From 1aac33f6b60e5bba0a73288e934b2f2a3f218917 Mon Sep 17 00:00:00 2001 From: "erwin.coumans" Date: Sat, 14 Sep 2013 06:08:50 +0000 Subject: [PATCH] refactor constraint serialization, so that double precision is maintained, changes are backwards compatible (btBulletWorldImporter can load old .bullet files) but not forwards compatible (constraints in new .bullet files are ignored/unrecognized by old Bullet SDK) This commit is for Issue 734. Some more work needs to be done for btGImpactMeshShapeDoubleData and thus btStridingMeshInterfaceDoubleData and btMeshPartDoubleData --- Demos/ConstraintDemo/ConstraintDemo.cpp | 43 + Demos/SerializeDemo/SerializeDemo.cpp | 10 +- .../btBulletWorldImporter.cpp | 30 +- .../BulletWorldImporter/btWorldImporter.cpp | 545 ++++++-- .../BulletWorldImporter/btWorldImporter.h | 7 +- .../btBulletXmlWorldImporter.cpp | 13 +- .../btBulletXmlWorldImporter.h | 11 +- .../ConstraintSolver/btConeTwistConstraint.h | 79 +- .../btGeneric6DofConstraint.h | 62 +- .../btGeneric6DofSpringConstraint.h | 46 +- .../ConstraintSolver/btHingeConstraint.h | 60 +- .../btPoint2PointConstraint.h | 31 +- .../ConstraintSolver/btSliderConstraint.h | 44 +- .../ConstraintSolver/btTypedConstraint.cpp | 10 +- .../ConstraintSolver/btTypedConstraint.h | 63 +- src/LinearMath/btSerializer.cpp | 1134 +++++++++-------- 16 files changed, 1523 insertions(+), 665 deletions(-) diff --git a/Demos/ConstraintDemo/ConstraintDemo.cpp b/Demos/ConstraintDemo/ConstraintDemo.cpp index 74ee92762..765c533f6 100644 --- a/Demos/ConstraintDemo/ConstraintDemo.cpp +++ b/Demos/ConstraintDemo/ConstraintDemo.cpp @@ -266,6 +266,49 @@ void ConstraintDemo::initPhysics() } #endif + +#if ENABLE_ALL_DEMOS + { + btTransform trans; + trans.setIdentity(); + btVector3 worldPos(-20,0,30); + trans.setOrigin(worldPos); + + btTransform frameInA, frameInB; + frameInA = btTransform::getIdentity(); + frameInB = btTransform::getIdentity(); + + btRigidBody* pRbA1 = localCreateRigidBody(mass, trans, shape); +// btRigidBody* pRbA1 = localCreateRigidBody(0.f, trans, shape); + pRbA1->setActivationState(DISABLE_DEACTIVATION); + + // add dynamic rigid body B1 + worldPos.setValue(-30,0,30); + trans.setOrigin(worldPos); + btRigidBody* pRbB1 = localCreateRigidBody(mass, trans, shape); +// btRigidBody* pRbB1 = localCreateRigidBody(0.f, trans, shape); + pRbB1->setActivationState(DISABLE_DEACTIVATION); + + // create slider constraint between A1 and B1 and add it to world + + btSliderConstraint* spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, true); +// spSlider1 = new btSliderConstraint(*pRbA1, *pRbB1, frameInA, frameInB, false); + spSlider1->setLowerLinLimit(-15.0F); + spSlider1->setUpperLinLimit(-5.0F); +// spSlider1->setLowerLinLimit(5.0F); +// spSlider1->setUpperLinLimit(15.0F); +// spSlider1->setLowerLinLimit(-10.0F); +// spSlider1->setUpperLinLimit(-10.0F); + + spSlider1->setLowerAngLimit(-SIMD_PI / 3.0F); + spSlider1->setUpperAngLimit( SIMD_PI / 3.0F); + + + m_dynamicsWorld->addConstraint(spSlider1, true); + spSlider1->setDbgDrawSize(btScalar(5.f)); + } +#endif + #if ENABLE_ALL_DEMOS //create a slider, using the generic D6 constraint { diff --git a/Demos/SerializeDemo/SerializeDemo.cpp b/Demos/SerializeDemo/SerializeDemo.cpp index 37e377e44..f98f1227d 100644 --- a/Demos/SerializeDemo/SerializeDemo.cpp +++ b/Demos/SerializeDemo/SerializeDemo.cpp @@ -898,9 +898,17 @@ void SerializeDemo::exitPhysics() { //cleanup in the reverse order of creation/initialization + //removed/delete constraints + int i; + for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--) + { + btTypedConstraint* constraint = m_dynamicsWorld->getConstraint(i); + m_dynamicsWorld->removeConstraint(constraint); + delete constraint; + } //remove the rigidbodies from the dynamics world and delete them - int i; + for (i=m_dynamicsWorld->getNumCollisionObjects()-1; i>=0 ;i--) { btCollisionObject* obj = m_dynamicsWorld->getCollisionObjectArray()[i]; diff --git a/Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp b/Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp index 3fa17d06b..3f3a35937 100644 --- a/Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp +++ b/Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp @@ -52,6 +52,7 @@ bool btBulletWorldImporter::loadFile( const char* fileName, const char* preSwapF bulletFile2->preSwap(); bulletFile2->writeFile(preSwapFilenameOut); } + } delete bulletFile2; @@ -304,7 +305,10 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile for (i=0;im_constraints.size();i++) { - btTypedConstraintData* constraintData = (btTypedConstraintData*)bulletFile2->m_constraints[i]; + btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i]; + btTypedConstraintFloatData* singleC = (btTypedConstraintFloatData*)bulletFile2->m_constraints[i]; + btTypedConstraintDoubleData* doubleC = (btTypedConstraintDoubleData*)bulletFile2->m_constraints[i]; + btCollisionObject** colAptr = m_bodyMap.find(constraintData->m_rbA); btCollisionObject** colBptr = m_bodyMap.find(constraintData->m_rbB); @@ -327,7 +331,29 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile continue; bool isDoublePrecisionData = (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)!=0; - convertConstraint(constraintData, rbA,rbB,isDoublePrecisionData, bulletFile2->getVersion()); + + if (isDoublePrecisionData) + { + if (bulletFile2->getVersion()>=282) + { + btTypedConstraintDoubleData* dc = (btTypedConstraintDoubleData*)constraintData; + convertConstraintDouble(dc, rbA,rbB, bulletFile2->getVersion()); + } else + { + //double-precision constraints were messed up until 2.82, try to recover data... + + btTypedConstraintData* oldData = (btTypedConstraintData*)constraintData; + + convertConstraintBackwardsCompatible281(oldData, rbA,rbB, bulletFile2->getVersion()); + + } + } + else + { + btTypedConstraintFloatData* dc = (btTypedConstraintFloatData*)constraintData; + convertConstraintFloat(dc, rbA,rbB, bulletFile2->getVersion()); + } + } diff --git a/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp b/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp index b7168aba1..cd440a57e 100644 --- a/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp +++ b/Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp @@ -518,99 +518,53 @@ char* btWorldImporter::duplicateName(const char* name) return 0; } - - -void btWorldImporter::convertConstraint(btTypedConstraintData* constraintData,btRigidBody* rbA, btRigidBody* rbB ,bool isDoublePrecisionData, int fileVersion) +void btWorldImporter::convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion) { + btTypedConstraint* constraint = 0; switch (constraintData->m_objectType) { case POINT2POINT_CONSTRAINT_TYPE: { - if (isDoublePrecisionData) - { - btPoint2PointConstraintDoubleData* p2pData = (btPoint2PointConstraintDoubleData*)constraintData; - if (rbA && rbB) - { - btVector3 pivotInA,pivotInB; - pivotInA.deSerializeDouble(p2pData->m_pivotInA); - pivotInB.deSerializeDouble(p2pData->m_pivotInB); - constraint = createPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB); - } else - { - btVector3 pivotInA; - pivotInA.deSerializeDouble(p2pData->m_pivotInA); - constraint = createPoint2PointConstraint(*rbA,pivotInA); - } + btPoint2PointConstraintDoubleData* p2pData = (btPoint2PointConstraintDoubleData*)constraintData; + if (rbA && rbB) + { + btVector3 pivotInA,pivotInB; + pivotInA.deSerializeDouble(p2pData->m_pivotInA); + pivotInB.deSerializeDouble(p2pData->m_pivotInB); + constraint = createPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB); } else { - btPoint2PointConstraintFloatData* p2pData = (btPoint2PointConstraintFloatData*)constraintData; - if (rbA&& rbB) - { - btVector3 pivotInA,pivotInB; - pivotInA.deSerializeFloat(p2pData->m_pivotInA); - pivotInB.deSerializeFloat(p2pData->m_pivotInB); - constraint = createPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB); - - } else - { - btVector3 pivotInA; - pivotInA.deSerializeFloat(p2pData->m_pivotInA); - constraint = createPoint2PointConstraint(*rbA,pivotInA); - } - + btVector3 pivotInA; + pivotInA.deSerializeDouble(p2pData->m_pivotInA); + constraint = createPoint2PointConstraint(*rbA,pivotInA); } - break; } case HINGE_CONSTRAINT_TYPE: { btHingeConstraint* hinge = 0; - if (isDoublePrecisionData) + btHingeConstraintDoubleData* hingeData = (btHingeConstraintDoubleData*)constraintData; + if (rbA&& rbB) { - btHingeConstraintDoubleData* hingeData = (btHingeConstraintDoubleData*)constraintData; - if (rbA&& rbB) - { - btTransform rbAFrame,rbBFrame; - rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); - rbBFrame.deSerializeDouble(hingeData->m_rbBFrame); - hinge = createHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0); - } else - { - btTransform rbAFrame; - rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); - hinge = createHingeConstraint(*rbA,rbAFrame,hingeData->m_useReferenceFrameA!=0); - } - if (hingeData->m_enableAngularMotor) - { - hinge->enableAngularMotor(true,(btScalar)hingeData->m_motorTargetVelocity,(btScalar)hingeData->m_maxMotorImpulse); - } - hinge->setAngularOnly(hingeData->m_angularOnly!=0); - hinge->setLimit(btScalar(hingeData->m_lowerLimit),btScalar(hingeData->m_upperLimit),btScalar(hingeData->m_limitSoftness),btScalar(hingeData->m_biasFactor),btScalar(hingeData->m_relaxationFactor)); + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); + rbBFrame.deSerializeDouble(hingeData->m_rbBFrame); + hinge = createHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0); } else { - btHingeConstraintFloatData* hingeData = (btHingeConstraintFloatData*)constraintData; - if (rbA&& rbB) - { - btTransform rbAFrame,rbBFrame; - rbAFrame.deSerializeFloat(hingeData->m_rbAFrame); - rbBFrame.deSerializeFloat(hingeData->m_rbBFrame); - hinge = createHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0); - } else - { - btTransform rbAFrame; - rbAFrame.deSerializeFloat(hingeData->m_rbAFrame); - hinge = createHingeConstraint(*rbA,rbAFrame,hingeData->m_useReferenceFrameA!=0); - } - if (hingeData->m_enableAngularMotor) - { - hinge->enableAngularMotor(true,hingeData->m_motorTargetVelocity,hingeData->m_maxMotorImpulse); - } - hinge->setAngularOnly(hingeData->m_angularOnly!=0); - hinge->setLimit(btScalar(hingeData->m_lowerLimit),btScalar(hingeData->m_upperLimit),btScalar(hingeData->m_limitSoftness),btScalar(hingeData->m_biasFactor),btScalar(hingeData->m_relaxationFactor)); + btTransform rbAFrame; + rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); + hinge = createHingeConstraint(*rbA,rbAFrame,hingeData->m_useReferenceFrameA!=0); } + if (hingeData->m_enableAngularMotor) + { + hinge->enableAngularMotor(true,(btScalar)hingeData->m_motorTargetVelocity,(btScalar)hingeData->m_maxMotorImpulse); + } + hinge->setAngularOnly(hingeData->m_angularOnly!=0); + hinge->setLimit(btScalar(hingeData->m_lowerLimit),btScalar(hingeData->m_upperLimit),btScalar(hingeData->m_limitSoftness),btScalar(hingeData->m_biasFactor),btScalar(hingeData->m_relaxationFactor)); constraint = hinge; break; @@ -621,6 +575,226 @@ void btWorldImporter::convertConstraint(btTypedConstraintData* constraintData,bt btConeTwistConstraintData* coneData = (btConeTwistConstraintData*)constraintData; btConeTwistConstraint* coneTwist = 0; + if (rbA&& rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeFloat(coneData->m_rbAFrame); + rbBFrame.deSerializeFloat(coneData->m_rbBFrame); + coneTwist = createConeTwistConstraint(*rbA,*rbB,rbAFrame,rbBFrame); + } else + { + btTransform rbAFrame; + rbAFrame.deSerializeFloat(coneData->m_rbAFrame); + coneTwist = createConeTwistConstraint(*rbA,rbAFrame); + } + coneTwist->setLimit((btScalar)coneData->m_swingSpan1,(btScalar)coneData->m_swingSpan2,(btScalar)coneData->m_twistSpan,(btScalar)coneData->m_limitSoftness, + (btScalar)coneData->m_biasFactor,(btScalar)coneData->m_relaxationFactor); + coneTwist->setDamping((btScalar)coneData->m_damping); + + constraint = coneTwist; + break; + } + + case D6_SPRING_CONSTRAINT_TYPE: + { + + btGeneric6DofSpringConstraintData* dofData = (btGeneric6DofSpringConstraintData*)constraintData; + // int sz = sizeof(btGeneric6DofSpringConstraintData); + btGeneric6DofSpringConstraint* dof = 0; + + if (rbA && rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeFloat(dofData->m_6dofData.m_rbAFrame); + rbBFrame.deSerializeFloat(dofData->m_6dofData.m_rbBFrame); + dof = createGeneric6DofSpringConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_6dofData.m_useLinearReferenceFrameA!=0); + } else + { + printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n"); + } + + if (dof) + { + btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit; + angLowerLimit.deSerializeFloat(dofData->m_6dofData.m_angularLowerLimit); + angUpperLimit.deSerializeFloat(dofData->m_6dofData.m_angularUpperLimit); + linLowerLimit.deSerializeFloat(dofData->m_6dofData.m_linearLowerLimit); + linUpperlimit.deSerializeFloat(dofData->m_6dofData.m_linearUpperLimit); + + angLowerLimit.setW(0.f); + dof->setAngularLowerLimit(angLowerLimit); + dof->setAngularUpperLimit(angUpperLimit); + dof->setLinearLowerLimit(linLowerLimit); + dof->setLinearUpperLimit(linUpperlimit); + + int i; + if (fileVersion>280) + { + for (i=0;i<6;i++) + { + dof->setStiffness(i,(btScalar)dofData->m_springStiffness[i]); + dof->setEquilibriumPoint(i,(btScalar)dofData->m_equilibriumPoint[i]); + dof->enableSpring(i,dofData->m_springEnabled[i]!=0); + dof->setDamping(i,(btScalar)dofData->m_springDamping[i]); + } + } + } + + constraint = dof; + break; + + } + case D6_CONSTRAINT_TYPE: + { + btGeneric6DofConstraintData* dofData = (btGeneric6DofConstraintData*)constraintData; + btGeneric6DofConstraint* dof = 0; + + if (rbA&& rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeFloat(dofData->m_rbAFrame); + rbBFrame.deSerializeFloat(dofData->m_rbBFrame); + dof = createGeneric6DofConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_useLinearReferenceFrameA!=0); + } else + { + if (rbB) + { + btTransform rbBFrame; + rbBFrame.deSerializeFloat(dofData->m_rbBFrame); + dof = createGeneric6DofConstraint(*rbB,rbBFrame,dofData->m_useLinearReferenceFrameA!=0); + } else + { + printf("Error in btWorldImporter::createGeneric6DofConstraint: missing rbB\n"); + } + } + + if (dof) + { + btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit; + angLowerLimit.deSerializeFloat(dofData->m_angularLowerLimit); + angUpperLimit.deSerializeFloat(dofData->m_angularUpperLimit); + linLowerLimit.deSerializeFloat(dofData->m_linearLowerLimit); + linUpperlimit.deSerializeFloat(dofData->m_linearUpperLimit); + + dof->setAngularLowerLimit(angLowerLimit); + dof->setAngularUpperLimit(angUpperLimit); + dof->setLinearLowerLimit(linLowerLimit); + dof->setLinearUpperLimit(linUpperlimit); + } + + constraint = dof; + break; + } + case SLIDER_CONSTRAINT_TYPE: + { + btSliderConstraintDoubleData* sliderData = (btSliderConstraintDoubleData*)constraintData; + btSliderConstraint* slider = 0; + if (rbA&& rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeDouble(sliderData->m_rbAFrame); + rbBFrame.deSerializeDouble(sliderData->m_rbBFrame); + slider = createSliderConstraint(*rbA,*rbB,rbAFrame,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0); + } else + { + btTransform rbBFrame; + rbBFrame.deSerializeDouble(sliderData->m_rbBFrame); + slider = createSliderConstraint(*rbB,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0); + } + slider->setLowerLinLimit((btScalar)sliderData->m_linearLowerLimit); + slider->setUpperLinLimit((btScalar)sliderData->m_linearUpperLimit); + slider->setLowerAngLimit((btScalar)sliderData->m_angularLowerLimit); + slider->setUpperAngLimit((btScalar)sliderData->m_angularUpperLimit); + slider->setUseFrameOffset(sliderData->m_useOffsetForConstraintFrame!=0); + constraint = slider; + break; + } + + default: + { + printf("unknown constraint type\n"); + } + }; + + if (constraint) + { + constraint->setDbgDrawSize((btScalar)constraintData->m_dbgDrawSize); + ///those fields didn't exist and set to zero for pre-280 versions, so do a check here + if (fileVersion>=280) + { + constraint->setBreakingImpulseThreshold((btScalar)constraintData->m_breakingImpulseThreshold); + constraint->setEnabled(constraintData->m_isEnabled!=0); + constraint->setOverrideNumSolverIterations(constraintData->m_overrideNumSolverIterations); + } + + if (constraintData->m_name) + { + char* newname = duplicateName(constraintData->m_name); + m_nameConstraintMap.insert(newname,constraint); + m_objectNameMap.insert(constraint,newname); + } + if(m_dynamicsWorld) + m_dynamicsWorld->addConstraint(constraint,constraintData->m_disableCollisionsBetweenLinkedBodies!=0); + } + +} + +void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion) +{ + btTypedConstraint* constraint = 0; + + switch (constraintData->m_objectType) + { + case POINT2POINT_CONSTRAINT_TYPE: + { + btPoint2PointConstraintFloatData2* p2pData = (btPoint2PointConstraintFloatData2*)constraintData; + if (rbA&& rbB) + { + btVector3 pivotInA,pivotInB; + pivotInA.deSerializeFloat(p2pData->m_pivotInA); + pivotInB.deSerializeFloat(p2pData->m_pivotInB); + constraint = createPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB); + + } else + { + btVector3 pivotInA; + pivotInA.deSerializeFloat(p2pData->m_pivotInA); + constraint = createPoint2PointConstraint(*rbA,pivotInA); + } + break; + } + case HINGE_CONSTRAINT_TYPE: + { + btHingeConstraint* hinge = 0; + btHingeConstraintFloatData* hingeData = (btHingeConstraintFloatData*)constraintData; + if (rbA&& rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeFloat(hingeData->m_rbAFrame); + rbBFrame.deSerializeFloat(hingeData->m_rbBFrame); + hinge = createHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0); + } else + { + btTransform rbAFrame; + rbAFrame.deSerializeFloat(hingeData->m_rbAFrame); + hinge = createHingeConstraint(*rbA,rbAFrame,hingeData->m_useReferenceFrameA!=0); + } + if (hingeData->m_enableAngularMotor) + { + hinge->enableAngularMotor(true,hingeData->m_motorTargetVelocity,hingeData->m_maxMotorImpulse); + } + hinge->setAngularOnly(hingeData->m_angularOnly!=0); + hinge->setLimit(btScalar(hingeData->m_lowerLimit),btScalar(hingeData->m_upperLimit),btScalar(hingeData->m_limitSoftness),btScalar(hingeData->m_biasFactor),btScalar(hingeData->m_relaxationFactor)); + + constraint = hinge; + break; + + } + case CONETWIST_CONSTRAINT_TYPE: + { + btConeTwistConstraintFloatData* coneData = (btConeTwistConstraintFloatData*)constraintData; + btConeTwistConstraint* coneTwist = 0; + if (rbA&& rbB) { btTransform rbAFrame,rbBFrame; @@ -643,7 +817,7 @@ void btWorldImporter::convertConstraint(btTypedConstraintData* constraintData,bt case D6_SPRING_CONSTRAINT_TYPE: { - btGeneric6DofSpringConstraintData* dofData = (btGeneric6DofSpringConstraintData*)constraintData; + btGeneric6DofSpringConstraintFloatData2* dofData = (btGeneric6DofSpringConstraintFloatData2*)constraintData; // int sz = sizeof(btGeneric6DofSpringConstraintData); btGeneric6DofSpringConstraint* dof = 0; @@ -690,7 +864,7 @@ void btWorldImporter::convertConstraint(btTypedConstraintData* constraintData,bt } case D6_CONSTRAINT_TYPE: { - btGeneric6DofConstraintData* dofData = (btGeneric6DofConstraintData*)constraintData; + btGeneric6DofConstraintFloatData2* dofData = (btGeneric6DofConstraintFloatData2*)constraintData; btGeneric6DofConstraint* dof = 0; if (rbA&& rbB) @@ -786,6 +960,227 @@ void btWorldImporter::convertConstraint(btTypedConstraintData* constraintData,bt +void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion) +{ + btTypedConstraint* constraint = 0; + + switch (constraintData->m_objectType) + { + case POINT2POINT_CONSTRAINT_TYPE: + { + btPoint2PointConstraintDoubleData2* p2pData = (btPoint2PointConstraintDoubleData2*)constraintData; + if (rbA && rbB) + { + btVector3 pivotInA,pivotInB; + pivotInA.deSerializeDouble(p2pData->m_pivotInA); + pivotInB.deSerializeDouble(p2pData->m_pivotInB); + constraint = createPoint2PointConstraint(*rbA,*rbB,pivotInA,pivotInB); + } else + { + btVector3 pivotInA; + pivotInA.deSerializeDouble(p2pData->m_pivotInA); + constraint = createPoint2PointConstraint(*rbA,pivotInA); + } + break; + } + case HINGE_CONSTRAINT_TYPE: + { + btHingeConstraint* hinge = 0; + + btHingeConstraintDoubleData2* hingeData = (btHingeConstraintDoubleData2*)constraintData; + if (rbA&& rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); + rbBFrame.deSerializeDouble(hingeData->m_rbBFrame); + hinge = createHingeConstraint(*rbA,*rbB,rbAFrame,rbBFrame,hingeData->m_useReferenceFrameA!=0); + } else + { + btTransform rbAFrame; + rbAFrame.deSerializeDouble(hingeData->m_rbAFrame); + hinge = createHingeConstraint(*rbA,rbAFrame,hingeData->m_useReferenceFrameA!=0); + } + if (hingeData->m_enableAngularMotor) + { + hinge->enableAngularMotor(true,(btScalar)hingeData->m_motorTargetVelocity,(btScalar)hingeData->m_maxMotorImpulse); + } + hinge->setAngularOnly(hingeData->m_angularOnly!=0); + hinge->setLimit(btScalar(hingeData->m_lowerLimit),btScalar(hingeData->m_upperLimit),btScalar(hingeData->m_limitSoftness),btScalar(hingeData->m_biasFactor),btScalar(hingeData->m_relaxationFactor)); + + constraint = hinge; + break; + + } + case CONETWIST_CONSTRAINT_TYPE: + { + btConeTwistConstraintDoubleData* coneData = (btConeTwistConstraintDoubleData*)constraintData; + btConeTwistConstraint* coneTwist = 0; + + if (rbA&& rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeDouble(coneData->m_rbAFrame); + rbBFrame.deSerializeDouble(coneData->m_rbBFrame); + coneTwist = createConeTwistConstraint(*rbA,*rbB,rbAFrame,rbBFrame); + } else + { + btTransform rbAFrame; + rbAFrame.deSerializeDouble(coneData->m_rbAFrame); + coneTwist = createConeTwistConstraint(*rbA,rbAFrame); + } + coneTwist->setLimit((btScalar)coneData->m_swingSpan1,(btScalar)coneData->m_swingSpan2,(btScalar)coneData->m_twistSpan,(btScalar)coneData->m_limitSoftness, + (btScalar)coneData->m_biasFactor,(btScalar)coneData->m_relaxationFactor); + coneTwist->setDamping((btScalar)coneData->m_damping); + + constraint = coneTwist; + break; + } + + case D6_SPRING_CONSTRAINT_TYPE: + { + + btGeneric6DofSpringConstraintDoubleData2* dofData = (btGeneric6DofSpringConstraintDoubleData2*)constraintData; + // int sz = sizeof(btGeneric6DofSpringConstraintData); + btGeneric6DofSpringConstraint* dof = 0; + + if (rbA && rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeDouble(dofData->m_6dofData.m_rbAFrame); + rbBFrame.deSerializeDouble(dofData->m_6dofData.m_rbBFrame); + dof = createGeneric6DofSpringConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_6dofData.m_useLinearReferenceFrameA!=0); + } else + { + printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n"); + } + + if (dof) + { + btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit; + angLowerLimit.deSerializeDouble(dofData->m_6dofData.m_angularLowerLimit); + angUpperLimit.deSerializeDouble(dofData->m_6dofData.m_angularUpperLimit); + linLowerLimit.deSerializeDouble(dofData->m_6dofData.m_linearLowerLimit); + linUpperlimit.deSerializeDouble(dofData->m_6dofData.m_linearUpperLimit); + + angLowerLimit.setW(0.f); + dof->setAngularLowerLimit(angLowerLimit); + dof->setAngularUpperLimit(angUpperLimit); + dof->setLinearLowerLimit(linLowerLimit); + dof->setLinearUpperLimit(linUpperlimit); + + int i; + if (fileVersion>280) + { + for (i=0;i<6;i++) + { + dof->setStiffness(i,(btScalar)dofData->m_springStiffness[i]); + dof->setEquilibriumPoint(i,(btScalar)dofData->m_equilibriumPoint[i]); + dof->enableSpring(i,dofData->m_springEnabled[i]!=0); + dof->setDamping(i,(btScalar)dofData->m_springDamping[i]); + } + } + } + + constraint = dof; + break; + } + case D6_CONSTRAINT_TYPE: + { + btGeneric6DofConstraintDoubleData2* dofData = (btGeneric6DofConstraintDoubleData2*)constraintData; + btGeneric6DofConstraint* dof = 0; + + if (rbA&& rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeDouble(dofData->m_rbAFrame); + rbBFrame.deSerializeDouble(dofData->m_rbBFrame); + dof = createGeneric6DofConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_useLinearReferenceFrameA!=0); + } else + { + if (rbB) + { + btTransform rbBFrame; + rbBFrame.deSerializeDouble(dofData->m_rbBFrame); + dof = createGeneric6DofConstraint(*rbB,rbBFrame,dofData->m_useLinearReferenceFrameA!=0); + } else + { + printf("Error in btWorldImporter::createGeneric6DofConstraint: missing rbB\n"); + } + } + + if (dof) + { + btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit; + angLowerLimit.deSerializeDouble(dofData->m_angularLowerLimit); + angUpperLimit.deSerializeDouble(dofData->m_angularUpperLimit); + linLowerLimit.deSerializeDouble(dofData->m_linearLowerLimit); + linUpperlimit.deSerializeDouble(dofData->m_linearUpperLimit); + + dof->setAngularLowerLimit(angLowerLimit); + dof->setAngularUpperLimit(angUpperLimit); + dof->setLinearLowerLimit(linLowerLimit); + dof->setLinearUpperLimit(linUpperlimit); + } + + constraint = dof; + break; + } + case SLIDER_CONSTRAINT_TYPE: + { + btSliderConstraintDoubleData* sliderData = (btSliderConstraintDoubleData*)constraintData; + btSliderConstraint* slider = 0; + if (rbA&& rbB) + { + btTransform rbAFrame,rbBFrame; + rbAFrame.deSerializeDouble(sliderData->m_rbAFrame); + rbBFrame.deSerializeDouble(sliderData->m_rbBFrame); + slider = createSliderConstraint(*rbA,*rbB,rbAFrame,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0); + } else + { + btTransform rbBFrame; + rbBFrame.deSerializeDouble(sliderData->m_rbBFrame); + slider = createSliderConstraint(*rbB,rbBFrame,sliderData->m_useLinearReferenceFrameA!=0); + } + slider->setLowerLinLimit((btScalar)sliderData->m_linearLowerLimit); + slider->setUpperLinLimit((btScalar)sliderData->m_linearUpperLimit); + slider->setLowerAngLimit((btScalar)sliderData->m_angularLowerLimit); + slider->setUpperAngLimit((btScalar)sliderData->m_angularUpperLimit); + slider->setUseFrameOffset(sliderData->m_useOffsetForConstraintFrame!=0); + constraint = slider; + break; + } + + default: + { + printf("unknown constraint type\n"); + } + }; + + if (constraint) + { + constraint->setDbgDrawSize((btScalar)constraintData->m_dbgDrawSize); + ///those fields didn't exist and set to zero for pre-280 versions, so do a check here + if (fileVersion>=280) + { + constraint->setBreakingImpulseThreshold((btScalar)constraintData->m_breakingImpulseThreshold); + constraint->setEnabled(constraintData->m_isEnabled!=0); + constraint->setOverrideNumSolverIterations(constraintData->m_overrideNumSolverIterations); + } + + if (constraintData->m_name) + { + char* newname = duplicateName(constraintData->m_name); + m_nameConstraintMap.insert(newname,constraint); + m_objectNameMap.insert(constraint,newname); + } + if(m_dynamicsWorld) + m_dynamicsWorld->addConstraint(constraint,constraintData->m_disableCollisionsBetweenLinkedBodies!=0); + } + + +} + + diff --git a/Extras/Serialize/BulletWorldImporter/btWorldImporter.h b/Extras/Serialize/BulletWorldImporter/btWorldImporter.h index bb8c00845..1cf4a73fa 100644 --- a/Extras/Serialize/BulletWorldImporter/btWorldImporter.h +++ b/Extras/Serialize/BulletWorldImporter/btWorldImporter.h @@ -45,6 +45,8 @@ class btGeneric6DofSpringConstraint; class btSliderConstraint; struct btContactSolverInfo; struct btTypedConstraintData; +struct btTypedConstraintFloatData; +struct btTypedConstraintDoubleData; struct btRigidBodyDoubleData; struct btRigidBodyFloatData; @@ -100,7 +102,10 @@ protected: char* duplicateName(const char* name); btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData ); - void convertConstraint(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, bool isDoublePrecisionData, int fileVersion); + + void convertConstraintBackwardsCompatible281(btTypedConstraintData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion); + void convertConstraintFloat(btTypedConstraintFloatData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion); + void convertConstraintDouble(btTypedConstraintDoubleData* constraintData, btRigidBody* rbA, btRigidBody* rbB, int fileVersion); void convertRigidBodyFloat(btRigidBodyFloatData* colObjData); void convertRigidBodyDouble( btRigidBodyDoubleData* colObjData); diff --git a/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp b/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp index 91653a7b8..6aa41629d 100644 --- a/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp +++ b/Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp @@ -407,7 +407,7 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p int ptr=0; get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr); - btGeneric6DofConstraintData* dof6Data = (btGeneric6DofConstraintData*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData),16); + btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16); TiXmlNode* n = pParent->FirstChild("m_typeConstraintData"); @@ -438,7 +438,7 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p SET_INT_VALUE(pParent, dof6Data,m_useLinearReferenceFrameA); SET_INT_VALUE(pParent, dof6Data,m_useOffsetForConstraintFrame); - m_constraintData.push_back((btTypedConstraintData*)dof6Data); + m_constraintData.push_back((btTypedConstraintData2*)dof6Data); m_pointerLookup.insert((void*)ptr,dof6Data); } @@ -560,7 +560,7 @@ CONCAVE_SHAPES_END_HERE, MAX_BROADPHASE_COLLISION_TYPES */ -void btBulletXmlWorldImporter::fixupConstraintData(btTypedConstraintData* tcd) +void btBulletXmlWorldImporter::fixupConstraintData(btTypedConstraintData2* tcd) { if (tcd->m_rbA) { @@ -754,7 +754,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa for (int i=0;i m_collisionShapeData; btAlignedObjectArray* > m_compoundShapeChildDataArrays; btAlignedObjectArray m_rigidBodyData; - btAlignedObjectArray m_constraintData; + btAlignedObjectArray m_constraintData; btHashMap m_pointerLookup; int m_fileVersion; bool m_fileOk; @@ -53,7 +58,7 @@ protected: void deSerializeVector3FloatData(TiXmlNode* pParent,btAlignedObjectArray& vectors); void fixupCollisionDataPointers(btCollisionShapeData* shapeData); - void fixupConstraintData(btTypedConstraintData* tcd); + void fixupConstraintData(btTypedConstraintData2* tcd); //collision shapes data void deSerializeCollisionShapeData(TiXmlNode* pParent,btCollisionShapeData* colShapeData); diff --git a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h index 09c048bed..f67279485 100644 --- a/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h @@ -40,6 +40,15 @@ and swing 1 and 2 are along the z and y axes respectively. #include "btJacobianEntry.h" #include "btTypedConstraint.h" +#ifdef BT_USE_DOUBLE_PRECISION +#define btConeTwistConstraintData2 btConeTwistConstraintDoubleData +#define btConeTwistConstraintDataName "btConeTwistConstraintDoubleData" +#else +#define btConeTwistConstraintData2 btConeTwistConstraintFloatData +#define btConeTwistConstraintDataName "btConeTwistConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + class btRigidBody; enum btConeTwistFlags @@ -296,6 +305,48 @@ public: }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btConeTwistConstraintFloatData +{ + btTypedConstraintFloatData m_typeConstraintData; + btTransformFloatData m_rbAFrame; + btTransformFloatData m_rbBFrame; + + //limits + float m_swingSpan1; + float m_swingSpan2; + float m_twistSpan; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + + float m_damping; + + char m_pad[4]; + +}; + +struct btConeTwistConstraintDoubleData +{ + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; + btTransformDoubleData m_rbBFrame; + + //limits + double m_swingSpan1; + double m_swingSpan2; + double m_twistSpan; + double m_limitSoftness; + double m_biasFactor; + double m_relaxationFactor; + + double m_damping; + + + +}; + +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///this structure is not used, except for loading pre-2.82 .bullet files struct btConeTwistConstraintData { btTypedConstraintData m_typeConstraintData; @@ -315,12 +366,12 @@ struct btConeTwistConstraintData char m_pad[4]; }; - - +#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION +// SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() const { - return sizeof(btConeTwistConstraintData); + return sizeof(btConeTwistConstraintData2); } @@ -328,21 +379,21 @@ SIMD_FORCE_INLINE int btConeTwistConstraint::calculateSerializeBufferSize() cons ///fills the dataBuffer and returns the struct name (and 0 on failure) SIMD_FORCE_INLINE const char* btConeTwistConstraint::serialize(void* dataBuffer, btSerializer* serializer) const { - btConeTwistConstraintData* cone = (btConeTwistConstraintData*) dataBuffer; + btConeTwistConstraintData2* cone = (btConeTwistConstraintData2*) dataBuffer; btTypedConstraint::serialize(&cone->m_typeConstraintData,serializer); - m_rbAFrame.serializeFloat(cone->m_rbAFrame); - m_rbBFrame.serializeFloat(cone->m_rbBFrame); + m_rbAFrame.serialize(cone->m_rbAFrame); + m_rbBFrame.serialize(cone->m_rbBFrame); - cone->m_swingSpan1 = float(m_swingSpan1); - cone->m_swingSpan2 = float(m_swingSpan2); - cone->m_twistSpan = float(m_twistSpan); - cone->m_limitSoftness = float(m_limitSoftness); - cone->m_biasFactor = float(m_biasFactor); - cone->m_relaxationFactor = float(m_relaxationFactor); - cone->m_damping = float(m_damping); + cone->m_swingSpan1 = m_swingSpan1; + cone->m_swingSpan2 = m_swingSpan2; + cone->m_twistSpan = m_twistSpan; + cone->m_limitSoftness = m_limitSoftness; + cone->m_biasFactor = m_biasFactor; + cone->m_relaxationFactor = m_relaxationFactor; + cone->m_damping = m_damping; - return "btConeTwistConstraintData"; + return btConeTwistConstraintDataName; } diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h index 0409f9537..efc3d1d88 100644 --- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h @@ -35,6 +35,14 @@ class btRigidBody; +#ifdef BT_USE_DOUBLE_PRECISION +#define btGeneric6DofConstraintData2 btGeneric6DofConstraintDoubleData2 +#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintDoubleData2" +#else +#define btGeneric6DofConstraintData2 btGeneric6DofConstraintFloatData2 +#define btGeneric6DofConstraintDataName "btGeneric6DofConstraintFloatData2" +#endif //BT_USE_DOUBLE_PRECISION + //! Rotation Limit structure for generic joints class btRotationalLimitMotor @@ -562,6 +570,25 @@ public: }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btGeneric6DofConstraintFloatData2 +{ + btTypedConstraintFloatData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformFloatData m_rbBFrame; + + btVector3FloatData m_linearUpperLimit; + btVector3FloatData m_linearLowerLimit; + + btVector3FloatData m_angularUpperLimit; + btVector3FloatData m_angularLowerLimit; + + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; +}; + +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +///this structure is not used, except for loading pre-2.82 .bullet files struct btGeneric6DofConstraintData { btTypedConstraintData m_typeConstraintData; @@ -577,36 +604,53 @@ struct btGeneric6DofConstraintData int m_useLinearReferenceFrameA; int m_useOffsetForConstraintFrame; }; +#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION + +struct btGeneric6DofConstraintDoubleData2 +{ + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformDoubleData m_rbBFrame; + + btVector3DoubleData m_linearUpperLimit; + btVector3DoubleData m_linearLowerLimit; + + btVector3DoubleData m_angularUpperLimit; + btVector3DoubleData m_angularLowerLimit; + + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; +}; SIMD_FORCE_INLINE int btGeneric6DofConstraint::calculateSerializeBufferSize() const { - return sizeof(btGeneric6DofConstraintData); + return sizeof(btGeneric6DofConstraintData2); } ///fills the dataBuffer and returns the struct name (and 0 on failure) SIMD_FORCE_INLINE const char* btGeneric6DofConstraint::serialize(void* dataBuffer, btSerializer* serializer) const { - btGeneric6DofConstraintData* dof = (btGeneric6DofConstraintData*)dataBuffer; + btGeneric6DofConstraintData2* dof = (btGeneric6DofConstraintData2*)dataBuffer; btTypedConstraint::serialize(&dof->m_typeConstraintData,serializer); - m_frameInA.serializeFloat(dof->m_rbAFrame); - m_frameInB.serializeFloat(dof->m_rbBFrame); + m_frameInA.serialize(dof->m_rbAFrame); + m_frameInB.serialize(dof->m_rbBFrame); int i; for (i=0;i<3;i++) { - dof->m_angularLowerLimit.m_floats[i] = float(m_angularLimits[i].m_loLimit); - dof->m_angularUpperLimit.m_floats[i] = float(m_angularLimits[i].m_hiLimit); - dof->m_linearLowerLimit.m_floats[i] = float(m_linearLimits.m_lowerLimit[i]); - dof->m_linearUpperLimit.m_floats[i] = float(m_linearLimits.m_upperLimit[i]); + dof->m_angularLowerLimit.m_floats[i] = m_angularLimits[i].m_loLimit; + dof->m_angularUpperLimit.m_floats[i] = m_angularLimits[i].m_hiLimit; + dof->m_linearLowerLimit.m_floats[i] = m_linearLimits.m_lowerLimit[i]; + dof->m_linearUpperLimit.m_floats[i] = m_linearLimits.m_upperLimit[i]; } dof->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA? 1 : 0; dof->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame ? 1 : 0; - return "btGeneric6DofConstraintData"; + return btGeneric6DofConstraintDataName; } diff --git a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h index 6fabb3036..b79e9646f 100644 --- a/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h @@ -21,6 +21,15 @@ subject to the following restrictions: #include "btTypedConstraint.h" #include "btGeneric6DofConstraint.h" +#ifdef BT_USE_DOUBLE_PRECISION +#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintDoubleData2 +#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintDoubleData2" +#else +#define btGeneric6DofSpringConstraintData2 btGeneric6DofSpringConstraintFloatData2 +#define btGeneric6DofSpringConstraintDataName "btGeneric6DofSpringConstraintFloatData2" +#endif //BT_USE_DOUBLE_PRECISION + + /// Generic 6 DOF constraint that allows to set spring motors to any translational and rotational DOF @@ -66,6 +75,19 @@ public: ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btGeneric6DofSpringConstraintFloatData2 +{ + btGeneric6DofConstraintFloatData2 m_6dofData; + + int m_springEnabled[6]; + float m_equilibriumPoint[6]; + float m_springStiffness[6]; + float m_springDamping[6]; +}; + +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +///this structure is not used, except for loading pre-2.82 .bullet files struct btGeneric6DofSpringConstraintData { btGeneric6DofConstraintData m_6dofData; @@ -75,27 +97,39 @@ struct btGeneric6DofSpringConstraintData float m_springStiffness[6]; float m_springDamping[6]; }; +#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION + +struct btGeneric6DofSpringConstraintDoubleData2 +{ + btGeneric6DofConstraintDoubleData2 m_6dofData; + + int m_springEnabled[6]; + double m_equilibriumPoint[6]; + double m_springStiffness[6]; + double m_springDamping[6]; +}; + SIMD_FORCE_INLINE int btGeneric6DofSpringConstraint::calculateSerializeBufferSize() const { - return sizeof(btGeneric6DofSpringConstraintData); + return sizeof(btGeneric6DofSpringConstraintData2); } ///fills the dataBuffer and returns the struct name (and 0 on failure) SIMD_FORCE_INLINE const char* btGeneric6DofSpringConstraint::serialize(void* dataBuffer, btSerializer* serializer) const { - btGeneric6DofSpringConstraintData* dof = (btGeneric6DofSpringConstraintData*)dataBuffer; + btGeneric6DofSpringConstraintData2* dof = (btGeneric6DofSpringConstraintData2*)dataBuffer; btGeneric6DofConstraint::serialize(&dof->m_6dofData,serializer); int i; for (i=0;i<6;i++) { - dof->m_equilibriumPoint[i] = (float)m_equilibriumPoint[i]; - dof->m_springDamping[i] = (float)m_springDamping[i]; + dof->m_equilibriumPoint[i] = m_equilibriumPoint[i]; + dof->m_springDamping[i] = m_springDamping[i]; dof->m_springEnabled[i] = m_springEnabled[i]? 1 : 0; - dof->m_springStiffness[i] = (float)m_springStiffness[i]; + dof->m_springStiffness[i] = m_springStiffness[i]; } - return "btGeneric6DofSpringConstraintData"; + return btGeneric6DofSpringConstraintDataName; } #endif // BT_GENERIC_6DOF_SPRING_CONSTRAINT_H diff --git a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h index 39ca9ff04..57c440557 100644 --- a/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btHingeConstraint.h @@ -28,11 +28,11 @@ subject to the following restrictions: class btRigidBody; #ifdef BT_USE_DOUBLE_PRECISION -#define btHingeConstraintData btHingeConstraintDoubleData -#define btHingeConstraintDataName "btHingeConstraintDoubleData" +#define btHingeConstraintData btHingeConstraintDoubleData2 //rename to 2 for backwards compatibility, so we can still load the 'btHingeConstraintDoubleData' version +#define btHingeConstraintDataName "btHingeConstraintDoubleData2" #else -#define btHingeConstraintData btHingeConstraintFloatData -#define btHingeConstraintDataName "btHingeConstraintFloatData" +#define btHingeConstraintData btHingeConstraintFloatData2 +#define btHingeConstraintDataName "btHingeConstraintFloatData2" #endif //BT_USE_DOUBLE_PRECISION @@ -302,10 +302,11 @@ public: }; + ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 -struct btHingeConstraintDoubleData +struct btHingeConstraintDoubleData2 { - btTypedConstraintData m_typeConstraintData; + btTypedConstraintDoubleData m_typeConstraintData; btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. btTransformDoubleData m_rbBFrame; int m_useReferenceFrameA; @@ -322,7 +323,52 @@ struct btHingeConstraintDoubleData char m_padding1[4]; }; + + + ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btHingeConstraintFloatData2 +{ + btTypedConstraintFloatData m_typeConstraintData; + btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformFloatData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + +}; + +//only for backward compatibility +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///this structure is not used, except for loading pre-2.82 .bullet files +struct btHingeConstraintDoubleData +{ + btTypedConstraintData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformDoubleData m_rbBFrame; + int m_useReferenceFrameA; + int m_angularOnly; + int m_enableAngularMotor; + float m_motorTargetVelocity; + float m_maxMotorImpulse; + + float m_lowerLimit; + float m_upperLimit; + float m_limitSoftness; + float m_biasFactor; + float m_relaxationFactor; + +}; +///this structure is not used, except for loading pre-2.82 .bullet files struct btHingeConstraintFloatData { btTypedConstraintData m_typeConstraintData; @@ -342,7 +388,7 @@ struct btHingeConstraintFloatData float m_relaxationFactor; }; - +#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION SIMD_FORCE_INLINE int btHingeConstraint::calculateSerializeBufferSize() const diff --git a/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h b/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h index 1e13416df..41d4c769c 100644 --- a/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.h @@ -24,11 +24,11 @@ class btRigidBody; #ifdef BT_USE_DOUBLE_PRECISION -#define btPoint2PointConstraintData btPoint2PointConstraintDoubleData -#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData" +#define btPoint2PointConstraintData2 btPoint2PointConstraintDoubleData2 +#define btPoint2PointConstraintDataName "btPoint2PointConstraintDoubleData2" #else -#define btPoint2PointConstraintData btPoint2PointConstraintFloatData -#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData" +#define btPoint2PointConstraintData2 btPoint2PointConstraintFloatData2 +#define btPoint2PointConstraintDataName "btPoint2PointConstraintFloatData2" #endif //BT_USE_DOUBLE_PRECISION struct btConstraintSetting @@ -126,6 +126,24 @@ public: }; ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btPoint2PointConstraintFloatData2 +{ + btTypedConstraintFloatData m_typeConstraintData; + btVector3FloatData m_pivotInA; + btVector3FloatData m_pivotInB; +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btPoint2PointConstraintDoubleData2 +{ + btTypedConstraintDoubleData m_typeConstraintData; + btVector3DoubleData m_pivotInA; + btVector3DoubleData m_pivotInB; +}; + +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +///this structure is not used, except for loading pre-2.82 .bullet files struct btPoint2PointConstraintFloatData { btTypedConstraintData m_typeConstraintData; @@ -140,18 +158,19 @@ struct btPoint2PointConstraintDoubleData btVector3DoubleData m_pivotInA; btVector3DoubleData m_pivotInB; }; +#endif //BT_BACKWARDS_COMPATIBLE_SERIALIZATION SIMD_FORCE_INLINE int btPoint2PointConstraint::calculateSerializeBufferSize() const { - return sizeof(btPoint2PointConstraintData); + return sizeof(btPoint2PointConstraintData2); } ///fills the dataBuffer and returns the struct name (and 0 on failure) SIMD_FORCE_INLINE const char* btPoint2PointConstraint::serialize(void* dataBuffer, btSerializer* serializer) const { - btPoint2PointConstraintData* p2pData = (btPoint2PointConstraintData*)dataBuffer; + btPoint2PointConstraintData2* p2pData = (btPoint2PointConstraintData2*)dataBuffer; btTypedConstraint::serialize(&p2pData->m_typeConstraintData,serializer); m_pivotInA.serialize(p2pData->m_pivotInA); diff --git a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h index ca8e715bc..41d5ed9be 100755 --- a/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btSliderConstraint.h @@ -25,7 +25,13 @@ TODO: #ifndef BT_SLIDER_CONSTRAINT_H #define BT_SLIDER_CONSTRAINT_H - +#ifdef BT_USE_DOUBLE_PRECISION +#define btSliderConstraintData2 btSliderConstraintDoubleData +#define btSliderConstraintDataName "btSliderConstraintDoubleData" +#else +#define btSliderConstraintData2 btSliderConstraintData //not btSliderConstraintFloatData for backward compatibility +#define btSliderConstraintDataName "btSliderConstraintData" //not "btSliderConstraintFloatData" for backward compatibility +#endif //BT_USE_DOUBLE_PRECISION #include "LinearMath/btVector3.h" #include "btJacobianEntry.h" @@ -286,7 +292,7 @@ public: ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 struct btSliderConstraintData { - btTypedConstraintData m_typeConstraintData; + btTypedConstraintFloatData m_typeConstraintData; btTransformFloatData m_rbAFrame; // constraint axii. Assumes z is hinge axis. btTransformFloatData m_rbBFrame; @@ -301,32 +307,48 @@ struct btSliderConstraintData }; +struct btSliderConstraintDoubleData +{ + btTypedConstraintDoubleData m_typeConstraintData; + btTransformDoubleData m_rbAFrame; // constraint axii. Assumes z is hinge axis. + btTransformDoubleData m_rbBFrame; + + double m_linearUpperLimit; + double m_linearLowerLimit; + + double m_angularUpperLimit; + double m_angularLowerLimit; + + int m_useLinearReferenceFrameA; + int m_useOffsetForConstraintFrame; + +}; SIMD_FORCE_INLINE int btSliderConstraint::calculateSerializeBufferSize() const { - return sizeof(btSliderConstraintData); + return sizeof(btSliderConstraintData2); } ///fills the dataBuffer and returns the struct name (and 0 on failure) SIMD_FORCE_INLINE const char* btSliderConstraint::serialize(void* dataBuffer, btSerializer* serializer) const { - btSliderConstraintData* sliderData = (btSliderConstraintData*) dataBuffer; + btSliderConstraintData2* sliderData = (btSliderConstraintData2*) dataBuffer; btTypedConstraint::serialize(&sliderData->m_typeConstraintData,serializer); - m_frameInA.serializeFloat(sliderData->m_rbAFrame); - m_frameInB.serializeFloat(sliderData->m_rbBFrame); + m_frameInA.serialize(sliderData->m_rbAFrame); + m_frameInB.serialize(sliderData->m_rbBFrame); - sliderData->m_linearUpperLimit = float(m_upperLinLimit); - sliderData->m_linearLowerLimit = float(m_lowerLinLimit); + sliderData->m_linearUpperLimit = m_upperLinLimit; + sliderData->m_linearLowerLimit = m_lowerLinLimit; - sliderData->m_angularUpperLimit = float(m_upperAngLimit); - sliderData->m_angularLowerLimit = float(m_lowerAngLimit); + sliderData->m_angularUpperLimit = m_upperAngLimit; + sliderData->m_angularLowerLimit = m_lowerAngLimit; sliderData->m_useLinearReferenceFrameA = m_useLinearReferenceFrameA; sliderData->m_useOffsetForConstraintFrame = m_useOffsetForConstraintFrame; - return "btSliderConstraintData"; + return btSliderConstraintDataName; } diff --git a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp index 465c0746c..27fdd9d3d 100644 --- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp +++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp @@ -109,7 +109,7 @@ btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScal ///fills the dataBuffer and returns the struct name (and 0 on failure) const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const { - btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer; + btTypedConstraintData2* tcd = (btTypedConstraintData2*) dataBuffer; tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA); tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB); @@ -123,14 +123,14 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali tcd->m_objectType = m_objectType; tcd->m_needsFeedback = m_needsFeedback; tcd->m_overrideNumSolverIterations = m_overrideNumSolverIterations; - tcd->m_breakingImpulseThreshold = float(m_breakingImpulseThreshold); + tcd->m_breakingImpulseThreshold = m_breakingImpulseThreshold; tcd->m_isEnabled = m_isEnabled? 1: 0; tcd->m_userConstraintId =m_userConstraintId; tcd->m_userConstraintType =m_userConstraintType; - tcd->m_appliedImpulse = float(m_appliedImpulse); - tcd->m_dbgDrawSize = float(m_dbgDrawSize ); + tcd->m_appliedImpulse = m_appliedImpulse; + tcd->m_dbgDrawSize = m_dbgDrawSize; tcd->m_disableCollisionsBetweenLinkedBodies = false; @@ -142,7 +142,7 @@ const char* btTypedConstraint::serialize(void* dataBuffer, btSerializer* seriali if (m_rbB.getConstraintRef(i) == this) tcd->m_disableCollisionsBetweenLinkedBodies = true; - return "btTypedConstraintData"; + return btTypedConstraintDataName; } btRigidBody& btTypedConstraint::getFixedBody() diff --git a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h index 441fa3750..a9a070060 100644 --- a/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h +++ b/src/BulletDynamics/ConstraintSolver/btTypedConstraint.h @@ -21,6 +21,15 @@ subject to the following restrictions: #include "btSolverConstraint.h" #include "BulletDynamics/Dynamics/btRigidBody.h" +#ifdef BT_USE_DOUBLE_PRECISION +#define btTypedConstraintData2 btTypedConstraintDoubleData +#define btTypedConstraintDataName "btTypedConstraintDoubleData" +#else +#define btTypedConstraintData2 btTypedConstraintFloatData +#define btTypedConstraintDataName "btTypedConstraintFloatData" +#endif //BT_USE_DOUBLE_PRECISION + + class btSerializer; //Don't change any of the existing enum values, so add enum types at the end for serialization compatibility @@ -356,6 +365,33 @@ SIMD_FORCE_INLINE btScalar btAdjustAngleToLimits(btScalar angleInRadians, btScal } ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btTypedConstraintFloatData +{ + btRigidBodyFloatData *m_rbA; + btRigidBodyFloatData *m_rbB; + char *m_name; + + int m_objectType; + int m_userConstraintType; + int m_userConstraintId; + int m_needsFeedback; + + float m_appliedImpulse; + float m_dbgDrawSize; + + int m_disableCollisionsBetweenLinkedBodies; + int m_overrideNumSolverIterations; + + float m_breakingImpulseThreshold; + int m_isEnabled; + +}; + +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 + +#define BT_BACKWARDS_COMPATIBLE_SERIALIZATION +#ifdef BT_BACKWARDS_COMPATIBLE_SERIALIZATION +///this structure is not used, except for loading pre-2.82 .bullet files struct btTypedConstraintData { btRigidBodyData *m_rbA; @@ -377,10 +413,35 @@ struct btTypedConstraintData int m_isEnabled; }; +#endif BACKWARDS_COMPATIBLE + +struct btTypedConstraintDoubleData +{ + btRigidBodyDoubleData *m_rbA; + btRigidBodyDoubleData *m_rbB; + char *m_name; + + int m_objectType; + int m_userConstraintType; + int m_userConstraintId; + int m_needsFeedback; + + double m_appliedImpulse; + double m_dbgDrawSize; + + int m_disableCollisionsBetweenLinkedBodies; + int m_overrideNumSolverIterations; + + double m_breakingImpulseThreshold; + int m_isEnabled; + char padding[4]; + +}; + SIMD_FORCE_INLINE int btTypedConstraint::calculateSerializeBufferSize() const { - return sizeof(btTypedConstraintData); + return sizeof(btTypedConstraintData2); } diff --git a/src/LinearMath/btSerializer.cpp b/src/LinearMath/btSerializer.cpp index 487e42716..1f0c90071 100644 --- a/src/LinearMath/btSerializer.cpp +++ b/src/LinearMath/btSerializer.cpp @@ -1,5 +1,5 @@ char sBulletDNAstr[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(65),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(66),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), 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+char(86),char(0),char(49),char(1),char(79),char(0),char(50),char(1),char(80),char(0),char(51),char(1),char(81),char(0),char(52),char(1),char(82),char(0),char(53),char(1), +char(83),char(0),char(54),char(1),char(84),char(0),char(55),char(1),char(87),char(0),char(56),char(1),char(88),char(0),char(57),char(1),char(4),char(0),char(58),char(1), +char(4),char(0),char(24),char(1),char(4),char(0),char(59),char(1),char(4),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1), +char(4),char(0),char(63),char(1),char(4),char(0),char(64),char(1),char(85),char(0),char(65),char(1),}; int sBulletDNAlen= sizeof(sBulletDNAstr); char sBulletDNAstr64[]= { -char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(65),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), +char(83),char(68),char(78),char(65),char(78),char(65),char(77),char(69),char(66),char(1),char(0),char(0),char(109),char(95),char(115),char(105),char(122),char(101),char(0),char(109), char(95),char(99),char(97),char(112),char(97),char(99),char(105),char(116),char(121),char(0),char(42),char(109),char(95),char(100),char(97),char(116),char(97),char(0),char(109),char(95), char(99),char(111),char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(83),char(104),char(97),char(112),char(101),char(115),char(0),char(109),char(95),char(99),char(111), char(108),char(108),char(105),char(115),char(105),char(111),char(110),char(79),char(98),char(106),char(101),char(99),char(116),char(115),char(0),char(109),char(95),char(99),char(111),char(110), @@ -593,211 +642,234 @@ char(108),char(105),char(115),char(105),char(111),char(110),char(115),char(66),c char(66),char(111),char(100),char(105),char(101),char(115),char(0),char(109),char(95),char(111),char(118),char(101),char(114),char(114),char(105),char(100),char(101),char(78),char(117),char(109), char(83),char(111),char(108),char(118),char(101),char(114),char(73),char(116),char(101),char(114),char(97),char(116),char(105),char(111),char(110),char(115),char(0),char(109),char(95),char(98), char(114),char(101),char(97),char(107),char(105),char(110),char(103),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(84),char(104),char(114),char(101),char(115),char(104), -char(111),char(108),char(100),char(0),char(109),char(95),char(105),char(115),char(69),char(110),char(97),char(98),char(108),char(101),char(100),char(0),char(109),char(95),char(116),char(121), -char(112),char(101),char(67),char(111),char(110),char(115),char(116),char(114),char(97),char(105),char(110),char(116),char(68),char(97),char(116),char(97),char(0),char(109),char(95),char(112), -char(105),char(118),char(111),char(116),char(73),char(110),char(65),char(0),char(109),char(95),char(112),char(105),char(118),char(111),char(116),char(73),char(110),char(66),char(0),char(109), -char(95),char(114),char(98),char(65),char(70),char(114),char(97),char(109),char(101),char(0),char(109),char(95),char(114),char(98),char(66),char(70),char(114),char(97),char(109),char(101), -char(0),char(109),char(95),char(117),char(115),char(101),char(82),char(101),char(102),char(101),char(114),char(101),char(110),char(99),char(101),char(70),char(114),char(97),char(109),char(101), -char(65),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114),char(79),char(110),char(108),char(121),char(0),char(109),char(95),char(101),char(110), -char(97),char(98),char(108),char(101),char(65),char(110),char(103),char(117),char(108),char(97),char(114),char(77),char(111),char(116),char(111),char(114),char(0),char(109),char(95),char(109), -char(111),char(116),char(111),char(114),char(84),char(97),char(114),char(103),char(101),char(116),char(86),char(101),char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109), -char(95),char(109),char(97),char(120),char(77),char(111),char(116),char(111),char(114),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(0),char(109),char(95),char(108), -char(111),char(119),char(101),char(114),char(76),char(105),char(109),char(105),char(116),char(0),char(109),char(95),char(117),char(112),char(112),char(101),char(114),char(76),char(105),char(109), -char(105),char(116),char(0),char(109),char(95),char(108),char(105),char(109),char(105),char(116),char(83),char(111),char(102),char(116),char(110),char(101),char(115),char(115),char(0),char(109), -char(95),char(98),char(105),char(97),char(115),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95),char(114),char(101),char(108),char(97),char(120),char(97), -char(116),char(105),char(111),char(110),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109),char(95),char(112),char(97),char(100),char(100),char(105),char(110),char(103), -char(49),char(91),char(52),char(93),char(0),char(109),char(95),char(115),char(119),char(105),char(110),char(103),char(83),char(112),char(97),char(110),char(49),char(0),char(109),char(95), -char(115),char(119),char(105),char(110),char(103),char(83),char(112),char(97),char(110),char(50),char(0),char(109),char(95),char(116),char(119),char(105),char(115),char(116),char(83),char(112), -char(97),char(110),char(0),char(109),char(95),char(100),char(97),char(109),char(112),char(105),char(110),char(103),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97), -char(114),char(85),char(112),char(112),char(101),char(114),char(76),char(105),char(109),char(105),char(116),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114), -char(76),char(111),char(119),char(101),char(114),char(76),char(105),char(109),char(105),char(116),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114), -char(85),char(112),char(112),char(101),char(114),char(76),char(105),char(109),char(105),char(116),char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114), -char(76),char(111),char(119),char(101),char(114),char(76),char(105),char(109),char(105),char(116),char(0),char(109),char(95),char(117),char(115),char(101),char(76),char(105),char(110),char(101), -char(97),char(114),char(82),char(101),char(102),char(101),char(114),char(101),char(110),char(99),char(101),char(70),char(114),char(97),char(109),char(101),char(65),char(0),char(109),char(95), -char(117),char(115),char(101),char(79),char(102),char(102),char(115),char(101),char(116),char(70),char(111),char(114),char(67),char(111),char(110),char(115),char(116),char(114),char(97),char(105), -char(110),char(116),char(70),char(114),char(97),char(109),char(101),char(0),char(109),char(95),char(54),char(100),char(111),char(102),char(68),char(97),char(116),char(97),char(0),char(109), -char(95),char(115),char(112),char(114),char(105),char(110),char(103),char(69),char(110),char(97),char(98),char(108),char(101),char(100),char(91),char(54),char(93),char(0),char(109),char(95), -char(101),char(113),char(117),char(105),char(108),char(105),char(98),char(114),char(105),char(117),char(109),char(80),char(111),char(105),char(110),char(116),char(91),char(54),char(93),char(0), -char(109),char(95),char(115),char(112),char(114),char(105),char(110),char(103),char(83),char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(91),char(54),char(93), -char(0),char(109),char(95),char(115),char(112),char(114),char(105),char(110),char(103),char(68),char(97),char(109),char(112),char(105),char(110),char(103),char(91),char(54),char(93),char(0), -char(109),char(95),char(116),char(97),char(117),char(0),char(109),char(95),char(116),char(105),char(109),char(101),char(83),char(116),char(101),char(112),char(0),char(109),char(95),char(109), -char(97),char(120),char(69),char(114),char(114),char(111),char(114),char(82),char(101),char(100),char(117),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(115), -char(111),char(114),char(0),char(109),char(95),char(101),char(114),char(112),char(0),char(109),char(95),char(101),char(114),char(112),char(50),char(0),char(109),char(95),char(103),char(108), -char(111),char(98),char(97),char(108),char(67),char(102),char(109),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108), -char(115),char(101),char(80),char(101),char(110),char(101),char(116),char(114),char(97),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111), -char(108),char(100),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(84),char(117),char(114), -char(110),char(69),char(114),char(112),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(83),char(108),char(111),char(112),char(0),char(109),char(95), -char(119),char(97),char(114),char(109),char(115),char(116),char(97),char(114),char(116),char(105),char(110),char(103),char(70),char(97),char(99),char(116),char(111),char(114),char(0),char(109), -char(95),char(109),char(97),char(120),char(71),char(121),char(114),char(111),char(115),char(99),char(111),char(112),char(105),char(99),char(70),char(111),char(114),char(99),char(101),char(0), -char(109),char(95),char(115),char(105),char(110),char(103),char(108),char(101),char(65),char(120),char(105),char(115),char(82),char(111),char(108),char(108),char(105),char(110),char(103),char(70), -char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111),char(108),char(100),char(0),char(109),char(95),char(110), -char(117),char(109),char(73),char(116),char(101),char(114),char(97),char(116),char(105),char(111),char(110),char(115),char(0),char(109),char(95),char(115),char(111),char(108),char(118),char(101), -char(114),char(77),char(111),char(100),char(101),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(105),char(110),char(103),char(67),char(111),char(110),char(116),char(97), -char(99),char(116),char(82),char(101),char(115),char(116),char(105),char(116),char(117),char(116),char(105),char(111),char(110),char(84),char(104),char(114),char(101),char(115),char(104),char(111), -char(108),char(100),char(0),char(109),char(95),char(109),char(105),char(110),char(105),char(109),char(117),char(109),char(83),char(111),char(108),char(118),char(101),char(114),char(66),char(97), -char(116),char(99),char(104),char(83),char(105),char(122),char(101),char(0),char(109),char(95),char(115),char(112),char(108),char(105),char(116),char(73),char(109),char(112),char(117),char(108), -char(115),char(101),char(0),char(109),char(95),char(108),char(105),char(110),char(101),char(97),char(114),char(83),char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115), -char(0),char(109),char(95),char(97),char(110),char(103),char(117),char(108),char(97),char(114),char(83),char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(0), -char(109),char(95),char(118),char(111),char(108),char(117),char(109),char(101),char(83),char(116),char(105),char(102),char(102),char(110),char(101),char(115),char(115),char(0),char(42),char(109), -char(95),char(109),char(97),char(116),char(101),char(114),char(105),char(97),char(108),char(0),char(109),char(95),char(112),char(111),char(115),char(105),char(116),char(105),char(111),char(110), -char(0),char(109),char(95),char(112),char(114),char(101),char(118),char(105),char(111),char(117),char(115),char(80),char(111),char(115),char(105),char(116),char(105),char(111),char(110),char(0), -char(109),char(95),char(118),char(101),char(108),char(111),char(99),char(105),char(116),char(121),char(0),char(109),char(95),char(97),char(99),char(99),char(117),char(109),char(117),char(108), -char(97),char(116),char(101),char(100),char(70),char(111),char(114),char(99),char(101),char(0),char(109),char(95),char(110),char(111),char(114),char(109),char(97),char(108),char(0),char(109), -char(95),char(97),char(114),char(101),char(97),char(0),char(109),char(95),char(97),char(116),char(116),char(97),char(99),char(104),char(0),char(109),char(95),char(110),char(111),char(100), -char(101),char(73),char(110),char(100),char(105),char(99),char(101),char(115),char(91),char(50),char(93),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(76),char(101), -char(110),char(103),char(116),char(104),char(0),char(109),char(95),char(98),char(98),char(101),char(110),char(100),char(105),char(110),char(103),char(0),char(109),char(95),char(110),char(111), -char(100),char(101),char(73),char(110),char(100),char(105),char(99),char(101),char(115),char(91),char(51),char(93),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(65), -char(114),char(101),char(97),char(0),char(109),char(95),char(99),char(48),char(91),char(52),char(93),char(0),char(109),char(95),char(110),char(111),char(100),char(101),char(73),char(110), -char(100),char(105),char(99),char(101),char(115),char(91),char(52),char(93),char(0),char(109),char(95),char(114),char(101),char(115),char(116),char(86),char(111),char(108),char(117),char(109), -char(101),char(0),char(109),char(95),char(99),char(49),char(0),char(109),char(95),char(99),char(50),char(0),char(109),char(95),char(99),char(48),char(0),char(109),char(95),char(108), -char(111),char(99),char(97),char(108),char(70),char(114),char(97),char(109),char(101),char(0),char(42),char(109),char(95),char(114),char(105),char(103),char(105),char(100),char(66),char(111), -char(100),char(121),char(0),char(109),char(95),char(110),char(111),char(100),char(101),char(73),char(110),char(100),char(101),char(120),char(0),char(109),char(95),char(97),char(101),char(114), -char(111),char(77),char(111),char(100),char(101),char(108),char(0),char(109),char(95),char(98),char(97),char(117),char(109),char(103),char(97),char(114),char(116),char(101),char(0),char(109), -char(95),char(100),char(114),char(97),char(103),char(0),char(109),char(95),char(108),char(105),char(102),char(116),char(0),char(109),char(95),char(112),char(114),char(101),char(115),char(115), -char(117),char(114),char(101),char(0),char(109),char(95),char(118),char(111),char(108),char(117),char(109),char(101),char(0),char(109),char(95),char(100),char(121),char(110),char(97),char(109), -char(105),char(99),char(70),char(114),char(105),char(99),char(116),char(105),char(111),char(110),char(0),char(109),char(95),char(112),char(111),char(115),char(101),char(77),char(97),char(116), -char(99),char(104),char(0),char(109),char(95),char(114),char(105),char(103),char(105),char(100),char(67),char(111),char(110),char(116),char(97),char(99),char(116),char(72),char(97),char(114), -char(100),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(107),char(105),char(110),char(101),char(116),char(105),char(99),char(67),char(111),char(110),char(116),char(97), -char(99),char(116),char(72),char(97),char(114),char(100),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(115),char(111),char(102),char(116),char(67),char(111),char(110), -char(116),char(97),char(99),char(116),char(72),char(97),char(114),char(100),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(97),char(110),char(99),char(104),char(111), -char(114),char(72),char(97),char(114),char(100),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(115),char(111),char(102),char(116),char(82),char(105),char(103),char(105), -char(100),char(67),char(108),char(117),char(115),char(116),char(101),char(114),char(72),char(97),char(114),char(100),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(115), -char(111),char(102),char(116),char(75),char(105),char(110),char(101),char(116),char(105),char(99),char(67),char(108),char(117),char(115),char(116),char(101),char(114),char(72),char(97),char(114), -char(100),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(115),char(111),char(102),char(116),char(83),char(111),char(102),char(116),char(67),char(108),char(117),char(115), -char(116),char(101),char(114),char(72),char(97),char(114),char(100),char(110),char(101),char(115),char(115),char(0),char(109),char(95),char(115),char(111),char(102),char(116),char(82),char(105), -char(103),char(105),char(100),char(67),char(108),char(117),char(115),char(116),char(101),char(114),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(83),char(112),char(108), -char(105),char(116),char(0),char(109),char(95),char(115),char(111),char(102),char(116),char(75),char(105),char(110),char(101),char(116),char(105),char(99),char(67),char(108),char(117),char(115), -char(116),char(101),char(114),char(73),char(109),char(112),char(117),char(108),char(115),char(101),char(83),char(112),char(108),char(105),char(116),char(0),char(109),char(95),char(115),char(111), -char(102),char(116),char(83),char(111),char(102),char(116),char(67),char(108),char(117),char(115),char(116),char(101),char(114),char(73),char(109),char(112),char(117),char(108),char(115),char(101), -char(83),char(112),char(108),char(105),char(116),char(0),char(109),char(95),char(109),char(97),char(120),char(86),char(111),char(108),char(117),char(109),char(101),char(0),char(109),char(95), 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+char(8),char(0),char(-58),char(0),char(8),char(0),char(-57),char(0),char(8),char(0),char(-56),char(0),char(8),char(0),char(-55),char(0),char(8),char(0),char(-54),char(0), +char(8),char(0),char(-53),char(0),char(8),char(0),char(-52),char(0),char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(4),char(0),char(-49),char(0), +char(4),char(0),char(-48),char(0),char(4),char(0),char(-47),char(0),char(0),char(0),char(37),char(0),char(52),char(0),char(22),char(0),char(7),char(0),char(-64),char(0), +char(7),char(0),char(-76),char(0),char(7),char(0),char(111),char(0),char(7),char(0),char(-63),char(0),char(7),char(0),char(113),char(0),char(7),char(0),char(-62),char(0), +char(7),char(0),char(-61),char(0),char(7),char(0),char(-60),char(0),char(7),char(0),char(-59),char(0),char(7),char(0),char(-58),char(0),char(7),char(0),char(-57),char(0), +char(7),char(0),char(-56),char(0),char(7),char(0),char(-55),char(0),char(7),char(0),char(-54),char(0),char(7),char(0),char(-53),char(0),char(7),char(0),char(-52),char(0), +char(4),char(0),char(-51),char(0),char(4),char(0),char(-50),char(0),char(4),char(0),char(-49),char(0),char(4),char(0),char(-48),char(0),char(4),char(0),char(-47),char(0), +char(0),char(0),char(37),char(0),char(79),char(0),char(4),char(0),char(7),char(0),char(-46),char(0),char(7),char(0),char(-45),char(0),char(7),char(0),char(-44),char(0), +char(4),char(0),char(79),char(0),char(80),char(0),char(10),char(0),char(79),char(0),char(-43),char(0),char(13),char(0),char(-42),char(0),char(13),char(0),char(-41),char(0), +char(13),char(0),char(-40),char(0),char(13),char(0),char(-39),char(0),char(13),char(0),char(-38),char(0),char(7),char(0),char(-120),char(0),char(7),char(0),char(-37),char(0), +char(4),char(0),char(-36),char(0),char(4),char(0),char(53),char(0),char(81),char(0),char(4),char(0),char(79),char(0),char(-43),char(0),char(4),char(0),char(-35),char(0), +char(7),char(0),char(-34),char(0),char(4),char(0),char(-33),char(0),char(82),char(0),char(4),char(0),char(13),char(0),char(-38),char(0),char(79),char(0),char(-43),char(0), +char(4),char(0),char(-32),char(0),char(7),char(0),char(-31),char(0),char(83),char(0),char(7),char(0),char(13),char(0),char(-30),char(0),char(79),char(0),char(-43),char(0), +char(4),char(0),char(-29),char(0),char(7),char(0),char(-28),char(0),char(7),char(0),char(-27),char(0),char(7),char(0),char(-26),char(0),char(4),char(0),char(53),char(0), +char(84),char(0),char(6),char(0),char(15),char(0),char(-25),char(0),char(13),char(0),char(-27),char(0),char(13),char(0),char(-24),char(0),char(58),char(0),char(-23),char(0), +char(4),char(0),char(-22),char(0),char(7),char(0),char(-26),char(0),char(85),char(0),char(26),char(0),char(4),char(0),char(-21),char(0),char(7),char(0),char(-20),char(0), +char(7),char(0),char(-76),char(0),char(7),char(0),char(-19),char(0),char(7),char(0),char(-18),char(0),char(7),char(0),char(-17),char(0),char(7),char(0),char(-16),char(0), +char(7),char(0),char(-15),char(0),char(7),char(0),char(-14),char(0),char(7),char(0),char(-13),char(0),char(7),char(0),char(-12),char(0),char(7),char(0),char(-11),char(0), +char(7),char(0),char(-10),char(0),char(7),char(0),char(-9),char(0),char(7),char(0),char(-8),char(0),char(7),char(0),char(-7),char(0),char(7),char(0),char(-6),char(0), +char(7),char(0),char(-5),char(0),char(7),char(0),char(-4),char(0),char(7),char(0),char(-3),char(0),char(7),char(0),char(-2),char(0),char(4),char(0),char(-1),char(0), +char(4),char(0),char(0),char(1),char(4),char(0),char(1),char(1),char(4),char(0),char(2),char(1),char(4),char(0),char(118),char(0),char(86),char(0),char(12),char(0), +char(15),char(0),char(3),char(1),char(15),char(0),char(4),char(1),char(15),char(0),char(5),char(1),char(13),char(0),char(6),char(1),char(13),char(0),char(7),char(1), +char(7),char(0),char(8),char(1),char(4),char(0),char(9),char(1),char(4),char(0),char(10),char(1),char(4),char(0),char(11),char(1),char(4),char(0),char(12),char(1), +char(7),char(0),char(-28),char(0),char(4),char(0),char(53),char(0),char(87),char(0),char(27),char(0),char(17),char(0),char(13),char(1),char(15),char(0),char(14),char(1), +char(15),char(0),char(15),char(1),char(13),char(0),char(6),char(1),char(13),char(0),char(16),char(1),char(13),char(0),char(17),char(1),char(13),char(0),char(18),char(1), +char(13),char(0),char(19),char(1),char(13),char(0),char(20),char(1),char(4),char(0),char(21),char(1),char(7),char(0),char(22),char(1),char(4),char(0),char(23),char(1), +char(4),char(0),char(24),char(1),char(4),char(0),char(25),char(1),char(7),char(0),char(26),char(1),char(7),char(0),char(27),char(1),char(4),char(0),char(28),char(1), +char(4),char(0),char(29),char(1),char(7),char(0),char(30),char(1),char(7),char(0),char(31),char(1),char(7),char(0),char(32),char(1),char(7),char(0),char(33),char(1), +char(7),char(0),char(34),char(1),char(7),char(0),char(35),char(1),char(4),char(0),char(36),char(1),char(4),char(0),char(37),char(1),char(4),char(0),char(38),char(1), +char(88),char(0),char(12),char(0),char(9),char(0),char(39),char(1),char(9),char(0),char(40),char(1),char(13),char(0),char(41),char(1),char(7),char(0),char(42),char(1), +char(7),char(0),char(-60),char(0),char(7),char(0),char(43),char(1),char(4),char(0),char(44),char(1),char(13),char(0),char(45),char(1),char(4),char(0),char(46),char(1), +char(4),char(0),char(47),char(1),char(4),char(0),char(48),char(1),char(4),char(0),char(53),char(0),char(89),char(0),char(19),char(0),char(48),char(0),char(126),char(0), +char(86),char(0),char(49),char(1),char(79),char(0),char(50),char(1),char(80),char(0),char(51),char(1),char(81),char(0),char(52),char(1),char(82),char(0),char(53),char(1), +char(83),char(0),char(54),char(1),char(84),char(0),char(55),char(1),char(87),char(0),char(56),char(1),char(88),char(0),char(57),char(1),char(4),char(0),char(58),char(1), +char(4),char(0),char(24),char(1),char(4),char(0),char(59),char(1),char(4),char(0),char(60),char(1),char(4),char(0),char(61),char(1),char(4),char(0),char(62),char(1), +char(4),char(0),char(63),char(1),char(4),char(0),char(64),char(1),char(85),char(0),char(65),char(1),}; int sBulletDNAlen64= sizeof(sBulletDNAstr64);