
9.6 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_WORLD_IMPORTER_H
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#define BT_WORLD_IMPORTER_H
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#include "LinearMath/btTransform.h"
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "LinearMath/btHashMap.h"
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class btCollisionShape;
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class btCollisionObject;
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class btRigidBody;
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class btTypedConstraint;
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class btDynamicsWorld;
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struct ConstraintInput;
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class btRigidBodyColladaInfo;
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struct btCollisionShapeData;
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class btTriangleIndexVertexArray;
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class btStridingMeshInterface;
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struct btStridingMeshInterfaceData;
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class btGImpactMeshShape;
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class btOptimizedBvh;
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struct btTriangleInfoMap;
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class btBvhTriangleMeshShape;
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class btPoint2PointConstraint;
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class btHingeConstraint;
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class btConeTwistConstraint;
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class btGeneric6DofConstraint;
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class btGeneric6DofSpringConstraint;
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class btSliderConstraint;
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class btGearConstraint;
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struct btContactSolverInfo;
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struct btTypedConstraintData;
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struct btTypedConstraintFloatData;
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struct btTypedConstraintDoubleData;
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struct btRigidBodyDoubleData;
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struct btRigidBodyFloatData;
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#ifdef BT_USE_DOUBLE_PRECISION
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#define btRigidBodyData btRigidBodyDoubleData
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#else
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#define btRigidBodyData btRigidBodyFloatData
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#endif//BT_USE_DOUBLE_PRECISION
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class btWorldImporter
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{
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protected:
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btDynamicsWorld* m_dynamicsWorld;
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int m_verboseMode;
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btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
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btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
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btAlignedObjectArray<btTypedConstraint*> m_allocatedConstraints;
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btAlignedObjectArray<btOptimizedBvh*> m_allocatedBvhs;
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btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
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btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
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btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;
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btAlignedObjectArray<char*> m_allocatedNames;
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btAlignedObjectArray<int*> m_indexArrays;
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btAlignedObjectArray<short int*> m_shortIndexArrays;
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btAlignedObjectArray<unsigned char*> m_charIndexArrays;
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btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
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btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
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btHashMap<btHashPtr,btOptimizedBvh*> m_bvhMap;
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btHashMap<btHashPtr,btTriangleInfoMap*> m_timMap;
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btHashMap<btHashString,btCollisionShape*> m_nameShapeMap;
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btHashMap<btHashString,btRigidBody*> m_nameBodyMap;
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btHashMap<btHashString,btTypedConstraint*> m_nameConstraintMap;
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btHashMap<btHashPtr,const char*> m_objectNameMap;
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btHashMap<btHashPtr,btCollisionShape*> m_shapeMap;
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btHashMap<btHashPtr,btCollisionObject*> m_bodyMap;
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//methods
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static btRigidBody& getFixedBody();
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char* duplicateName(const char* name);
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btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
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void convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
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void convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
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void convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
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void convertRigidBodyFloat(btRigidBodyFloatData* colObjData);
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void convertRigidBodyDouble( btRigidBodyDoubleData* colObjData);
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public:
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btWorldImporter(btDynamicsWorld* world);
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virtual ~btWorldImporter();
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///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
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///make sure you don't use the dynamics world containing objects after you call this method
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virtual void deleteAllData();
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void setVerboseMode(int verboseMode)
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{
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m_verboseMode = verboseMode;
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}
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int getVerboseMode() const
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{
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return m_verboseMode;
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}
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// query for data
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int getNumCollisionShapes() const;
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btCollisionShape* getCollisionShapeByIndex(int index);
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int getNumRigidBodies() const;
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btCollisionObject* getRigidBodyByIndex(int index) const;
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int getNumConstraints() const;
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btTypedConstraint* getConstraintByIndex(int index) const;
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int getNumBvhs() const;
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btOptimizedBvh* getBvhByIndex(int index) const;
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int getNumTriangleInfoMaps() const;
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btTriangleInfoMap* getTriangleInfoMapByIndex(int index) const;
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// queris involving named objects
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btCollisionShape* getCollisionShapeByName(const char* name);
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btRigidBody* getRigidBodyByName(const char* name);
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btTypedConstraint* getConstraintByName(const char* name);
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const char* getNameForPointer(const void* ptr) const;
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///those virtuals are called by load and can be overridden by the user
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virtual void setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo);
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//bodies
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virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
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virtual btCollisionObject* createCollisionObject( const btTransform& startTransform, btCollisionShape* shape,const char* bodyName);
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///shapes
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virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
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virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
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virtual btCollisionShape* createSphereShape(btScalar radius);
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virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
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virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
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virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
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virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
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virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
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virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
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virtual btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
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virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
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virtual btCollisionShape* createConeShapeZ(btScalar radius,btScalar height);
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virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
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virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
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virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
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virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
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virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
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virtual class btConvexHullShape* createConvexHullShape();
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virtual class btCompoundShape* createCompoundShape();
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virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);
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virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);
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virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
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///acceleration and connectivity structures
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virtual btOptimizedBvh* createOptimizedBvh();
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virtual btTriangleInfoMap* createTriangleInfoMap();
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///constraints
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virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
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virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
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virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA=false);
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virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA=false);
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virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
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virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
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virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
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virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
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virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
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virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio);
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};
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#endif //BT_WORLD_IMPORTER_H
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