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
This commit is contained in:
erwin.coumans
@@ -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;i<bulletFile2->m_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());
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
@@ -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);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -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);
|
||||
|
||||
|
||||
Reference in New Issue
Block a user