Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add serialization for btGearConstraint

Browse Source 
support 'linearFactor' and 'angularFactor' for btRigidBody world importer
This commit is contained in:
erwin.coumans
2013-09-14 17:51:09 +00:00
parent 6fd4738a9e
commit c28652de37
6 changed files with 783 additions and 623 deletions
Download Patch File Download Diff File Expand all files Collapse all files

57
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
View File

@@ -927,7 +927,25 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
constraint = slider;
break;
}
case GEAR_CONSTRAINT_TYPE:
{
btGearConstraintFloatData* gearData = (btGearConstraintFloatData*) constraintData;
btGearConstraint* gear = 0;
if (rbA&&rbB)
{
btVector3 axisInA,axisInB;
axisInA.deSerializeFloat(gearData->m_axisInA);
axisInB.deSerializeFloat(gearData->m_axisInB);
gear = createGearConstraint(*rbA, *rbB, axisInA,axisInB, gearData->m_ratio);
} else
{
btAssert(0);
//perhaps a gear against a 'fixed' body, while the 'fixed' body is not serialized?
//btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f);
}
constraint = gear;
break;
}
default:
{
printf("unknown constraint type\n");
@@ -1149,7 +1167,25 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
constraint = slider;
break;
}
case GEAR_CONSTRAINT_TYPE:
{
btGearConstraintDoubleData* gearData = (btGearConstraintDoubleData*) constraintData;
btGearConstraint* gear = 0;
if (rbA&&rbB)
{
btVector3 axisInA,axisInB;
axisInA.deSerializeDouble(gearData->m_axisInA);
axisInB.deSerializeDouble(gearData->m_axisInB);
gear = createGearConstraint(*rbA, *rbB, axisInA,axisInB, gearData->m_ratio);
} else
{
btAssert(0);
//perhaps a gear against a 'fixed' body, while the 'fixed' body is not serialized?
//btGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio=1.f);
}
constraint = gear;
break;
}
default:
{
printf("unknown constraint type\n");
@@ -1690,6 +1726,12 @@ btSliderConstraint* btWorldImporter::createSliderConstraint(btRigidBody& rbB, co
return slider;
}
btGearConstraint* btWorldImporter::createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio)
{
btGearConstraint* gear = new btGearConstraint(rbA,rbB,axisInA,axisInB,ratio);
m_allocatedConstraints.push_back(gear);
return gear;
}
// query for data
int btWorldImporter::getNumCollisionShapes() const
@@ -1806,7 +1848,11 @@ void btWorldImporter::convertRigidBodyFloat( btRigidBodyFloatData* colObjData)
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);
btVector3 linearFactor,angularFactor;
linearFactor.deSerializeFloat(colObjData->m_linearFactor);
angularFactor.deSerializeFloat(colObjData->m_angularFactor);
body->setLinearFactor(linearFactor);
body->setAngularFactor(angularFactor);
#ifdef USE_INTERNAL_EDGE_UTILITY
if (shape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
@@ -1851,6 +1897,11 @@ void btWorldImporter::convertRigidBodyDouble( btRigidBodyDoubleData* colObjData)
btRigidBody* body = createRigidBody(isDynamic,mass,startTransform,shape,colObjData->m_collisionObjectData.m_name);
body->setFriction(btScalar(colObjData->m_collisionObjectData.m_friction));
body->setRestitution(btScalar(colObjData->m_collisionObjectData.m_restitution));
btVector3 linearFactor,angularFactor;
linearFactor.deSerializeDouble(colObjData->m_linearFactor);
angularFactor.deSerializeDouble(colObjData->m_angularFactor);
body->setLinearFactor(linearFactor);
body->setAngularFactor(angularFactor);
#ifdef USE_INTERNAL_EDGE_UTILITY

3
Extras/Serialize/BulletWorldImporter/btWorldImporter.h
View File

@@ -43,6 +43,7 @@ class btConeTwistConstraint;
class btGeneric6DofConstraint;
class btGeneric6DofSpringConstraint;
class btSliderConstraint;
class btGearConstraint;
struct btContactSolverInfo;
struct btTypedConstraintData;
struct btTypedConstraintFloatData;
@@ -200,6 +201,8 @@ public:
virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);
virtual btGearConstraint* createGearConstraint(btRigidBody& rbA, btRigidBody& rbB, const btVector3& axisInA,const btVector3& axisInB, btScalar ratio);