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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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13
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp
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@@ -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_constraintData.size();i++)
{
btTypedConstraintData* tcd = m_constraintData[i];
btTypedConstraintData2* tcd = m_constraintData[i];
fixupConstraintData(tcd);
}
@@ -789,7 +789,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
for (int i=0;i<m_constraintData.size();i++)
{
btTypedConstraintData* tcd = m_constraintData[i];
btTypedConstraintData2* tcd = m_constraintData[i];
bool isDoublePrecision = false;
btRigidBody* rbA = 0;
btRigidBody* rbB = 0;
@@ -809,7 +809,8 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
}
if (rbA || rbB)
{
convertConstraint(tcd,rbA,rbB,isDoublePrecision, m_fileVersion);
btAssert(0);//todo
//convertConstraint(tcd,rbA,rbB,isDoublePrecision, m_fileVersion);
}
}

11
Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.h
View File

@@ -24,12 +24,17 @@ struct btConvexInternalShapeData;
struct btCollisionShapeData;
#ifdef BT_USE_DOUBLE_PRECISION
struct btRigidBodyDoubleData;
struct btTypedConstraintDoubleData;
#define btRigidBodyData btRigidBodyDoubleData
#define btTypedConstraintData2 btTypedConstraintDoubleData
#else
struct btRigidBodyFloatData;
struct btTypedConstraintFloatData;
#define btTypedConstraintData2 btTypedConstraintFloatData
#define btRigidBodyData btRigidBodyFloatData
#endif//BT_USE_DOUBLE_PRECISION
struct btTypedConstraintData;
struct btCompoundShapeChildData;
#include "LinearMath/btAlignedObjectArray.h"
@@ -42,7 +47,7 @@ protected:
btAlignedObjectArray<btCollisionShapeData*> m_collisionShapeData;
btAlignedObjectArray<btAlignedObjectArray<btCompoundShapeChildData>* > m_compoundShapeChildDataArrays;
btAlignedObjectArray<btRigidBodyData*> m_rigidBodyData;
btAlignedObjectArray<btTypedConstraintData*> m_constraintData;
btAlignedObjectArray<btTypedConstraintData2*> m_constraintData;
btHashMap<btHashPtr,void*> m_pointerLookup;
int m_fileVersion;
bool m_fileOk;
@@ -53,7 +58,7 @@ protected:
void deSerializeVector3FloatData(TiXmlNode* pParent,btAlignedObjectArray<btVector3FloatData>& vectors);
void fixupCollisionDataPointers(btCollisionShapeData* shapeData);
void fixupConstraintData(btTypedConstraintData* tcd);
void fixupConstraintData(btTypedConstraintData2* tcd);
//collision shapes data
void deSerializeCollisionShapeData(TiXmlNode* pParent,btCollisionShapeData* colShapeData);