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further work on saveRestoreState.py

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This commit is contained in:
Erwin Coumans
2017-12-30 21:57:42 -08:00
parent 9c55b61315
commit 20e00d11d8
3 changed files with 71 additions and 13 deletions
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40
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
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@@ -80,9 +80,42 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
for (int i = 0; i < mbd->m_numLinks; i++)
{
switch (mbd->m_links[i].m_jointType)
{
case btMultibodyLink::eFixed:
{
break;
}
case btMultibodyLink::ePrismatic:
{
mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
break;
}
case btMultibodyLink::eRevolute:
{
mb->setJointPos(i, mbd->m_links[i].m_jointPos[0]);
mb->setJointVel(i, mbd->m_links[i].m_jointVel[0]);
break;
}
case btMultibodyLink::eSpherical:
{
btScalar jointPos[3] = { mbd->m_links[i].m_jointPos[0], mbd->m_links[i].m_jointPos[1], mbd->m_links[i].m_jointPos[2] };
btScalar jointVel[3] = { mbd->m_links[i].m_jointVel[0], mbd->m_links[i].m_jointVel[1], mbd->m_links[i].m_jointVel[2] };
mb->setJointPosMultiDof(i, jointPos);
mb->setJointVelMultiDof(i, jointVel);
break;
}
case btMultibodyLink::ePlanar:
{
break;
}
default:
{
}
}
}
btVector3 linvel = mb->getBaseVel();
btVector3 angvel = mb->getBaseOmega();
mb->forwardKinematics(scratchQ, scratchM);
mb->updateCollisionObjectWorldTransforms(scratchQ, scratchM);
}
@@ -145,7 +178,8 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
}
else
{
printf("Issue: cannot find maching contact manifold (%d, %d), may cause issues in determinism.\n", uid0, uid1);
existingManifold->setNumContacts(0);
//printf("Issue: cannot find maching contact manifold (%d, %d), may cause issues in determinism.\n", uid0, uid1);
}
manifoldArray.clear();