Bullet Collision Detection & Physics Library
btCollisionWorldImporter.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2014 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_COLLISION_WORLD_IMPORTER_H
17 #define BT_COLLISION_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;
27 
28 struct ConstraintInput;
29 class btCollisionWorld;
34 class btGImpactMeshShape;
35 class btOptimizedBvh;
36 struct btTriangleInfoMap;
39 class btHingeConstraint;
43 class btSliderConstraint;
44 class btGearConstraint;
45 struct btContactSolverInfo;
46 
48 {
49 protected:
51 
53 
56 
62 
64 
68 
71 
74 
77 
79 
82 
83  //methods
84 
85  char* duplicateName(const char* name);
86 
88 
89 public:
91 
92  virtual ~btCollisionWorldImporter();
93 
95 
98  virtual void deleteAllData();
99 
100  void setVerboseMode(int verboseMode)
101  {
102  m_verboseMode = verboseMode;
103  }
104 
105  int getVerboseMode() const
106  {
107  return m_verboseMode;
108  }
109 
110  // query for data
111  int getNumCollisionShapes() const;
113  int getNumRigidBodies() const;
114  btCollisionObject* getRigidBodyByIndex(int index) const;
115 
116  int getNumBvhs() const;
117  btOptimizedBvh* getBvhByIndex(int index) const;
118  int getNumTriangleInfoMaps() const;
120 
121  // queris involving named objects
122  btCollisionShape* getCollisionShapeByName(const char* name);
123  btCollisionObject* getCollisionObjectByName(const char* name);
124 
125  const char* getNameForPointer(const void* ptr) const;
126 
128 
129  //bodies
130 
131  virtual btCollisionObject* createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
132 
134 
135  virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
136  virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
138  virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
139  virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
140  virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
141 
142  virtual btCollisionShape* createCylinderShapeX(btScalar radius, btScalar height);
143  virtual btCollisionShape* createCylinderShapeY(btScalar radius, btScalar height);
144  virtual btCollisionShape* createCylinderShapeZ(btScalar radius, btScalar height);
145  virtual btCollisionShape* createConeShapeX(btScalar radius, btScalar height);
146  virtual btCollisionShape* createConeShapeY(btScalar radius, btScalar height);
147  virtual btCollisionShape* createConeShapeZ(btScalar radius, btScalar height);
151 #ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
152  virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
153 #endif //SUPPORT_GIMPACT_SHAPE_IMPORT
155 
156  virtual class btConvexHullShape* createConvexHullShape();
157  virtual class btCompoundShape* createCompoundShape();
158  virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScalingbtBvhTriangleMeshShape);
159 
160  virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
161 
163 
167 };
168 
169 #endif //BT_WORLD_IMPORTER_H
btCollisionWorldImporter::duplicateName
char * duplicateName(const char *name)
Definition: btCollisionWorldImporter.cpp:596
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionShape.h:151
btHingeConstraint
hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in lo...
Definition: btHingeConstraint.h:47
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:48
btCollisionWorldImporter::m_nameColObjMap
btHashMap< btHashString, btCollisionObject * > m_nameColObjMap
Definition: btCollisionWorldImporter.h:76
btCollisionWorldImporter::getBvhByIndex
btOptimizedBvh * getBvhByIndex(int index) const
Definition: btCollisionWorldImporter.cpp:1074
btCollisionWorldImporter::deleteAllData
virtual void deleteAllData()
delete all memory collision shapes, rigid bodies, constraints etc.
Definition: btCollisionWorldImporter.cpp:140
btCollisionWorldImporter::getCollisionShapeByIndex
btCollisionShape * getCollisionShapeByIndex(int index)
Definition: btCollisionWorldImporter.cpp:1037
btCollisionWorldImporter::createBvhTriangleMeshShape
virtual btBvhTriangleMeshShape * createBvhTriangleMeshShape(btStridingMeshInterface *trimesh, btOptimizedBvh *bvh)
Definition: btCollisionWorldImporter.cpp:976
btCollisionWorldImporter::createMultiSphereShape
virtual class btMultiSphereShape * createMultiSphereShape(const btVector3 *positions, const btScalar *radi, int numSpheres)
Definition: btCollisionWorldImporter.cpp:1024
btOptimizedBvh
The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes,...
Definition: btOptimizedBvh.h:26
btContactSolverInfo
Definition: btContactSolverInfo.h:72
btCollisionWorldImporter::createCylinderShapeZ
virtual btCollisionShape * createCylinderShapeZ(btScalar radius, btScalar height)
Definition: btCollisionWorldImporter.cpp:927
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btCollisionWorldImporter::getCollisionShapeByName
btCollisionShape * getCollisionShapeByName(const char *name)
Definition: btCollisionWorldImporter.cpp:1042
btCollisionWorldImporter::m_bvhMap
btHashMap< btHashPtr, btOptimizedBvh * > m_bvhMap
Definition: btCollisionWorldImporter.h:72
btBvhTriangleMeshShape
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
Definition: btBvhTriangleMeshShape.h:34
btCollisionWorldImporter::getTriangleInfoMapByIndex
btTriangleInfoMap * getTriangleInfoMapByIndex(int index) const
Definition: btCollisionWorldImporter.cpp:1084
btCollisionWorldImporter::createCylinderShapeX
virtual btCollisionShape * createCylinderShapeX(btScalar radius, btScalar height)
Definition: btCollisionWorldImporter.cpp:913
btCollisionWorldImporter::m_timMap
btHashMap< btHashPtr, btTriangleInfoMap * > m_timMap
Definition: btCollisionWorldImporter.h:73
btCollisionWorldImporter::createTriangleMeshContainer
virtual class btTriangleIndexVertexArray * createTriangleMeshContainer()
Definition: btCollisionWorldImporter.cpp:955
btCollisionWorldImporter::m_shapeMap
btHashMap< btHashPtr, btCollisionShape * > m_shapeMap
Definition: btCollisionWorldImporter.h:80
btCollisionWorldImporter::convertAllObjects
bool convertAllObjects(btBulletSerializedArrays *arrays)
Definition: btCollisionWorldImporter.cpp:34
btCollisionWorldImporter::createTriangleInfoMap
virtual btTriangleInfoMap * createTriangleInfoMap()
Definition: btCollisionWorldImporter.cpp:969
btCollisionWorldImporter::m_allocatedRigidBodies
btAlignedObjectArray< btCollisionObject * > m_allocatedRigidBodies
Definition: btCollisionWorldImporter.h:55
btCollisionWorldImporter::m_indexArrays
btAlignedObjectArray< int * > m_indexArrays
Definition: btCollisionWorldImporter.h:65
btCollisionWorldImporter::createOptimizedBvh
virtual btOptimizedBvh * createOptimizedBvh()
acceleration and connectivity structures
Definition: btCollisionWorldImporter.cpp:962
btCollisionWorldImporter::m_nameShapeMap
btHashMap< btHashString, btCollisionShape * > m_nameShapeMap
Definition: btCollisionWorldImporter.h:75
btCollisionWorldImporter::createSphereShape
virtual btCollisionShape * createSphereShape(btScalar radius)
Definition: btCollisionWorldImporter.cpp:885
btGImpactMeshShape
This class manages a mesh supplied by the btStridingMeshInterface interface.
Definition: btGImpactShape.h:842
btGeneric6DofConstraint
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
Definition: btGeneric6DofConstraint.h:266
btCollisionWorldImporter::m_verboseMode
int m_verboseMode
Definition: btCollisionWorldImporter.h:52
btCollisionWorldImporter::createConvexHullShape
virtual class btConvexHullShape * createConvexHullShape()
Definition: btCollisionWorldImporter.cpp:1003
btCollisionWorldImporter::m_bodyMap
btHashMap< btHashPtr, btCollisionObject * > m_bodyMap
Definition: btCollisionWorldImporter.h:81
btCollisionWorldImporter::m_allocatedbtStridingMeshInterfaceDatas
btAlignedObjectArray< btStridingMeshInterfaceData * > m_allocatedbtStridingMeshInterfaceDatas
Definition: btCollisionWorldImporter.h:60
btCollisionWorldImporter::createConeShapeZ
virtual btCollisionShape * createConeShapeZ(btScalar radius, btScalar height)
Definition: btCollisionWorldImporter.cpp:948
btCollisionWorldImporter::createMeshInterface
virtual btTriangleIndexVertexArray * createMeshInterface(btStridingMeshInterfaceData &meshData)
Definition: btCollisionWorldImporter.cpp:610
btStridingMeshInterface
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
Definition: btStridingMeshInterface.h:26
btPoint2PointConstraint
point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocke...
Definition: btPoint2PointConstraint.h:52
btVector3.h
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition: btCollisionShape.h:26
btCollisionWorldImporter::m_allocatedBvhs
btAlignedObjectArray< btOptimizedBvh * > m_allocatedBvhs
Definition: btCollisionWorldImporter.h:57
btHashMap< btHashPtr, btOptimizedBvh * >
btMultiSphereShape
The btMultiSphereShape represents the convex hull of a collection of spheres.
Definition: btMultiSphereShape.h:26
btGeneric6DofSpringConstraint
Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.
Definition: btGeneric6DofSpringConstraint.h:41
btCollisionWorldImporter::m_collisionWorld
btCollisionWorld * m_collisionWorld
Definition: btCollisionWorldImporter.h:50
btCollisionWorldImporter::~btCollisionWorldImporter
virtual ~btCollisionWorldImporter()
Definition: btCollisionWorldImporter.cpp:30
btCollisionWorldImporter::getCollisionObjectByName
btCollisionObject * getCollisionObjectByName(const char *name)
Definition: btCollisionWorldImporter.cpp:845
btCollisionWorldImporter::m_doubleVertexArrays
btAlignedObjectArray< btVector3DoubleData * > m_doubleVertexArrays
Definition: btCollisionWorldImporter.h:70
btTriangleInfoMap
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
Definition: btTriangleInfoMap.h:53
btCollisionWorldImporter::createConvexTriangleMeshShape
virtual btCollisionShape * createConvexTriangleMeshShape(btStridingMeshInterface *trimesh)
Definition: btCollisionWorldImporter.cpp:990
btCollisionWorldImporter::createCylinderShapeY
virtual btCollisionShape * createCylinderShapeY(btScalar radius, btScalar height)
Definition: btCollisionWorldImporter.cpp:920
btGearConstraint
The btGeatConstraint will couple the angular velocity for two bodies around given local axis and rati...
Definition: btGearConstraint.h:31
btConeTwistConstraint
btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
Definition: btConeTwistConstraint.h:57
btTransform.h
btCollisionWorldImporter::getVerboseMode
int getVerboseMode() const
Definition: btCollisionWorldImporter.h:105
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btCollisionWorldImporter::createConeShapeY
virtual btCollisionShape * createConeShapeY(btScalar radius, btScalar height)
Definition: btCollisionWorldImporter.cpp:941
btCollisionWorldImporter::createCapsuleShapeZ
virtual btCollisionShape * createCapsuleShapeZ(btScalar radius, btScalar height)
Definition: btCollisionWorldImporter.cpp:906
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btCollisionWorldImporter::createPlaneShape
virtual btCollisionShape * createPlaneShape(const btVector3 &planeNormal, btScalar planeConstant)
shapes
Definition: btCollisionWorldImporter.cpp:873
btCollisionWorldImporter::m_charIndexArrays
btAlignedObjectArray< unsigned char * > m_charIndexArrays
Definition: btCollisionWorldImporter.h:67
btCollisionWorldImporter::getNameForPointer
const char * getNameForPointer(const void *ptr) const
Definition: btCollisionWorldImporter.cpp:1052
btCollisionWorldImporter::setVerboseMode
void setVerboseMode(int verboseMode)
Definition: btCollisionWorldImporter.h:100
btCollisionWorldImporter::createConeShapeX
virtual btCollisionShape * createConeShapeX(btScalar radius, btScalar height)
Definition: btCollisionWorldImporter.cpp:934
btCollisionWorldImporter::m_allocatedTriangleIndexArrays
btAlignedObjectArray< btTriangleIndexVertexArray * > m_allocatedTriangleIndexArrays
Definition: btCollisionWorldImporter.h:59
btCollisionWorldImporter::createCapsuleShapeY
virtual btCollisionShape * createCapsuleShapeY(btScalar radius, btScalar height)
Definition: btCollisionWorldImporter.cpp:899
btAlignedObjectArray< btCollisionShape * >
btCollisionWorldImporter::getNumCollisionShapes
int getNumCollisionShapes() const
Definition: btCollisionWorldImporter.cpp:1032
btCollisionWorldImporter::m_allocatedNames
btAlignedObjectArray< char * > m_allocatedNames
Definition: btCollisionWorldImporter.h:63
btHashMap.h
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition: btCompoundShape.h:55
btConvexHullShape
The btConvexHullShape implements an implicit convex hull of an array of vertices.
Definition: btConvexHullShape.h:25
btBulletSerializedArrays
Definition: btSerializer.h:133
btCollisionWorldImporter::getNumTriangleInfoMaps
int getNumTriangleInfoMaps() const
Definition: btCollisionWorldImporter.cpp:1079
btCollisionWorldImporter
Definition: btCollisionWorldImporter.h:47
btCollisionWorldImporter::m_allocatedTriangleInfoMaps
btAlignedObjectArray< btTriangleInfoMap * > m_allocatedTriangleInfoMaps
Definition: btCollisionWorldImporter.h:58
btCollisionWorldImporter::getRigidBodyByIndex
btCollisionObject * getRigidBodyByIndex(int index) const
Definition: btCollisionWorldImporter.cpp:1065
btCollisionWorldImporter::createCapsuleShapeX
virtual btCollisionShape * createCapsuleShapeX(btScalar radius, btScalar height)
Definition: btCollisionWorldImporter.cpp:892
btCollisionWorldImporter::createStridingMeshInterfaceData
virtual btStridingMeshInterfaceData * createStridingMeshInterfaceData(btStridingMeshInterfaceData *interfaceData)
Definition: btCollisionWorldImporter.cpp:727
btCollisionWorldImporter::m_objectNameMap
btHashMap< btHashPtr, const char * > m_objectNameMap
Definition: btCollisionWorldImporter.h:78
btCollisionWorldImporter::createBoxShape
virtual btCollisionShape * createBoxShape(const btVector3 &halfExtents)
Definition: btCollisionWorldImporter.cpp:879
btCollisionWorld
CollisionWorld is interface and container for the collision detection.
Definition: btCollisionWorld.h:85
btCollisionWorldImporter::createCompoundShape
virtual class btCompoundShape * createCompoundShape()
Definition: btCollisionWorldImporter.cpp:1010
btAlignedObjectArray.h
btCollisionWorldImporter::getNumBvhs
int getNumBvhs() const
Definition: btCollisionWorldImporter.cpp:1070
btCollisionWorldImporter::m_shortIndexArrays
btAlignedObjectArray< short int * > m_shortIndexArrays
Definition: btCollisionWorldImporter.h:66
btCollisionWorldImporter::getNumRigidBodies
int getNumRigidBodies() const
Definition: btCollisionWorldImporter.cpp:1060
btStridingMeshInterfaceData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btStridingMeshInterface.h:138
btTriangleIndexVertexArray
The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing t...
Definition: btTriangleIndexVertexArray.h:65
btCollisionWorldImporter::m_allocatedCollisionObjects
btAlignedObjectArray< btCollisionObject * > m_allocatedCollisionObjects
Definition: btCollisionWorldImporter.h:61
btCollisionWorldImporter::convertCollisionShape
btCollisionShape * convertCollisionShape(btCollisionShapeData *shapeData)
Definition: btCollisionWorldImporter.cpp:242
btCollisionWorldImporter::btCollisionWorldImporter
btCollisionWorldImporter(btCollisionWorld *world)
Definition: btCollisionWorldImporter.cpp:24
btCollisionWorldImporter::m_floatVertexArrays
btAlignedObjectArray< btVector3FloatData * > m_floatVertexArrays
Definition: btCollisionWorldImporter.h:69
btScaledBvhTriangleMeshShape
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
Definition: btScaledBvhTriangleMeshShape.h:23
btSliderConstraint
Definition: btSliderConstraint.h:65
btCollisionWorldImporter::createCollisionObject
virtual btCollisionObject * createCollisionObject(const btTransform &startTransform, btCollisionShape *shape, const char *bodyName)
those virtuals are called by load and can be overridden by the user
Definition: btCollisionWorldImporter.cpp:855
btCollisionWorldImporter::createScaledTrangleMeshShape
virtual class btScaledBvhTriangleMeshShape * createScaledTrangleMeshShape(btBvhTriangleMeshShape *meshShape, const btVector3 &localScalingbtBvhTriangleMeshShape)
Definition: btCollisionWorldImporter.cpp:1017
btCollisionWorldImporter::m_allocatedCollisionShapes
btAlignedObjectArray< btCollisionShape * > m_allocatedCollisionShapes
Definition: btCollisionWorldImporter.h:54