improved COLLADA physics support, with respect to instancing.

Can read Ageia 'CreateDynamics' exported files again.
See http://codesuppository.blogspot.com/

Demos/ColladaDemo/ColladaConverter.h

@@ -0,0 +1,90 @@
+/*
+Bullet Continuous Collision Detection and Physics Library
+Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
+
+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.
+*/
+
+
+
+#ifndef COLLADA_CONVERTER_H
+#define COLLADA_CONVERTER_H
+
+#include "SimdTransform.h"
+#include "SimdVector3.h"
+
+class CollisionShape;
+class PHY_IPhysicsController;
+class CcdPhysicsController;
+class ConstraintInput;
+
+//use some reasonable number here
+#define COLLADA_CONVERTER_MAX_NUM_OBJECTS 32768
+
+//namespace..
+
+///ColladaConverter helps converting the physics assets from COLLADA DOM into physics objects
+class ColladaConverter
+{
+
+protected:
+
+	class DAE* m_collada;
+	class domCOLLADA* m_dom;
+	const char* m_filename;
+	
+	int	m_numObjects;
+	CcdPhysicsController* m_physObjects[COLLADA_CONVERTER_MAX_NUM_OBJECTS];
+	
+	void	PreparePhysicsObject(struct RigidBodyInput& input, bool isDynamics, float mass,CollisionShape* colShape);
+	
+	void	PrepareConstraints(ConstraintInput& input);
+
+	void	ConvertRigidBodyRef( struct RigidBodyInput& , struct RigidBodyOutput& output );
+
+
+public:
+	
+	ColladaConverter();
+
+	///open a COLLADA .dae file
+	bool	load(const char* filename);
+	
+	///save a snapshot in COLLADA physics .dae format.
+	///if the filename is left empty, modify the filename used during loading
+	bool	saveAs(const char* filename = 0);
+
+	///convert a Collada DOM document and call the 2 virtual methods for each rigid body/constraint
+	bool convert();
+
+	///those 2 virtuals are called for each constraint/physics object
+	virtual int			createUniversalD6Constraint(
+		class PHY_IPhysicsController* ctrlRef,class PHY_IPhysicsController* ctrlOther,
+			SimdTransform& localAttachmentFrameRef,
+			SimdTransform& localAttachmentOther,
+			const SimdVector3& linearMinLimits,
+			const SimdVector3& linearMaxLimits,
+			const SimdVector3& angularMinLimits,
+			const SimdVector3& angularMaxLimits
+			) = 0;
+
+	virtual CcdPhysicsController*  CreatePhysicsObject(bool isDynamic, 
+		float mass, 
+		const SimdTransform& startTransform,
+		CollisionShape* shape) = 0;
+
+	virtual	void	SetGravity(const SimdVector3& gravity) = 0;
+	
+	virtual	void	SetCameraInfo(const SimdVector3& up, int forwardAxis) = 0;
+
+};
+
+#endif //COLLADA_CONVERTER_H