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Update btOpenCLUtils to allow caching of precompiled program binaries (save/load). See Bullet/Demos/SerializeDemo/AMD for an example use

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Fix in btBulletWorldImporter: load friction/restitution and patch radius of btCapsuleShape (it needs to embed the margin)
Partly apply a modified patch to make the SerializeDemo_AMD work, but avoid breaking the MiniCL version. See Issue 594
This commit is contained in:
erwin.coumans
2012-03-04 22:12:12 +00:00
parent 9c6a790e4b
commit 9bc3b5eb10
14 changed files with 422 additions and 180 deletions
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36
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
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@@ -1,3 +1,18 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2010 Erwin Coumans http://continuousphysics.com/Bullet/
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#include "btBulletWorldImporter.h"
#include "../BulletFileLoader/btBulletFile.h"
@@ -454,23 +469,24 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
{
case 0:
{
shape = createCapsuleShapeX(implicitShapeDimensions.getY(),2*implicitShapeDimensions.getX());
shape = createCapsuleShapeX(implicitShapeDimensions.getY()+bsd->m_collisionMargin*2,2*implicitShapeDimensions.getX());
break;
}
case 1:
{
shape = createCapsuleShapeY(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getY());
shape = createCapsuleShapeY(implicitShapeDimensions.getX()+bsd->m_collisionMargin*2,2*implicitShapeDimensions.getY());
break;
}
case 2:
{
shape = createCapsuleShapeZ(implicitShapeDimensions.getX(),2*implicitShapeDimensions.getZ());
shape = createCapsuleShapeZ(implicitShapeDimensions.getX()+bsd->m_collisionMargin*2,2*implicitShapeDimensions.getZ());
break;
}
default:
{
printf("error: wrong up axis for btCapsuleShape\n");
}
bsd->m_collisionMargin = 0.f;
};
@@ -567,7 +583,7 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
if (shape)
{
shape->setMargin(bsd->m_collisionMargin);
//shape->setMargin(bsd->m_collisionMargin);
btVector3 localScaling;
localScaling.deSerializeFloat(bsd->m_localScaling);
shape->setLocalScaling(localScaling);
@@ -654,7 +670,9 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
compoundShape->addChildShape(localTransform,childShape);
} else
{
#ifdef _DEBUG
printf("error: couldn't create childShape for compoundShape\n");
#endif
}
}
@@ -668,7 +686,9 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
}
default:
{
#ifdef _DEBUG
printf("unsupported shape type (%d)\n",shapeData->m_shapeType);
#endif
}
}
@@ -827,6 +847,10 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
}
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)
{
@@ -857,7 +881,9 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
startTransform.deSerializeDouble(colObjData->m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
btCollisionObject* body = createCollisionObject(startTransform,shape,colObjData->m_name);
body->setFriction(colObjData->m_friction);
body->setRestitution(colObjData->m_restitution);
#ifdef USE_INTERNAL_EDGE_UTILITY
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{

4
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
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@@ -55,6 +55,10 @@ namespace bParse
};
///The btBulletWorldImporter is a starting point to import .bullet files.
///note that not all data is converted yet. You are expected to override or modify this class.
///See Bullet/Demos/SerializeDemo for a derived class that extract btSoftBody objects too.
class btBulletWorldImporter
{
protected: