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btWorldImporter.h
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1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2012 Erwin Coumans http://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. This notice may not be removed or altered from any source distribution.
14*/
15
16#ifndef BT_WORLD_IMPORTER_H
17#define BT_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
24class btCollisionShape;
25class btCollisionObject;
26class btRigidBody;
27class btTypedConstraint;
28class btDynamicsWorld;
29struct ConstraintInput;
30class btRigidBodyColladaInfo;
31struct btCollisionShapeData;
32class btTriangleIndexVertexArray;
33class btStridingMeshInterface;
34struct btStridingMeshInterfaceData;
35class btGImpactMeshShape;
36class btOptimizedBvh;
37struct btTriangleInfoMap;
38class btBvhTriangleMeshShape;
39class btPoint2PointConstraint;
40class btHingeConstraint;
41class btConeTwistConstraint;
42class btGeneric6DofConstraint;
43class btGeneric6DofSpringConstraint;
44class btGeneric6DofSpring2Constraint;
45class btSliderConstraint;
46class btGearConstraint;
47struct btContactSolverInfo;
48struct btTypedConstraintData;
49struct btTypedConstraintFloatData;
50struct btTypedConstraintDoubleData;
51
52struct btRigidBodyDoubleData;
53struct btRigidBodyFloatData;
54
55#ifdef BT_USE_DOUBLE_PRECISION
56#define btRigidBodyData btRigidBodyDoubleData
57#else
58#define btRigidBodyData btRigidBodyFloatData
59#endif //BT_USE_DOUBLE_PRECISION
60
61 enum btWorldImporterFlags
62{
63 eRESTORE_EXISTING_OBJECTS = 1, //don't create new objects
64};
65
66 class btWorldImporter
67{
68protected:
69 btDynamicsWorld* m_dynamicsWorld;
70
71 int m_verboseMode;
72 int m_importerFlags;
73
74 btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
75 btAlignedObjectArray<btCollisionObject*> m_allocatedRigidBodies;
76 btAlignedObjectArray<btTypedConstraint*> m_allocatedConstraints;
77 btAlignedObjectArray<btOptimizedBvh*> m_allocatedBvhs;
78 btAlignedObjectArray<btTriangleInfoMap*> m_allocatedTriangleInfoMaps;
79 btAlignedObjectArray<btTriangleIndexVertexArray*> m_allocatedTriangleIndexArrays;
80 btAlignedObjectArray<btStridingMeshInterfaceData*> m_allocatedbtStridingMeshInterfaceDatas;
81
82 btAlignedObjectArray<char*> m_allocatedNames;
83
84 btAlignedObjectArray<int*> m_indexArrays;
85 btAlignedObjectArray<short int*> m_shortIndexArrays;
86 btAlignedObjectArray<unsigned char*> m_charIndexArrays;
87
88 btAlignedObjectArray<btVector3FloatData*> m_floatVertexArrays;
89 btAlignedObjectArray<btVector3DoubleData*> m_doubleVertexArrays;
90
91 btHashMap<btHashPtr, btOptimizedBvh*> m_bvhMap;
92 btHashMap<btHashPtr, btTriangleInfoMap*> m_timMap;
93
94 btHashMap<btHashString, btCollisionShape*> m_nameShapeMap;
95 btHashMap<btHashString, btRigidBody*> m_nameBodyMap;
96 btHashMap<btHashString, btTypedConstraint*> m_nameConstraintMap;
97 btHashMap<btHashPtr, const char*> m_objectNameMap;
98
99 btHashMap<btHashPtr, btCollisionShape*> m_shapeMap;
100 btHashMap<btHashPtr, btCollisionObject*> m_bodyMap;
101
102 //methods
103
104 static btRigidBody& getFixedBody();
105
106 char* duplicateName(const char* name);
107
108 btCollisionShape* convertCollisionShape(btCollisionShapeData* shapeData);
109
110 void convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
111 void convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
112 void convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion);
113 void convertRigidBodyFloat(btRigidBodyFloatData* colObjData);
114 void convertRigidBodyDouble(btRigidBodyDoubleData* colObjData);
115
116public:
117 btWorldImporter(btDynamicsWorld* world);
118
119 virtual ~btWorldImporter();
120
123 virtual void deleteAllData();
124
125 void setVerboseMode(int verboseMode)
126 {
127 m_verboseMode = verboseMode;
128 }
129
130 int getVerboseMode() const
131 {
132 return m_verboseMode;
133 }
134
135 void setImporterFlags(int importerFlags)
136 {
137 m_importerFlags = importerFlags;
138 }
139
140 int getImporterFlags() const
141 {
142 return m_importerFlags;
143 }
144
145 // query for data
146 int getNumCollisionShapes() const;
147 btCollisionShape* getCollisionShapeByIndex(int index);
148 int getNumRigidBodies() const;
149 btCollisionObject* getRigidBodyByIndex(int index) const;
150 int getNumConstraints() const;
151 btTypedConstraint* getConstraintByIndex(int index) const;
152 int getNumBvhs() const;
153 btOptimizedBvh* getBvhByIndex(int index) const;
154 int getNumTriangleInfoMaps() const;
155 btTriangleInfoMap* getTriangleInfoMapByIndex(int index) const;
156
157 // queris involving named objects
158 btCollisionShape* getCollisionShapeByName(const char* name);
159 btRigidBody* getRigidBodyByName(const char* name);
160 btTypedConstraint* getConstraintByName(const char* name);
161 const char* getNameForPointer(const void* ptr) const;
162
164
165 virtual void setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo);
166
167 //bodies
168 virtual btRigidBody* createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
169 virtual btCollisionObject* createCollisionObject(const btTransform& startTransform, btCollisionShape* shape, const char* bodyName);
170
172
173 virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal, btScalar planeConstant);
174 virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
175 virtual btCollisionShape* createSphereShape(btScalar radius);
176 virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
177 virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
178 virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
179
180 virtual btCollisionShape* createCylinderShapeX(btScalar radius, btScalar height);
181 virtual btCollisionShape* createCylinderShapeY(btScalar radius, btScalar height);
182 virtual btCollisionShape* createCylinderShapeZ(btScalar radius, btScalar height);
183 virtual btCollisionShape* createConeShapeX(btScalar radius, btScalar height);
184 virtual btCollisionShape* createConeShapeY(btScalar radius, btScalar height);
185 virtual btCollisionShape* createConeShapeZ(btScalar radius, btScalar height);
186 virtual class btTriangleIndexVertexArray* createTriangleMeshContainer();
187 virtual btBvhTriangleMeshShape* createBvhTriangleMeshShape(btStridingMeshInterface* trimesh, btOptimizedBvh* bvh);
188 virtual btCollisionShape* createConvexTriangleMeshShape(btStridingMeshInterface* trimesh);
189 virtual btGImpactMeshShape* createGimpactShape(btStridingMeshInterface* trimesh);
190 virtual btStridingMeshInterfaceData* createStridingMeshInterfaceData(btStridingMeshInterfaceData* interfaceData);
191
192 virtual class btConvexHullShape* createConvexHullShape();
193 virtual class btCompoundShape* createCompoundShape();
194 virtual class btScaledBvhTriangleMeshShape* createScaledTrangleMeshShape(btBvhTriangleMeshShape* meshShape, const btVector3& localScalingbtBvhTriangleMeshShape);
195
196 virtual class btMultiSphereShape* createMultiSphereShape(const btVector3* positions, const btScalar* radi, int numSpheres);
197
198 virtual btTriangleIndexVertexArray* createMeshInterface(btStridingMeshInterfaceData& meshData);
199
200 virtual class btHeightfieldTerrainShape* createHeightfieldShape(int heightStickWidth, int heightStickLength,
201 const void* heightfieldData, btScalar heightScale,
202 btScalar minHeight, btScalar maxHeight,
203 int upAxis, int heightDataType,
204 bool flipQuadEdges);
205
207 virtual btOptimizedBvh* createOptimizedBvh();
208 virtual btTriangleInfoMap* createTriangleInfoMap();
209
211 virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& pivotInA, const btVector3& pivotInB);
212 virtual btPoint2PointConstraint* createPoint2PointConstraint(btRigidBody& rbA, const btVector3& pivotInA);
213 virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame, bool useReferenceFrameA = false);
214 virtual btHingeConstraint* createHingeConstraint(btRigidBody& rbA, const btTransform& rbAFrame, bool useReferenceFrameA = false);
215 virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& rbAFrame, const btTransform& rbBFrame);
216 virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA, const btTransform& rbAFrame);
217 virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
218 virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
219 virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
220 virtual btGeneric6DofSpring2Constraint* createGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, int rotateOrder);
221
222 virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, bool useLinearReferenceFrameA);
223 virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
224 virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA, const btVector3& axisInB, btScalar ratio);
225};
226
227#endif //BT_WORLD_IMPORTER_H
btAlignedObjectArray.h
btHashMap.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btTransform.h
btVector3.h
btWorldImporterFlags
btWorldImporterFlags
Definition btWorldImporter.h:62
eRESTORE_EXISTING_OBJECTS
@ eRESTORE_EXISTING_OBJECTS
Definition btWorldImporter.h:63
btAlignedObjectArray
The btAlignedObjectArray template class uses a subset of the stl::vector interface for its methods It...
Definition btAlignedObjectArray.h:46
btBvhTriangleMeshShape
The btBvhTriangleMeshShape is a static-triangle mesh shape, it can only be used for fixed/non-moving ...
Definition btBvhTriangleMeshShape.h:36
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition btCollisionObject.h:51
btCollisionShape
The btCollisionShape class provides an interface for collision shapes that can be shared among btColl...
Definition btCollisionShape.h:28
btCompoundShape
The btCompoundShape allows to store multiple other btCollisionShapes This allows for moving concave c...
Definition btCompoundShape.h:57
btConeTwistConstraint
btConeTwistConstraint can be used to simulate ragdoll joints (upper arm, leg etc)
Definition btConeTwistConstraint.h:59
btConvexHullShape
The btConvexHullShape implements an implicit convex hull of an array of vertices.
Definition btConvexHullShape.h:27
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
Definition btDynamicsWorld.h:43
btGImpactMeshShape
This class manages a mesh supplied by the btStridingMeshInterface interface.
Definition btGImpactShape.h:851
btGearConstraint
The btGeatConstraint will couple the angular velocity for two bodies around given local axis and rati...
Definition btGearConstraint.h:32
btGeneric6DofConstraint
btGeneric6DofConstraint between two rigidbodies each with a pivotpoint that descibes the axis locatio...
Definition btGeneric6DofConstraint.h:268
btGeneric6DofSpring2Constraint
Definition btGeneric6DofSpring2Constraint.h:274
btGeneric6DofSpringConstraint
Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF.
Definition btGeneric6DofSpringConstraint.h:43
btHashMap
The btHashMap template class implements a generic and lightweight hashmap.
Definition btHashMap.h:220
btHeightfieldTerrainShape
btHeightfieldTerrainShape simulates a 2D heightfield terrain
Definition btHeightfieldTerrainShape.h:72
btHingeConstraint
hinge constraint between two rigidbodies each with a pivotpoint that descibes the axis location in lo...
Definition btHingeConstraint.h:49
btMultiSphereShape
The btMultiSphereShape represents the convex hull of a collection of spheres.
Definition btMultiSphereShape.h:28
btOptimizedBvh
The btOptimizedBvh extends the btQuantizedBvh to create AABB tree for triangle meshes,...
Definition btOptimizedBvh.h:28
btPoint2PointConstraint
point to point constraint between two rigidbodies each with a pivotpoint that descibes the 'ballsocke...
Definition btPoint2PointConstraint.h:54
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition btRigidBody.h:60
btScaledBvhTriangleMeshShape
The btScaledBvhTriangleMeshShape allows to instance a scaled version of an existing btBvhTriangleMesh...
Definition btScaledBvhTriangleMeshShape.h:25
btSliderConstraint
Definition btSliderConstraint.h:67
btStridingMeshInterface
The btStridingMeshInterface is the interface class for high performance generic access to triangle me...
Definition btStridingMeshInterface.h:28
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btTriangleIndexVertexArray
The btTriangleIndexVertexArray allows to access multiple triangle meshes, by indexing into existing t...
Definition btTriangleIndexVertexArray.h:67
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition btTypedConstraint.h:76
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
btWorldImporter
Definition btWorldImporter.h:67
btWorldImporter::duplicateName
char * duplicateName(const char *name)
Definition btWorldImporter.cpp:492
btWorldImporter::m_allocatedTriangleIndexArrays
btAlignedObjectArray< btTriangleIndexVertexArray * > m_allocatedTriangleIndexArrays
Definition btWorldImporter.h:79
btWorldImporter::m_allocatedNames
btAlignedObjectArray< char * > m_allocatedNames
Definition btWorldImporter.h:82
btWorldImporter::createCollisionObject
virtual btCollisionObject * createCollisionObject(const btTransform &startTransform, btCollisionShape *shape, const char *bodyName)
Definition btWorldImporter.cpp:1591
btWorldImporter::getConstraintByName
btTypedConstraint * getConstraintByName(const char *name)
Definition btWorldImporter.cpp:1930
btWorldImporter::getFixedBody
static btRigidBody & getFixedBody()
Definition btWorldImporter.cpp:1801
btWorldImporter::createConeShapeY
virtual btCollisionShape * createConeShapeY(btScalar radius, btScalar height)
Definition btWorldImporter.cpp:1697
btWorldImporter::m_allocatedRigidBodies
btAlignedObjectArray< btCollisionObject * > m_allocatedRigidBodies
Definition btWorldImporter.h:75
btWorldImporter::getNumBvhs
int getNumBvhs() const
Definition btWorldImporter.cpp:1967
btWorldImporter::createCapsuleShapeY
virtual btCollisionShape * createCapsuleShapeY(btScalar radius, btScalar height)
Definition btWorldImporter.cpp:1655
btWorldImporter::getConstraintByIndex
btTypedConstraint * getConstraintByIndex(int index) const
Definition btWorldImporter.cpp:1962
btWorldImporter::createOptimizedBvh
virtual btOptimizedBvh * createOptimizedBvh()
acceleration and connectivity structures
Definition btWorldImporter.cpp:1718
btWorldImporter::createScaledTrangleMeshShape
virtual class btScaledBvhTriangleMeshShape * createScaledTrangleMeshShape(btBvhTriangleMeshShape *meshShape, const btVector3 &localScalingbtBvhTriangleMeshShape)
Definition btWorldImporter.cpp:1774
btWorldImporter::createRigidBody
virtual btRigidBody * createRigidBody(bool isDynamic, btScalar mass, const btTransform &startTransform, btCollisionShape *shape, const char *bodyName)
Definition btWorldImporter.cpp:1605
btWorldImporter::convertConstraintBackwardsCompatible281
void convertConstraintBackwardsCompatible281(btTypedConstraintData *constraintData, btRigidBody *rbA, btRigidBody *rbB, int fileVersion)
Definition btWorldImporter.cpp:506
btWorldImporter::getRigidBodyByName
btRigidBody * getRigidBodyByName(const char *name)
Definition btWorldImporter.cpp:1920
btWorldImporter::createConvexHullShape
virtual class btConvexHullShape * createConvexHullShape()
Definition btWorldImporter.cpp:1760
btWorldImporter::createConvexTriangleMeshShape
virtual btCollisionShape * createConvexTriangleMeshShape(btStridingMeshInterface *trimesh)
Definition btWorldImporter.cpp:1746
btWorldImporter::getNameForPointer
const char * getNameForPointer(const void *ptr) const
Definition btWorldImporter.cpp:1940
btWorldImporter::createCapsuleShapeX
virtual btCollisionShape * createCapsuleShapeX(btScalar radius, btScalar height)
Definition btWorldImporter.cpp:1648
btWorldImporter::createPlaneShape
virtual btCollisionShape * createPlaneShape(const btVector3 &planeNormal, btScalar planeConstant)
shapes
Definition btWorldImporter.cpp:1629
btWorldImporter::m_allocatedBvhs
btAlignedObjectArray< btOptimizedBvh * > m_allocatedBvhs
Definition btWorldImporter.h:77
btWorldImporter::m_bvhMap
btHashMap< btHashPtr, btOptimizedBvh * > m_bvhMap
Definition btWorldImporter.h:91
btWorldImporter::getRigidBodyByIndex
btCollisionObject * getRigidBodyByIndex(int index) const
Definition btWorldImporter.cpp:1953
btWorldImporter::getCollisionShapeByIndex
btCollisionShape * getCollisionShapeByIndex(int index)
Definition btWorldImporter.cpp:1905
btWorldImporter::m_nameConstraintMap
btHashMap< btHashString, btTypedConstraint * > m_nameConstraintMap
Definition btWorldImporter.h:96
btWorldImporter::createConeTwistConstraint
virtual btConeTwistConstraint * createConeTwistConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame)
Definition btWorldImporter.cpp:1836
btWorldImporter::createMultiSphereShape
virtual class btMultiSphereShape * createMultiSphereShape(const btVector3 *positions, const btScalar *radi, int numSpheres)
Definition btWorldImporter.cpp:1781
btWorldImporter::~btWorldImporter
virtual ~btWorldImporter()
Definition btWorldImporter.cpp:29
btWorldImporter::createStridingMeshInterfaceData
virtual btStridingMeshInterfaceData * createStridingMeshInterfaceData(btStridingMeshInterfaceData *interfaceData)
Definition btWorldImporter.cpp:1500
btWorldImporter::m_allocatedConstraints
btAlignedObjectArray< btTypedConstraint * > m_allocatedConstraints
Definition btWorldImporter.h:76
btWorldImporter::convertConstraintDouble
void convertConstraintDouble(btTypedConstraintDoubleData *constraintData, btRigidBody *rbA, btRigidBody *rbB, int fileVersion)
Definition btWorldImporter.cpp:1054
btWorldImporter::createGeneric6DofSpring2Constraint
virtual btGeneric6DofSpring2Constraint * createGeneric6DofSpring2Constraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, int rotateOrder)
Definition btWorldImporter.cpp:1864
btWorldImporter::m_charIndexArrays
btAlignedObjectArray< unsigned char * > m_charIndexArrays
Definition btWorldImporter.h:86
btWorldImporter::createBoxShape
virtual btCollisionShape * createBoxShape(const btVector3 &halfExtents)
Definition btWorldImporter.cpp:1635
btWorldImporter::setDynamicsWorldInfo
virtual void setDynamicsWorldInfo(const btVector3 &gravity, const btContactSolverInfo &solverInfo)
those virtuals are called by load and can be overridden by the user
Definition btWorldImporter.cpp:1596
btWorldImporter::getNumRigidBodies
int getNumRigidBodies() const
Definition btWorldImporter.cpp:1948
btWorldImporter::getNumTriangleInfoMaps
int getNumTriangleInfoMaps() const
Definition btWorldImporter.cpp:1976
btWorldImporter::createMeshInterface
virtual btTriangleIndexVertexArray * createMeshInterface(btStridingMeshInterfaceData &meshData)
Definition btWorldImporter.cpp:1383
btWorldImporter::m_indexArrays
btAlignedObjectArray< int * > m_indexArrays
Definition btWorldImporter.h:84
btWorldImporter::createGeneric6DofConstraint
virtual btGeneric6DofConstraint * createGeneric6DofConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
Definition btWorldImporter.cpp:1850
btWorldImporter::getNumCollisionShapes
int getNumCollisionShapes() const
Definition btWorldImporter.cpp:1900
btWorldImporter::m_allocatedTriangleInfoMaps
btAlignedObjectArray< btTriangleInfoMap * > m_allocatedTriangleInfoMaps
Definition btWorldImporter.h:78
btWorldImporter::m_importerFlags
int m_importerFlags
Definition btWorldImporter.h:72
btWorldImporter::m_verboseMode
int m_verboseMode
Definition btWorldImporter.h:71
btWorldImporter::createCylinderShapeY
virtual btCollisionShape * createCylinderShapeY(btScalar radius, btScalar height)
Definition btWorldImporter.cpp:1676
btWorldImporter::deleteAllData
virtual void deleteAllData()
delete all memory collision shapes, rigid bodies, constraints etc.
Definition btWorldImporter.cpp:33
btWorldImporter::createGeneric6DofSpringConstraint
virtual btGeneric6DofSpringConstraint * createGeneric6DofSpringConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
Definition btWorldImporter.cpp:1871
btWorldImporter::setImporterFlags
void setImporterFlags(int importerFlags)
Definition btWorldImporter.h:135
btWorldImporter::createConeShapeX
virtual btCollisionShape * createConeShapeX(btScalar radius, btScalar height)
Definition btWorldImporter.cpp:1690
btWorldImporter::m_dynamicsWorld
btDynamicsWorld * m_dynamicsWorld
Definition btWorldImporter.h:69
btWorldImporter::createCylinderShapeX
virtual btCollisionShape * createCylinderShapeX(btScalar radius, btScalar height)
Definition btWorldImporter.cpp:1669
btWorldImporter::convertConstraintFloat
void convertConstraintFloat(btTypedConstraintFloatData *constraintData, btRigidBody *rbA, btRigidBody *rbB, int fileVersion)
Definition btWorldImporter.cpp:729
btWorldImporter::createCompoundShape
virtual class btCompoundShape * createCompoundShape()
Definition btWorldImporter.cpp:1767
btWorldImporter::btWorldImporter
btWorldImporter(btDynamicsWorld *world)
Definition btWorldImporter.cpp:22
btWorldImporter::getTriangleInfoMapByIndex
btTriangleInfoMap * getTriangleInfoMapByIndex(int index) const
Definition btWorldImporter.cpp:1981
btWorldImporter::m_allocatedCollisionShapes
btAlignedObjectArray< btCollisionShape * > m_allocatedCollisionShapes
Definition btWorldImporter.h:74
btWorldImporter::createGearConstraint
virtual btGearConstraint * createGearConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &axisInA, const btVector3 &axisInB, btScalar ratio)
Definition btWorldImporter.cpp:1892
btWorldImporter::m_nameShapeMap
btHashMap< btHashString, btCollisionShape * > m_nameShapeMap
Definition btWorldImporter.h:94
btWorldImporter::getNumConstraints
int getNumConstraints() const
Definition btWorldImporter.cpp:1957
btWorldImporter::getVerboseMode
int getVerboseMode() const
Definition btWorldImporter.h:130
btWorldImporter::m_shapeMap
btHashMap< btHashPtr, btCollisionShape * > m_shapeMap
Definition btWorldImporter.h:99
btWorldImporter::getImporterFlags
int getImporterFlags() const
Definition btWorldImporter.h:140
btWorldImporter::createConeShapeZ
virtual btCollisionShape * createConeShapeZ(btScalar radius, btScalar height)
Definition btWorldImporter.cpp:1704
btWorldImporter::setVerboseMode
void setVerboseMode(int verboseMode)
Definition btWorldImporter.h:125
btWorldImporter::createHingeConstraint
virtual btHingeConstraint * createHingeConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &rbAFrame, const btTransform &rbBFrame, bool useReferenceFrameA=false)
Definition btWorldImporter.cpp:1822
btWorldImporter::m_doubleVertexArrays
btAlignedObjectArray< btVector3DoubleData * > m_doubleVertexArrays
Definition btWorldImporter.h:89
btWorldImporter::m_nameBodyMap
btHashMap< btHashString, btRigidBody * > m_nameBodyMap
Definition btWorldImporter.h:95
btWorldImporter::convertCollisionShape
btCollisionShape * convertCollisionShape(btCollisionShapeData *shapeData)
Definition btWorldImporter.cpp:142
btWorldImporter::createSphereShape
virtual btCollisionShape * createSphereShape(btScalar radius)
Definition btWorldImporter.cpp:1641
btWorldImporter::m_timMap
btHashMap< btHashPtr, btTriangleInfoMap * > m_timMap
Definition btWorldImporter.h:92
btWorldImporter::getCollisionShapeByName
btCollisionShape * getCollisionShapeByName(const char *name)
Definition btWorldImporter.cpp:1910
btWorldImporter::convertRigidBodyDouble
void convertRigidBodyDouble(btRigidBodyDoubleData *colObjData)
Definition btWorldImporter.cpp:2036
btWorldImporter::m_floatVertexArrays
btAlignedObjectArray< btVector3FloatData * > m_floatVertexArrays
Definition btWorldImporter.h:88
btWorldImporter::createTriangleMeshContainer
virtual class btTriangleIndexVertexArray * createTriangleMeshContainer()
Definition btWorldImporter.cpp:1711
btWorldImporter::createBvhTriangleMeshShape
virtual btBvhTriangleMeshShape * createBvhTriangleMeshShape(btStridingMeshInterface *trimesh, btOptimizedBvh *bvh)
Definition btWorldImporter.cpp:1732
btWorldImporter::m_allocatedbtStridingMeshInterfaceDatas
btAlignedObjectArray< btStridingMeshInterfaceData * > m_allocatedbtStridingMeshInterfaceDatas
Definition btWorldImporter.h:80
btWorldImporter::createGimpactShape
virtual btGImpactMeshShape * createGimpactShape(btStridingMeshInterface *trimesh)
Definition btWorldImporter.cpp:1750
btWorldImporter::getBvhByIndex
btOptimizedBvh * getBvhByIndex(int index) const
Definition btWorldImporter.cpp:1971
btWorldImporter::convertRigidBodyFloat
void convertRigidBodyFloat(btRigidBodyFloatData *colObjData)
Definition btWorldImporter.cpp:1986
btWorldImporter::m_bodyMap
btHashMap< btHashPtr, btCollisionObject * > m_bodyMap
Definition btWorldImporter.h:100
btWorldImporter::createPoint2PointConstraint
virtual btPoint2PointConstraint * createPoint2PointConstraint(btRigidBody &rbA, btRigidBody &rbB, const btVector3 &pivotInA, const btVector3 &pivotInB)
constraints
Definition btWorldImporter.cpp:1808
btWorldImporter::createCylinderShapeZ
virtual btCollisionShape * createCylinderShapeZ(btScalar radius, btScalar height)
Definition btWorldImporter.cpp:1683
btWorldImporter::createTriangleInfoMap
virtual btTriangleInfoMap * createTriangleInfoMap()
Definition btWorldImporter.cpp:1725
btWorldImporter::createHeightfieldShape
virtual class btHeightfieldTerrainShape * createHeightfieldShape(int heightStickWidth, int heightStickLength, const void *heightfieldData, btScalar heightScale, btScalar minHeight, btScalar maxHeight, int upAxis, int heightDataType, bool flipQuadEdges)
Definition btWorldImporter.cpp:1788
btWorldImporter::createCapsuleShapeZ
virtual btCollisionShape * createCapsuleShapeZ(btScalar radius, btScalar height)
Definition btWorldImporter.cpp:1662
btWorldImporter::createSliderConstraint
virtual btSliderConstraint * createSliderConstraint(btRigidBody &rbA, btRigidBody &rbB, const btTransform &frameInA, const btTransform &frameInB, bool useLinearReferenceFrameA)
Definition btWorldImporter.cpp:1878
btWorldImporter::m_shortIndexArrays
btAlignedObjectArray< short int * > m_shortIndexArrays
Definition btWorldImporter.h:85
btWorldImporter::m_objectNameMap
btHashMap< btHashPtr, const char * > m_objectNameMap
Definition btWorldImporter.h:97
btCollisionShapeData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btCollisionShape.h:163
btContactSolverInfo
Definition btContactSolverInfo.h:76
btRigidBodyDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btRigidBody.h:662
btRigidBodyFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btRigidBody.h:636
btStridingMeshInterfaceData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btStridingMeshInterface.h:139
btTriangleInfoMap
The btTriangleInfoMap stores edge angle information for some triangles. You can compute this informat...
Definition btTriangleInfoMap.h:54
btTypedConstraintData
this structure is not used, except for loading pre-2.82 .bullet files
Definition btTypedConstraint.h:388
btTypedConstraintDoubleData
Definition btTypedConstraint.h:411
btTypedConstraintFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btTypedConstraint.h:359