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add pybullet loadBullet, saveBullet (work-in-progress) and placeholder for loadMJCF.

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This commit is contained in:
erwin coumans
2016-11-11 18:07:42 -08:00
parent b150edf76b
commit 7577c6d893
11 changed files with 512 additions and 17 deletions
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70
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3371,6 +3371,76 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_LOAD_BULLET:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
btBulletWorldImporter* importer = new btBulletWorldImporter(m_data->m_dynamicsWorld);
const char* prefix[] = { "", "./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/" };
int numPrefixes = sizeof(prefix) / sizeof(const char*);
char relativeFileName[1024];
FILE* f = 0;
bool found = false;
for (int i = 0; !f && i<numPrefixes; i++)
{
sprintf(relativeFileName, "%s%s", prefix[i], clientCmd.m_fileArguments.m_fileName);
f = fopen(relativeFileName, "rb");
if (f)
{
found = true;
break;
}
}
if (f)
{
fclose(f);
}
if (found)
{
bool ok = importer->loadFile(relativeFileName);
if (ok)
{
serverCmd.m_type = CMD_BULLET_LOADING_COMPLETED;
m_data->m_guiHelper->autogenerateGraphicsObjects(m_data->m_dynamicsWorld);
hasStatus = true;
break;
}
}
serverCmd.m_type = CMD_BULLET_LOADING_FAILED;
hasStatus = true;
break;
}
case CMD_SAVE_BULLET:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
FILE* f = fopen(clientCmd.m_fileArguments.m_fileName, "wb");
if (f)
{
btDefaultSerializer* ser = new btDefaultSerializer();
m_data->m_dynamicsWorld->serialize(ser);
fwrite(ser->getBufferPointer(), ser->getCurrentBufferSize(), 1, f);
fclose(f);
serverCmd.m_type = CMD_BULLET_SAVING_COMPLETED;
delete ser;
}
serverCmd.m_type = CMD_BULLET_SAVING_FAILED;
hasStatus = true;
break;
}
case CMD_LOAD_MJCF:
{
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_MJCF_LOADING_FAILED;
hasStatus = true;
break;
}
default:
{
b3Error("Unknown command encountered");