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Split Bullet/src/LinearMath/btSerializer.cpp into btSerializer64.cpp to make it easier to rebuild serialization structure.

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Add several MSVC optimization flags to cmake.
Bump up VERSION because serialization format changed
Expose btScalar& jointMaxForce, btScalar& jointMaxVelocity to 'getJointInfo2' API, add backwards compatibility to examples\Importers\ImportURDFDemo\URDFImporterInterface::getJointInfo.

pybullet: expose 4 more fields to getJointInfo: jointLowerLimit/jointUpperLimit/jointMaxForce/jointMaxVelocity
fix performance issue in CMD_ACTUAL_STATE_UPDATE_COMPLETED
This commit is contained in:
Erwin Coumans
2017-03-26 13:06:46 -07:00
parent ed6530264f
commit 7503418c72
32 changed files with 1412 additions and 1026 deletions
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8
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
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@@ -1368,6 +1368,10 @@ typedef struct bInvalidHandle {
double m_jointTorque[6];
double m_jointDamping;
double m_jointFriction;
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
char *m_linkName;
char *m_jointName;
btCollisionObjectDoubleData *m_linkCollider;
@@ -1395,6 +1399,10 @@ typedef struct bInvalidHandle {
int m_posVarCount;
float m_jointDamping;
float m_jointFriction;
float m_jointLowerLimit;
float m_jointUpperLimit;
float m_jointMaxForce;
float m_jointMaxVelocity;
char *m_linkName;
char *m_jointName;
btCollisionObjectFloatData *m_linkCollider;

16
Extras/Serialize/HeaderGenerator/apiGen.cpp
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@@ -20,12 +20,13 @@
#include "bDNA.h"
#include "bBlenderFile.h"
#include "btBulletFile.h"
#include "LinearMath/btSerializer.h"
#include "bCommon.h"
#include <map>
#include <vector>
#include <string.h>
bool isBulletFile = false;
bool isBulletFile = true;
using namespace bParse;
typedef std::string bString;
@@ -216,10 +217,12 @@ int main(int argc,char** argv)
using namespace bParse;
dump = fopen("dump.py", "w");
if (!dump) return 0;
fprintf(dump, "%s\n", data);
#if 0
char* filename = "../../../../data/r2d2_multibody.bullet";
if (argc==2)
@@ -269,9 +272,12 @@ int main(int argc,char** argv)
bBlenderFile f(memBuf,len);
swap = (f.getFlags() & FD_ENDIAN_SWAP)!=0;
}
#else
isBulletFile = true;
bool swap = false;
char* memBuf = sBulletDNAstr;
int len = sBulletDNAlen;
#endif
char *blenderData = memBuf;

3
Extras/Serialize/HeaderGenerator/bulletGenerate.py
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@@ -1,6 +1,9 @@
import sys
sys.path.append(".")
import dump
header = """/* Copyright (C) 2011 Erwin Coumans & Charlie C
*
* This software is provided 'as-is', without any express or implied

28
Extras/Serialize/makesdna/CMakeLists.txt
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@@ -23,15 +23,29 @@ SET (INC_FILES
SET(SRC makesdna.cpp)
ADD_EXECUTABLE(makesdna ${SRC} ${INC_FILES})
# Output BulletDNA.c
ADD_CUSTOM_COMMAND(
OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp
COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
DEPENDS makesdna
)
IF (CMAKE_CL_64)
# Output BulletDNA.c
ADD_CUSTOM_COMMAND(
OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp
COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
DEPENDS makesdna
)
SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp)
ELSE()
# Output BulletDNA.c
ADD_CUSTOM_COMMAND(
OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp
COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
DEPENDS makesdna
)
SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
ENDIF()
# Build bf_dna library
SET(SRC ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
ADD_LIBRARY(BulletDNA ${SRC} ${INC_FILES})
MESSAGE(STATUS "Configuring makesdna")