Bullet bump up to version 2.88
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
@@ -5,6 +5,7 @@ INCLUDE_DIRECTORIES(
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ADD_LIBRARY(
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BulletWorldImporter
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btMultiBodyWorldImporter.cpp
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btBulletWorldImporter.cpp
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btBulletWorldImporter.h
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btWorldImporter.cpp
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@@ -0,0 +1,204 @@
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#include "btMultiBodyWorldImporter.h"
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#include "LinearMath/btSerializer.h"
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#include "../BulletFileLoader/btBulletFile.h"
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#include "btBulletWorldImporter.h"
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#include "btBulletDynamicsCommon.h"
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#include "BulletDynamics/Featherstone/btMultiBody.h"
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#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
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#include "BulletDynamics/Featherstone/btMultibodyLinkCollider.h"
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struct btMultiBodyWorldImporterInternalData
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{
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btMultiBodyDynamicsWorld* m_mbDynamicsWorld;
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btHashMap<btHashPtr, btMultiBody*> m_mbMap;
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};
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btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* world)
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:btBulletWorldImporter(world)
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{
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m_data = new btMultiBodyWorldImporterInternalData;
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m_data->m_mbDynamicsWorld = world;
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}
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btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
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{
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delete m_data;
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}
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void btMultiBodyWorldImporter::deleteAllData()
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{
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btBulletWorldImporter::deleteAllData();
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}
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bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
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{
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bool result = btBulletWorldImporter::convertAllObjects(bulletFile2);
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//convert all multibodies
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for (int i=0;i<bulletFile2->m_multiBodies.size();i++)
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{
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if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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{
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btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*) bulletFile2->m_multiBodies[i];
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bool isFixedBase = mbd->m_baseMass==0;
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bool canSleep = false;
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btVector3 baseInertia;
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baseInertia.deSerializeDouble(mbd->m_baseInertia);
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btMultiBody* mb = new btMultiBody(mbd->m_numLinks,mbd->m_baseMass,baseInertia,isFixedBase,canSleep);
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mb->setHasSelfCollision(false);
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m_data->m_mbMap.insert(mbd,mb);
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for (int i=0;i<mbd->m_numLinks;i++)
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{
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btVector3 localInertiaDiagonal;
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localInertiaDiagonal.deSerializeDouble(mbd->m_links[i].m_linkInertia);
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btQuaternion parentRotToThis;
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parentRotToThis.deSerializeDouble(mbd->m_links[i].m_zeroRotParentToThis);
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btVector3 parentComToThisPivotOffset;
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parentComToThisPivotOffset.deSerializeDouble(mbd->m_links[i].m_parentComToThisComOffset);
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btVector3 thisPivotToThisComOffset;
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thisPivotToThisComOffset.deSerializeDouble(mbd->m_links[i].m_thisPivotToThisComOffset);
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switch (mbd->m_links[i].m_jointType)
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{
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case btMultibodyLink::eFixed:
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{
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mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
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parentRotToThis, parentComToThisPivotOffset,thisPivotToThisComOffset);
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//search for the collider
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//mbd->m_links[i].m_linkCollider
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break;
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}
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case btMultibodyLink::ePrismatic:
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{
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btVector3 jointAxis;
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jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisBottom[0]);
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bool disableParentCollision = true;//todo
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mb->setupPrismatic(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
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parentRotToThis,jointAxis, parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
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break;
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}
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case btMultibodyLink::eRevolute:
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{
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btVector3 jointAxis;
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jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisTop[0]);
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bool disableParentCollision = true;//todo
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mb->setupRevolute(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
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parentRotToThis, jointAxis,parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
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break;
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}
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case btMultibodyLink::eSpherical:
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{
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btAssert(0);
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bool disableParentCollision = true;//todo
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mb->setupSpherical(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
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parentRotToThis,parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
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break;
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}
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case btMultibodyLink::ePlanar:
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{
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btAssert(0);
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break;
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}
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default:
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{
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btAssert(0);
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}
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}
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}
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}
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}
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//convert all multibody link colliders
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for (int i=0;i<bulletFile2->m_multiBodyLinkColliders.size();i++)
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{
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if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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{
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btMultiBodyLinkColliderDoubleData* mblcd = (btMultiBodyLinkColliderDoubleData*) bulletFile2->m_multiBodyLinkColliders[i];
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btMultiBody** ptr = m_data->m_mbMap[mblcd->m_multiBody];
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if (ptr)
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{
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btMultiBody* multiBody = *ptr;
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btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
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if (shapePtr && *shapePtr)
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{
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btTransform startTransform;
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mblcd->m_colObjData.m_worldTransform.m_origin.m_floats[3] = 0.f;
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startTransform.deSerializeDouble(mblcd->m_colObjData.m_worldTransform);
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btCollisionShape* shape = (btCollisionShape*)*shapePtr;
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if (shape)
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{
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btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(multiBody, mblcd->m_link);
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col->setCollisionShape( shape );
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//btCollisionObject* body = createCollisionObject(startTransform,shape,mblcd->m_colObjData.m_name);
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col->setFriction(btScalar(mblcd->m_colObjData.m_friction));
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col->setRestitution(btScalar(mblcd->m_colObjData.m_restitution));
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//m_bodyMap.insert(colObjData,body);
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if (mblcd->m_link==-1)
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{
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multiBody->setBaseCollider(col);
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} else
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{
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multiBody->getLink(mblcd->m_link).m_collider = col;
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}
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int mbLinkIndex = mblcd->m_link;
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bool isDynamic = (mbLinkIndex<0 && multiBody->hasFixedBase())? false : true;
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int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
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int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
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#if 0
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int colGroup=0, colMask=0;
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int collisionFlags = mblcd->m_colObjData.m_collisionFlags;
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if (collisionFlags & URDF_HAS_COLLISION_GROUP)
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{
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collisionFilterGroup = colGroup;
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}
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if (collisionFlags & URDF_HAS_COLLISION_MASK)
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{
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collisionFilterMask = colMask;
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}
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#endif
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m_data->m_mbDynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
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}
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} else
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{
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printf("error: no shape found\n");
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}
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#if 0
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//base and fixed? -> static, otherwise flag as dynamic
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world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
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#endif
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}
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}
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}
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for (int i=0;i<m_data->m_mbMap.size();i++)
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{
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btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
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if (ptr)
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{
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btMultiBody* mb = *ptr;
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mb->finalizeMultiDof();
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m_data->m_mbDynamicsWorld->addMultiBody(mb);
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}
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}
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return result;
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}
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@@ -0,0 +1,20 @@
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#ifndef BT_MULTIBODY_WORLD_IMPORTER_H
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#define BT_MULTIBODY_WORLD_IMPORTER_H
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#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
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class btMultiBodyWorldImporter : public btBulletWorldImporter
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{
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struct btMultiBodyWorldImporterInternalData* m_data;
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public:
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btMultiBodyWorldImporter(class btMultiBodyDynamicsWorld* world);
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virtual ~btMultiBodyWorldImporter();
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virtual bool convertAllObjects( bParse::btBulletFile* bulletFile2);
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virtual void deleteAllData();
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};
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#endif //BT_MULTIBODY_WORLD_IMPORTER_H
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