1148 lines
33 KiB
C++
1148 lines
33 KiB
C++
/*
|
|
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];
|
|
}
|
|
|
|
|