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COLLADA-DOM support for box, sphere, cylinder, mass, isdynamic and start transform

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This commit is contained in:
ejcoumans 2006-06-09 22:34:17 +00:00
parent 60df0e79c5
commit 87b6f7ae37
1 changed files with 174 additions and 5 deletions
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179
Demos/ColladaDemo/ColladaDemo.cpp
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@ -47,7 +47,7 @@ extern int gForwardAxis;
#include "GLDebugDrawer.h"
//either FCollada or COLLADA_DOM
#define USE_FCOLLADA 1
//#define USE_FCOLLADA 1
#ifdef USE_FCOLLADA
//Collada Physics test
@ -120,6 +120,8 @@ int numObjects = 0;
const int maxNumObjects = 450;
SimdTransform startTransforms[maxNumObjects];
DefaultMotionState ms[maxNumObjects];
CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
@ -138,6 +140,8 @@ CollisionShape* gShapePtr[maxNumObjects];//1 rigidbody has 1 shape (no re-use of
void CreatePhysicsObject(bool isDynamic, float mass, const SimdTransform& startTransform,CollisionShape* shape)
{
startTransforms[numObjects] = startTransform;
PHY_ShapeProps shapeProps;
shapeProps.m_do_anisotropic = false;
@ -901,15 +905,17 @@ int main(int argc,char** argv)
printf(" X is Up Data and Hiearchies must be converted!\n" );
printf(" Conversion to X axis Up isn't currently supported!\n" );
printf(" COLLADA_RT defaulting to Y Up \n" );
physicsEnvironmentPtr->setGravity(-10,0,0);
break;
case UPAXISTYPE_Y_UP:
printf(" Y Axis is Up for this file \n" );
printf(" COLLADA_RT set to Y Up \n" );
physicsEnvironmentPtr->setGravity(0,-10,0);
break;
case UPAXISTYPE_Z_UP:
printf(" Z Axis is Up for this file \n" );
printf(" All Geometry and Hiearchies must be converted!\n" );
physicsEnvironmentPtr->setGravity(0,0,-10);
break;
default:
@ -919,6 +925,8 @@ int main(int argc,char** argv)
// Load all the geometry libraries
for ( int i = 0; i < dom->getLibrary_geometries_array().getCount(); i++)
{
@ -979,21 +987,171 @@ int main(int argc,char** argv)
for (int m=0;m<physicsSceneRef->getInstance_physics_model_array().getCount();m++)
{
domInstance_physics_modelRef modelRef = physicsSceneRef->getInstance_physics_model_array()[m];
//domPhysics_modelRef mr =;
daeElementRef ref = modelRef->getUrl().getElement();
domPhysics_modelRef model = *(domPhysics_modelRef*)&ref;
float mass = 1.f;
bool isDynamics = true;
CollisionShape* colShape = 0;
SimdTransform startTransform;
startTransform.setIdentity();
SimdVector3 startScale(1.f,1.f,1.f);
//find transform of the node that this rigidbody maps to
for (int s=0;s<dom->getLibrary_visual_scenes_array().getCount();s++)
{
//for the transforms?
domLibrary_visual_scenesRef scenesRef = dom->getLibrary_visual_scenes_array()[s];
for (int i=0;i<scenesRef->getVisual_scene_array().getCount();i++)
{
domVisual_sceneRef sceneRef = scenesRef->getVisual_scene_array()[i];
for (int n=0;n<sceneRef->getNode_array().getCount();n++)
{
domNodeRef nodeRef = sceneRef->getNode_array()[n];
nodeRef->getRotate_array();
nodeRef->getTranslate_array();
nodeRef->getScale_array();
}
}
}
{
for (int r=0;r<model->getRigid_body_array().getCount();r++)
{
domRigid_bodyRef physicsModel = model->getRigid_body_array()[r];
const domRigid_body::domTechnique_commonRef techniqueRef = physicsModel->getTechnique_common();
if (techniqueRef)
{
mass = techniqueRef->getMass()->getValue();
isDynamics = techniqueRef->getDynamic()->getValue();
//shapes
for (int s=0;s<techniqueRef->getShape_array().getCount();s++)
{
domRigid_body::domTechnique_common::domShapeRef shapeRef = techniqueRef->getShape_array()[s];
if (shapeRef->getBox())
{
domBoxRef boxRef = shapeRef->getBox();
domBox::domHalf_extentsRef domHalfExtentsRef = boxRef->getHalf_extents();
domFloat3& halfExtents = domHalfExtentsRef->getValue();
float x = halfExtents.get(0);
float y = halfExtents.get(1);
float z = halfExtents.get(2);
colShape = new BoxShape(SimdVector3(x,y,z));
}
if (shapeRef->getSphere())
{
domSphereRef sphereRef = shapeRef->getSphere();
domSphere::domRadiusRef radiusRef = sphereRef->getRadius();
domFloat radius = radiusRef->getValue();
colShape = new SphereShape(radius);
}
if (shapeRef->getCylinder())
{
domCylinderRef cylinderRef = shapeRef->getCylinder();
domFloat height = cylinderRef->getHeight()->getValue();
domFloat2 radius2 = cylinderRef->getRadius()->getValue();
domFloat radius0 = radius2.get(0);
//Cylinder around the local Y axis
colShape = new CylinderShape(SimdVector3(radius0,height,radius0));
}
}
}
}
}
for (int r=0;r<modelRef->getInstance_rigid_body_array().getCount();r++)
{
domInstance_rigid_bodyRef rigidbodyRef = modelRef->getInstance_rigid_body_array()[r];
domInstance_rigid_body::domTechnique_commonRef techniqueRef = rigidbodyRef->getTechnique_common();
daeElementRef elem = rigidbodyRef->getTarget().getElement();
if (elem)
{
domNodeRef node = *(domNodeRef*)&elem;
int i;
for (i=0;i<node->getRotate_array().getCount();i++)
{
domRotateRef rotateRef = node->getRotate_array()[i];
domFloat4 fl4 = rotateRef->getValue();
float angleRad = SIMD_RADS_PER_DEG*fl4.get(3);
SimdQuaternion rotQuat(SimdVector3(fl4.get(0),fl4.get(1),fl4.get(2)),angleRad);
startTransform.getBasis() = startTransform.getBasis() * SimdMatrix3x3(rotQuat);
}
for (i=0;i<node->getTranslate_array().getCount();i++)
{
domTranslateRef translateRef = node->getTranslate_array()[i];
domFloat3 fl3 = translateRef->getValue();
startTransform.getOrigin() += SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
for (i=0;i<node->getScale_array().getCount();i++)
{
domScaleRef scaleRef = node->getScale_array()[i];
domFloat3 fl3 = scaleRef->getValue();
startScale = SimdVector3(fl3.get(0),fl3.get(1),fl3.get(2));
}
}
if (techniqueRef)
{
float mass = techniqueRef->getMass()->getValue();
bool isDynamics = techniqueRef->getDynamic()->getValue();
printf("mass = %f, isDynamics %i\n",mass,isDynamics);
mass = techniqueRef->getMass()->getValue();
isDynamics = techniqueRef->getDynamic()->getValue();
}
}
printf("mass = %f, isDynamics %i\n",mass,isDynamics);
if (colShape)
{
CreatePhysicsObject(isDynamics,mass,startTransform,colShape);
}
//we don't handle constraints just yet
for (int c=0;c<modelRef->getInstance_rigid_constraint_array().getCount();i++)
{
@ -1302,6 +1460,17 @@ void clientDisplay(void) {
void clientResetScene()
{
for (int i=0;i<numObjects;i++)
{
ms[i].m_worldTransform = startTransforms[i];
physObjects[i]->setPosition(startTransforms[i].getOrigin().getX(),startTransforms[i].getOrigin().getY(),startTransforms[i].getOrigin().getZ());
physObjects[i]->SetLinearVelocity(0,0,0,0);
physObjects[i]->SetAngularVelocity(0,0,0,0);
SimdQuaternion orn;
startTransforms[i].getBasis().getRotation(orn);
physObjects[i]->setOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
}
//delete and reload, or keep transforms ready?
}