SerializeDemo: create a testFile.bullet if it is missing
Serialization: remove obsolete autogenerated headers Minor changes in btSequentialImpulseConstraintSolver: split methods to make it easier to derive from the class and add functionality.
This commit is contained in:
erwin.coumans
@@ -122,156 +122,133 @@ void SerializeDemo::initPhysics()
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setupEmptyDynamicsWorld();
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///create a few basic rigid bodies
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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btCollisionObject* groundObject = 0;
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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groundObject = body;
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}
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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int numSpheres = 2;
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btVector3 positions[2] = {btVector3(0.1f,0.2f,0.3f),btVector3(0.4f,0.5f,0.6f)};
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btScalar radii[2] = {0.3f,0.4f};
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btMultiSphereShape* colShape = new btMultiSphereShape(positions,radii,numSpheres);
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//btCollisionShape* colShape = new btCapsuleShapeZ(SCALING*1,SCALING*1);
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//btCollisionShape* colShape = new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,SCALING*1));
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//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass,localInertia);
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float start_x = START_POS_X - ARRAY_SIZE_X/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(SCALING*btVector3(
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btScalar(2.0*i + start_x),
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btScalar(20+2.0*k + start_y),
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btScalar(2.0*j + start_z)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setActivationState(ISLAND_SLEEPING);
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m_dynamicsWorld->addRigidBody(body);
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body->setActivationState(ISLAND_SLEEPING);
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}
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}
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}
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}
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clientResetScene();
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#ifdef TEST_SERIALIZATION
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//test serializing this
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#ifdef CREATE_NEW_BULLETFILE
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int maxSerializeBufferSize = 1024*1024*5;
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btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
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static char* groundName = "GroundName";
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serializer->registerNameForPointer(groundObject, groundName);
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for (int i=0;i<m_collisionShapes.size();i++)
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{
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char* name = new char[20];
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sprintf(name,"name%d",i);
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serializer->registerNameForPointer(m_collisionShapes[i],name);
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}
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btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*(btRigidBody*)getDynamicsWorld()->getCollisionObjectArray()[2],btVector3(0,1,0));
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m_dynamicsWorld->addConstraint(p2p);
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const char* name = "constraintje";
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serializer->registerNameForPointer(p2p,name);
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m_dynamicsWorld->serialize(serializer);
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FILE* f2 = fopen("testFile.bullet","wb");
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
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fclose(f2);
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#endif //CREATE_NEW_BULLETFILE
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exitPhysics();
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//now try again from the loaded file
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setupEmptyDynamicsWorld();
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printf("loading file\n");
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btBulletWorldImporter* fileLoader = new btBulletWorldImporter(m_dynamicsWorld);
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//fileLoader->setVerboseMode(true);
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if (!fileLoader->loadFile("testFile.bullet"))
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{
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//cmake generated msvc files need 4 levels deep back... so make a 3rd attempt...
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if (fileLoader->loadFile("../../../../testFileOriginal.bullet"))
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///create a few basic rigid bodies and save them to testFile.bullet
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btCollisionShape* groundShape = new btBoxShape(btVector3(btScalar(50.),btScalar(50.),btScalar(50.)));
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// btCollisionShape* groundShape = new btStaticPlaneShape(btVector3(0,1,0),50);
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btCollisionObject* groundObject = 0;
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m_collisionShapes.push_back(groundShape);
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btTransform groundTransform;
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groundTransform.setIdentity();
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groundTransform.setOrigin(btVector3(0,-50,0));
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//We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
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{
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printf("loaded fine\n");
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btScalar mass(0.);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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groundShape->calculateLocalInertia(mass,localInertia);
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(groundTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,groundShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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//add the body to the dynamics world
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m_dynamicsWorld->addRigidBody(body);
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groundObject = body;
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}
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{
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//create a few dynamic rigidbodies
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// Re-using the same collision is better for memory usage and performance
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int numSpheres = 2;
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btVector3 positions[2] = {btVector3(0.1f,0.2f,0.3f),btVector3(0.4f,0.5f,0.6f)};
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btScalar radii[2] = {0.3f,0.4f};
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btMultiSphereShape* colShape = new btMultiSphereShape(positions,radii,numSpheres);
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//btCollisionShape* colShape = new btCapsuleShapeZ(SCALING*1,SCALING*1);
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//btCollisionShape* colShape = new btCylinderShapeZ(btVector3(SCALING*1,SCALING*1,SCALING*1));
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//btCollisionShape* colShape = new btBoxShape(btVector3(SCALING*1,SCALING*1,SCALING*1));
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//btCollisionShape* colShape = new btSphereShape(btScalar(1.));
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m_collisionShapes.push_back(colShape);
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/// Create Dynamic Objects
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btTransform startTransform;
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startTransform.setIdentity();
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btScalar mass(1.f);
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//rigidbody is dynamic if and only if mass is non zero, otherwise static
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bool isDynamic = (mass != 0.f);
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btVector3 localInertia(0,0,0);
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if (isDynamic)
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colShape->calculateLocalInertia(mass,localInertia);
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float start_x = START_POS_X - ARRAY_SIZE_X/2;
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float start_y = START_POS_Y;
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float start_z = START_POS_Z - ARRAY_SIZE_Z/2;
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for (int k=0;k<ARRAY_SIZE_Y;k++)
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{
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for (int i=0;i<ARRAY_SIZE_X;i++)
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{
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for(int j = 0;j<ARRAY_SIZE_Z;j++)
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{
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startTransform.setOrigin(SCALING*btVector3(
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btScalar(2.0*i + start_x),
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btScalar(20+2.0*k + start_y),
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btScalar(2.0*j + start_z)));
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//using motionstate is recommended, it provides interpolation capabilities, and only synchronizes 'active' objects
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btDefaultMotionState* myMotionState = new btDefaultMotionState(startTransform);
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btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
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btRigidBody* body = new btRigidBody(rbInfo);
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body->setActivationState(ISLAND_SLEEPING);
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m_dynamicsWorld->addRigidBody(body);
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body->setActivationState(ISLAND_SLEEPING);
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}
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}
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}
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}
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int maxSerializeBufferSize = 1024*1024*5;
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btDefaultSerializer* serializer = new btDefaultSerializer(maxSerializeBufferSize);
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static char* groundName = "GroundName";
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serializer->registerNameForPointer(groundObject, groundName);
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for (int i=0;i<m_collisionShapes.size();i++)
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{
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char* name = new char[20];
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sprintf(name,"name%d",i);
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serializer->registerNameForPointer(m_collisionShapes[i],name);
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}
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btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*(btRigidBody*)getDynamicsWorld()->getCollisionObjectArray()[2],btVector3(0,1,0));
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m_dynamicsWorld->addConstraint(p2p);
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const char* name = "constraintje";
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serializer->registerNameForPointer(p2p,name);
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m_dynamicsWorld->serialize(serializer);
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FILE* f2 = fopen("testFile.bullet","wb");
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1,f2);
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fclose(f2);
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}
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#endif //TEST_SERIALIZATION
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clientResetScene();
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}
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