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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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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();
}