(de)serialization of softbody joints working now. Resolving Issue 456.

Demos/SerializeDemo/SerializeDemo.cpp

@@ -146,6 +146,9 @@ class MySoftBulletWorldImporter : public btBulletWorldImporter
 
 	btHashMap<btHashPtr,btSoftBody::Material*>	m_materialMap;
 
+	btHashMap<btHashPtr,btSoftBody*>	m_clusterBodyMap;
+	btHashMap<btHashPtr,btSoftBody*>	m_softBodyMap;
+	
 
 
 public:
@@ -181,6 +184,7 @@ public:
 				
 		
 				btSoftBody*		psb=new btSoftBody(&m_softRigidWorld->getWorldInfo());
+				m_softBodyMap.insert(softBodyData,psb);
 
 				//materials
 				for (i=0;i<softBodyData->m_numMaterials;i++)
@@ -336,6 +340,7 @@ public:
 				//clusters
 				if (softBodyData->m_numClusters)
 				{
+					m_clusterBodyMap.insert(softBodyData->m_clusters,psb);
 					int j;
 					psb->m_clusters.resize(softBodyData->m_numClusters);
 					for (i=0;i<softBodyData->m_numClusters;i++)
@@ -400,6 +405,8 @@ public:
 
 #endif //
 
+
+
 				psb->updateConstants();
 				m_softRigidWorld->getWorldInfo().m_dispatcher = m_softRigidWorld->getDispatcher();
 				
@@ -409,6 +416,85 @@ public:
 			}
 		}
 
+
+		//now the soft body joints
+		for (i=0;i<bulletFile2->m_softBodies.size();i++)
+		{
+			if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
+			{
+				btAssert(0); //not yet
+				//btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
+			} else
+			{
+				btSoftBodyFloatData* softBodyData = (btSoftBodyFloatData*)bulletFile2->m_softBodies[i];
+				btSoftBody** sbp = m_softBodyMap.find(softBodyData);
+				if (sbp && *sbp)
+				{
+					btSoftBody* sb = *sbp;
+					int i;
+					for (int i=0;i<softBodyData->m_numJoints;i++)
+					{
+						btSoftBodyJointData* sbjoint = &softBodyData->m_joints[i];
+
+
+						btSoftBody::Body bdyB;
+
+						btSoftBody* sbB = 0;
+						btTransform transA;
+						transA.setIdentity();
+						transA = sb->m_clusters[0]->m_framexform;
+
+						btCollisionObject** colBptr = m_bodyMap.find(sbjoint->m_bodyB);
+						if (colBptr && *colBptr)
+						{
+							btRigidBody* rbB = btRigidBody::upcast(*colBptr);
+							if (rbB)
+							{
+								bdyB = rbB;
+							} else
+							{
+								bdyB = *colBptr;
+							}
+						}
+
+
+						btSoftBody** bodyBptr = m_clusterBodyMap.find(sbjoint->m_bodyB);
+						if (bodyBptr && *bodyBptr )
+						{
+							sbB = *bodyBptr;
+							bdyB = sbB->m_clusters[0];
+						}
+
+
+						if (sbjoint->m_jointType==btSoftBody::Joint::eType::Linear)
+						{
+							btSoftBody::LJoint::Specs specs;
+							specs.cfm = sbjoint->m_cfm;
+							specs.erp = sbjoint->m_erp;
+							specs.split = sbjoint->m_split;
+							btVector3 relA;
+							relA.deSerializeFloat(sbjoint->m_refs[0]);
+							specs.position = transA*relA;
+							sb->appendLinearJoint(specs,sb->m_clusters[0],bdyB);
+						}
+
+						if (sbjoint->m_jointType==btSoftBody::Joint::eType::Angular)
+						{
+							btSoftBody::AJoint::Specs specs;
+							specs.cfm = sbjoint->m_cfm;
+							specs.erp = sbjoint->m_erp;
+							specs.split = sbjoint->m_split;
+							btVector3 relA;
+							relA.deSerializeFloat(sbjoint->m_refs[0]);
+							specs.axis = transA.getBasis()*relA;
+							sb->appendAngularJoint(specs,sb->m_clusters[0],bdyB);
+						}
+					}
+				}
+
+			}
+		}
+
 		return result;
 
 	}
@@ -433,6 +519,7 @@ void	SerializeDemo::initPhysics()
 //	fileLoader->setVerboseMode(true);
 
 	if (!fileLoader->loadFile("testFile.bullet"))
+//	if (!fileLoader->loadFile("../SoftDemo/testFile.bullet"))
 	{
 		///create a few basic rigid bodies and save them to testFile.bullet
 		btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));

src/BulletSoftBody/btSoftBody.cpp

@@ -3068,7 +3068,7 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 	
 
 	sbd->m_numNodes = m_nodes.size();
-	sbd->m_nodes = sbd->m_numNodes ? (SoftBodyNodeData*)serializer->getUniquePointer((void*)&m_nodes[0]): 0;
+	sbd->m_nodes = sbd->m_numNodes ? (SoftBodyNodeData*)serializer->getUniquePointer((void*)&m_nodes): 0;
 	if (sbd->m_nodes)
 	{
 		int sz = sizeof(SoftBodyNodeData);
@@ -3088,7 +3088,7 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 			m_nodes[i].m_v.serializeFloat(memPtr->m_velocity);
 			m_nodeIndexMap.insert(&m_nodes[i],i);
 		}
-		serializer->finalizeChunk(chunk,"SoftBodyNodeData",BT_SBNODE_CODE,(void*) &m_nodes[0]);
+		serializer->finalizeChunk(chunk,"SoftBodyNodeData",BT_SBNODE_CODE,(void*) &m_nodes);
 	}
 
 	sbd->m_numLinks = m_links.size();
@@ -3263,7 +3263,7 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 	//clusters for convex-cluster collision detection
 
 	sbd->m_numClusters = m_clusters.size();
-	sbd->m_clusters = sbd->m_numClusters? (SoftBodyClusterData*) serializer->getUniquePointer((void*)&m_clusters[0]) : 0;
+	sbd->m_clusters = sbd->m_numClusters? (SoftBodyClusterData*) serializer->getUniquePointer((void*)m_clusters[0]) : 0;
 	if (sbd->m_numClusters)
 	{
 		int numElem = sbd->m_numClusters;
@@ -3349,7 +3349,7 @@ const char*	btSoftBody::serialize(void* dataBuffer, class btSerializer* serializ
 				serializer->finalizeChunk(chunk,"int",BT_ARRAY_CODE,(void*)&m_clusters[i]->m_nodes);
 			}
 		}
-		serializer->finalizeChunk(chunk,"SoftBodyClusterData",BT_ARRAY_CODE,(void*)&m_clusters[0]);
+		serializer->finalizeChunk(chunk,"SoftBodyClusterData",BT_ARRAY_CODE,(void*)m_clusters[0]);
 
 	}
 	

src/BulletSoftBody/btSoftBody.h

@@ -304,8 +304,8 @@ public:
 	/* Cluster		*/ 
 	struct	Cluster
 	{
-		btAlignedObjectArray<Node*>	m_nodes;		
 		tScalarArray				m_masses;
+		btAlignedObjectArray<Node*>	m_nodes;		
 		tVector3Array				m_framerefs;
 		btTransform					m_framexform;
 		btScalar					m_idmass;