190 lines
6.6 KiB
C++
190 lines
6.6 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2014 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_COLLISION_WORLD_IMPORTER_H
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#define BT_COLLISION_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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struct btBulletSerializedArrays;
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struct ConstraintInput;
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class btCollisionWorld;
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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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class btCollisionWorldImporter
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{
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protected:
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btCollisionWorld* m_collisionWorld;
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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<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<btCollisionObject*> m_allocatedCollisionObjects;
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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,btCollisionObject*> m_nameColObjMap;
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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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char* duplicateName(const char* name);
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btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
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public:
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btCollisionWorldImporter(btCollisionWorld* world);
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virtual ~btCollisionWorldImporter();
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bool convertAllObjects( btBulletSerializedArrays* arrays);
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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 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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btCollisionObject* getCollisionObjectByName(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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//bodies
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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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#ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
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virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
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#endif //SUPPORT_GIMPACT_SHAPE_IMPORT
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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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};
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#endif //BT_WORLD_IMPORTER_H
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