anki-3d-engine/ThirdParty/Bullet/Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp

#include "btMultiBodyWorldImporter.h"

#include "LinearMath/btSerializer.h"
#include "../BulletFileLoader/btBulletFile.h"
#include "btBulletWorldImporter.h"
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"

struct btMultiBodyWorldImporterInternalData
{
	btMultiBodyDynamicsWorld* m_mbDynamicsWorld;
	btHashMap<btHashPtr, btMultiBody*> m_mbMap;
};

btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* world)
	:btBulletWorldImporter(world)
{
	m_data = new btMultiBodyWorldImporterInternalData;
	m_data->m_mbDynamicsWorld = world;
}
	

btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
{
	delete m_data;
}

void btMultiBodyWorldImporter::deleteAllData()
{
	btBulletWorldImporter::deleteAllData();
}


static btCollisionObjectDoubleData* getBody0FromContactManifold(btPersistentManifoldDoubleData* manifold)
{
	return (btCollisionObjectDoubleData*)manifold->m_body0;
}
static btCollisionObjectDoubleData* getBody1FromContactManifold(btPersistentManifoldDoubleData* manifold)
{
	return (btCollisionObjectDoubleData*)manifold->m_body1;
}
static btCollisionObjectFloatData* getBody0FromContactManifold(btPersistentManifoldFloatData* manifold)
{
	return (btCollisionObjectFloatData*)manifold->m_body0;
}
static btCollisionObjectFloatData* getBody1FromContactManifold(btPersistentManifoldFloatData* manifold)
{
	return (btCollisionObjectFloatData*)manifold->m_body1;
}


template<class T> void syncContactManifolds(T** contactManifolds, int numContactManifolds, btMultiBodyWorldImporterInternalData* m_data)
{
	m_data->m_mbDynamicsWorld->updateAabbs();
	m_data->m_mbDynamicsWorld->computeOverlappingPairs();
	btDispatcher* dispatcher = m_data->m_mbDynamicsWorld->getDispatcher();

	btDispatcherInfo& dispatchInfo = m_data->m_mbDynamicsWorld->getDispatchInfo();


	if (dispatcher)
	{
		btOverlappingPairCache* pairCache = m_data->m_mbDynamicsWorld->getBroadphase()->getOverlappingPairCache();
		if (dispatcher)
		{
			dispatcher->dispatchAllCollisionPairs(pairCache, dispatchInfo, dispatcher);
		}
		int numExistingManifolds = m_data->m_mbDynamicsWorld->getDispatcher()->getNumManifolds();
		btManifoldArray manifoldArray;
		for (int i = 0; i < pairCache->getNumOverlappingPairs(); i++)
		{
			btBroadphasePair& pair = pairCache->getOverlappingPairArray()[i];
			if (pair.m_algorithm)
			{
				pair.m_algorithm->getAllContactManifolds(manifoldArray);
				//for each existing manifold, search a matching manifoldData and reconstruct
				for (int m = 0; m < manifoldArray.size(); m++)
				{
					btPersistentManifold* existingManifold = manifoldArray[m];
					int uid0 = existingManifold->getBody0()->getBroadphaseHandle()->m_uniqueId;
					int uid1 = existingManifold->getBody1()->getBroadphaseHandle()->m_uniqueId;
					int matchingManifoldIndex = -1;
					for (int q = 0; q < numContactManifolds; q++)
					{
						if (uid0 == getBody0FromContactManifold(contactManifolds[q])->m_uniqueId && uid1 == getBody1FromContactManifold(contactManifolds[q])->m_uniqueId)
						{
							matchingManifoldIndex = q;
						}
					}
					if (matchingManifoldIndex >= 0)
					{
						existingManifold->deSerialize(contactManifolds[matchingManifoldIndex]);
					}
					else
					{
						existingManifold->setNumContacts(0);
						//printf("Issue: cannot find maching contact manifold (%d, %d), may cause issues in determinism.\n", uid0, uid1);
					}

					manifoldArray.clear();
				}
			}
		}
	}

}

template<class T>  void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldImporterInternalData* m_data, btAlignedObjectArray<btQuaternion>& scratchQ, btAlignedObjectArray<btVector3>& scratchM)
{
	bool isFixedBase = mbd->m_baseMass == 0;
	bool canSleep = false;
	btVector3 baseInertia;
	baseInertia.deSerialize(mbd->m_baseInertia);

	btVector3 baseWorldPos;
	baseWorldPos.deSerialize(mbd->m_baseWorldPosition);
	mb->setBasePos(baseWorldPos);
	btQuaternion baseWorldRot;
	baseWorldRot.deSerialize(mbd->m_baseWorldOrientation);
	mb->setWorldToBaseRot(baseWorldRot.inverse());
	btVector3 baseLinVal;
	baseLinVal.deSerialize(mbd->m_baseLinearVelocity);
	btVector3 baseAngVel;
	baseAngVel.deSerialize(mbd->m_baseAngularVelocity);
	mb->setBaseVel(baseLinVal);
	mb->setBaseOmega(baseAngVel);

	for (int i = 0; i < mbd->m_numLinks; i++)
	{

		mb->getLink(i).m_absFrameTotVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityTop);
		mb->getLink(i).m_absFrameTotVelocity.m_bottomVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityBottom);
		mb->getLink(i).m_absFrameLocVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameLocVelocityTop);
		mb->getLink(i).m_absFrameLocVelocity.m_bottomVec.deSerialize(mbd->m_links[i].m_absFrameLocVelocityBottom);

		switch (mbd->m_links[i].m_jointType)
		{
		case btMultibodyLink::eFixed:
		{
			break;
		}
		case btMultibodyLink::ePrismatic:
		{
			mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
			mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
			break;
		}
		case btMultibodyLink::eRevolute:
		{
			mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
			mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
			break;
		}
		case btMultibodyLink::eSpherical:
		{
			btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
			btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
			mb->setJointPosMultiDof(i, jointPos);
			mb->setJointVelMultiDof(i, jointVel);

			break;
		}
		case btMultibodyLink::ePlanar:
		{
			break;
		}
		default:
		{
		}
		}
	}
	mb->forwardKinematics(scratchQ, scratchM);
	mb->updateCollisionObjectWorldTransforms(scratchQ, scratchM);
}

template<class T>  void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data)
{
	bool isFixedBase = mbd->m_baseMass == 0;
	bool canSleep = false;
	btVector3 baseInertia;
	baseInertia.deSerialize(mbd->m_baseInertia);
	btMultiBody* mb = new btMultiBody(mbd->m_numLinks, mbd->m_baseMass, baseInertia, isFixedBase, canSleep);
	mb->setHasSelfCollision(false);

	btVector3 baseWorldPos;
	baseWorldPos.deSerialize(mbd->m_baseWorldPosition);

	btQuaternion baseWorldOrn;
	baseWorldOrn.deSerialize(mbd->m_baseWorldOrientation);
	mb->setBasePos(baseWorldPos);
	mb->setWorldToBaseRot(baseWorldOrn.inverse());

	m_data->m_mbMap.insert(mbd, mb);
	for (int i = 0; i < mbd->m_numLinks; i++)
	{
		btVector3 localInertiaDiagonal;
		localInertiaDiagonal.deSerialize(mbd->m_links[i].m_linkInertia);
		btQuaternion parentRotToThis;
		parentRotToThis.deSerialize(mbd->m_links[i].m_zeroRotParentToThis);
		btVector3 parentComToThisPivotOffset;
		parentComToThisPivotOffset.deSerialize(mbd->m_links[i].m_parentComToThisPivotOffset);
		btVector3 thisPivotToThisComOffset;
		thisPivotToThisComOffset.deSerialize(mbd->m_links[i].m_thisPivotToThisComOffset);

		switch (mbd->m_links[i].m_jointType)
		{
		case btMultibodyLink::eFixed:
		{


			mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
				parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset);
			//search for the collider
			//mbd->m_links[i].m_linkCollider
			break;
		}
		case btMultibodyLink::ePrismatic:
		{
			btVector3 jointAxis;
			jointAxis.deSerialize(mbd->m_links[i].m_jointAxisBottom[0]);
			bool disableParentCollision = true;//todo
			mb->setupPrismatic(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
				parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
			mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
			mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
			break;
		}
		case btMultibodyLink::eRevolute:
		{
			btVector3 jointAxis;
			jointAxis.deSerialize(mbd->m_links[i].m_jointAxisTop[0]);
			bool disableParentCollision = true;//todo
			mb->setupRevolute(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
				parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
			mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
			mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
			break;
		}
		case btMultibodyLink::eSpherical:
		{
			btAssert(0);
			bool disableParentCollision = true;//todo
			mb->setupSpherical(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
				parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
			btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
			btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
			mb->setJointPosMultiDof(i, jointPos);
			mb->setJointVelMultiDof(i, jointVel);

			break;
		}
		case btMultibodyLink::ePlanar:
		{
			btAssert(0);
			break;
		}
		default:
		{
			btAssert(0);
		}
		}
	}
}

bool btMultiBodyWorldImporter::convertAllObjects(  bParse::btBulletFile* bulletFile2)
{
	bool result = false;
	btAlignedObjectArray<btQuaternion> scratchQ;
	btAlignedObjectArray<btVector3> scratchM;

	if (m_importerFlags&eRESTORE_EXISTING_OBJECTS)
	{
		//check if the snapshot is valid for the existing world
		//equal number of objects, # links etc
		if ((bulletFile2->m_multiBodies.size() != m_data->m_mbDynamicsWorld->getNumMultibodies()))
		{
			result = false;
			return result;
		}
		result = true;

		//convert all multibodies
		if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
		{

			//for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
			for (int i = bulletFile2->m_multiBodies.size() - 1; i >= 0; i--)
			{
				btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
				btMultiBody* mb = m_data->m_mbDynamicsWorld->getMultiBody(i);
				syncMultiBody(mbd, mb, m_data, scratchQ, scratchM);
			}

			for (int i = bulletFile2->m_rigidBodies.size() - 1; i >= 0; i--)
			{
				btRigidBodyDoubleData* rbd = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
				int foundRb = -1;
				int uid = rbd->m_collisionObjectData.m_uniqueId;
				for (int i = 0; i < m_data->m_mbDynamicsWorld->getNumCollisionObjects(); i++)
				{
					if (uid == m_data->m_mbDynamicsWorld->getCollisionObjectArray()[i]->getBroadphaseHandle()->m_uniqueId)
					{
						foundRb = i;
						break;
					}
				}
				if (foundRb >= 0)
				{
					btRigidBody* rb = btRigidBody::upcast(m_data->m_mbDynamicsWorld->getCollisionObjectArray()[foundRb]);
					if (rb)
					{
						btTransform tr;
						tr.deSerializeDouble(rbd->m_collisionObjectData.m_worldTransform);
						rb->setWorldTransform(tr);
						btVector3 linVel, angVel;
						linVel.deSerializeDouble(rbd->m_linearVelocity);
						angVel.deSerializeDouble(rbd->m_angularVelocity);
						rb->setLinearVelocity(linVel);
						rb->setAngularVelocity(angVel);
					}
					else
					{
						result = false;
					}
				}
				else
				{
					result = false;
				}
			}

			//todo: check why body1 pointer is not properly deserialized
			for (int i = 0; i < bulletFile2->m_contactManifolds.size(); i++)
			{
				btPersistentManifoldDoubleData* manifoldData = (btPersistentManifoldDoubleData*)bulletFile2->m_contactManifolds[i];
				{
					void* ptr = bulletFile2->findLibPointer(manifoldData->m_body0);
					if (ptr)
					{
						manifoldData->m_body0 = (btCollisionObjectDoubleData*)ptr;
					}
				}

				{
					void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
					if (ptr)
					{
						manifoldData->m_body1 = (btCollisionObjectDoubleData*)ptr;
					}
				}
			}


			if (bulletFile2->m_contactManifolds.size())
			{
				syncContactManifolds((btPersistentManifoldDoubleData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
			}
		}
		else
		{
			//single precision version
			//for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
			for (int i = bulletFile2->m_multiBodies.size() - 1; i >= 0; i--)
			{
				btMultiBodyFloatData* mbd = (btMultiBodyFloatData*)bulletFile2->m_multiBodies[i];
				btMultiBody* mb = m_data->m_mbDynamicsWorld->getMultiBody(i);
				syncMultiBody(mbd, mb, m_data, scratchQ, scratchM);
			}

			//todo: check why body1 pointer is not properly deserialized
			for (int i = 0; i < bulletFile2->m_contactManifolds.size(); i++)
			{
				btPersistentManifoldFloatData* manifoldData = (btPersistentManifoldFloatData*)bulletFile2->m_contactManifolds[i];
				{
					void* ptr = bulletFile2->findLibPointer(manifoldData->m_body0);
					if (ptr)
					{
						manifoldData->m_body0 = (btCollisionObjectFloatData*)ptr;
					}
				}
				{
					void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
					if (ptr)
					{
						manifoldData->m_body1 = (btCollisionObjectFloatData*)ptr;
					}
				}
			}


			if (bulletFile2->m_contactManifolds.size())
			{
				syncContactManifolds((btPersistentManifoldFloatData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
			}

		}
	}
	else
	{
		result = btBulletWorldImporter::convertAllObjects(bulletFile2);


		//convert all multibodies
		for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
		{

			if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
			{
				btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
				convertMultiBody(mbd, m_data);
			}
			else
			{
				btMultiBodyFloatData* mbd = (btMultiBodyFloatData*)bulletFile2->m_multiBodies[i];
				convertMultiBody(mbd, m_data);
			}
		}

		//forward kinematics, so that the link world transforms are valid, for collision detection
		for (int i = 0; i < m_data->m_mbMap.size(); i++)
		{
			btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
			if (ptr)
			{
				btMultiBody* mb = *ptr;
				mb->finalizeMultiDof();
				btVector3 linvel = mb->getBaseVel();
				btVector3 angvel = mb->getBaseOmega();
				mb->forwardKinematics(scratchQ, scratchM);
			}
		}

		//convert all multibody link colliders
		for (int i = 0; i < bulletFile2->m_multiBodyLinkColliders.size(); i++)
		{
			if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
			{
				btMultiBodyLinkColliderDoubleData* mblcd = (btMultiBodyLinkColliderDoubleData*)bulletFile2->m_multiBodyLinkColliders[i];

				btMultiBody** ptr = m_data->m_mbMap[mblcd->m_multiBody];
				if (ptr)
				{
					btMultiBody* multiBody = *ptr;


					btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
					if (shapePtr && *shapePtr)
					{
						btTransform startTransform;
						mblcd->m_colObjData.m_worldTransform.m_origin.m_floats[3] = 0.f;
						startTransform.deSerializeDouble(mblcd->m_colObjData.m_worldTransform);

						btCollisionShape* shape = (btCollisionShape*)*shapePtr;
						if (shape)
						{
							btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(multiBody, mblcd->m_link);
							col->setCollisionShape(shape);
							//btCollisionObject* body = createCollisionObject(startTransform,shape,mblcd->m_colObjData.m_name);
							col->setFriction(btScalar(mblcd->m_colObjData.m_friction));
							col->setRestitution(btScalar(mblcd->m_colObjData.m_restitution));
							//m_bodyMap.insert(colObjData,body);
							if (mblcd->m_link == -1)
							{
								col->setWorldTransform(multiBody->getBaseWorldTransform());
								multiBody->setBaseCollider(col);
							}
							else
							{
								col->setWorldTransform(multiBody->getLink(mblcd->m_link).m_cachedWorldTransform);
								multiBody->getLink(mblcd->m_link).m_collider = col;
							}
							int mbLinkIndex = mblcd->m_link;

							bool isDynamic = (mbLinkIndex < 0 && multiBody->hasFixedBase()) ? false : true;
							int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
							int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

#if 0
							int colGroup = 0, colMask = 0;
							int collisionFlags = mblcd->m_colObjData.m_collisionFlags;
							if (collisionFlags & URDF_HAS_COLLISION_GROUP)
							{
								collisionFilterGroup = colGroup;
							}
							if (collisionFlags & URDF_HAS_COLLISION_MASK)
							{
								collisionFilterMask = colMask;
							}
#endif
							m_data->m_mbDynamicsWorld->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
						}

					}
					else
					{
						printf("error: no shape found\n");
					}
#if 0
					//base and fixed? -> static, otherwise flag as dynamic

					world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
#endif
				}

			}
		}

		for (int i = 0; i < m_data->m_mbMap.size(); i++)
		{
			btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
			if (ptr)
			{
				btMultiBody* mb = *ptr;
				mb->finalizeMultiDof();

				m_data->m_mbDynamicsWorld->addMultiBody(mb);
			}
		}
	}
	return result;
}