Bullet Collision Detection & Physics Library
btWorldImporter.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_WORLD_IMPORTER_H
17 #define BT_WORLD_IMPORTER_H
18 
19 #include "LinearMath/btTransform.h"
20 #include "LinearMath/btVector3.h"
22 #include "LinearMath/btHashMap.h"
23 
24 class btCollisionShape;
25 class btCollisionObject;
26 class btRigidBody;
27 class btTypedConstraint;
28 class btDynamicsWorld;
29 struct ConstraintInput;
30 class btRigidBodyColladaInfo;
35 class btGImpactMeshShape;
36 class btOptimizedBvh;
37 struct btTriangleInfoMap;
40 class btHingeConstraint;
45 class btSliderConstraint;
46 class btGearConstraint;
47 struct btContactSolverInfo;
51 
54 
55 #ifdef BT_USE_DOUBLE_PRECISION
56 #define btRigidBodyData btRigidBodyDoubleData
57 #else
58 #define btRigidBodyData btRigidBodyFloatData
59 #endif //BT_USE_DOUBLE_PRECISION
60 
62 {
63  eRESTORE_EXISTING_OBJECTS = 1, //don't create new objects
64 };
65 
67 {
68 protected:
70 
73 
81 
83 
87 
90 
93 
98 
101 
102  //methods
103 
104  static btRigidBody& getFixedBody();
105 
106  char* duplicateName(const char* name);
107 
109 
110  void convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
111  void convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
112  void convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
115 
116 public:
118 
119  virtual ~btWorldImporter();
120 
123  virtual void deleteAllData();
124 
125  void setVerboseMode(int verboseMode)
126  {
127  m_verboseMode = verboseMode;
128  }
129 
130  int getVerboseMode() const
131  {
132  return m_verboseMode;
133  }
134 
135  void setImporterFlags(int importerFlags)
136  {
137  m_importerFlags = importerFlags;
138  }
139 
140  int getImporterFlags() const
141  {
142  return m_importerFlags;
143  }
144 
145  // query for data
146  int getNumCollisionShapes() const;
148  int getNumRigidBodies() const;
149  btCollisionObject* getRigidBodyByIndex(int index) const;
150  int getNumConstraints() const;
151  btTypedConstraint* getConstraintByIndex(int index) const;
152  int getNumBvhs() const;
153  btOptimizedBvh* getBvhByIndex(int index) const;
154  int getNumTriangleInfoMaps() const;
156 
157  // queris involving named objects
158  btCollisionShape* getCollisionShapeByName(const char* name);
159  btRigidBody* getRigidBodyByName(const char* name);
160  btTypedConstraint* getConstraintByName(const char* name);
161  const char* getNameForPointer(const void* ptr) const;
162 
164 
165  virtual void setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo);
166 
167  //bodies
168  virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
169  virtual btCollisionObject* createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
170 
172 
173  virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
174  virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
176  virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
177  virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
178  virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
179 
180  virtual btCollisionShape* createCylinderShapeX(btScalar radius, btScalar height);
181  virtual btCollisionShape* createCylinderShapeY(btScalar radius, btScalar height);
182  virtual btCollisionShape* createCylinderShapeZ(btScalar radius, btScalar height);
183  virtual btCollisionShape* createConeShapeX(btScalar radius, btScalar height);
184  virtual btCollisionShape* createConeShapeY(btScalar radius, btScalar height);
185  virtual btCollisionShape* createConeShapeZ(btScalar radius, btScalar height);
191 
192  virtual class btConvexHullShape* createConvexHullShape();
193  virtual class btCompoundShape* createCompoundShape();
194  virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScalingbtBvhTriangleMeshShape);
195 
196  virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
197 
199 
203 
205  virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB);
207  virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
208  virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false);
209  virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
211  virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
212  virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
213  virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
214  virtual btGeneric6DofSpring2Constraint* createGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, int rotateOrder);
215 
216  virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
217  virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
218  virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio);
219 };
220 
221 #endif //BT_WORLD_IMPORTER_H
virtual btGeneric6DofSpringConstraint * createGeneric6DofSpringConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
btHashMap< btHashString, btCollisionShape * > m_nameShapeMap
virtual btGeneric6DofConstraint * createGeneric6DofConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
void convertConstraintBackwardsCompatible281(btTypedConstraintData *constraintData, btRigidBody *rbA, btRigidBody *rbB, int fileVersion)
btCollisionShape * convertCollisionShape(btCollisionShapeData *shapeData)
btTriangleInfoMap * getTriangleInfoMapByIndex(int index) const
virtual btStridingMeshInterfaceData * createStridingMeshInterfaceData(btStridingMeshInterfaceData *interfaceData)
point to point constraint between two rigidbodies each with a pivotpoint that descibes the &#39;ballsocke...
virtual class btTriangleIndexVertexArray * createTriangleMeshContainer()
void convertRigidBodyDouble(btRigidBodyDoubleData *colObjData)
virtual btBvhTriangleMeshShape * createBvhTriangleMeshShape(btStridingMeshInterface *trimesh, btOptimizedBvh *bvh)
virtual btCollisionShape * createSphereShape(btScalar radius)
virtual btConeTwistConstraint * createConeTwistConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame)
virtual btTriangleInfoMap * createTriangleInfoMap()
void convertRigidBodyFloat(btRigidBodyFloatData *colObjData)
virtual btCollisionShape * createCylinderShapeZ(btScalar radius, btScalar height)
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
btAlignedObjectArray< unsigned char * > m_charIndexArrays
btWorldImporterFlags
btHashMap< btHashString, btRigidBody * > m_nameBodyMap
The btGeatConstraint will couple the angular velocity for two bodies around given local axis and rati...
The btMultiSphereShape represents the convex hull of a collection of spheres.
virtual btRigidBody * createRigidBody(bool isDynamic, btScalar mass, const btTransform &startTransform, btCollisionShape *shape, const char *bodyName)
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
btWorldImporter(btDynamicsWorld *world)
The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
btHashMap< btHashPtr, btCollisionObject * > m_bodyMap
virtual class btConvexHullShape * createConvexHullShape()
int getImporterFlags() const
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
int getNumCollisionShapes() const
btAlignedObjectArray< short int * > m_shortIndexArrays
virtual btCollisionShape * createConvexTriangleMeshShape(btStridingMeshInterface *trimesh)
virtual btCollisionShape * createCapsuleShapeY(btScalar radius, btScalar height)
virtual btCollisionShape * createCylinderShapeX(btScalar radius, btScalar height)
btCollisionShape * getCollisionShapeByName(const char *name)
virtual btCollisionShape * createCylinderShapeY(btScalar radius, btScalar height)
btAlignedObjectArray< btOptimizedBvh * > m_allocatedBvhs
virtual btCollisionShape * createConeShapeX(btScalar radius, btScalar height)
This class manages a mesh supplied by the btStridingMeshInterface interface.
virtual btCollisionShape * createCapsuleShapeZ(btScalar radius, btScalar height)
hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in lo...
The btHashMap template class implements a generic and lightweight hashmap.
Definition: btHashMap.h:219
virtual btCollisionShape * createPlaneShape(const btVector3 &planeNormal, btScalar planeConstant)
shapes
int getVerboseMode() const
btAlignedObjectArray< btTriangleInfoMap * > m_allocatedTriangleInfoMaps
virtual void deleteAllData()
delete all memory collision shapes, rigid bodies, constraints etc.
btTypedConstraint * getConstraintByName(const char *name)
btHashMap< btHashPtr, const char * > m_objectNameMap
int getNumRigidBodies() const
virtual class btCompoundShape * createCompoundShape()
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
btCollisionObject * getRigidBodyByIndex(int index) const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing t...
btAlignedObjectArray< btVector3DoubleData * > m_doubleVertexArrays
btAlignedObjectArray< btStridingMeshInterfaceData * > m_allocatedbtStridingMeshInterfaceDatas
virtual btGImpactMeshShape * createGimpactShape(btStridingMeshInterface *trimesh)
virtual btGearConstraint * createGearConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &axisInA, const btVector3 &axisInB, btScalar ratio)
btOptimizedBvh * getBvhByIndex(int index) const
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btRigidBody.h:569
virtual btCollisionShape * createConeShapeZ(btScalar radius, btScalar height)
virtual btOptimizedBvh * createOptimizedBvh()
acceleration and connectivity structures
btHashMap< btHashPtr, btTriangleInfoMap * > m_timMap
char * duplicateName(const char *name)
btHashMap< btHashString, btTypedConstraint * > m_nameConstraintMap
btCollisionObject can be used to manage collision detection objects.
virtual btCollisionShape * createBoxShape(const btVector3 &halfExtents)
btAlignedObjectArray< btTypedConstraint * > m_allocatedConstraints
virtual class btScaledBvhTriangleMeshShape * createScaledTrangleMeshShape(btBvhTriangleMeshShape *meshShape, const btVector3 &localScalingbtBvhTriangleMeshShape)
virtual btGeneric6DofSpring2Constraint * createGeneric6DofSpring2Constraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, int rotateOrder)
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes, through the btStridingMeshInterface.
virtual btCollisionObject * createCollisionObject(const btTransform &startTransform, btCollisionShape *shape, const char *bodyName)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btRigidBody.h:543
this structure is not used, except for loading pre-2.82 .bullet files
btAlignedObjectArray< int * > m_indexArrays
void convertConstraintFloat(btTypedConstraintFloatData *constraintData, btRigidBody *rbA, btRigidBody *rbB, int fileVersion)
virtual void setDynamicsWorldInfo(const btVector3 &gravity, const btContactSolverInfo &solverInfo)
those virtuals are called by load and can be overridden by the user
virtual btTriangleIndexVertexArray * createMeshInterface(btStridingMeshInterfaceData &meshData)
virtual btCollisionShape * createConeShapeY(btScalar radius, btScalar height)
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
int getNumConstraints() const
virtual btPoint2PointConstraint * createPoint2PointConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
constraints
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc) ...
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
btAlignedObjectArray< char * > m_allocatedNames
btTypedConstraint * getConstraintByIndex(int index) const
TypedConstraint is the baseclass for Bullet constraints and vehicles.
const char * getNameForPointer(const void *ptr) const
static btRigidBody & getFixedBody()
void setVerboseMode(int verboseMode)
int getNumTriangleInfoMaps() const
btAlignedObjectArray< btCollisionShape * > m_allocatedCollisionShapes
virtual btHingeConstraint * createHingeConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
btCollisionShape * getCollisionShapeByIndex(int index)
btRigidBody * getRigidBodyByName(const char *name)
virtual btSliderConstraint * createSliderConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
The btConvexHullShape implements an implicit convex hull of an array of vertices. ...
btHashMap< btHashPtr, btCollisionShape * > m_shapeMap
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
btAlignedObjectArray< btTriangleIndexVertexArray * > m_allocatedTriangleIndexArrays
btAlignedObjectArray< btCollisionObject * > m_allocatedRigidBodies
virtual ~btWorldImporter()
btHashMap< btHashPtr, btOptimizedBvh * > m_bvhMap
btDynamicsWorld * m_dynamicsWorld
void setImporterFlags(int importerFlags)
btAlignedObjectArray< btVector3FloatData * > m_floatVertexArrays
virtual btCollisionShape * createCapsuleShapeX(btScalar radius, btScalar height)
Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF...
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
virtual class btMultiSphereShape * createMultiSphereShape(const btVector3 *positions, const btScalar *radi, int numSpheres)
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
void convertConstraintDouble(btTypedConstraintDoubleData *constraintData, btRigidBody *rbA, btRigidBody *rbB, int fileVersion)
int getNumBvhs() const