redgpu/bullet: Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

src/Bullet3Serialize/Bullet2FileLoader/b3BulletFile.cpp
423 строки10 KB
Erwin Coumans
turn test/SharedMemory/test.c into a gtest for CI unit testing in github
16 мар 2016, 08:47
16 мар 2016, 08:47aa3daaa
/*
bParse
Copyright (c) 2006-2010 Erwin Coumans  http://gamekit.googlecode.com

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.
*/

#include "b3BulletFile.h"
#include "b3Defines.h"
#include "b3DNA.h"

#if !defined( __CELLOS_LV2__) && !defined(__MWERKS__)
#include <memory.h>
#endif
#include <string.h>


// 32 && 64 bit versions
#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#ifdef _WIN64
extern char b3s_bulletDNAstr64[];
extern int b3s_bulletDNAlen64;
#else
extern char b3s_bulletDNAstr[];
extern int b3s_bulletDNAlen;
#endif //_WIN64
#else//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES

extern char b3s_bulletDNAstr64[];
extern int b3s_bulletDNAlen64;
extern char b3s_bulletDNAstr[];
extern int b3s_bulletDNAlen;

#endif //B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES

using namespace bParse;

b3BulletFile::b3BulletFile()
:bFile("", "BULLET ")
{
	mMemoryDNA = new bDNA(); //this memory gets released in the bFile::~bFile destructor,@todo not consistent with the rule 'who allocates it, has to deallocate it"

	m_DnaCopy = 0;


#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
#ifdef _WIN64
		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64,16);
		memcpy(m_DnaCopy,b3s_bulletDNAstr64,b3s_bulletDNAlen64);
		mMemoryDNA->init(m_DnaCopy,b3s_bulletDNAlen64);
#else//_WIN64
		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen,16);
		memcpy(m_DnaCopy,b3s_bulletDNAstr,b3s_bulletDNAlen);
		mMemoryDNA->init(m_DnaCopy,b3s_bulletDNAlen);
#endif//_WIN64
#else//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
	if (VOID_IS_8)
	{
		m_DnaCopy = (char*) b3AlignedAlloc(b3s_bulletDNAlen64,16);
		memcpy(m_DnaCopy,b3s_bulletDNAstr64,b3s_bulletDNAlen64);
		mMemoryDNA->init(m_DnaCopy,b3s_bulletDNAlen64);
	}
	else
	{
		m_DnaCopy =(char*) b3AlignedAlloc(b3s_bulletDNAlen,16);
		memcpy(m_DnaCopy,b3s_bulletDNAstr,b3s_bulletDNAlen);
		mMemoryDNA->init(m_DnaCopy,b3s_bulletDNAlen);
	}
#endif//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
}



b3BulletFile::b3BulletFile(const char* fileName)
:bFile(fileName, "BULLET ")
{
	m_DnaCopy = 0;
}



b3BulletFile::b3BulletFile(char *memoryBuffer, int len)
:bFile(memoryBuffer,len, "BULLET ")
{
	m_DnaCopy = 0;
}


b3BulletFile::~b3BulletFile()
{
	if (m_DnaCopy)
		b3AlignedFree(m_DnaCopy);

	
	while (m_dataBlocks.size())
	{
		char* dataBlock = m_dataBlocks[m_dataBlocks.size()-1];
		delete[] dataBlock;
		m_dataBlocks.pop_back();
	}

}



// ----------------------------------------------------- //
void b3BulletFile::parseData()
{
//	printf ("Building datablocks");
//	printf ("Chunk size = %d",CHUNK_HEADER_LEN);
//	printf ("File chunk size = %d",ChunkUtils::getOffset(mFlags));

	const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;

	//const bool swap = (mFlags&FD_ENDIAN_SWAP)!=0;
	

	mDataStart = 12;

	char *dataPtr = mFileBuffer+mDataStart;

	bChunkInd dataChunk;
	dataChunk.code = 0;


	//dataPtr += ChunkUtils::getNextBlock(&dataChunk, dataPtr, mFlags);
	int seek = getNextBlock(&dataChunk, dataPtr, mFlags);
	
	
	if (mFlags &FD_ENDIAN_SWAP) 
		swapLen(dataPtr);

	//dataPtr += ChunkUtils::getOffset(mFlags);
	char *dataPtrHead = 0;

	while (dataChunk.code != B3_DNA1)
	{
		if (!brokenDNA || (dataChunk.code != B3_QUANTIZED_BVH_CODE) )
		{

			// one behind
			if (dataChunk.code == B3_SDNA) break;
			//if (dataChunk.code == DNA1) break;

			// same as (BHEAD+DATA dependency)
			dataPtrHead = dataPtr+ChunkUtils::getOffset(mFlags);
			if (dataChunk.dna_nr>=0)
			{
				char *id = readStruct(dataPtrHead, dataChunk);

				// lookup maps
				if (id)
				{
					m_chunkPtrPtrMap.insert(dataChunk.oldPtr, dataChunk);
					mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)id);

					m_chunks.push_back(dataChunk);
					// block it
					//bListBasePtr *listID = mMain->getListBasePtr(dataChunk.code);
					//if (listID)
					//	listID->push_back((bStructHandle*)id);
				}

				if (dataChunk.code == B3_SOFTBODY_CODE)
				{
					m_softBodies.push_back((bStructHandle*) id);
				}
				
				if (dataChunk.code == B3_RIGIDBODY_CODE)
				{
					m_rigidBodies.push_back((bStructHandle*) id);
				}

				if (dataChunk.code == B3_DYNAMICSWORLD_CODE)
				{
					m_dynamicsWorldInfo.push_back((bStructHandle*) id);
				}

				if (dataChunk.code == B3_CONSTRAINT_CODE)
				{
					m_constraints.push_back((bStructHandle*) id);
				}

				if (dataChunk.code == B3_QUANTIZED_BVH_CODE)
				{
					m_bvhs.push_back((bStructHandle*) id);
				}

				if (dataChunk.code == B3_TRIANLGE_INFO_MAP)
				{
					m_triangleInfoMaps.push_back((bStructHandle*) id);
				}

				if (dataChunk.code == B3_COLLISIONOBJECT_CODE)
				{
					m_collisionObjects.push_back((bStructHandle*) id);
				}

				if (dataChunk.code == B3_SHAPE_CODE)
				{
					m_collisionShapes.push_back((bStructHandle*) id);
				}

		//		if (dataChunk.code == GLOB)
		//		{
		//			m_glob = (bStructHandle*) id;
		//		}
			} else
			{
				//printf("unknown chunk\n");

				mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)dataPtrHead);
			}
		} else
		{
			printf("skipping B3_QUANTIZED_BVH_CODE due to broken DNA\n");
		}

		
		dataPtr += seek;

		seek =  getNextBlock(&dataChunk, dataPtr, mFlags);
		if (mFlags &FD_ENDIAN_SWAP) 
			swapLen(dataPtr);

		if (seek < 0)
			break;
	}

}

void	b3BulletFile::addDataBlock(char* dataBlock)
{
	m_dataBlocks.push_back(dataBlock);

}




void	b3BulletFile::writeDNA(FILE* fp)
{

	bChunkInd dataChunk;
	dataChunk.code = B3_DNA1;
	dataChunk.dna_nr = 0;
	dataChunk.nr = 1;
#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES	
	if (VOID_IS_8)
	{
#ifdef _WIN64
		dataChunk.len = b3s_bulletDNAlen64;
		dataChunk.oldPtr = b3s_bulletDNAstr64;
		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
		fwrite(b3s_bulletDNAstr64, b3s_bulletDNAlen64,1,fp);
#else
		b3Assert(0);
#endif
	}
	else
	{
#ifndef _WIN64
		dataChunk.len = b3s_bulletDNAlen;
		dataChunk.oldPtr = b3s_bulletDNAstr;
		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
		fwrite(b3s_bulletDNAstr, b3s_bulletDNAlen,1,fp);
#else//_WIN64
		b3Assert(0);
#endif//_WIN64
	}
#else//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
	if (VOID_IS_8)
	{
		dataChunk.len = b3s_bulletDNAlen64;
		dataChunk.oldPtr = b3s_bulletDNAstr64;
		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
		fwrite(b3s_bulletDNAstr64, b3s_bulletDNAlen64,1,fp);
	}
	else
	{
		dataChunk.len = b3s_bulletDNAlen;
		dataChunk.oldPtr = b3s_bulletDNAstr;
		fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
		fwrite(b3s_bulletDNAstr, b3s_bulletDNAlen,1,fp);
	}
#endif//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
}


void	b3BulletFile::parse(int verboseMode)
{
#ifdef B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
	if (VOID_IS_8)
	{
#ifdef _WIN64
		
		if (m_DnaCopy)
			delete m_DnaCopy;
		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64,16);
		memcpy(m_DnaCopy,b3s_bulletDNAstr64,b3s_bulletDNAlen64);
		parseInternal(verboseMode,(char*)b3s_bulletDNAstr64,b3s_bulletDNAlen64);
#else
		b3Assert(0);
#endif
	}
	else
	{
#ifndef _WIN64

		if (m_DnaCopy)
			delete m_DnaCopy;
		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen,16);
		memcpy(m_DnaCopy,b3s_bulletDNAstr,b3s_bulletDNAlen);
		parseInternal(verboseMode,m_DnaCopy,b3s_bulletDNAlen);
#else
		b3Assert(0);
#endif
	}
#else//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
	if (VOID_IS_8)
	{
		if (m_DnaCopy)
			delete m_DnaCopy;
		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen64,16);
		memcpy(m_DnaCopy,b3s_bulletDNAstr64,b3s_bulletDNAlen64);
		parseInternal(verboseMode,m_DnaCopy,b3s_bulletDNAlen64);
	}
	else
	{
		if (m_DnaCopy)
			delete m_DnaCopy;
		m_DnaCopy = (char*)b3AlignedAlloc(b3s_bulletDNAlen,16);
		memcpy(m_DnaCopy,b3s_bulletDNAstr,b3s_bulletDNAlen);
		parseInternal(verboseMode,m_DnaCopy,b3s_bulletDNAlen);
	}
#endif//B3_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
	
	//the parsing will convert to cpu endian
	mFlags &=~FD_ENDIAN_SWAP;

	int littleEndian= 1;
	littleEndian= ((char*)&littleEndian)[0];
	
	mFileBuffer[8] = littleEndian?'v':'V';
	
}

// experimental
int		b3BulletFile::write(const char* fileName, bool fixupPointers)
{
	FILE *fp = fopen(fileName, "wb");
	if (fp)
	{
		char header[B3_SIZEOFBLENDERHEADER] ;
		memcpy(header, m_headerString, 7);
		int endian= 1;
		endian= ((char*)&endian)[0];

		if (endian)
		{
			header[7] = '_';
		} else
		{
			header[7] = '-';
		}
		if (VOID_IS_8)
		{
			header[8]='V';
		} else
		{
			header[8]='v';
		}

		header[9] = '2';
		header[10] = '7';
		header[11] = '5';
		
		fwrite(header,B3_SIZEOFBLENDERHEADER,1,fp);

		writeChunks(fp, fixupPointers);

		writeDNA(fp);

		fclose(fp);
		
	} else
	{
		printf("Error: cannot open file %s for writing\n",fileName);
		return 0;
	}
	return 1;
}



void	b3BulletFile::addStruct(const	char* structType,void* data, int len, void* oldPtr, int code)
{
	
	bParse::bChunkInd dataChunk;
	dataChunk.code = code;
	dataChunk.nr = 1;
	dataChunk.len = len;
	dataChunk.dna_nr = mMemoryDNA->getReverseType(structType);
	dataChunk.oldPtr = oldPtr;

	///Perform structure size validation
	short* structInfo= mMemoryDNA->getStruct(dataChunk.dna_nr);
	int elemBytes;
	elemBytes= mMemoryDNA->getLength(structInfo[0]);
//	int elemBytes = mMemoryDNA->getElementSize(structInfo[0],structInfo[1]);
	assert(len==elemBytes);

	mLibPointers.insert(dataChunk.oldPtr, (bStructHandle*)data);
	m_chunks.push_back(dataChunk);
}