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add missing Demos/BulletXmlImportDemo

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serialize DynamicsWorldInfo
This commit is contained in:
erwin.coumans
2012-09-22 02:06:09 +00:00
parent f2c9cdfb11
commit 6f60a388c6
20 changed files with 25824 additions and 64 deletions
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57
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
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@@ -968,7 +968,15 @@ btCollisionObject* btWorldImporter::createCollisionObject(const btTransform& sta
return createRigidBody(false,0,startTransform,shape,bodyName);
}
void btWorldImporter::setDynamicsWorldInfo(const btVector3& gravity, const btContactSolverInfo& solverInfo)
{
if (m_dynamicsWorld)
{
m_dynamicsWorld->setGravity(gravity);
m_dynamicsWorld->getSolverInfo() = solverInfo;
}
}
btRigidBody* btWorldImporter::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape,const char* bodyName)
{
@@ -1310,7 +1318,8 @@ btTriangleInfoMap* btWorldImporter::getTriangleInfoMapByIndex(int index) const
return m_allocatedTriangleInfoMaps[index];
}
void btWorldImporter::convertRigidBody( btRigidBodyFloatData* colObjData)
void btWorldImporter::convertRigidBodyFloat( btRigidBodyFloatData* colObjData)
{
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
@@ -1349,7 +1358,51 @@ void btWorldImporter::convertRigidBody( btRigidBodyFloatData* colObjData)
}
#endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData,body);
printf("colObjData = %lx\n", colObjData);
} else
{
printf("error: no shape found\n");
}
}
void btWorldImporter::convertRigidBodyDouble( btRigidBodyDoubleData* colObjData)
{
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
localInertia.setZero();
btCollisionShape** shapePtr = m_shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
colObjData->m_collisionObjectData.m_worldTransform.m_origin.m_floats[3] = 0.f;
startTransform.deSerializeDouble(colObjData->m_collisionObjectData.m_worldTransform);
// startTransform.setBasis(btMatrix3x3::getIdentity());
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (shape->isNonMoving())
{
mass = 0.f;
}
if (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
bool isDynamic = mass!=0.f;
btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape,colObjData->m_collisionObjectData.m_name);
body->setFriction(colObjData->m_collisionObjectData.m_friction);
body->setRestitution(colObjData->m_collisionObjectData.m_restitution);
#ifdef USE_INTERNAL_EDGE_UTILITY
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btBvhTriangleMeshShape* trimesh = (btBvhTriangleMeshShape*)shape;
if (trimesh->getTriangleInfoMap())
{
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
}
#endif //USE_INTERNAL_EDGE_UTILITY
m_bodyMap.insert(colObjData,body);
} else
{
printf("error: no shape found\n");