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add starting point for btGeneric6DofSpring2ConstraintData import, not all parameters are deserialized though

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restore activation state after picking
add .bullet file import (only tested/available on Windows)
This commit is contained in:
erwincoumans
2015-05-01 16:27:09 -07:00
parent d7c7fdf517
commit d50242fc27
7 changed files with 190 additions and 18 deletions
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126
Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
View File

@@ -953,6 +953,64 @@ void btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
constraint = gear;
break;
}
case D6_SPRING_2_CONSTRAINT_TYPE:
{
btGeneric6DofSpring2ConstraintData* dofData = (btGeneric6DofSpring2ConstraintData*)constraintData;
btGeneric6DofSpring2Constraint* dof = 0;
if (rbA && rbB)
{
btTransform rbAFrame,rbBFrame;
rbAFrame.deSerializeFloat(dofData->m_rbAFrame);
rbBFrame.deSerializeFloat(dofData->m_rbBFrame);
dof = createGeneric6DofSpring2Constraint(*rbA,*rbB,rbAFrame,rbBFrame, dofData->m_rotateOrder);
} else
{
printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n");
}
if (dof)
{
btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit;
angLowerLimit.deSerializeFloat(dofData->m_angularLowerLimit);
angUpperLimit.deSerializeFloat(dofData->m_angularUpperLimit);
linLowerLimit.deSerializeFloat(dofData->m_linearLowerLimit);
linUpperlimit.deSerializeFloat(dofData->m_linearUpperLimit);
angLowerLimit.setW(0.f);
dof->setAngularLowerLimit(angLowerLimit);
dof->setAngularUpperLimit(angUpperLimit);
dof->setLinearLowerLimit(linLowerLimit);
dof->setLinearUpperLimit(linUpperlimit);
int i;
if (fileVersion>280)
{
//6-dof: 3 linear followed by 3 angular
for (i=0;i<3;i++)
{
dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i]);
dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i]);
}
for (i=0;i<3;i++)
{
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i]);
dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i]);
}
}
}
constraint = dof;
break;
}
default:
{
printf("unknown constraint type\n");
@@ -1193,6 +1251,65 @@ void btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
constraint = gear;
break;
}
case D6_SPRING_2_CONSTRAINT_TYPE:
{
btGeneric6DofSpring2ConstraintDoubleData2* dofData = (btGeneric6DofSpring2ConstraintDoubleData2*)constraintData;
btGeneric6DofSpring2Constraint* dof = 0;
if (rbA && rbB)
{
btTransform rbAFrame,rbBFrame;
rbAFrame.deSerializeDouble(dofData->m_rbAFrame);
rbBFrame.deSerializeDouble(dofData->m_rbBFrame);
dof = createGeneric6DofSpring2Constraint(*rbA,*rbB,rbAFrame,rbBFrame, dofData->m_rotateOrder);
} else
{
printf("Error in btWorldImporter::createGeneric6DofSpring2Constraint: requires rbA && rbB\n");
}
if (dof)
{
btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit;
angLowerLimit.deSerializeDouble(dofData->m_angularLowerLimit);
angUpperLimit.deSerializeDouble(dofData->m_angularUpperLimit);
linLowerLimit.deSerializeDouble(dofData->m_linearLowerLimit);
linUpperlimit.deSerializeDouble(dofData->m_linearUpperLimit);
angLowerLimit.setW(0.f);
dof->setAngularLowerLimit(angLowerLimit);
dof->setAngularUpperLimit(angUpperLimit);
dof->setLinearLowerLimit(linLowerLimit);
dof->setLinearUpperLimit(linUpperlimit);
int i;
if (fileVersion>280)
{
//6-dof: 3 linear followed by 3 angular
for (i=0;i<3;i++)
{
dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i]);
dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i]);
}
for (i=0;i<3;i++)
{
dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i]);
dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i]);
}
}
}
constraint = dof;
break;
}
default:
{
printf("unknown constraint type\n");
@@ -1711,6 +1828,15 @@ btGeneric6DofConstraint* btWorldImporter::createGeneric6DofConstraint(btRigidBod
return dof;
}
btGeneric6DofSpring2Constraint* btWorldImporter::createGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, int rotateOrder)
{
btGeneric6DofSpring2Constraint* dof = new btGeneric6DofSpring2Constraint(rbA,rbB,frameInA,frameInB, (RotateOrder)rotateOrder);
m_allocatedConstraints.push_back(dof);
return dof;
}
btGeneric6DofSpringConstraint* btWorldImporter::createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
{
btGeneric6DofSpringConstraint* dof = new btGeneric6DofSpringConstraint(rbA,rbB,frameInA,frameInB,useLinearReferenceFrameA);

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

@@ -42,6 +42,7 @@ class btHingeConstraint;
class btConeTwistConstraint;
class btGeneric6DofConstraint;
class btGeneric6DofSpringConstraint;
class btGeneric6DofSpring2Constraint;
class btSliderConstraint;
class btGearConstraint;
struct btContactSolverInfo;
@@ -199,6 +200,8 @@ public:
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btGeneric6DofConstraint* createGeneric6DofConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameB);
virtual btGeneric6DofSpringConstraint* createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btGeneric6DofSpring2Constraint* createGeneric6DofSpring2Constraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB, int rotateOrder );
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);