dali-physics/third-party/bullet3/src/BulletCollision/CollisionDispatch/btCollisionWorldImporter.h

   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"
  21 #include "LinearMath/btAlignedObjectArray.h"
  22 #include "LinearMath/btHashMap.h"
  23
  24 class btCollisionShape;
  25 class btCollisionObject;
  26 struct btBulletSerializedArrays;
  27
  28 struct ConstraintInput;
  29 class btCollisionWorld;
  30 struct btCollisionShapeData;
  31 class btTriangleIndexVertexArray;
  32 class btStridingMeshInterface;
  33 struct btStridingMeshInterfaceData;
  34 class btGImpactMeshShape;
  35 class btOptimizedBvh;
  36 struct btTriangleInfoMap;
  37 class btBvhTriangleMeshShape;
  38 class btPoint2PointConstraint;
  39 class btHingeConstraint;
  40 class btConeTwistConstraint;
  41 class btGeneric6DofConstraint;
  42 class btGeneric6DofSpringConstraint;
  43 class btSliderConstraint;
  44 class btGearConstraint;
  45 struct btContactSolverInfo;
  46
  47 class btCollisionWorldImporter
  48 {
  49 protected:
  50         btCollisionWorld* m_collisionWorld;
  51
  52         int m_verboseMode;
  53
  54         btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
  55         btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
  56
  57         btAlignedObjectArray<btOptimizedBvh*> m_allocatedBvhs;
  58         btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
  59         btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
  60         btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;
  61         btAlignedObjectArray<btCollisionObject*> m_allocatedCollisionObjects;
  62
  63         btAlignedObjectArray<char*> m_allocatedNames;
  64
  65         btAlignedObjectArray<int*> m_indexArrays;
  66         btAlignedObjectArray<short int*> m_shortIndexArrays;
  67         btAlignedObjectArray<unsigned char*> m_charIndexArrays;
  68
  69         btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
  70         btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
  71
  72         btHashMap<btHashPtr, btOptimizedBvh*> m_bvhMap;
  73         btHashMap<btHashPtr, btTriangleInfoMap*> m_timMap;
  74
  75         btHashMap<btHashString, btCollisionShape*> m_nameShapeMap;
  76         btHashMap<btHashString, btCollisionObject*> m_nameColObjMap;
  77
  78         btHashMap<btHashPtr, const char*> m_objectNameMap;
  79
  80         btHashMap<btHashPtr, btCollisionShape*> m_shapeMap;
  81         btHashMap<btHashPtr, btCollisionObject*> m_bodyMap;
  82
  83         //methods
  84
  85         char* duplicateName(const char* name);
  86
  87         btCollisionShape* convertCollisionShape(btCollisionShapeData* shapeData);
  88
  89 public:
  90         btCollisionWorldImporter(btCollisionWorld* world);
  91
  92         virtual ~btCollisionWorldImporter();
  93
  94         bool convertAllObjects(btBulletSerializedArrays* arrays);
  95
  96         ///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
  97         ///make sure you don't use the dynamics world containing objects after you call this method
  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;
 112         btCollisionShape* getCollisionShapeByIndex(int index);
 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;
 119         btTriangleInfoMap* getTriangleInfoMapByIndex(int index) 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
 127         ///those virtuals are called by load and can be overridden by the user
 128
 129         //bodies
 130
 131         virtual btCollisionObject* createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
 132
 133         ///shapes
 134
 135         virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
 136         virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
 137         virtual btCollisionShape* createSphereShape(btScalar radius);
 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);
 148         virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
 149         virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
 150         virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
 151 #ifdef SUPPORT_GIMPACT_SHAPE_IMPORT
 152         virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
 153 #endif  //SUPPORT_GIMPACT_SHAPE_IMPORT
 154         virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
 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
 162         virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
 163
 164         ///acceleration and connectivity structures
 165         virtual btOptimizedBvh* createOptimizedBvh();
 166         virtual btTriangleInfoMap* createTriangleInfoMap();
 167 };
 168
 169 #endif  //BT_WORLD_IMPORTER_H