Torque3D-clone/Engine/lib/bullet/Extras/Serialize/ReadBulletSample/BulletDataExtractor.cpp

#include "BulletDataExtractor.h"
#include "../BulletFileLoader/btBulletFile.h"

#include <stdio.h>

///work-in-progress 
///This ReadBulletSample is kept as simple as possible without dependencies to the Bullet SDK.
///It can be used to load .bullet data for other physics SDKs
///For a more complete example how to load and convert Bullet data using the Bullet SDK check out
///the Bullet/Demos/SerializeDemo and Bullet/Serialize/BulletWorldImporter

using namespace Bullet;

enum LocalBroadphaseNativeTypes
{
	// polyhedral convex shapes
	BOX_SHAPE_PROXYTYPE,
	TRIANGLE_SHAPE_PROXYTYPE,
	TETRAHEDRAL_SHAPE_PROXYTYPE,
	CONVEX_TRIANGLEMESH_SHAPE_PROXYTYPE,
	CONVEX_HULL_SHAPE_PROXYTYPE,
	CONVEX_POINT_CLOUD_SHAPE_PROXYTYPE,
	CUSTOM_POLYHEDRAL_SHAPE_TYPE,
//implicit convex shapes
IMPLICIT_CONVEX_SHAPES_START_HERE,
	SPHERE_SHAPE_PROXYTYPE,
	MULTI_SPHERE_SHAPE_PROXYTYPE,
	CAPSULE_SHAPE_PROXYTYPE,
	CONE_SHAPE_PROXYTYPE,
	CONVEX_SHAPE_PROXYTYPE,
	CYLINDER_SHAPE_PROXYTYPE,
	UNIFORM_SCALING_SHAPE_PROXYTYPE,
	MINKOWSKI_SUM_SHAPE_PROXYTYPE,
	MINKOWSKI_DIFFERENCE_SHAPE_PROXYTYPE,
	BOX_2D_SHAPE_PROXYTYPE,
	CONVEX_2D_SHAPE_PROXYTYPE,
	CUSTOM_CONVEX_SHAPE_TYPE,
//concave shapes
CONCAVE_SHAPES_START_HERE,
	//keep all the convex shapetype below here, for the check IsConvexShape in broadphase proxy!
	TRIANGLE_MESH_SHAPE_PROXYTYPE,
	SCALED_TRIANGLE_MESH_SHAPE_PROXYTYPE,
	///used for demo integration FAST/Swift collision library and Bullet
	FAST_CONCAVE_MESH_PROXYTYPE,
	//terrain
	TERRAIN_SHAPE_PROXYTYPE,
///Used for GIMPACT Trimesh integration
	GIMPACT_SHAPE_PROXYTYPE,
///Multimaterial mesh
    MULTIMATERIAL_TRIANGLE_MESH_PROXYTYPE,
	
	EMPTY_SHAPE_PROXYTYPE,
	STATIC_PLANE_PROXYTYPE,
	CUSTOM_CONCAVE_SHAPE_TYPE,
CONCAVE_SHAPES_END_HERE,

	COMPOUND_SHAPE_PROXYTYPE,

	SOFTBODY_SHAPE_PROXYTYPE,
	HFFLUID_SHAPE_PROXYTYPE,
	HFFLUID_BUOYANT_CONVEX_SHAPE_PROXYTYPE,
	INVALID_SHAPE_PROXYTYPE,

	MAX_BROADPHASE_COLLISION_TYPES
	
};

btBulletDataExtractor::btBulletDataExtractor()
{
}

btBulletDataExtractor::~btBulletDataExtractor()
{
}

void btBulletDataExtractor::convertAllObjects(bParse::btBulletFile* bulletFile2)
{
	int i;

	for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
	{
		btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
		if (shapeData->m_name)
			printf("converting shape %s\n", shapeData->m_name);
		void* shape = convertCollisionShape(shapeData);
	}

}



void* btBulletDataExtractor::convertCollisionShape(  btCollisionShapeData* shapeData  )
{
	void* shape = 0;

	switch (shapeData->m_shapeType)
		{
	case STATIC_PLANE_PROXYTYPE:
		{
			btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*)shapeData;
			void* shape = createPlaneShape(planeData->m_planeNormal,planeData->m_planeConstant, planeData->m_localScaling);
			break;
		}

		case CYLINDER_SHAPE_PROXYTYPE:
		case CAPSULE_SHAPE_PROXYTYPE:
		case BOX_SHAPE_PROXYTYPE:
		case SPHERE_SHAPE_PROXYTYPE:
		case MULTI_SPHERE_SHAPE_PROXYTYPE:
		case CONVEX_HULL_SHAPE_PROXYTYPE:
			{
				btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
				
				switch (shapeData->m_shapeType)
				{
					case BOX_SHAPE_PROXYTYPE:
						{
							shape = createBoxShape(bsd->m_implicitShapeDimensions, bsd->m_localScaling,bsd->m_collisionMargin);
							break;
						}
					case SPHERE_SHAPE_PROXYTYPE:
						{
							shape = createSphereShape(bsd->m_implicitShapeDimensions.m_floats[0],bsd->m_localScaling, bsd->m_collisionMargin);
							break;
						}
#if 0
					case CAPSULE_SHAPE_PROXYTYPE:
						{
							btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
							switch (capData->m_upAxis)
							{
							case 0:
								{
									shape = createCapsuleShapeX(implicitShapeDimensions.getY(),2*implicitShapeDimensions.getX());
									break;
								}
							case 1:
								{
									shape = createCapsuleShapeY(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getY());
									break;
								}
							case 2:
								{
									shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getZ());
									break;
								}
							default:
								{
									printf("error: wrong up axis for btCapsuleShape\n");
								}

							};
							
							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 MULTI_SPHERE_SHAPE_PROXYTYPE:
						{
							btMultiSphereShapeData* mss = (btMultiSphereShapeData*)bsd;
							int numSpheres = mss->m_localPositionArraySize;
							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 = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
							break;
						}
					case CONVEX_HULL_SHAPE_PROXYTYPE:
						{
							btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
							int numPoints = convexData->m_numUnscaledPoints;

							btAlignedObjectArray<btVector3> tmpPoints;
							tmpPoints.resize(numPoints);
							int i;
							for ( i=0;i<numPoints;i++)
							{
							if (convexData->m_unscaledPointsFloatPtr)
								tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
							if (convexData->m_unscaledPointsDoublePtr)
								tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
							}
							shape = createConvexHullShape();

							return shape;
							break;
						}
#endif

					default:
						{
							printf("error: cannot create shape type (%d)\n",shapeData->m_shapeType);
						}
				}

				break;
			}
#if 0
		case TRIANGLE_MESH_SHAPE_PROXYTYPE:
		{
			btTriangleMeshShapeData* trimesh = (btTriangleMeshShapeData*)shapeData;
			btTriangleIndexVertexArray* meshInterface = createMeshInterface(trimesh->m_meshInterface);
			if (!meshInterface->getNumSubParts())
			{
				return 0;
			}

			btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
			meshInterface->setScaling(scaling);


			btOptimizedBvh* bvh = 0;

			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();


				btAlignedObjectArray<btCollisionShape*> childShapes;
				for (int i=0;i<compoundData->m_numChildShapes;i++)
				{
					btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
					if (childShape)
					{
						btTransform localTransform;
						localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
						compoundShape->addChildShape(localTransform,childShape);
					} else
					{
						printf("error: couldn't create childShape for compoundShape\n");
					}
					
				}
				shape = compoundShape;

				break;
			}

			case GIMPACT_SHAPE_PROXYTYPE:
		{
			btGImpactMeshShapeData* gimpactData = (btGImpactMeshShapeData*) shapeData;
			if (gimpactData->m_gimpactSubType == CONST_GIMPACT_TRIMESH_SHAPE)
			{
				btTriangleIndexVertexArray* meshInterface = createMeshInterface(gimpactData->m_meshInterface);
				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;
		}
		case SOFTBODY_SHAPE_PROXYTYPE:
			{
				return 0;
			}
#endif 
		default:
			{
				printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
			}
		}

		return shape;
	
}

void* btBulletDataExtractor::createBoxShape( const Bullet::btVector3FloatData& halfDimensions, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
{
	printf("createBoxShape with halfDimensions %f,%f,%f\n",halfDimensions.m_floats[0], halfDimensions.m_floats[1],halfDimensions.m_floats[2]);
	return 0;
}

void* btBulletDataExtractor::createSphereShape( float radius, const Bullet::btVector3FloatData& localScaling, float collisionMargin)
{
	printf("createSphereShape with radius %f\n",radius);
	return 0;
}


void* btBulletDataExtractor::createPlaneShape( const btVector3FloatData& planeNormal, float planeConstant, const Bullet::btVector3FloatData& localScaling)
{
	printf("createPlaneShape with normal %f,%f,%f and planeConstant\n",planeNormal.m_floats[0], planeNormal.m_floats[1],planeNormal.m_floats[2],planeConstant);
	return 0;
}