Real-Time Physics Simulation Forum 2011-01-01T16:49:34+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/6178 2011-01-01T16:49:34+00:00 2011-01-01T16:49:34+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=21578#p21578 <![CDATA[Re: Can you SerializeSingleShape with btHeightfieldTerrainSh]]>
Using the code from ConcavePhysicsDemo.cpp, I am back using btBvhTriangleMeshShape but still encountering problems...

Here is the Code I use to create the Shape, it shows correctly if I make it now:

Code: 

btTriangleMesh *trimesh = new btTriangleMesh();int vCount=0;btVector3 vertex0(0,0,0);btVector3 vertex1(0,0,0);btVector3 vertex2(0,0,0);for(std::map<unsigned short, Ogre::Vector3>::iterator i = vOgrePointList.begin(); i != vOgrePointList.end(); i++){if((*i).second.y>vMax.y) vMax.y=(*i).second.y;if((*i).second.y<vMin.y) vMin.y=(*i).second.y;if(vCount==0){vertex0 = btVector3((*i).second.x,(*i).second.y,(*i).second.z);}else if(vCount==1){vertex1 = btVector3((*i).second.x,(*i).second.y,(*i).second.z);}else if(vCount==2){vertex2 = btVector3((*i).second.x,(*i).second.y,(*i).second.z);trimesh->addTriangle(vertex0, vertex1, vertex2);vCount=-1;}vCount++;}btVector3 vPMin(vMin.x,vMin.y,vMin.z);btVector3 vPMax(vMax.x,vMax.y,vMax.z);const bool useQuantizedAABB = true;btBvhTriangleMeshShape *vShape = new btBvhTriangleMeshShape(trimesh, useQuantizedAABB,vPMin,vPMax);vShape->buildOptimizedBvh();vShape->recalcLocalAabb();
I then serialize it as so:

Code: 

btDefaultSerializer*vSerializer;vSerializer = new btDefaultSerializer(maxSerializeBufferSize);vSerializer->startSerialization();vSerializer->registerNameForPointer(vShape,getData().mName);vShape->serializeSingleShape(vSerializer);//vShape->serializeSingleBvh(vSerializer);//vShape->serializeSingleTriangleInfoMap(vSerializer);vSerializer->finishSerialization();Ogre::String vName = "ROS-Landscape"+Ogre::StringConverter().toString(getData().mID)+".bullet";std::cout << "LandscapeP:Saving Shape(" <<  getData().mName << ")Size(" << maxSerializeBufferSize <<  ")."<< std::endl;FILE* file = fopen(vName.c_str(),"wb");fwrite(vSerializer->getBufferPointer(),vSerializer->getCurrentBufferSize(),1, file);fclose(file);
And then try to load it back in like this:

Code: 

btBulletWorldImportervFileLoader(0);//mWorld);Ogre::String vName = "ROS-Landscape"+Ogre::StringConverter().toString(getData().mID)+".bullet";if(vFileLoader.loadFile(vName.c_str())){//***TERRAIN SURFACE - Ok now lets load up the surface for the map//Lets load the ground shape.int numShapes = vFileLoader.getNumCollisionShapes();        if (numShapes)        {mLandscapeShape = (btBvhTriangleMeshShape*)vFileLoader.getCollisionShapeByName(getData().mName);        }mLandscapeState = new btDefaultMotionState();//Create the Body.mLandscapeBody = new btRigidBody(0, mLandscapeState, mLandscapeShape);mLandscapeBody->getWorldTransform().setOrigin(mPosition);mLandscapeBody->getWorldTransform().setRotation(btQuaternion(Ogre::Quaternion::IDENTITY.x,Ogre::Quaternion::IDENTITY.y,Ogre::Quaternion::IDENTITY.z, Ogre::Quaternion::IDENTITY.w));mLandscapeBody->setCollisionFlags(mLandscapeBody->getCollisionFlags() | btCollisionObject::CF_STATIC_OBJECT);mWorld->addRigidBody(mLandscapeBody);
But it crashes:[ :


>TerrainTest.exe!`btBvhTriangleMeshShape::processAllTriangles'::`2'::MyNodeOverlapCallback::processNode(int nodeSubPart=0, int nodeTriangleIndex=576) Line 299 + 0xb bytesC++
TerrainTest.exe!btQuantizedBvh::walkStacklessQuantizedTree(btNodeOverlapCallback * nodeCallback=0x001dee20, unsigned short * quantizedQueryAabbMin=0x001dede0, unsigned short * quantizedQueryAabbMax=0x001dedd0, int startNodeIndex=0, int endNodeIndex=3843) Line 712 + 0x21 bytesC++
TerrainTest.exe!btQuantizedBvh::reportAabbOverlappingNodex(btNodeOverlapCallback * nodeCallback=0x001dee20, const btVector3 & aabbMin={...}, const btVector3 & aabbMax={...}) Line 329C++
TerrainTest.exe!btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback * callback=0x07952010, const btVector3 & aabbMin={...}, const btVector3 & aabbMax={...}) Line 329C++
TerrainTest.exe!btConvexConcaveCollisionAlgorithm::processCollision(btCollisionObject * body0=0x07c1bb00, btCollisionObject * body1=0x197664b0, const btDispatcherInfo & dispatchInfo={...}, btManifoldResult * resultOut=0x001deef0) Line 197 + 0x2e bytesC++
TerrainTest.exe!btCollisionDispatcher::defaultNearCallback(btBroadphasePair & collisionPair={...}, btCollisionDispatcher & dispatcher={...}, const btDispatcherInfo & dispatchInfo={...}) Line 268 + 0x28 bytesC++
TerrainTest.exe!btCollisionPairCallback::processOverlap(btBroadphasePair & pair={...}) Line 224 + 0x21 bytesC++
TerrainTest.exe!btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback * callback=0x001df01c, btDispatcher * dispatcher=0x05ea88e8) Line 387 + 0x13 bytesC++
TerrainTest.exe!btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache * pairCache=0x07908db0, const btDispatcherInfo & dispatchInfo={...}, btDispatcher * dispatcher=0x05ea88e8) Line 238 + 0x17 bytesC++
TerrainTest.exe!btCollisionWorld::performDiscreteCollisionDetection() Line 214 + 0x37 bytesC++
TerrainTest.exe!btDiscreteDynamicsWorld::internalSingleStepSimulation(float timeStep=0.016666668) Line 318 + 0xf bytesC++
TerrainTest.exe!btDiscreteDynamicsWorld::stepSimulation(float timeStep=3.9730000, int maxSubSteps=10, float fixedTimeStep=0.016666668) Line 281 + 0x19 bytesC++

at this line

Code: 

float* graphicsbase = (float*)(vertexbase+graphicsindex*stride);m_triangle[j] = btVector3(graphicsbase[0]*meshScaling.getX(),graphicsbase[1]*meshScaling.getY(),graphicsbase[2]*meshScaling.getZ());
graphicsbase is null, so I am assuming that it is missing some vertex data etc... but why does it not crash if I run it before serializing, but crashes after serializing?

I am assuming that I have missed something? Any Ideas anybody?

regards,
Rip. :mrgreen:

Statistics: Posted by Ripgiblet — Sat Jan 01, 2011 4:49 pm

]]> 2011-01-01T08:18:21+00:00 2011-01-01T08:18:21+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=21573#p21573 <![CDATA[Can you SerializeSingleShape with btHeightfieldTerrainShape?]]>
Some questions:
1)Does serializeSingleShape work for btHeightfieldTerrainShape?
2)How to convert from btHeightfieldTerrainShape to btBvhTriangleMeshShape?

NOTES:
I am having trouble getting btHeightfieldTerrainShape to serialize, I have successfully serialized many other shapes including btBvhTriangleMeshShape. So if I could convert from btHeightfieldTerrainShape to btBvhTriangleMeshShape, or some other object that I can convert to , serialize out, load, then convert back.

regards,
Mark.

Statistics: Posted by Ripgiblet — Sat Jan 01, 2011 8:18 am

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