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add .bullet extension in File/Open on Mac

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add importer support for FIXED_CONSTRAINT_TYPE, to be replaced by btGeneric6DofSpring2Constraint
btFixedConstraint now derives from btGeneric6DofSpring2Constraint
This commit is contained in:
Erwin Coumans
2015-05-03 09:23:35 -07:00
parent 7a0288bf56
commit 59b511a14e
4 changed files with 76 additions and 177 deletions
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63
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
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@@ -1011,6 +1011,37 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
break;
}
case FIXED_CONSTRAINT_TYPE:
{
btGeneric6DofSpring2Constraint* dof = 0;
if (rbA && rbB)
{
btTransform rbAFrame,rbBFrame;
//compute a shared world frame, and compute frameInA, frameInB relative to this
btTransform sharedFrame;
sharedFrame.setIdentity();
btVector3 centerPos = btScalar(0.5)*(rbA->getWorldTransform().getOrigin()+
rbB->getWorldTransform().getOrigin());
sharedFrame.setOrigin(centerPos);
rbAFrame = rbA->getWorldTransform().inverse()*sharedFrame;
rbBFrame = rbB->getWorldTransform().inverse()*sharedFrame;
dof = createGeneric6DofSpring2Constraint(*rbA,*rbB,rbAFrame,rbBFrame, RO_XYZ);
dof->setLinearUpperLimit(btVector3(0,0,0));
dof->setLinearLowerLimit(btVector3(0,0,0));
dof->setAngularUpperLimit(btVector3(0,0,0));
dof->setAngularLowerLimit(btVector3(0,0,0));
} else
{
printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n");
}
constraint = dof;
break;
}
default:
{
printf("unknown constraint type\n");
@@ -1310,6 +1341,38 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
break;
}
case FIXED_CONSTRAINT_TYPE:
{
btGeneric6DofSpring2Constraint* dof = 0;
if (rbA && rbB)
{
btTransform rbAFrame,rbBFrame;
//compute a shared world frame, and compute frameInA, frameInB relative to this
btTransform sharedFrame;
sharedFrame.setIdentity();
btVector3 centerPos = btScalar(0.5)*(rbA->getWorldTransform().getOrigin()+
rbB->getWorldTransform().getOrigin());
sharedFrame.setOrigin(centerPos);
rbAFrame = rbA->getWorldTransform().inverse()*sharedFrame;
rbBFrame = rbB->getWorldTransform().inverse()*sharedFrame;
dof = createGeneric6DofSpring2Constraint(*rbA,*rbB,rbAFrame,rbBFrame, RO_XYZ);
dof->setLinearUpperLimit(btVector3(0,0,0));
dof->setLinearLowerLimit(btVector3(0,0,0));
dof->setAngularUpperLimit(btVector3(0,0,0));
dof->setAngularLowerLimit(btVector3(0,0,0));
} else
{
printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n");
}
constraint = dof;
break;
}
default:
{
printf("unknown constraint type\n");