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Bullet bump up to version 2.88

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add preliminary support to import btMultiBody from a .bullet file (will help save/restore state)
fix some Windows char/widechar issues
This commit is contained in:
erwincoumans
2017-11-22 18:12:02 -08:00
parent 76772fd301
commit 29aa9cb789
23 changed files with 928 additions and 573 deletions
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24
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
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@@ -110,6 +110,8 @@ typedef struct bInvalidHandle {
class btMultiBodyLinkFloatData;
class btMultiBodyDoubleData;
class btMultiBodyFloatData;
class btMultiBodyLinkColliderFloatData;
class btMultiBodyLinkColliderDoubleData;
// -------------------------------------------------- //
class PointerArray
{
@@ -1440,5 +1442,27 @@ typedef struct bInvalidHandle {
};
// -------------------------------------------------- //
class btMultiBodyLinkColliderFloatData
{
public:
btCollisionObjectFloatData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
// -------------------------------------------------- //
class btMultiBodyLinkColliderDoubleData
{
public:
btCollisionObjectDoubleData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
}
#endif//__BULLET_H__

5
Extras/Serialize/BulletFileLoader/btBulletFile.cpp
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@@ -181,6 +181,11 @@ void btBulletFile::parseData()
m_multiBodies.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_MB_LINKCOLLIDER_CODE)
{
m_multiBodyLinkColliders.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_SOFTBODY_CODE)
{
m_softBodies.push_back((bStructHandle*) id);

2
Extras/Serialize/BulletFileLoader/btBulletFile.h
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@@ -41,6 +41,8 @@ namespace bParse {
btAlignedObjectArray<bStructHandle*> m_multiBodies;
btAlignedObjectArray<bStructHandle*> m_multiBodyLinkColliders;
btAlignedObjectArray<bStructHandle*> m_softBodies;
btAlignedObjectArray<bStructHandle*> m_rigidBodies;

1
Extras/Serialize/BulletWorldImporter/CMakeLists.txt
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@@ -5,6 +5,7 @@ INCLUDE_DIRECTORIES(
ADD_LIBRARY(
BulletWorldImporter
btMultiBodyWorldImporter.cpp
btBulletWorldImporter.cpp
btBulletWorldImporter.h
btWorldImporter.cpp

204
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp Normal file
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@@ -0,0 +1,204 @@
#include "btMultiBodyWorldImporter.h"
#include "LinearMath/btSerializer.h"
#include "../BulletFileLoader/btBulletFile.h"
#include "btBulletWorldImporter.h"
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultibodyLinkCollider.h"
struct btMultiBodyWorldImporterInternalData
{
btMultiBodyDynamicsWorld* m_mbDynamicsWorld;
btHashMap<btHashPtr, btMultiBody*> m_mbMap;
};
btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* world)
:btBulletWorldImporter(world)
{
m_data = new btMultiBodyWorldImporterInternalData;
m_data->m_mbDynamicsWorld = world;
}
btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
{
delete m_data;
}
void btMultiBodyWorldImporter::deleteAllData()
{
btBulletWorldImporter::deleteAllData();
}
bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
{
bool result = btBulletWorldImporter::convertAllObjects(bulletFile2);
//convert all multibodies
for (int i=0;i<bulletFile2->m_multiBodies.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*) bulletFile2->m_multiBodies[i];
bool isFixedBase = mbd->m_baseMass==0;
bool canSleep = false;
btVector3 baseInertia;
baseInertia.deSerializeDouble(mbd->m_baseInertia);
btMultiBody* mb = new btMultiBody(mbd->m_numLinks,mbd->m_baseMass,baseInertia,isFixedBase,canSleep);
mb->setHasSelfCollision(false);
m_data->m_mbMap.insert(mbd,mb);
for (int i=0;i<mbd->m_numLinks;i++)
{
btVector3 localInertiaDiagonal;
localInertiaDiagonal.deSerializeDouble(mbd->m_links[i].m_linkInertia);
btQuaternion parentRotToThis;
parentRotToThis.deSerializeDouble(mbd->m_links[i].m_zeroRotParentToThis);
btVector3 parentComToThisPivotOffset;
parentComToThisPivotOffset.deSerializeDouble(mbd->m_links[i].m_parentComToThisComOffset);
btVector3 thisPivotToThisComOffset;
thisPivotToThisComOffset.deSerializeDouble(mbd->m_links[i].m_thisPivotToThisComOffset);
switch (mbd->m_links[i].m_jointType)
{
case btMultibodyLink::eFixed:
{
mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, parentComToThisPivotOffset,thisPivotToThisComOffset);
//search for the collider
//mbd->m_links[i].m_linkCollider
break;
}
case btMultibodyLink::ePrismatic:
{
btVector3 jointAxis;
jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisBottom[0]);
bool disableParentCollision = true;//todo
mb->setupPrismatic(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
parentRotToThis,jointAxis, parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
break;
}
case btMultibodyLink::eRevolute:
{
btVector3 jointAxis;
jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisTop[0]);
bool disableParentCollision = true;//todo
mb->setupRevolute(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
parentRotToThis, jointAxis,parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
break;
}
case btMultibodyLink::eSpherical:
{
btAssert(0);
bool disableParentCollision = true;//todo
mb->setupSpherical(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
parentRotToThis,parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
break;
}
case btMultibodyLink::ePlanar:
{
btAssert(0);
break;
}
default:
{
btAssert(0);
}
}
}
}
}
//convert all multibody link colliders
for (int i=0;i<bulletFile2->m_multiBodyLinkColliders.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btMultiBodyLinkColliderDoubleData* mblcd = (btMultiBodyLinkColliderDoubleData*) bulletFile2->m_multiBodyLinkColliders[i];
btMultiBody** ptr = m_data->m_mbMap[mblcd->m_multiBody];
if (ptr)
{
btMultiBody* multiBody = *ptr;
btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
mblcd->m_colObjData.m_worldTransform.m_origin.m_floats[3] = 0.f;
startTransform.deSerializeDouble(mblcd->m_colObjData.m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (shape)
{
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(multiBody, mblcd->m_link);
col->setCollisionShape( shape );
//btCollisionObject* body = createCollisionObject(startTransform,shape,mblcd->m_colObjData.m_name);
col->setFriction(btScalar(mblcd->m_colObjData.m_friction));
col->setRestitution(btScalar(mblcd->m_colObjData.m_restitution));
//m_bodyMap.insert(colObjData,body);
if (mblcd->m_link==-1)
{
multiBody->setBaseCollider(col);
} else
{
multiBody->getLink(mblcd->m_link).m_collider = col;
}
int mbLinkIndex = mblcd->m_link;
bool isDynamic = (mbLinkIndex<0 && multiBody->hasFixedBase())? false : true;
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
#if 0
int colGroup=0, colMask=0;
int collisionFlags = mblcd->m_colObjData.m_collisionFlags;
if (collisionFlags & URDF_HAS_COLLISION_GROUP)
{
collisionFilterGroup = colGroup;
}
if (collisionFlags & URDF_HAS_COLLISION_MASK)
{
collisionFilterMask = colMask;
}
#endif
m_data->m_mbDynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
}
} else
{
printf("error: no shape found\n");
}
#if 0
//base and fixed? -> static, otherwise flag as dynamic
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
#endif
}
}
}
for (int i=0;i<m_data->m_mbMap.size();i++)
{
btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
if (ptr)
{
btMultiBody* mb = *ptr;
mb->finalizeMultiDof();
m_data->m_mbDynamicsWorld->addMultiBody(mb);
}
}
return result;
}

20
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.h Normal file
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@@ -0,0 +1,20 @@
#ifndef BT_MULTIBODY_WORLD_IMPORTER_H
#define BT_MULTIBODY_WORLD_IMPORTER_H
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
class btMultiBodyWorldImporter : public btBulletWorldImporter
{
struct btMultiBodyWorldImporterInternalData* m_data;
public:
btMultiBodyWorldImporter(class btMultiBodyDynamicsWorld* world);
virtual ~btMultiBodyWorldImporter();
virtual bool convertAllObjects( bParse::btBulletFile* bulletFile2);
virtual void deleteAllData();
};
#endif //BT_MULTIBODY_WORLD_IMPORTER_H

2
Extras/Serialize/makesdna/makesdna.cpp
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@@ -149,6 +149,7 @@ typedef unsigned __int64 uint64_t;
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletSoftBody/btSoftBodyData.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
@@ -198,6 +199,7 @@ char *includefiles[] = {
"../../../src/BulletSoftBody/btSoftBodyData.h",
"../../../src/BulletDynamics/Featherstone/btMultiBody.h",
"../../../src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h",
// empty string to indicate end of includefiles
""
};