add serialization for btGearConstraint

support 'linearFactor' and 'angularFactor' for btRigidBody world importer

Extras/Serialize/BulletFileLoader/autogenerated/bullet.h

@@ -87,6 +87,8 @@ typedef struct bInvalidHandle {
     class btGeneric6DofSpringConstraintDoubleData2;
     class btSliderConstraintData;
     class btSliderConstraintDoubleData;
+    class btGearConstraintFloatData;
+    class btGearConstraintDoubleData;
     class btContactSolverInfoDoubleData;
     class btContactSolverInfoFloatData;
     class SoftBodyMaterialData;
@@ -933,6 +935,29 @@ typedef struct bInvalidHandle {
     };
 
 
+// -------------------------------------------------- //
+    class btGearConstraintFloatData
+    {
+    public:
+        btTypedConstraintFloatData m_typeConstraintData;
+        btVector3FloatData m_axisInA;
+        btVector3FloatData m_axisInB;
+        float m_ratio;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btGearConstraintDoubleData
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btVector3DoubleData m_axisInA;
+        btVector3DoubleData m_axisInB;
+        double m_ratio;
+    };
+
+
 // -------------------------------------------------- //
     class btContactSolverInfoDoubleData
     {

Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp

@@ -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

Extras/Serialize/BulletWorldImporter/btWorldImporter.h

@@ -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);
+	
 
 
 

Extras/Serialize/makesdna/makesdna.cpp

@@ -145,6 +145,7 @@ typedef unsigned long uintptr_t;
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
+#include "BulletDynamics/ConstraintSolver/btGearConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
 #include "BulletDynamics/Dynamics/btDynamicsWorld.h"
 
@@ -192,6 +193,7 @@ char *includefiles[] = {
 	"../../../src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btSliderConstraint.h",
+	"../../../src/BulletDynamics/ConstraintSolver/btGearConstraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h",
 	"../../../src/BulletSoftBody/btSoftBodyData.h",	
 	// empty string to indicate end of includefiles

src/BulletDynamics/ConstraintSolver/btGearConstraint.h

@@ -19,6 +19,18 @@ subject to the following restrictions:
 #define BT_GEAR_CONSTRAINT_H
 
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+
+
+#ifdef BT_USE_DOUBLE_PRECISION
+#define btGearConstraintData	btGearConstraintDoubleData
+#define btGearConstraintDataName	"btGearConstraintDoubleData"
+#else
+#define btGearConstraintData	btGearConstraintFloatData
+#define btGearConstraintDataName	"btGearConstraintFloatData"
+#endif //BT_USE_DOUBLE_PRECISION
+
+
+
 ///The btGeatConstraint will couple the angular velocity for two bodies around given local axis and ratio.
 ///See Bullet/Demos/ConstraintDemo for an example use.
 class btGearConstraint : public btTypedConstraint
@@ -82,6 +94,59 @@ public:
 		return 0.f;
 	}
 
+	virtual	int	calculateSerializeBufferSize() const;
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+	virtual	const char*	serialize(void* dataBuffer, btSerializer* serializer) const;
 };
 
+
+
+
+///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
+struct btGearConstraintFloatData
+{
+	btTypedConstraintFloatData	m_typeConstraintData;
+
+	btVector3FloatData			m_axisInA;
+	btVector3FloatData			m_axisInB;
+
+	float							m_ratio;
+	char							m_padding[4];
+};
+
+struct btGearConstraintDoubleData
+{
+	btTypedConstraintDoubleData	m_typeConstraintData;
+
+	btVector3DoubleData			m_axisInA;
+	btVector3DoubleData			m_axisInB;
+
+	double						m_ratio;
+};
+
+SIMD_FORCE_INLINE	int	btGearConstraint::calculateSerializeBufferSize() const
+{
+	return sizeof(btGearConstraintData);
+}
+
+	///fills the dataBuffer and returns the struct name (and 0 on failure)
+SIMD_FORCE_INLINE	const char*	btGearConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+	btGearConstraintData* gear = (btGearConstraintData*)dataBuffer;
+	btTypedConstraint::serialize(&gear->m_typeConstraintData,serializer);
+
+	m_axisInA.serialize( gear->m_axisInA );
+	m_axisInB.serialize( gear->m_axisInB );
+
+	gear->m_ratio = m_ratio;
+
+	return btGearConstraintDataName;
+}
+
+
+
+
+
+
 #endif //BT_GEAR_CONSTRAINT_H