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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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62
src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h
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@@ -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;
}