Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Bullet bump up to version 2.88

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

13
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -990,4 +990,17 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
}
}
//serialize all multibody links (collision objects)
for (i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
if (colObj->getInternalType() == btCollisionObject::CO_FEATHERSTONE_LINK)
{
int len = colObj->calculateSerializeBufferSize();
btChunk* chunk = serializer->allocate(len,1);
const char* structType = colObj->serialize(chunk->m_oldPtr, serializer);
serializer->finalizeChunk(chunk,structType,BT_MB_LINKCOLLIDER_CODE,colObj);
}
}
}

52
src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h
View File

@@ -19,6 +19,16 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "btMultiBody.h"
#include "LinearMath/btSerializer.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btMultiBodyLinkColliderData btMultiBodyLinkColliderDoubleData
#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderDoubleData"
#else
#define btMultiBodyLinkColliderData btMultiBodyLinkColliderFloatData
#define btMultiBodyLinkColliderDataName "btMultiBodyLinkColliderFloatData"
#endif
class btMultiBodyLinkCollider : public btCollisionObject
{
@@ -119,7 +129,49 @@ public:
}
return true;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
};
struct btMultiBodyLinkColliderFloatData
{
btCollisionObjectFloatData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
struct btMultiBodyLinkColliderDoubleData
{
btCollisionObjectDoubleData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
SIMD_FORCE_INLINE int btMultiBodyLinkCollider::calculateSerializeBufferSize() const
{
return sizeof(btMultiBodyLinkColliderData);
}
SIMD_FORCE_INLINE const char* btMultiBodyLinkCollider::serialize(void* dataBuffer, class btSerializer* serializer) const
{
btMultiBodyLinkColliderData* dataOut = (btMultiBodyLinkColliderData*)dataBuffer;
btCollisionObject::serialize(&dataOut->m_colObjData,serializer);
dataOut->m_link = this->m_link;
dataOut->m_multiBody = serializer->getUniquePointer(m_multiBody);
// Fill padding with zeros to appease msan.
memset(dataOut->m_padding, 0, sizeof(dataOut->m_padding));
return btMultiBodyLinkColliderDataName;
}
#endif //BT_FEATHERSTONE_LINK_COLLIDER_H