private void DeSerializeGeneric6DofConstraintData(XmlElement element) { int ptr = int.Parse(element.GetAttribute("pointer")); byte[] dof6Data = new byte[Marshal.SizeOf(typeof(Generic6DofConstraintFloatData))]; using (var stream = new MemoryStream(dof6Data)) { using (var writer = new BulletWriter(stream)) { XmlNode node = element["m_typeConstraintData"]; if (node == null) { return; } SetPointerValue(writer, node["m_rbA"], TypedConstraintFloatData.Offset("RigidBodyA")); SetPointerValue(writer, node["m_rbB"], TypedConstraintFloatData.Offset("RigidBodyB")); writer.Write(0, TypedConstraintFloatData.Offset("Name")); SetIntValue(writer, node["m_objectType"], TypedConstraintFloatData.Offset("ObjectType")); SetIntValue(writer, node["m_userConstraintType"], TypedConstraintFloatData.Offset("UserConstraintType")); SetIntValue(writer, node["m_userConstraintId"], TypedConstraintFloatData.Offset("UserConstraintId")); SetIntValue(writer, node["m_needsFeedback"], TypedConstraintFloatData.Offset("NeedsFeedback")); SetFloatValue(writer, node["m_appliedImpulse"], TypedConstraintFloatData.Offset("AppliedImpulse")); SetFloatValue(writer, node["m_dbgDrawSize"], TypedConstraintFloatData.Offset("DebugDrawSize")); SetIntValue(writer, node["m_disableCollisionsBetweenLinkedBodies"], TypedConstraintFloatData.Offset("DisableCollisionsBetweenLinkedBodies")); SetIntValue(writer, node["m_overrideNumSolverIterations"], TypedConstraintFloatData.Offset("OverrideNumSolverIterations")); SetFloatValue(writer, node["m_breakingImpulseThreshold"], TypedConstraintFloatData.Offset("BreakingImpulseThreshold")); SetIntValue(writer, node["m_isEnabled"], TypedConstraintFloatData.Offset("IsEnabled")); SetTransformValue(writer, element["m_rbAFrame"], Generic6DofConstraintFloatData.Offset("RigidBodyAFrame")); SetTransformValue(writer, element["m_rbBFrame"], Generic6DofConstraintFloatData.Offset("RigidBodyBFrame")); SetVector4Value(writer, element["m_linearUpperLimit"], Generic6DofConstraintFloatData.Offset("LinearUpperLimit")); SetVector4Value(writer, element["m_linearLowerLimit"], Generic6DofConstraintFloatData.Offset("LinearLowerLimit")); SetVector4Value(writer, element["m_angularUpperLimit"], Generic6DofConstraintFloatData.Offset("AngularUpperLimit")); SetVector4Value(writer, element["m_angularLowerLimit"], Generic6DofConstraintFloatData.Offset("AngularLowerLimit")); SetIntValue(writer, element["m_useLinearReferenceFrameA"], Generic6DofConstraintFloatData.Offset("UseLinearReferenceFrameA")); SetIntValue(writer, element["m_useOffsetForConstraintFrame"], Generic6DofConstraintFloatData.Offset("UseOffsetForConstraintFrame")); } } _constraintData.Add(dof6Data); }
public bool ConvertAllObjects(BulletFile file) { _shapeMap.Clear(); _bodyMap.Clear(); foreach (byte[] bvhData in file.Bvhs) { OptimizedBvh bvh = CreateOptimizedBvh(); if ((file.Flags & FileFlags.DoublePrecision) != 0) { throw new NotImplementedException(); } else { // QuantizedBvhData is parsed in C++, so we need to actually fix pointers GCHandle bvhDataHandle = GCHandle.Alloc(bvhData, GCHandleType.Pinned); IntPtr bvhDataPinnedPtr = bvhDataHandle.AddrOfPinnedObject(); IntPtr contiguousNodesHandlePtr = IntPtr.Zero; IntPtr quantizedContiguousNodesHandlePtr = IntPtr.Zero; IntPtr subTreeInfoHandlePtr = IntPtr.Zero; using (var stream = new MemoryStream(bvhData)) { using (var reader = new BulletReader(stream)) { long contiguousNodesPtr = reader.ReadPtr(QuantizedBvhFloatData.Offset("ContiguousNodesPtr")); long quantizedContiguousNodesPtr = reader.ReadPtr(QuantizedBvhFloatData.Offset("QuantizedContiguousNodesPtr")); long subTreeInfoPtr = reader.ReadPtr(QuantizedBvhFloatData.Offset("SubTreeInfoPtr")); using (var writer = new BulletWriter(stream)) { if (contiguousNodesPtr != 0) { GCHandle contiguousNodesHandle = GCHandle.Alloc(file.LibPointers[contiguousNodesPtr], GCHandleType.Pinned); contiguousNodesHandlePtr = GCHandle.ToIntPtr(contiguousNodesHandle); stream.Position = QuantizedBvhFloatData.Offset("ContiguousNodesPtr"); writer.Write(contiguousNodesHandle.AddrOfPinnedObject()); } if (quantizedContiguousNodesPtr != 0) { GCHandle quantizedContiguousNodesHandle = GCHandle.Alloc(file.LibPointers[quantizedContiguousNodesPtr], GCHandleType.Pinned); quantizedContiguousNodesHandlePtr = GCHandle.ToIntPtr(quantizedContiguousNodesHandle); stream.Position = QuantizedBvhFloatData.Offset("QuantizedContiguousNodesPtr"); writer.Write(quantizedContiguousNodesHandle.AddrOfPinnedObject()); } if (subTreeInfoPtr != 0) { GCHandle subTreeInfoHandle = GCHandle.Alloc(file.LibPointers[subTreeInfoPtr], GCHandleType.Pinned); subTreeInfoHandlePtr = GCHandle.ToIntPtr(subTreeInfoHandle); stream.Position = QuantizedBvhFloatData.Offset("SubTreeInfoPtr"); writer.Write(subTreeInfoHandle.AddrOfPinnedObject()); } } } } bvh.DeSerializeFloat(bvhDataPinnedPtr); bvhDataHandle.Free(); if (contiguousNodesHandlePtr != IntPtr.Zero) { GCHandle.FromIntPtr(contiguousNodesHandlePtr).Free(); } if (quantizedContiguousNodesHandlePtr != IntPtr.Zero) { GCHandle.FromIntPtr(quantizedContiguousNodesHandlePtr).Free(); } if (subTreeInfoHandlePtr != IntPtr.Zero) { GCHandle.FromIntPtr(subTreeInfoHandlePtr).Free(); } } foreach (KeyValuePair <long, byte[]> lib in file.LibPointers) { if (lib.Value == bvhData) { _bvhMap.Add(lib.Key, bvh); break; } } } foreach (byte[] shapeData in file.CollisionShapes) { CollisionShape shape = ConvertCollisionShape(shapeData, file.LibPointers); if (shape != null) { foreach (KeyValuePair <long, byte[]> lib in file.LibPointers) { if (lib.Value == shapeData) { _shapeMap.Add(lib.Key, shape); break; } } using (var stream = new MemoryStream(shapeData, false)) { using (var reader = new BulletReader(stream)) { long namePtr = reader.ReadPtr(CollisionShapeFloatData.Offset("Name")); if (namePtr != 0) { byte[] nameData = file.LibPointers[namePtr]; int length = Array.IndexOf(nameData, (byte)0); string name = System.Text.Encoding.ASCII.GetString(nameData, 0, length); _objectNameMap.Add(shape, name); _nameShapeMap.Add(name, shape); } } } } } foreach (byte[] solverInfoData in file.DynamicsWorldInfo) { if ((file.Flags & FileFlags.DoublePrecision) != 0) { //throw new NotImplementedException(); } else { //throw new NotImplementedException(); } } foreach (byte[] bodyData in file.RigidBodies) { if ((file.Flags & FileFlags.DoublePrecision) != 0) { throw new NotImplementedException(); } else { ConvertRigidBodyFloat(bodyData, file.LibPointers); } } foreach (byte[] colObjData in file.CollisionObjects) { if ((file.Flags & FileFlags.DoublePrecision) != 0) { throw new NotImplementedException(); } else { using (var colObjStream = new MemoryStream(colObjData, false)) { using (var colObjReader = new BulletReader(colObjStream)) { long shapePtr = colObjReader.ReadPtr(CollisionObjectFloatData.Offset("CollisionShape")); CollisionShape shape = _shapeMap[shapePtr]; Math.Matrix startTransform = colObjReader.ReadMatrix(CollisionObjectFloatData.Offset("WorldTransform")); long namePtr = colObjReader.ReadPtr(CollisionObjectFloatData.Offset("Name")); string name = null; if (namePtr != 0) { byte[] nameData = file.FindLibPointer(namePtr); int length = Array.IndexOf(nameData, (byte)0); name = System.Text.Encoding.ASCII.GetString(nameData, 0, length); } CollisionObject colObj = CreateCollisionObject(ref startTransform, shape, name); _bodyMap.Add(colObjData, colObj); } } } } foreach (byte[] constraintData in file.Constraints) { var stream = new MemoryStream(constraintData, false); using (var reader = new BulletReader(stream)) { long collisionObjectAPtr = reader.ReadPtr(TypedConstraintFloatData.Offset("RigidBodyA")); long collisionObjectBPtr = reader.ReadPtr(TypedConstraintFloatData.Offset("RigidBodyB")); RigidBody a = null, b = null; if (collisionObjectAPtr != 0) { if (!file.LibPointers.ContainsKey(collisionObjectAPtr)) { a = TypedConstraint.GetFixedBody(); } else { byte[] coData = file.LibPointers[collisionObjectAPtr]; a = RigidBody.Upcast(_bodyMap[coData]); if (a == null) { a = TypedConstraint.GetFixedBody(); } } } if (collisionObjectBPtr != 0) { if (!file.LibPointers.ContainsKey(collisionObjectBPtr)) { b = TypedConstraint.GetFixedBody(); } else { byte[] coData = file.LibPointers[collisionObjectBPtr]; b = RigidBody.Upcast(_bodyMap[coData]); if (b == null) { b = TypedConstraint.GetFixedBody(); } } } if (a == null && b == null) { stream.Dispose(); continue; } if ((file.Flags & FileFlags.DoublePrecision) != 0) { throw new NotImplementedException(); } else { ConvertConstraintFloat(a, b, constraintData, file.Version, file.LibPointers); } } stream.Dispose(); } return(true); }