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

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

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

2
Demos/CMakeLists.txt
View File

@@ -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

24
Demos/ConstraintDemo/CMakeLists.txt
View File

@@ -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
)
IF (USE_GLUT)
LINK_LIBRARIES(
OpenGLSupport BulletDynamics BulletCollision LinearMath ${GLUT_glut_LIBRARY} ${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
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
ConstraintDemo.h
)
ENDIF (USE_GLUT)

80
Demos/ConstraintDemo/ConstraintDemo.cpp
View File

@@ -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));
}
@@ -471,11 +481,33 @@ 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;
@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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
View File

@@ -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;

3
Demos/OpenGL/GL_ShapeDrawer.cpp
View File

@@ -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());
@@ -813,6 +813,7 @@ void GL_ShapeDrawer::drawOpenGL(btScalar* m, const btCollisionShape* shape, cons
}
glNormal3f(0,1,0);
/// for polyhedral shapes

6
Demos/SerializeDemo/SerializeDemo.cpp
View File

@@ -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");

162
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -11,7 +11,7 @@ m_verboseDumpAllTypes(false)
{
}
bool btBulletWorldImporter::loadFileFromMemory( const char* fileName)
bool btBulletWorldImporter::loadFile( const char* fileName)
{
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
@@ -36,29 +36,10 @@ bool btBulletWorldImporter::loadFileFromMemory( char* memoryBuffer, int len)
return result;
}
bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShapeData* shapeData )
{
btCollisionShape* shape = 0;
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
if (ok)
bulletFile2->parse(m_verboseDumpAllTypes);
else
return false;
if (m_verboseDumpAllTypes)
{
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
}
int i;
btHashMap<btHashPtr,btCollisionShape*> shapeMap;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
{
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
switch (shapeData->m_shapeType)
{
case CYLINDER_SHAPE_PROXYTYPE:
@@ -72,7 +53,6 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
btVector3 implicitShapeDimensions;
implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
btCollisionShape* shape = 0;
switch (shapeData->m_shapeType)
{
case BOX_SHAPE_PROXYTYPE:
@@ -87,14 +67,63 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
}
case CAPSULE_SHAPE_PROXYTYPE:
{
shape = createCapsuleShape(implicitShapeDimensions.getX(),implicitShapeDimensions.getY());
btCapsuleShapeData* capData = (btCapsuleShapeData*)shapeData;
switch (capData->m_upAxis)
{
case 0:
{
shape = createCapsuleShapeX(implicitShapeDimensions.getY(),implicitShapeDimensions.getX());
break;
}
case 1:
{
shape = createCapsuleShapeY(implicitShapeDimensions.getX(),implicitShapeDimensions.getY());
break;
}
case 2:
{
shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),implicitShapeDimensions.getZ());
break;
}
default:
{
printf("error: wrong up axis for btCapsuleShape\n");
}
};
break;
}
case CYLINDER_SHAPE_PROXYTYPE:
{
btCylinderShapeData* cylData = (btCylinderShapeData*) shapeData;
btVector3 halfExtents = implicitShapeDimensions+margin;
switch (cylData->m_upAxis)
{
case 0:
{
shape = createCylinderShapeX(halfExtents.getY(),halfExtents.getX());
break;
}
case 1:
{
shape = createCylinderShapeY(halfExtents.getX(),halfExtents.getY());
break;
}
case 2:
{
shape = createCylinderShapeZ(halfExtents.getX(),halfExtents.getZ());
break;
}
default:
{
printf("unknown Cylinder up axis\n");
}
};
break;
}
case MULTI_SPHERE_SHAPE_PROXYTYPE:
@@ -154,7 +183,6 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
localScaling.deSerializeFloat(bsd->m_localScaling);
shape->setLocalScaling(localScaling);
shapeMap.insert(shapeData,shape);
}
break;
}
@@ -198,17 +226,73 @@ bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFil
btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,true);
trimeshShape->setMargin(trimesh->m_collisionMargin);
shapeMap.insert(shapeData,trimeshShape);
shape = trimeshShape;
//printf("trimesh->m_collisionMargin=%f\n",trimesh->m_collisionMargin);
break;
}
case COMPOUND_SHAPE_PROXYTYPE:
{
btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
btCompoundShape* compoundShape = new btCompoundShape();
btAlignedObjectArray<btCollisionShape*> childShapes;
for (int i=0;i<compoundData->m_numChildShapes;i++)
{
btCollisionShape* childShape = convertCollisionShape(compoundData->m_childShapePtr[i].m_childShape);
if (childShape)
{
btTransform localTransform;
localTransform.deSerializeFloat(compoundData->m_childShapePtr[i].m_transform);
compoundShape->addChildShape(localTransform,childShape);
} else
{
printf("error: couldn't create childShape for compoundShape\n");
}
}
shape = compoundShape;
break;
}
default:
{
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
}
}
return shape;
}
bool btBulletWorldImporter::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
{
bool ok = (bulletFile2->getFlags()& bParse::FD_OK)!=0;
if (ok)
bulletFile2->parse(m_verboseDumpAllTypes);
else
return false;
if (m_verboseDumpAllTypes)
{
bulletFile2->dumpChunks(bulletFile2->getFileDNA());
}
int i;
btHashMap<btHashPtr,btCollisionShape*> shapeMap;
for (i=0;i<bulletFile2->m_collisionShapes.size();i++)
{
btCollisionShapeData* shapeData = (btCollisionShapeData*)bulletFile2->m_collisionShapes[i];
btCollisionShape* shape = convertCollisionShape(shapeData);
if (shape)
shapeMap.insert(shapeData,shape);
}
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
{
@@ -311,17 +395,39 @@ btCollisionShape* btBulletWorldImporter::createSphereShape(btScalar radius)
return new btSphereShape(radius);
}
btCollisionShape* btBulletWorldImporter::createCapsuleShape(btScalar radius, btScalar height)
btCollisionShape* btBulletWorldImporter::createCapsuleShapeX(btScalar radius, btScalar height)
{
return new btCapsuleShapeX(radius,height);
}
btCollisionShape* btBulletWorldImporter::createCapsuleShapeY(btScalar radius, btScalar height)
{
return new btCapsuleShape(radius,height);
}
btCollisionShape* btBulletWorldImporter::createCapsuleShapeZ(btScalar radius, btScalar height)
{
return new btCapsuleShapeZ(radius,height);
}
btCollisionShape* btBulletWorldImporter::createCylinderShapeX(btScalar radius,btScalar height)
{
return new btCylinderShapeX(btVector3(height,radius,radius));
}
btCollisionShape* btBulletWorldImporter::createCylinderShapeY(btScalar radius,btScalar height)
{
return new btCylinderShape(btVector3(radius,height,radius));
}
btCollisionShape* btBulletWorldImporter::createCylinderShapeZ(btScalar radius,btScalar height)
{
return new btCylinderShapeZ(btVector3(radius,radius,height));
}
btTriangleMesh* btBulletWorldImporter::createTriangleMeshContainer()
{
return 0;

15
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
View File

@@ -29,24 +29,30 @@ class btTypedConstraint;
class btDynamicsWorld;
struct ConstraintInput;
class btRigidBodyColladaInfo;
struct btCollisionShapeData;
namespace bParse
{
class btBulletFile;
};
class btBulletWorldImporter
{
protected:
btDynamicsWorld* m_dynamicsWorld;
bool m_verboseDumpAllTypes;
btCollisionShape* convertCollisionShape( btCollisionShapeData* shapeData );
public:
btBulletWorldImporter(btDynamicsWorld* world);
bool loadFileFromMemory(const char* fileName);
bool loadFile(const char* fileName);
///the memoryBuffer might be modified (for example if endian swaps are necessary)
bool loadFileFromMemory(char *memoryBuffer, int len);
@@ -83,8 +89,13 @@ public:
virtual btCollisionShape* createPlaneShape(const btVector3& planeNormal,btScalar planeConstant);
virtual btCollisionShape* createBoxShape(const btVector3& halfExtents);
virtual btCollisionShape* createSphereShape(btScalar radius);
virtual btCollisionShape* createCapsuleShape(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeX(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeY(btScalar radius, btScalar height);
virtual btCollisionShape* createCapsuleShapeZ(btScalar radius, btScalar height);
virtual btCollisionShape* createCylinderShapeX(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeY(btScalar radius,btScalar height);
virtual btCollisionShape* createCylinderShapeZ(btScalar radius,btScalar height);
virtual class btTriangleMesh* createTriangleMeshContainer();
virtual btCollisionShape* createBvhTriangleMeshShape(btTriangleMesh* trimesh);
virtual btCollisionShape* createConvexTriangleMeshShape(btTriangleMesh* trimesh);

6
Extras/Serialize/makesdna/makesdna.cpp
View File

@@ -128,6 +128,9 @@ typedef unsigned long uintptr_t;
#include "BulletCollision/CollisionShapes/btConvexHullShape.h"
#include "BulletCollision/CollisionShapes/btStridingMeshInterface.h"
#include "BulletCollision/CollisionShapes/btTriangleMeshShape.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/CollisionShapes/btCylinderShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -153,6 +156,9 @@ char *includefiles[] = {
"../../../src/BulletCollision/CollisionShapes/btMultiSphereShape.h",
"../../../src/BulletCollision/CollisionShapes/btStridingMeshInterface.h",
"../../../src/BulletCollision/CollisionShapes/btTriangleMeshShape.h",
"../../../src/BulletCollision/CollisionShapes/btCompoundShape.h",
"../../../src/BulletCollision/CollisionShapes/btCylinderShape.h",
"../../../src/BulletCollision/CollisionShapes/btCapsuleShape.h",
"../../../src/BulletCollision/CollisionShapes/btConvexHullShape.h",
"../../../src/BulletCollision/CollisionDispatch/btCollisionObject.h",
"../../../src/BulletDynamics/Dynamics/btRigidBody.h",

32
src/BulletCollision/CollisionShapes/btCapsuleShape.h
View File

@@ -88,6 +88,13 @@ public:
m_implicitShapeDimensions = (unScaledImplicitShapeDimensionsWithMargin * m_localScaling) - oldMargin;
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
///btCapsuleShapeX represents a capsule around the Z axis
@@ -125,5 +132,30 @@ public:
};
struct btCapsuleShapeData
{
btConvexInternalShapeData m_convexInternalShapeData;
int m_upAxis;
char m_padding[4];
};
SIMD_FORCE_INLINE int btCapsuleShape::calculateSerializeBufferSize() const
{
return sizeof(btCapsuleShapeData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btCapsuleShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCapsuleShapeData* shapeData = (btCapsuleShapeData*) dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
shapeData->m_upAxis = m_upAxis;
return "btCapsuleShapeData";
}
#endif //BT_CAPSULE_SHAPE_H

4
src/BulletCollision/CollisionShapes/btCollisionShape.h
View File

@@ -118,7 +118,7 @@ public:
return m_userPointer;
}
virtual int calculateSerializeBufferSize();
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
@@ -133,7 +133,7 @@ struct btCollisionShapeData
char m_padding[4];
};
SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize()
SIMD_FORCE_INLINE int btCollisionShape::calculateSerializeBufferSize() const
{
return sizeof(btCollisionShapeData);
}

34
src/BulletCollision/CollisionShapes/btCompoundShape.cpp
View File

@@ -16,6 +16,7 @@ subject to the following restrictions:
#include "btCompoundShape.h"
#include "btCollisionShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
#include "LinearMath/btSerializer.h"
btCompoundShape::btCompoundShape(bool enableDynamicAabbTree)
: m_localAabbMin(btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT),btScalar(BT_LARGE_FLOAT)),
@@ -278,5 +279,36 @@ void btCompoundShape::setLocalScaling(const btVector3& scaling)
updateChildTransform(i, childTrans);
recalculateLocalAabb();
}
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btCompoundShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCompoundShapeData* shapeData = (btCompoundShapeData*) dataBuffer;
btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
shapeData->m_collisionMargin = float(m_collisionMargin);
shapeData->m_numChildShapes = m_children.size();
shapeData->m_childShapePtr = 0;
if (shapeData->m_numChildShapes)
{
btChunk* chunk = serializer->allocate(sizeof(btCompoundShapeChildData),shapeData->m_numChildShapes);
btCompoundShapeChildData* memPtr = (btCompoundShapeChildData*)chunk->m_oldPtr;
shapeData->m_childShapePtr = memPtr;
for (int i=0;i<shapeData->m_numChildShapes;i++,memPtr++)
{
memPtr->m_childMargin = float(m_children[i].m_childMargin);
memPtr->m_childShape = (btCollisionShapeData*)m_children[i].m_childShape;
memPtr->m_childShapeType = m_children[i].m_childShapeType;
m_children[i].m_transform.serializeFloat(memPtr->m_transform);
}
serializer->finalizeChunk(chunk,"btCompoundShapeChildData",BT_ARRAY_CODE,chunk->m_oldPtr);
}
return "btCompoundShapeData";
}

46
src/BulletCollision/CollisionShapes/btCompoundShape.h
View File

@@ -62,6 +62,11 @@ ATTRIBUTE_ALIGNED16(class) btCompoundShape : public btCollisionShape
///increment m_updateRevision when adding/removing/replacing child shapes, so that some caches can be updated
int m_updateRevision;
btScalar m_collisionMargin;
protected:
btVector3 m_localScaling;
public:
BT_DECLARE_ALIGNED_ALLOCATOR();
@@ -158,13 +163,46 @@ public:
return m_updateRevision;
}
private:
btScalar m_collisionMargin;
protected:
btVector3 m_localScaling;
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
struct btCompoundShapeChildData
{
btTransformFloatData m_transform;
btCollisionShapeData *m_childShape;
int m_childShapeType;
float m_childMargin;
};
struct btCompoundShapeData
{
btCollisionShapeData m_collisionShapeData;
btCompoundShapeChildData *m_childShapePtr;
int m_numChildShapes;
float m_collisionMargin;
};
SIMD_FORCE_INLINE int btCompoundShape::calculateSerializeBufferSize() const
{
return sizeof(btCompoundShapeData);
}
#endif //COMPOUND_SHAPE_H

4
src/BulletCollision/CollisionShapes/btConvexHullShape.h
View File

@@ -89,7 +89,7 @@ public:
///in case we receive negative scaling
virtual void setLocalScaling(const btVector3& scaling);
virtual int calculateSerializeBufferSize();
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
@@ -110,7 +110,7 @@ struct btConvexHullShapeData
};
SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize()
SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() const
{
return sizeof(btConvexHullShapeData);
}

4
src/BulletCollision/CollisionShapes/btConvexInternalShape.h
View File

@@ -110,7 +110,7 @@ public:
btAssert(0);
}
virtual int calculateSerializeBufferSize();
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
@@ -135,7 +135,7 @@ struct btConvexInternalShapeData
SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize()
SIMD_FORCE_INLINE int btConvexInternalShape::calculateSerializeBufferSize() const
{
return sizeof(btConvexInternalShapeData);
}

31
src/BulletCollision/CollisionShapes/btCylinderShape.h
View File

@@ -106,7 +106,10 @@ public:
return "CylinderY";
}
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
};
@@ -157,5 +160,33 @@ public:
};
struct btCylinderShapeData
{
btConvexInternalShapeData m_convexInternalShapeData;
int m_upAxis;
char m_padding[4];
};
SIMD_FORCE_INLINE int btCylinderShape::calculateSerializeBufferSize() const
{
return sizeof(btCylinderShapeData);
}
///fills the dataBuffer and returns the struct name (and 0 on failure)
SIMD_FORCE_INLINE const char* btCylinderShape::serialize(void* dataBuffer, btSerializer* serializer) const
{
btCylinderShapeData* shapeData = (btCylinderShapeData*) dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData,serializer);
shapeData->m_upAxis = m_upAxis;
return "btCylinderShapeData";
}
#endif //CYLINDER_MINKOWSKI_H

4
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
View File

@@ -63,7 +63,7 @@ public:
return "MultiSphere";
}
virtual int calculateSerializeBufferSize();
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
@@ -89,7 +89,7 @@ struct btMultiSphereShapeData
SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize()
SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() const
{
return sizeof(btMultiSphereShapeData);
}

4
src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
View File

@@ -91,7 +91,7 @@ class btStridingMeshInterface
m_scaling = scaling;
}
virtual int calculateSerializeBufferSize();
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
@@ -132,7 +132,7 @@ struct btStridingMeshInterfaceData
SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize()
SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize() const
{
return sizeof(btStridingMeshInterfaceData);
}

4
src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
View File

@@ -80,7 +80,7 @@ public:
//debugging
virtual const char* getName()const {return "TRIANGLEMESH";}
virtual int calculateSerializeBufferSize();
virtual int calculateSerializeBufferSize() const;
///fills the dataBuffer and returns the struct name (and 0 on failure)
virtual const char* serialize(void* dataBuffer, btSerializer* serializer) const;
@@ -101,7 +101,7 @@ struct btTriangleMeshShapeData
};
SIMD_FORCE_INLINE int btTriangleMeshShape::calculateSerializeBufferSize()
SIMD_FORCE_INLINE int btTriangleMeshShape::calculateSerializeBufferSize() const
{
return sizeof(btTriangleMeshShapeData);
}

9
src/LinearMath/btMatrix3x3.h
View File

@@ -503,6 +503,8 @@ public:
void serialize(struct btMatrix3x3Data& dataOut) const;
void serializeFloat(struct btMatrix3x3FloatData& dataOut) const;
void deSerialize(const struct btMatrix3x3Data& dataIn);
void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn);
@@ -650,12 +652,19 @@ struct btMatrix3x3DoubleData
SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const
{
for (int i=0;i<3;i++)
m_el[i].serialize(dataOut.m_el[i]);
}
SIMD_FORCE_INLINE void btMatrix3x3::serializeFloat(struct btMatrix3x3FloatData& dataOut) const
{
for (int i=0;i<3;i++)
m_el[i].serializeFloat(dataOut.m_el[i]);
}
SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn)
{

216
src/LinearMath/btSerializer.cpp
View File

@@ -1,6 +1,5 @@
unsigned char sBulletDNAstr64[]= {
83,68,78,65,78,65,77,69,85,0,0,0,109,95,115,105,122,101,0,109,
83,68,78,65,78,65,77,69,92,0,0,0,109,95,115,105,122,101,0,109,
95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
@@ -25,7 +24,12 @@ unsigned char sBulletDNAstr64[]= {
0,109,95,110,117,109,86,101,114,116,105,99,101,115,0,42,109,95,109,101,
115,104,80,97,114,116,115,80,116,114,0,109,95,115,99,97,108,105,110,103,
0,109,95,110,117,109,77,101,115,104,80,97,114,116,115,0,109,95,109,101,
115,104,73,110,116,101,114,102,97,99,101,0,42,109,95,117,110,115,99,97,
115,104,73,110,116,101,114,102,97,99,101,0,109,95,116,114,97,110,115,102,
111,114,109,0,42,109,95,99,104,105,108,100,83,104,97,112,101,0,109,95,
99,104,105,108,100,83,104,97,112,101,84,121,112,101,0,109,95,99,104,105,
108,100,77,97,114,103,105,110,0,42,109,95,99,104,105,108,100,83,104,97,
112,101,80,116,114,0,109,95,110,117,109,67,104,105,108,100,83,104,97,112,
101,115,0,109,95,117,112,65,120,105,115,0,42,109,95,117,110,115,99,97,
108,101,100,80,111,105,110,116,115,70,108,111,97,116,80,116,114,0,42,109,
95,117,110,115,99,97,108,101,100,80,111,105,110,116,115,68,111,117,98,108,
101,80,116,114,0,109,95,110,117,109,85,110,115,99,97,108,101,100,80,111,
@@ -75,7 +79,7 @@ unsigned char sBulletDNAstr64[]= {
110,101,97,114,83,108,101,101,112,105,110,103,84,104,114,101,115,104,111,108,
100,0,109,95,97,110,103,117,108,97,114,83,108,101,101,112,105,110,103,84,
104,114,101,115,104,111,108,100,0,109,95,97,100,100,105,116,105,111,110,97,
108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,33,0,0,0,
108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,37,0,0,0,
99,104,97,114,0,117,99,104,97,114,0,115,104,111,114,116,0,117,115,104,
111,114,116,0,105,110,116,0,108,111,110,103,0,117,108,111,110,103,0,102,
108,111,97,116,0,100,111,117,98,108,101,0,118,111,105,100,0,80,111,105,
@@ -96,55 +100,62 @@ unsigned char sBulletDNAstr64[]= {
68,97,116,97,0,98,116,77,101,115,104,80,97,114,116,68,97,116,97,0,
98,116,83,116,114,105,100,105,110,103,77,101,115,104,73,110,116,101,114,102,
97,99,101,68,97,116,97,0,98,116,84,114,105,97,110,103,108,101,77,101,
115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,110,118,101,120,
72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,67,111,108,108,
105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,101,68,97,116,
97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,70,
108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,121,
70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,
121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,1,0,1,0,
2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,16,0,48,0,
16,0,16,0,32,0,48,0,96,0,64,0,-128,0,16,0,56,0,20,0,
72,0,4,0,4,0,40,0,32,0,56,0,80,0,-40,1,8,1,-16,1,
-88,3,0,0,83,84,82,67,23,0,0,0,10,0,3,0,4,0,0,0,
4,0,1,0,9,0,2,0,11,0,3,0,10,0,3,0,10,0,4,0,
10,0,5,0,12,0,2,0,9,0,6,0,9,0,7,0,13,0,1,0,
7,0,8,0,14,0,1,0,8,0,8,0,15,0,1,0,13,0,9,0,
16,0,1,0,14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,
18,0,2,0,16,0,10,0,14,0,11,0,19,0,3,0,9,0,12,0,
4,0,13,0,0,0,14,0,20,0,5,0,19,0,15,0,13,0,16,0,
13,0,17,0,7,0,18,0,4,0,19,0,21,0,2,0,13,0,20,0,
7,0,21,0,22,0,4,0,20,0,22,0,21,0,23,0,4,0,24,0,
0,0,14,0,23,0,1,0,4,0,25,0,24,0,2,0,2,0,26,0,
2,0,25,0,25,0,6,0,13,0,27,0,14,0,28,0,23,0,29,0,
24,0,30,0,4,0,31,0,4,0,32,0,26,0,4,0,25,0,33,0,
13,0,34,0,4,0,35,0,0,0,14,0,27,0,4,0,19,0,15,0,
26,0,36,0,7,0,18,0,0,0,14,0,28,0,5,0,20,0,22,0,
13,0,37,0,14,0,38,0,4,0,39,0,0,0,40,0,29,0,24,0,
9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,18,0,45,0,
18,0,46,0,14,0,47,0,14,0,48,0,14,0,49,0,8,0,50,0,
8,0,51,0,8,0,52,0,8,0,53,0,8,0,54,0,8,0,55,0,
8,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
4,0,61,0,4,0,62,0,4,0,63,0,0,0,14,0,30,0,23,0,
9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,17,0,45,0,
17,0,46,0,13,0,47,0,13,0,48,0,13,0,49,0,7,0,50,0,
7,0,51,0,7,0,52,0,7,0,53,0,7,0,54,0,7,0,55,0,
7,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
4,0,61,0,4,0,62,0,4,0,63,0,31,0,21,0,30,0,64,0,
15,0,65,0,13,0,66,0,13,0,67,0,13,0,68,0,13,0,69,0,
13,0,70,0,13,0,71,0,13,0,72,0,13,0,73,0,13,0,74,0,
7,0,75,0,7,0,76,0,7,0,77,0,7,0,78,0,7,0,79,0,
7,0,80,0,7,0,81,0,7,0,82,0,7,0,83,0,4,0,84,0,
32,0,22,0,29,0,64,0,16,0,65,0,14,0,66,0,14,0,67,0,
14,0,68,0,14,0,69,0,14,0,70,0,14,0,71,0,14,0,72,0,
14,0,73,0,14,0,74,0,8,0,75,0,8,0,76,0,8,0,77,0,
8,0,78,0,8,0,79,0,8,0,80,0,8,0,81,0,8,0,82,0,
8,0,83,0,4,0,84,0,0,0,14,0,};
115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,109,112,111,117,
110,100,83,104,97,112,101,67,104,105,108,100,68,97,116,97,0,98,116,67,
111,109,112,111,117,110,100,83,104,97,112,101,68,97,116,97,0,98,116,67,
121,108,105,110,100,101,114,83,104,97,112,101,68,97,116,97,0,98,116,67,
97,112,115,117,108,101,83,104,97,112,101,68,97,116,97,0,98,116,67,111,
110,118,101,120,72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,
67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,
101,68,97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,
101,99,116,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,
66,111,100,121,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,
100,66,111,100,121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,
1,0,1,0,2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,
16,0,48,0,16,0,16,0,32,0,48,0,96,0,64,0,-128,0,16,0,
56,0,20,0,72,0,4,0,4,0,40,0,32,0,56,0,80,0,32,0,
64,0,64,0,80,0,-40,1,8,1,-16,1,-88,3,0,0,83,84,82,67,
27,0,0,0,10,0,3,0,4,0,0,0,4,0,1,0,9,0,2,0,
11,0,3,0,10,0,3,0,10,0,4,0,10,0,5,0,12,0,2,0,
9,0,6,0,9,0,7,0,13,0,1,0,7,0,8,0,14,0,1,0,
8,0,8,0,15,0,1,0,13,0,9,0,16,0,1,0,14,0,9,0,
17,0,2,0,15,0,10,0,13,0,11,0,18,0,2,0,16,0,10,0,
14,0,11,0,19,0,3,0,9,0,12,0,4,0,13,0,0,0,14,0,
20,0,5,0,19,0,15,0,13,0,16,0,13,0,17,0,7,0,18,0,
4,0,19,0,21,0,2,0,13,0,20,0,7,0,21,0,22,0,4,0,
20,0,22,0,21,0,23,0,4,0,24,0,0,0,14,0,23,0,1,0,
4,0,25,0,24,0,2,0,2,0,26,0,2,0,25,0,25,0,6,0,
13,0,27,0,14,0,28,0,23,0,29,0,24,0,30,0,4,0,31,0,
4,0,32,0,26,0,4,0,25,0,33,0,13,0,34,0,4,0,35,0,
0,0,14,0,27,0,4,0,19,0,15,0,26,0,36,0,7,0,18,0,
0,0,14,0,28,0,4,0,17,0,37,0,19,0,38,0,4,0,39,0,
7,0,40,0,29,0,4,0,19,0,15,0,28,0,41,0,4,0,42,0,
7,0,18,0,30,0,3,0,20,0,22,0,4,0,43,0,0,0,14,0,
31,0,3,0,20,0,22,0,4,0,43,0,0,0,14,0,32,0,5,0,
20,0,22,0,13,0,44,0,14,0,45,0,4,0,46,0,0,0,47,0,
33,0,24,0,9,0,48,0,9,0,49,0,19,0,50,0,9,0,51,0,
18,0,52,0,18,0,53,0,14,0,54,0,14,0,55,0,14,0,56,0,
8,0,57,0,8,0,58,0,8,0,59,0,8,0,60,0,8,0,61,0,
8,0,62,0,8,0,63,0,4,0,64,0,4,0,65,0,4,0,66,0,
4,0,67,0,4,0,68,0,4,0,69,0,4,0,70,0,0,0,14,0,
34,0,23,0,9,0,48,0,9,0,49,0,19,0,50,0,9,0,51,0,
17,0,52,0,17,0,53,0,13,0,54,0,13,0,55,0,13,0,56,0,
7,0,57,0,7,0,58,0,7,0,59,0,7,0,60,0,7,0,61,0,
7,0,62,0,7,0,63,0,4,0,64,0,4,0,65,0,4,0,66,0,
4,0,67,0,4,0,68,0,4,0,69,0,4,0,70,0,35,0,21,0,
34,0,71,0,15,0,72,0,13,0,73,0,13,0,74,0,13,0,75,0,
13,0,76,0,13,0,77,0,13,0,78,0,13,0,79,0,13,0,80,0,
13,0,81,0,7,0,82,0,7,0,83,0,7,0,84,0,7,0,85,0,
7,0,86,0,7,0,87,0,7,0,88,0,7,0,89,0,7,0,90,0,
4,0,91,0,36,0,22,0,33,0,71,0,16,0,72,0,14,0,73,0,
14,0,74,0,14,0,75,0,14,0,76,0,14,0,77,0,14,0,78,0,
14,0,79,0,14,0,80,0,14,0,81,0,8,0,82,0,8,0,83,0,
8,0,84,0,8,0,85,0,8,0,86,0,8,0,87,0,8,0,88,0,
8,0,89,0,8,0,90,0,4,0,91,0,0,0,14,0,};
int sBulletDNAlen64= sizeof(sBulletDNAstr64);
unsigned char sBulletDNAstr[]= {
83,68,78,65,78,65,77,69,85,0,0,0,109,95,115,105,122,101,0,109,
83,68,78,65,78,65,77,69,92,0,0,0,109,95,115,105,122,101,0,109,
95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
@@ -169,7 +180,12 @@ unsigned char sBulletDNAstr[]= {
0,109,95,110,117,109,86,101,114,116,105,99,101,115,0,42,109,95,109,101,
115,104,80,97,114,116,115,80,116,114,0,109,95,115,99,97,108,105,110,103,
0,109,95,110,117,109,77,101,115,104,80,97,114,116,115,0,109,95,109,101,
115,104,73,110,116,101,114,102,97,99,101,0,42,109,95,117,110,115,99,97,
115,104,73,110,116,101,114,102,97,99,101,0,109,95,116,114,97,110,115,102,
111,114,109,0,42,109,95,99,104,105,108,100,83,104,97,112,101,0,109,95,
99,104,105,108,100,83,104,97,112,101,84,121,112,101,0,109,95,99,104,105,
108,100,77,97,114,103,105,110,0,42,109,95,99,104,105,108,100,83,104,97,
112,101,80,116,114,0,109,95,110,117,109,67,104,105,108,100,83,104,97,112,
101,115,0,109,95,117,112,65,120,105,115,0,42,109,95,117,110,115,99,97,
108,101,100,80,111,105,110,116,115,70,108,111,97,116,80,116,114,0,42,109,
95,117,110,115,99,97,108,101,100,80,111,105,110,116,115,68,111,117,98,108,
101,80,116,114,0,109,95,110,117,109,85,110,115,99,97,108,101,100,80,111,
@@ -219,7 +235,7 @@ unsigned char sBulletDNAstr[]= {
110,101,97,114,83,108,101,101,112,105,110,103,84,104,114,101,115,104,111,108,
100,0,109,95,97,110,103,117,108,97,114,83,108,101,101,112,105,110,103,84,
104,114,101,115,104,111,108,100,0,109,95,97,100,100,105,116,105,111,110,97,
108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,33,0,0,0,
108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,37,0,0,0,
99,104,97,114,0,117,99,104,97,114,0,115,104,111,114,116,0,117,115,104,
111,114,116,0,105,110,116,0,108,111,110,103,0,117,108,111,110,103,0,102,
108,111,97,116,0,100,111,117,98,108,101,0,118,111,105,100,0,80,111,105,
@@ -240,48 +256,56 @@ unsigned char sBulletDNAstr[]= {
68,97,116,97,0,98,116,77,101,115,104,80,97,114,116,68,97,116,97,0,
98,116,83,116,114,105,100,105,110,103,77,101,115,104,73,110,116,101,114,102,
97,99,101,68,97,116,97,0,98,116,84,114,105,97,110,103,108,101,77,101,
115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,110,118,101,120,
72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,67,111,108,108,
105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,101,68,97,116,
97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,70,
108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,121,
70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,
121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,1,0,1,0,
2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,12,0,36,0,
8,0,16,0,32,0,48,0,96,0,64,0,-128,0,12,0,52,0,20,0,
64,0,4,0,4,0,24,0,28,0,48,0,68,0,-56,1,-8,0,-32,1,
-104,3,0,0,83,84,82,67,23,0,0,0,10,0,3,0,4,0,0,0,
4,0,1,0,9,0,2,0,11,0,3,0,10,0,3,0,10,0,4,0,
10,0,5,0,12,0,2,0,9,0,6,0,9,0,7,0,13,0,1,0,
7,0,8,0,14,0,1,0,8,0,8,0,15,0,1,0,13,0,9,0,
16,0,1,0,14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,
18,0,2,0,16,0,10,0,14,0,11,0,19,0,3,0,9,0,12,0,
4,0,13,0,0,0,14,0,20,0,5,0,19,0,15,0,13,0,16,0,
13,0,17,0,7,0,18,0,4,0,19,0,21,0,2,0,13,0,20,0,
7,0,21,0,22,0,4,0,20,0,22,0,21,0,23,0,4,0,24,0,
0,0,14,0,23,0,1,0,4,0,25,0,24,0,2,0,2,0,26,0,
2,0,25,0,25,0,6,0,13,0,27,0,14,0,28,0,23,0,29,0,
24,0,30,0,4,0,31,0,4,0,32,0,26,0,4,0,25,0,33,0,
13,0,34,0,4,0,35,0,0,0,14,0,27,0,4,0,19,0,15,0,
26,0,36,0,7,0,18,0,0,0,14,0,28,0,5,0,20,0,22,0,
13,0,37,0,14,0,38,0,4,0,39,0,0,0,40,0,29,0,24,0,
9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,18,0,45,0,
18,0,46,0,14,0,47,0,14,0,48,0,14,0,49,0,8,0,50,0,
8,0,51,0,8,0,52,0,8,0,53,0,8,0,54,0,8,0,55,0,
8,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
4,0,61,0,4,0,62,0,4,0,63,0,0,0,14,0,30,0,23,0,
9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,17,0,45,0,
17,0,46,0,13,0,47,0,13,0,48,0,13,0,49,0,7,0,50,0,
7,0,51,0,7,0,52,0,7,0,53,0,7,0,54,0,7,0,55,0,
7,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
4,0,61,0,4,0,62,0,4,0,63,0,31,0,21,0,30,0,64,0,
15,0,65,0,13,0,66,0,13,0,67,0,13,0,68,0,13,0,69,0,
13,0,70,0,13,0,71,0,13,0,72,0,13,0,73,0,13,0,74,0,
7,0,75,0,7,0,76,0,7,0,77,0,7,0,78,0,7,0,79,0,
7,0,80,0,7,0,81,0,7,0,82,0,7,0,83,0,4,0,84,0,
32,0,22,0,29,0,64,0,16,0,65,0,14,0,66,0,14,0,67,0,
14,0,68,0,14,0,69,0,14,0,70,0,14,0,71,0,14,0,72,0,
14,0,73,0,14,0,74,0,8,0,75,0,8,0,76,0,8,0,77,0,
8,0,78,0,8,0,79,0,8,0,80,0,8,0,81,0,8,0,82,0,
8,0,83,0,4,0,84,0,0,0,14,0,};
115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,109,112,111,117,
110,100,83,104,97,112,101,67,104,105,108,100,68,97,116,97,0,98,116,67,
111,109,112,111,117,110,100,83,104,97,112,101,68,97,116,97,0,98,116,67,
121,108,105,110,100,101,114,83,104,97,112,101,68,97,116,97,0,98,116,67,
97,112,115,117,108,101,83,104,97,112,101,68,97,116,97,0,98,116,67,111,
110,118,101,120,72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,
67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,
101,68,97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,
101,99,116,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,
66,111,100,121,70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,
100,66,111,100,121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,
1,0,1,0,2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,
12,0,36,0,8,0,16,0,32,0,48,0,96,0,64,0,-128,0,12,0,
52,0,20,0,64,0,4,0,4,0,24,0,28,0,48,0,76,0,24,0,
60,0,60,0,68,0,-56,1,-8,0,-32,1,-104,3,0,0,83,84,82,67,
27,0,0,0,10,0,3,0,4,0,0,0,4,0,1,0,9,0,2,0,
11,0,3,0,10,0,3,0,10,0,4,0,10,0,5,0,12,0,2,0,
9,0,6,0,9,0,7,0,13,0,1,0,7,0,8,0,14,0,1,0,
8,0,8,0,15,0,1,0,13,0,9,0,16,0,1,0,14,0,9,0,
17,0,2,0,15,0,10,0,13,0,11,0,18,0,2,0,16,0,10,0,
14,0,11,0,19,0,3,0,9,0,12,0,4,0,13,0,0,0,14,0,
20,0,5,0,19,0,15,0,13,0,16,0,13,0,17,0,7,0,18,0,
4,0,19,0,21,0,2,0,13,0,20,0,7,0,21,0,22,0,4,0,
20,0,22,0,21,0,23,0,4,0,24,0,0,0,14,0,23,0,1,0,
4,0,25,0,24,0,2,0,2,0,26,0,2,0,25,0,25,0,6,0,
13,0,27,0,14,0,28,0,23,0,29,0,24,0,30,0,4,0,31,0,
4,0,32,0,26,0,4,0,25,0,33,0,13,0,34,0,4,0,35,0,
0,0,14,0,27,0,4,0,19,0,15,0,26,0,36,0,7,0,18,0,
0,0,14,0,28,0,4,0,17,0,37,0,19,0,38,0,4,0,39,0,
7,0,40,0,29,0,4,0,19,0,15,0,28,0,41,0,4,0,42,0,
7,0,18,0,30,0,3,0,20,0,22,0,4,0,43,0,0,0,14,0,
31,0,3,0,20,0,22,0,4,0,43,0,0,0,14,0,32,0,5,0,
20,0,22,0,13,0,44,0,14,0,45,0,4,0,46,0,0,0,47,0,
33,0,24,0,9,0,48,0,9,0,49,0,19,0,50,0,9,0,51,0,
18,0,52,0,18,0,53,0,14,0,54,0,14,0,55,0,14,0,56,0,
8,0,57,0,8,0,58,0,8,0,59,0,8,0,60,0,8,0,61,0,
8,0,62,0,8,0,63,0,4,0,64,0,4,0,65,0,4,0,66,0,
4,0,67,0,4,0,68,0,4,0,69,0,4,0,70,0,0,0,14,0,
34,0,23,0,9,0,48,0,9,0,49,0,19,0,50,0,9,0,51,0,
17,0,52,0,17,0,53,0,13,0,54,0,13,0,55,0,13,0,56,0,
7,0,57,0,7,0,58,0,7,0,59,0,7,0,60,0,7,0,61,0,
7,0,62,0,7,0,63,0,4,0,64,0,4,0,65,0,4,0,66,0,
4,0,67,0,4,0,68,0,4,0,69,0,4,0,70,0,35,0,21,0,
34,0,71,0,15,0,72,0,13,0,73,0,13,0,74,0,13,0,75,0,
13,0,76,0,13,0,77,0,13,0,78,0,13,0,79,0,13,0,80,0,
13,0,81,0,7,0,82,0,7,0,83,0,7,0,84,0,7,0,85,0,
7,0,86,0,7,0,87,0,7,0,88,0,7,0,89,0,7,0,90,0,
4,0,91,0,36,0,22,0,33,0,71,0,16,0,72,0,14,0,73,0,
14,0,74,0,14,0,75,0,14,0,76,0,14,0,77,0,14,0,78,0,
14,0,79,0,14,0,80,0,14,0,81,0,8,0,82,0,8,0,83,0,
8,0,84,0,8,0,85,0,8,0,86,0,8,0,87,0,8,0,88,0,
8,0,89,0,8,0,90,0,4,0,91,0,0,0,14,0,};
int sBulletDNAlen= sizeof(sBulletDNAstr);

16
src/LinearMath/btSerializer.h
View File

@@ -268,18 +268,18 @@ public:
if (VOID_IS_8)
{
//#if _WIN64
#if _WIN64
initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
//#else
// btAssert(0);
//#endif
#else
btAssert(0);
#endif
} else
{
//#ifndef _WIN64
#ifndef _WIN64
initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
//#else
// btAssert(0);
//#endif
#else
btAssert(0);
#endif
}
}

9
src/LinearMath/btTransform.h
View File

@@ -210,6 +210,8 @@ public:
void serialize(struct btTransformData& dataOut) const;
void serializeFloat(struct btTransformFloatData& dataOut) const;
void deSerialize(const struct btTransformData& dataIn);
void deSerializeDouble(const struct btTransformDoubleData& dataIn);
@@ -270,6 +272,13 @@ SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
m_origin.serialize(dataOut.m_origin);
}
SIMD_FORCE_INLINE void btTransform::serializeFloat(btTransformFloatData& dataOut) const
{
m_basis.serializeFloat(dataOut.m_basis);
m_origin.serializeFloat(dataOut.m_origin);
}
SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
{
m_basis.deSerialize(dataIn.m_basis);