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refactor constraint serialization, so that double precision is maintained,

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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
This commit is contained in:
erwin.coumans
2013-09-14 06:08:50 +00:00
parent e94a2137b0
commit 1aac33f6b6
16 changed files with 1523 additions and 665 deletions
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43
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -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
{