btMultiBodyWorldImporter.cpp

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#include "btMultiBodyWorldImporter.h"

#include "LinearMath/btSerializer.h"
#include "../BulletFileLoader/btBulletFile.h"
#include "btBulletWorldImporter.h"
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"

struct btMultiBodyWorldImporterInternalData
{
        btMultiBodyDynamicsWorld* m_mbDynamicsWorld;
        btHashMap<btHashPtr, btMultiBody*> m_mbMap;
};

btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* world)
        :btBulletWorldImporter(world)
{
        m_data = new btMultiBodyWorldImporterInternalData;
        m_data->m_mbDynamicsWorld = world;
}
        

btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
{
        delete m_data;
}

void btMultiBodyWorldImporter::deleteAllData()
{
        btBulletWorldImporter::deleteAllData();
}


static btCollisionObjectDoubleData* getBody0FromContactManifold(btPersistentManifoldDoubleData* manifold)
{
        return (btCollisionObjectDoubleData*)manifold->m_body0;
}
static btCollisionObjectDoubleData* getBody1FromContactManifold(btPersistentManifoldDoubleData* manifold)
{
        return (btCollisionObjectDoubleData*)manifold->m_body1;
}
static btCollisionObjectFloatData* getBody0FromContactManifold(btPersistentManifoldFloatData* manifold)
{
        return (btCollisionObjectFloatData*)manifold->m_body0;
}
static btCollisionObjectFloatData* getBody1FromContactManifold(btPersistentManifoldFloatData* manifold)
{
        return (btCollisionObjectFloatData*)manifold->m_body1;
}


template<class T> void syncContactManifolds(T** contactManifolds, int numContactManifolds, btMultiBodyWorldImporterInternalData* m_data)
{
        m_data->m_mbDynamicsWorld->updateAabbs();
        m_data->m_mbDynamicsWorld->computeOverlappingPairs();
        btDispatcher* dispatcher = m_data->m_mbDynamicsWorld->getDispatcher();

        btDispatcherInfo& dispatchInfo = m_data->m_mbDynamicsWorld->getDispatchInfo();


        if (dispatcher)
        {
                btOverlappingPairCache* pairCache = m_data->m_mbDynamicsWorld->getBroadphase()->getOverlappingPairCache();
                if (dispatcher)
                {
                        dispatcher->dispatchAllCollisionPairs(pairCache, dispatchInfo, dispatcher);
                }
                int numExistingManifolds = m_data->m_mbDynamicsWorld->getDispatcher()->getNumManifolds();
                btManifoldArray manifoldArray;
                for (int i = 0; i < pairCache->getNumOverlappingPairs(); i++)
                {
                        btBroadphasePair& pair = pairCache->getOverlappingPairArray()[i];
                        if (pair.m_algorithm)
                        {
                                pair.m_algorithm->getAllContactManifolds(manifoldArray);
                                //for each existing manifold, search a matching manifoldData and reconstruct
                                for (int m = 0; m < manifoldArray.size(); m++)
                                {
                                        btPersistentManifold* existingManifold = manifoldArray[m];
                                        int uid0 = existingManifold->getBody0()->getBroadphaseHandle()->m_uniqueId;
                                        int uid1 = existingManifold->getBody1()->getBroadphaseHandle()->m_uniqueId;
                                        int matchingManifoldIndex = -1;
                                        for (int q = 0; q < numContactManifolds; q++)
                                        {
                                                if (uid0 == getBody0FromContactManifold(contactManifolds[q])->m_uniqueId && uid1 == getBody1FromContactManifold(contactManifolds[q])->m_uniqueId)
                                                {
                                                        matchingManifoldIndex = q;
                                                }
                                        }
                                        if (matchingManifoldIndex >= 0)
                                        {
                                                existingManifold->deSerialize(contactManifolds[matchingManifoldIndex]);
                                        }
                                        else
                                        {
                                                existingManifold->setNumContacts(0);
                                                //printf("Issue: cannot find maching contact manifold (%d, %d), may cause issues in determinism.\n", uid0, uid1);
                                        }

                                        manifoldArray.clear();
                                }
                        }
                }
        }

}

template<class T>  void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldImporterInternalData* m_data, btAlignedObjectArray<btQuaternion>& scratchQ, btAlignedObjectArray<btVector3>& scratchM)
{
        bool isFixedBase = mbd->m_baseMass == 0;
        bool canSleep = false;
        btVector3 baseInertia;
        baseInertia.deSerialize(mbd->m_baseInertia);

        btVector3 baseWorldPos;
        baseWorldPos.deSerialize(mbd->m_baseWorldPosition);
        mb->setBasePos(baseWorldPos);
        btQuaternion baseWorldRot;
        baseWorldRot.deSerialize(mbd->m_baseWorldOrientation);
        mb->setWorldToBaseRot(baseWorldRot.inverse());
        btVector3 baseLinVal;
        baseLinVal.deSerialize(mbd->m_baseLinearVelocity);
        btVector3 baseAngVel;
        baseAngVel.deSerialize(mbd->m_baseAngularVelocity);
        mb->setBaseVel(baseLinVal);
        mb->setBaseOmega(baseAngVel);

        for (int i = 0; i < mbd->m_numLinks; i++)
        {

                mb->getLink(i).m_absFrameTotVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityTop);
                mb->getLink(i).m_absFrameTotVelocity.m_bottomVec.deSerialize(mbd->m_links[i].m_absFrameTotVelocityBottom);
                mb->getLink(i).m_absFrameLocVelocity.m_topVec.deSerialize(mbd->m_links[i].m_absFrameLocVelocityTop);
                mb->getLink(i).m_absFrameLocVelocity.m_bottomVec.deSerialize(mbd->m_links[i].m_absFrameLocVelocityBottom);

                switch (mbd->m_links[i].m_jointType)
                {
                case btMultibodyLink::eFixed:
                {
                        break;
                }
                case btMultibodyLink::ePrismatic:
                {
                        mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
                        mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
                        break;
                }
                case btMultibodyLink::eRevolute:
                {
                        mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
                        mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
                        break;
                }
                case btMultibodyLink::eSpherical:
                {
                        btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
                        btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
                        mb->setJointPosMultiDof(i, jointPos);
                        mb->setJointVelMultiDof(i, jointVel);

                        break;
                }
                case btMultibodyLink::ePlanar:
                {
                        break;
                }
                default:
                {
                }
                }
        }
        mb->forwardKinematics(scratchQ, scratchM);
        mb->updateCollisionObjectWorldTransforms(scratchQ, scratchM);
}

template<class T>  void convertMultiBody(T* mbd, btMultiBodyWorldImporterInternalData* m_data)
{
        bool isFixedBase = mbd->m_baseMass == 0;
        bool canSleep = false;
        btVector3 baseInertia;
        baseInertia.deSerialize(mbd->m_baseInertia);
        btMultiBody* mb = new btMultiBody(mbd->m_numLinks, mbd->m_baseMass, baseInertia, isFixedBase, canSleep);
        mb->setHasSelfCollision(false);

        btVector3 baseWorldPos;
        baseWorldPos.deSerialize(mbd->m_baseWorldPosition);

        btQuaternion baseWorldOrn;
        baseWorldOrn.deSerialize(mbd->m_baseWorldOrientation);
        mb->setBasePos(baseWorldPos);
        mb->setWorldToBaseRot(baseWorldOrn.inverse());

        m_data->m_mbMap.insert(mbd, mb);
        for (int i = 0; i < mbd->m_numLinks; i++)
        {
                btVector3 localInertiaDiagonal;
                localInertiaDiagonal.deSerialize(mbd->m_links[i].m_linkInertia);
                btQuaternion parentRotToThis;
                parentRotToThis.deSerialize(mbd->m_links[i].m_zeroRotParentToThis);
                btVector3 parentComToThisPivotOffset;
                parentComToThisPivotOffset.deSerialize(mbd->m_links[i].m_parentComToThisPivotOffset);
                btVector3 thisPivotToThisComOffset;
                thisPivotToThisComOffset.deSerialize(mbd->m_links[i].m_thisPivotToThisComOffset);

                switch (mbd->m_links[i].m_jointType)
                {
                case btMultibodyLink::eFixed:
                {


                        mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
                                parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset);
                        //search for the collider
                        //mbd->m_links[i].m_linkCollider
                        break;
                }
                case btMultibodyLink::ePrismatic:
                {
                        btVector3 jointAxis;
                        jointAxis.deSerialize(mbd->m_links[i].m_jointAxisBottom[0]);
                        bool disableParentCollision = true;//todo
                        mb->setupPrismatic(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
                                parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
                        mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
                        mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
                        break;
                }
                case btMultibodyLink::eRevolute:
                {
                        btVector3 jointAxis;
                        jointAxis.deSerialize(mbd->m_links[i].m_jointAxisTop[0]);
                        bool disableParentCollision = true;//todo
                        mb->setupRevolute(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
                                parentRotToThis, jointAxis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
                        mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
                        mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
                        break;
                }
                case btMultibodyLink::eSpherical:
                {
                        btAssert(0);
                        bool disableParentCollision = true;//todo
                        mb->setupSpherical(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
                                parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
                        btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
                        btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
                        mb->setJointPosMultiDof(i, jointPos);
                        mb->setJointVelMultiDof(i, jointVel);

                        break;
                }
                case btMultibodyLink::ePlanar:
                {
                        btAssert(0);
                        break;
                }
                default:
                {
                        btAssert(0);
                }
                }
        }
}

bool btMultiBodyWorldImporter::convertAllObjects(  bParse::btBulletFile* bulletFile2)
{
        bool result = false;
        btAlignedObjectArray<btQuaternion> scratchQ;
        btAlignedObjectArray<btVector3> scratchM;

        if (m_importerFlags&eRESTORE_EXISTING_OBJECTS)
        {
                //check if the snapshot is valid for the existing world
                //equal number of objects, # links etc
                if ((bulletFile2->m_multiBodies.size() != m_data->m_mbDynamicsWorld->getNumMultibodies()))
                {
                        result = false;
                        return result;
                }
                result = true;

                //convert all multibodies
                if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
                {

                        //for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
                        for (int i = bulletFile2->m_multiBodies.size() - 1; i >= 0; i--)
                        {
                                btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
                                btMultiBody* mb = m_data->m_mbDynamicsWorld->getMultiBody(i);
                                syncMultiBody(mbd, mb, m_data, scratchQ, scratchM);
                        }

                        for (int i = bulletFile2->m_rigidBodies.size() - 1; i >= 0; i--)
                        {
                                btRigidBodyDoubleData* rbd = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
                                int foundRb = -1;
                                int uid = rbd->m_collisionObjectData.m_uniqueId;
                                for (int i = 0; i < m_data->m_mbDynamicsWorld->getNumCollisionObjects(); i++)
                                {
                                        if (uid == m_data->m_mbDynamicsWorld->getCollisionObjectArray()[i]->getBroadphaseHandle()->m_uniqueId)
                                        {
                                                foundRb = i;
                                                break;
                                        }
                                }
                                if (foundRb >= 0)
                                {
                                        btRigidBody* rb = btRigidBody::upcast(m_data->m_mbDynamicsWorld->getCollisionObjectArray()[foundRb]);
                                        if (rb)
                                        {
                                                btTransform tr;
                                                tr.deSerializeDouble(rbd->m_collisionObjectData.m_worldTransform);
                                                rb->setWorldTransform(tr);
                                                btVector3 linVel, angVel;
                                                linVel.deSerializeDouble(rbd->m_linearVelocity);
                                                angVel.deSerializeDouble(rbd->m_angularVelocity);
                                                rb->setLinearVelocity(linVel);
                                                rb->setAngularVelocity(angVel);
                                        }
                                        else
                                        {
                                                result = false;
                                        }
                                }
                                else
                                {
                                        result = false;
                                }
                        }

                        //todo: check why body1 pointer is not properly deserialized
                        for (int i = 0; i < bulletFile2->m_contactManifolds.size(); i++)
                        {
                                btPersistentManifoldDoubleData* manifoldData = (btPersistentManifoldDoubleData*)bulletFile2->m_contactManifolds[i];
                                {
                                        void* ptr = bulletFile2->findLibPointer(manifoldData->m_body0);
                                        if (ptr)
                                        {
                                                manifoldData->m_body0 = (btCollisionObjectDoubleData*)ptr;
                                        }
                                }

                                {
                                        void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
                                        if (ptr)
                                        {
                                                manifoldData->m_body1 = (btCollisionObjectDoubleData*)ptr;
                                        }
                                }
                        }


                        if (bulletFile2->m_contactManifolds.size())
                        {
                                syncContactManifolds((btPersistentManifoldDoubleData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
                        }
                }
                else
                {
                        //single precision version
                        //for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
                        for (int i = bulletFile2->m_multiBodies.size() - 1; i >= 0; i--)
                        {
                                btMultiBodyFloatData* mbd = (btMultiBodyFloatData*)bulletFile2->m_multiBodies[i];
                                btMultiBody* mb = m_data->m_mbDynamicsWorld->getMultiBody(i);
                                syncMultiBody(mbd, mb, m_data, scratchQ, scratchM);
                        }

                        //todo: check why body1 pointer is not properly deserialized
                        for (int i = 0; i < bulletFile2->m_contactManifolds.size(); i++)
                        {
                                btPersistentManifoldFloatData* manifoldData = (btPersistentManifoldFloatData*)bulletFile2->m_contactManifolds[i];
                                {
                                        void* ptr = bulletFile2->findLibPointer(manifoldData->m_body0);
                                        if (ptr)
                                        {
                                                manifoldData->m_body0 = (btCollisionObjectFloatData*)ptr;
                                        }
                                }
                                {
                                        void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
                                        if (ptr)
                                        {
                                                manifoldData->m_body1 = (btCollisionObjectFloatData*)ptr;
                                        }
                                }
                        }


                        if (bulletFile2->m_contactManifolds.size())
                        {
                                syncContactManifolds((btPersistentManifoldFloatData**)&bulletFile2->m_contactManifolds[0], bulletFile2->m_contactManifolds.size(), m_data);
                        }

                }
        }
        else
        {
                result = btBulletWorldImporter::convertAllObjects(bulletFile2);


                //convert all multibodies
                for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
                {

                        if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
                        {
                                btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
                                convertMultiBody(mbd, m_data);
                        }
                        else
                        {
                                btMultiBodyFloatData* mbd = (btMultiBodyFloatData*)bulletFile2->m_multiBodies[i];
                                convertMultiBody(mbd, m_data);
                        }
                }

                //forward kinematics, so that the link world transforms are valid, for collision detection
                for (int i = 0; i < m_data->m_mbMap.size(); i++)
                {
                        btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
                        if (ptr)
                        {
                                btMultiBody* mb = *ptr;
                                mb->finalizeMultiDof();
                                btVector3 linvel = mb->getBaseVel();
                                btVector3 angvel = mb->getBaseOmega();
                                mb->forwardKinematics(scratchQ, scratchM);
                        }
                }

                //convert all multibody link colliders
                for (int i = 0; i < bulletFile2->m_multiBodyLinkColliders.size(); i++)
                {
                        if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
                        {
                                btMultiBodyLinkColliderDoubleData* mblcd = (btMultiBodyLinkColliderDoubleData*)bulletFile2->m_multiBodyLinkColliders[i];

                                btMultiBody** ptr = m_data->m_mbMap[mblcd->m_multiBody];
                                if (ptr)
                                {
                                        btMultiBody* multiBody = *ptr;


                                        btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
                                        if (shapePtr && *shapePtr)
                                        {
                                                btTransform startTransform;
                                                mblcd->m_colObjData.m_worldTransform.m_origin.m_floats[3] = 0.f;
                                                startTransform.deSerializeDouble(mblcd->m_colObjData.m_worldTransform);

                                                btCollisionShape* shape = (btCollisionShape*)*shapePtr;
                                                if (shape)
                                                {
                                                        btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(multiBody, mblcd->m_link);
                                                        col->setCollisionShape(shape);
                                                        //btCollisionObject* body = createCollisionObject(startTransform,shape,mblcd->m_colObjData.m_name);
                                                        col->setFriction(btScalar(mblcd->m_colObjData.m_friction));
                                                        col->setRestitution(btScalar(mblcd->m_colObjData.m_restitution));
                                                        //m_bodyMap.insert(colObjData,body);
                                                        if (mblcd->m_link == -1)
                                                        {
                                                                col->setWorldTransform(multiBody->getBaseWorldTransform());
                                                                multiBody->setBaseCollider(col);
                                                        }
                                                        else
                                                        {
                                                                col->setWorldTransform(multiBody->getLink(mblcd->m_link).m_cachedWorldTransform);
                                                                multiBody->getLink(mblcd->m_link).m_collider = col;
                                                        }
                                                        int mbLinkIndex = mblcd->m_link;

                                                        bool isDynamic = (mbLinkIndex < 0 && multiBody->hasFixedBase()) ? false : true;
                                                        int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
                                                        int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);

#if 0
                                                        int colGroup = 0, colMask = 0;
                                                        int collisionFlags = mblcd->m_colObjData.m_collisionFlags;
                                                        if (collisionFlags & URDF_HAS_COLLISION_GROUP)
                                                        {
                                                                collisionFilterGroup = colGroup;
                                                        }
                                                        if (collisionFlags & URDF_HAS_COLLISION_MASK)
                                                        {
                                                                collisionFilterMask = colMask;
                                                        }
#endif
                                                        m_data->m_mbDynamicsWorld->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
                                                }

                                        }
                                        else
                                        {
                                                printf("error: no shape found\n");
                                        }
#if 0
                                        //base and fixed? -> static, otherwise flag as dynamic

                                        world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
#endif
                                }

                        }
                }

                for (int i = 0; i < m_data->m_mbMap.size(); i++)
                {
                        btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
                        if (ptr)
                        {
                                btMultiBody* mb = *ptr;
                                mb->finalizeMultiDof();

                                m_data->m_mbDynamicsWorld->addMultiBody(mb);
                        }
                }
        }
        return result;
}