libbullet-extras-dev 2.83.6+dfsg-3 / usr / include / bullet / BulletWorldImporter / btWorldImporter.h

/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2012 Erwin Coumans  http://bulletphysics.org

This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose, 
including commercial applications, and to alter it and redistribute it freely, 
subject to the following restrictions:

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.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/


#ifndef BT_WORLD_IMPORTER_H
#define BT_WORLD_IMPORTER_H

#include "LinearMath/btTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btHashMap.h"

class btCollisionShape;
class btCollisionObject;
class btRigidBody;
class btTypedConstraint;
class btDynamicsWorld;
struct ConstraintInput;
class btRigidBodyColladaInfo;
struct btCollisionShapeData;
class btTriangleIndexVertexArray;
class btStridingMeshInterface;
struct btStridingMeshInterfaceData;
class btGImpactMeshShape;
class btOptimizedBvh;
struct btTriangleInfoMap;
class btBvhTriangleMeshShape;
class btPoint2PointConstraint;
class btHingeConstraint;
class btConeTwistConstraint;
class btGeneric6DofConstraint;
class btGeneric6DofSpringConstraint;
class btGeneric6DofSpring2Constraint;
class btSliderConstraint;
class btGearConstraint;
struct btContactSolverInfo;
struct btTypedConstraintData;
struct btTypedConstraintFloatData;
struct btTypedConstraintDoubleData;

struct btRigidBodyDoubleData;
struct btRigidBodyFloatData;

#ifdef BT_USE_DOUBLE_PRECISION
#define btRigidBodyData btRigidBodyDoubleData
#else
#define btRigidBodyData btRigidBodyFloatData
#endif//BT_USE_DOUBLE_PRECISION


class btWorldImporter
{
protected:
	btDynamicsWorld* m_dynamicsWorld;
	
	int m_verboseMode;

	btAlignedObjectArray<btCollisionShape*>  m_allocatedCollisionShapes;
	btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
	btAlignedObjectArray<btTypedConstraint*> m_allocatedConstraints;
	btAlignedObjectArray<btOptimizedBvh*>	 m_allocatedBvhs;
	btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
	btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
	btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;

	btAlignedObjectArray<char*>				m_allocatedNames;

	btAlignedObjectArray<int*>				m_indexArrays;
	btAlignedObjectArray<short int*>		m_shortIndexArrays;
	btAlignedObjectArray<unsigned char*>	m_charIndexArrays;

	btAlignedObjectArray<btVector3FloatData*>	m_floatVertexArrays;
	btAlignedObjectArray<btVector3DoubleData*>	m_doubleVertexArrays;


	btHashMap<btHashPtr,btOptimizedBvh*>	m_bvhMap;
	btHashMap<btHashPtr,btTriangleInfoMap*>	m_timMap;
	
	btHashMap<btHashString,btCollisionShape*>	m_nameShapeMap;
	btHashMap<btHashString,btRigidBody*>	m_nameBodyMap;
	btHashMap<btHashString,btTypedConstraint*>	m_nameConstraintMap;
	btHashMap<btHashPtr,const char*>	m_objectNameMap;

	btHashMap<btHashPtr,btCollisionShape*>	m_shapeMap;
	btHashMap<btHashPtr,btCollisionObject*>	m_bodyMap;


	//methods

	static btRigidBody& getFixedBody();

	char*	duplicateName(const char* name);

	btCollisionShape* convertCollisionShape(  btCollisionShapeData* shapeData  );
	
	void	convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
	void	convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
	void	convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
	void	convertRigidBodyFloat(btRigidBodyFloatData* colObjData);
	void	convertRigidBodyDouble( btRigidBodyDoubleData* colObjData);

public:
	
	btWorldImporter(btDynamicsWorld* world);
	
	virtual ~btWorldImporter();

		///delete all memory collision shapes, rigid bodies, constraints etc. allocated during the load.
	///make sure you don't use the dynamics world containing objects after you call this method
	virtual void deleteAllData();

	void	setVerboseMode(int verboseMode)
	{
		m_verboseMode = verboseMode;
	}

	int getVerboseMode() const
	{
		return m_verboseMode;
	}

		// query for data
	int	getNumCollisionShapes() const;
	btCollisionShape* getCollisionShapeByIndex(int index);
	int getNumRigidBodies() const;
	btCollisionObject* getRigidBodyByIndex(int index) const;
	int getNumConstraints() const;
	btTypedConstraint* getConstraintByIndex(int index) const;
	int getNumBvhs() const;
	btOptimizedBvh*  getBvhByIndex(int index) const;
	int getNumTriangleInfoMaps() const;
	btTriangleInfoMap* getTriangleInfoMapByIndex(int index) const;
	
	// queris involving named objects
	btCollisionShape* getCollisionShapeByName(const char* name);
	btRigidBody* getRigidBodyByName(const char* name);
	btTypedConstraint* getConstraintByName(const char* name);
	const char*	getNameForPointer(const void* ptr) const;

	///those virtuals are called by load and can be overridden by the user

	virtual void	setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo);

	//bodies
	virtual btRigidBody*  createRigidBody(bool isDynamic, 	btScalar mass, 	const btTransform& startTransform,	btCollisionShape* shape,const char* bodyName);
	virtual btCollisionObject*  createCollisionObject(	const btTransform& startTransform,	btCollisionShape* shape,const char* bodyName);

	///shapes

	virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
	virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
	virtual btCollisionShape* createSphereShape(btScalar radius);
	virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
	virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
	virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
	
	virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
	virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
	virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
	virtual btCollisionShape* createConeShapeX(btScalar radius,btScalar height);
	virtual btCollisionShape* createConeShapeY(btScalar radius,btScalar height);
	virtual btCollisionShape* createConeShapeZ(btScalar radius,btScalar height);
	virtual class btTriangleIndexVertexArray*	createTriangleMeshContainer();
	virtual	btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
	virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
	virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
	virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);

	virtual class btConvexHullShape* createConvexHullShape();
	virtual class btCompoundShape* createCompoundShape();
	virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape,const btVector3& localScalingbtBvhTriangleMeshShape);

	virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions,const btScalar* radi,int numSpheres);

	virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);

	///acceleration and connectivity structures
	virtual btOptimizedBvh*	createOptimizedBvh();
	virtual btTriangleInfoMap* createTriangleInfoMap();

	///constraints
	virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,btRigidBody& rbB, const btVector3& pivotInA,const btVector3& pivotInB);
	virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA,const btVector3& pivotInA);
	virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA=false);
	virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA,const btTransform& rbAFrame, bool useReferenceFrameA=false);
	virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,btRigidBody& rbB,const btTransform& rbAFrame, const btTransform& rbBFrame);
	virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
	virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
    virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
	virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
	virtual btGeneric6DofSpring2Constraint* createGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, int rotateOrder );
	
	virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
    virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
	virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio);
	



};


#endif //BT_WORLD_IMPORTER_H