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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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14
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -29,7 +29,7 @@
#include "LinearMath/btTransform.h"
#include "../Importers/ImportMJCFDemo/BulletMJCFImporter.h"
#include "../Importers/ImportObjDemo/LoadMeshFromObj.h"
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "../Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "LinearMath/btSerializer.h"
#include "Bullet3Common/b3Logging.h"
@@ -1496,7 +1496,7 @@ struct PhysicsServerCommandProcessorInternalData
b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;
btAlignedObjectArray<btBulletWorldImporter*> m_worldImporters;
btAlignedObjectArray<btMultiBodyWorldImporter*> m_worldImporters;
btAlignedObjectArray<UrdfLinkNameMapUtil*> m_urdfLinkNameMapper;
btAlignedObjectArray<std::string*> m_strings;
@@ -3458,7 +3458,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
bool hasStatus = true;
serverStatusOut.m_type = CMD_CREATE_COLLISION_SHAPE_FAILED;
btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
btCollisionShape* shape = 0;
b3AlignedObjectArray<UrdfCollision> urdfCollisionObjects;
@@ -6505,7 +6505,7 @@ bool PhysicsServerCommandProcessor::processCreateRigidBodyCommand(const struct S
shapeType = clientCmd.m_createBoxShapeArguments.m_collisionShapeType;
}
btBulletWorldImporter* worldImporter = new btBulletWorldImporter(m_data->m_dynamicsWorld);
btMultiBodyWorldImporter* worldImporter = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
m_data->m_worldImporters.push_back(worldImporter);
btCollisionShape* shape = 0;
@@ -8092,7 +8092,8 @@ bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct Shared
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_BULLET_LOADING_FAILED;
btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);
//btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);
btMultiBodyWorldImporter* importer = new btMultiBodyWorldImporter(m_data->m_dynamicsWorld);
const char* prefix[] = { "", "./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/" };
int numPrefixes = sizeof(prefix) / sizeof(const char*);
@@ -8120,8 +8121,6 @@ bool PhysicsServerCommandProcessor::processLoadBulletCommand(const struct Shared
bool ok = importer->loadFile(relativeFileName);
if (ok)
{
int numRb = importer->getNumRigidBodies();
serverStatusOut.m_sdfLoadedArgs.m_numBodies = 0;
serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = 0;
@@ -8213,6 +8212,7 @@ bool PhysicsServerCommandProcessor::processSaveBulletCommand(const struct Shared
fclose(f);
serverCmd.m_type = CMD_BULLET_SAVING_COMPLETED;
delete ser;
return hasStatus;
}
serverCmd.m_type = CMD_BULLET_SAVING_FAILED;
return hasStatus;