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added serialization support for btCompoundShape, btCapsuleShapeX/Z, btCylinderShapeX,Z

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make some serialization methods const
prepare for constraint serialization
This commit is contained in:
erwin.coumans
2010-01-26 02:24:03 +00:00
parent 2f44eabd7d
commit 44565d20f4
26 changed files with 594 additions and 190 deletions
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2
Demos/CMakeLists.txt
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@@ -1,4 +1,4 @@
SUBDIRS( OpenGL BasicDemo Benchmarks Box2dDemo ConvexDecompositionDemo SerializeDemo )
SUBDIRS( OpenGL BasicDemo Benchmarks Box2dDemo ConstraintDemo ConvexDecompositionDemo SerializeDemo )
#todo: re-enable the rest of the demos again

36
Demos/ConstraintDemo/CMakeLists.txt
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@@ -12,15 +12,35 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src ${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/Demos/OpenGL
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletFileLoader
${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/BulletWorldImporter
)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConstraintDemo
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConstraintDemo
ConstraintDemo.cpp
main.cpp
)
ELSE (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletWorldImporter BulletDynamics BulletCollision LinearMath BulletFileLoader ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
ADD_EXECUTABLE(AppConstraintDemo
WIN32
../OpenGL/Win32AppMain.cpp
Win32ConstraintDemo.cpp
ConstraintDemo.cpp
main.cpp
)
ConstraintDemo.h
)
ENDIF (USE_GLUT)

82
Demos/ConstraintDemo/ConstraintDemo.cpp
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@@ -13,6 +13,7 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//#define TEST_SERIALIZATION 1
@@ -28,6 +29,13 @@ subject to the following restrictions:
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
#ifdef TEST_SERIALIZATION
#include "LinearMath/btSerializer.h"
#include "btBulletFile.h"
#include "btBulletWorldImporter.h"
#endif //TEST_SERIALIZATION
const int numObjects = 3;
#define ENABLE_ALL_DEMOS 1
@@ -74,6 +82,15 @@ void drawLimit()
}
void ConstraintDemo::setupEmptyDynamicsWorld()
{
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_overlappingPairCache = new btDbvtBroadphase();
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
}
void ConstraintDemo::initPhysics()
{
@@ -83,14 +100,7 @@ void ConstraintDemo::initPhysics()
setCameraDistance(26.f);
m_Time = 0;
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
setupEmptyDynamicsWorld();
btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(40.),btScalar(50.)));
m_collisionShapes.push_back(groundShape);
@@ -338,7 +348,7 @@ void ConstraintDemo::initPhysics()
btHingeConstraint* pHinge = new btHingeConstraint( *pBody, btPivotA, btAxisA );
// pHinge->enableAngularMotor(true, -1.0, 0.165); // use for the old solver
pHinge->enableAngularMotor(true, -1.0, 1.65); // use for the new SIMD solver
pHinge->enableAngularMotor(true, -1.0f, 1.65f); // use for the new SIMD solver
m_dynamicsWorld->addConstraint(pHinge);
pHinge->setDbgDrawSize(btScalar(5.f));
}
@@ -471,13 +481,35 @@ void ConstraintDemo::initPhysics()
spHingeDynAB->setDbgDrawSize(btScalar(5.f));
}
#endif
#ifdef TEST_SERIALIZATION
int maxSerializeBufferSize = 1024*1024*5;
btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
m_dynamicsWorld->serialize(serializer);
FILE* f2 = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
fclose(f2);
exitPhysics();
setupEmptyDynamicsWorld();
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
fileLoader->loadFile("testFile.bullet");
#endif //TEST_SERIALIZATION
}
ConstraintDemo::~ConstraintDemo()
void ConstraintDemo::exitPhysics()
{
//cleanup in the reverse order of creation/initialization
int i;
int i;
//removed/delete constraints
for (i=m_dynamicsWorld->getNumConstraints()-1; i>=0 ;i--)
@@ -511,6 +543,8 @@ ConstraintDemo::~ConstraintDemo()
delete shape;
}
m_collisionShapes.clear();
//delete dynamics world
delete m_dynamicsWorld;
@@ -525,6 +559,13 @@ ConstraintDemo::~ConstraintDemo()
delete m_collisionConfiguration;
}
ConstraintDemo::~ConstraintDemo()
{
//cleanup in the reverse order of creation/initialization
exitPhysics();
}
@@ -550,7 +591,7 @@ void ConstraintDemo::clientMoveAndDisplay()
// build twist target
//btQuaternion q2(0,0,0);
//btQuaternion q2(btVehictor3(1,0,0), -0.3*sin(m_Time));
btQuaternion q2(btVector3(1,0,0), -1.49*sin(1.5*m_Time));
btQuaternion q2(btVector3(1,0,0), -1.49f*btSin(1.5f*m_Time));
// compose cone + twist and set target
q1 = q1 * q2;
@@ -558,12 +599,21 @@ void ConstraintDemo::clientMoveAndDisplay()
m_ctc->setMotorTargetInConstraintSpace(q1);
}
{
static bool once = false;
if (m_dynamicsWorld->getDebugDrawer())
{
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawConstraints+btIDebugDraw::DBG_DrawConstraintLimits);
once=false;
}
}
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
dt = 1.0f/420.f;
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
@@ -593,7 +643,7 @@ void ConstraintDemo::clientMoveAndDisplay()
// drawLimit();
glFlush();
glutSwapBuffers();
swapBuffers();
}
@@ -611,7 +661,7 @@ void ConstraintDemo::displayCallback(void) {
renderme();
glFlush();
glutSwapBuffers();
swapBuffers();
}

12
Demos/ConstraintDemo/ConstraintDemo.h
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@@ -15,10 +15,16 @@ subject to the following restrictions:
#ifndef CONSTRAINT_DEMO_H
#define CONSTRAINT_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
///ConstraintDemo shows how to create a constraint, like Hinge or btGenericD6constraint
class ConstraintDemo : public GlutDemoApplication
class ConstraintDemo : public PlatformDemoApplication
{
//keep track of variables to delete memory at the end
btAlignedObjectArray<btCollisionShape*> m_collisionShapes;
@@ -31,6 +37,8 @@ class ConstraintDemo : public GlutDemoApplication
class btDefaultCollisionConfiguration* m_collisionConfiguration;
void setupEmptyDynamicsWorld();
public:
@@ -38,6 +46,8 @@ class ConstraintDemo : public GlutDemoApplication
void initPhysics();
void exitPhysics();
virtual void clientMoveAndDisplay();
virtual void displayCallback();

25
Demos/ConstraintDemo/Win32ConstraintDemo.cpp Normal file
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@@ -0,0 +1,25 @@
#ifdef _WINDOWS
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "ConstraintDemo.h"
///The 'createDemo' function is called from Bullet/Demos/OpenGL/Win32AppMain.cpp to instantiate this particular demo
DemoApplication* createDemo()
{
return new ConstraintDemo();
}
#endif

10
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -24,7 +24,7 @@ subject to the following restrictions:
#include "BulletCollision/CollisionShapes/btShapeHull.h"
#define TEST_SERIALIZATION
#define NO_OBJ_TO_BULLET
//#define NO_OBJ_TO_BULLET
#ifdef TEST_SERIALIZATION
#include "LinearMath/btSerializer.h"
@@ -518,10 +518,10 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
//fileLoader->setVerboseMode(true);
//fileLoader->loadFileFromMemory("testFile.bullet");
//fileLoader->loadFileFromMemory("testFile64Double.bullet");
//fileLoader->loadFileFromMemory("testFile64Single.bullet");
fileLoader->loadFileFromMemory("testFile32Single.bullet");
fileLoader->loadFile("testFile.bullet");
//fileLoader->loadFile("testFile64Double.bullet");
//fileLoader->loadFile("testFile64Single.bullet");
//fileLoader->loadFile("testFile32Single.bullet");

2
Demos/OpenGL/GL_DialogWindow.cpp
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@@ -181,7 +181,7 @@ void GL_DialogWindow::draw(btScalar deltaTime)
int curVertPos = m_dialogVertPos;
curVertPos += yInc;
GLDebugDrawString(m_dialogHorPos+m_dialogWidth/2-((strlen(m_dialogTitle)/2)*charWidth),m_dialogVertPos+yInc ,m_dialogTitle);
GLDebugDrawString(m_dialogHorPos+m_dialogWidth/2-((int(strlen(m_dialogTitle)/2))*charWidth),m_dialogVertPos+yInc ,m_dialogTitle);
curVertPos += 20;

5
Demos/OpenGL/GL_ShapeDrawer.cpp
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@@ -403,6 +403,7 @@ inline void glDrawVector(const btVector3& v) { glVertex3d(v[0], v[1], v[2]); }
void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int debugMode,const btVector3& worldBoundsMin,const btVector3& worldBoundsMax)
{
if (shape->getShapeType() == CUSTOM_CONVEX_SHAPE_TYPE)
{
btVector3 org(m[12], m[13], m[14]);
@@ -795,7 +796,6 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
btVector3 v3 = vtx[index3];
btVector3 normal = (v3-v1).cross(v2-v1);
normal.normalize ();
glNormal3f(normal.getX(),normal.getY(),normal.getZ());
glVertex3f (v1.x(), v1.y(), v1.z());
glVertex3f (v2.x(), v2.y(), v2.z());
@@ -813,7 +813,8 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
}
glNormal3f(0,1,0);
/// for polyhedral shapes
if (debugMode==btIDebugDraw::DBG_DrawFeaturesText && (shape->isPolyhedral()))

6
Demos/SerializeDemo/SerializeDemo.cpp
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@@ -159,8 +159,8 @@ void SerializeDemo::initPhysics()
//btMultiSphereShape* colShape = new btMultiSphereShape(positions,radii,numSpheres);
btCollisionShape* colShape = new btCapsuleShape(SCALING*1,SCALING*1);
//btCollisionShape* colShape = new btCylinderShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
btCollisionShape* colShape = new btCapsuleShapeZ(SCALING*1,SCALING*1);
//btCollisionShape* colShape = new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,SCALING*1));
//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
m_collisionShapes.push_back(colShape);
@@ -231,7 +231,7 @@ void SerializeDemo::initPhysics()
btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
fileLoader->loadFileFromMemory("testFile.bullet");
fileLoader->loadFile("testFile.bullet");