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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);

17
examples/CommonInterfaces/CommonRigidBodyBase.h
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@@ -25,6 +25,7 @@ struct CommonRigidBodyBase : public CommonExampleInterface
//data for picking objects
class btRigidBody* m_pickedBody;
class btTypedConstraint* m_pickedConstraint;
int m_savedState;
btVector3 m_oldPickingPos;
btVector3 m_hitPos;
btScalar m_oldPickingDist;
@@ -156,6 +157,19 @@ struct CommonRigidBodyBase : public CommonExampleInterface
virtual bool keyboardCallback(int key, int state)
{
if ((key==B3G_F3) && state && m_dynamicsWorld)
{
btDefaultSerializer* serializer = new btDefaultSerializer();
m_dynamicsWorld->serialize(serializer);
FILE* file = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
fclose(file);
//b3Printf("btDefaultSerializer wrote testFile.bullet");
delete serializer;
return true;
}
return false;//don't handle this key
}
@@ -329,6 +343,7 @@ struct CommonRigidBodyBase : public CommonExampleInterface
if (!(body->isStaticObject() || body->isKinematicObject()))
{
m_pickedBody = body;
m_savedState = m_pickedBody->getActivationState();
m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
@@ -378,6 +393,8 @@ struct CommonRigidBodyBase : public CommonExampleInterface
{
if (m_pickedConstraint)
{
m_pickedBody->forceActivationState(m_savedState);
m_pickedBody->activate();
m_dynamicsWorld->removeConstraint(m_pickedConstraint);
delete m_pickedConstraint;
m_pickedConstraint = 0;

21
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -33,9 +33,12 @@
#include "../OpenGLWindow/SimpleOpenGL2Renderer.h"
#include "ExampleEntries.h"
#include "OpenGLGuiHelper.h"
#include "Bullet3Common/b3FileUtils.h"
#include "LinearMath/btIDebugDraw.h"
//quick test for file import, @todo(erwincoumans) make it more general and add other file formats
#include "../Importers/ImportURDFDemo/ImportURDFSetup.h"
#include "../Importers/ImportBullet/SerializeSetup.h"
static CommonGraphicsApp* s_app=0;
@@ -191,7 +194,7 @@ static void MyMouseButtonCallback(int button, int state, float x, float y)
#include <string.h>
void openURDFDemo(const char* filename)
void openFileDemo(const char* filename)
{
if (sCurrentDemo)
@@ -211,7 +214,21 @@ void openURDFDemo(const char* filename)
CommonExampleOptions options(s_guiHelper,0);
options.m_fileName = filename;
char fullPath[1024];
int fileType = 0;
sprintf(fullPath, "%s", filename);
b3FileUtils::toLower(fullPath);
if (strstr(fullPath, ".urdf"))
{
sCurrentDemo = ImportURDFCreateFunc(options);
} else
{
if (strstr(fullPath, ".bullet"))
{
sCurrentDemo = SerializeBulletCreateFunc(options);
}
}
//physicsSetup->setFileName(filename);
@@ -471,7 +488,7 @@ void fileOpenCallback()
{
//todo(erwincoumans) check if it is actually URDF
//printf("file open:%s\n", filename);
openURDFDemo(filename);
openFileDemo(filename);
}
}

30
examples/Importers/ImportBullet/SerializeSetup.cpp
View File

@@ -6,13 +6,19 @@
class SerializeSetup : public CommonRigidBodyBase
{
char m_fileName[1024];
public:
SerializeSetup(struct GUIHelperInterface* helper);
SerializeSetup(struct GUIHelperInterface* helper, const char* fileName);
virtual ~SerializeSetup();
virtual void initPhysics();
virtual void stepSimulation(float deltaTime);
virtual void setFileName(const char* fileName)
{
memcpy(m_fileName,fileName,strlen(fileName)+1);
}
virtual void resetCamera()
{
float dist = 9.5;
@@ -25,10 +31,16 @@ public:
};
SerializeSetup::SerializeSetup(struct GUIHelperInterface* helper)
SerializeSetup::SerializeSetup(struct GUIHelperInterface* helper, const char* fileName)
:CommonRigidBodyBase(helper)
{
if (fileName)
{
setFileName(fileName);
} else
{
setFileName("spider.bullet");
}
}
SerializeSetup::~SerializeSetup()
{
@@ -41,9 +53,9 @@ void SerializeSetup::initPhysics()
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
btBulletWorldImporter* importer = new btBulletWorldImporter(m_dynamicsWorld);
const char* someFileName="spider.bullet";
const char* prefix[]={"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
const char* prefix[]={"","./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numPrefixes = sizeof(prefix)/sizeof(const char*);
char relativeFileName[1024];
FILE* f=0;
@@ -52,7 +64,7 @@ void SerializeSetup::initPhysics()
for (int i=0;!f && i<numPrefixes;i++)
{
sprintf(relativeFileName,"%s%s",prefix[i],someFileName);
sprintf(relativeFileName,"%s%s",prefix[i],m_fileName);
f = fopen(relativeFileName,"rb");
if (f)
{
@@ -84,7 +96,7 @@ void SerializeSetup::initPhysics()
btDefaultSerializer* serializer = new btDefaultSerializer();
m_dynamicsWorld->serialize(serializer);
FILE* file = fopen("testFile.bullet","wb");
FILE* file = fopen("SerializeSetupTestFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
fclose(file);
@@ -101,5 +113,5 @@ void SerializeSetup::stepSimulation(float deltaTime)
class CommonExampleInterface* SerializeBulletCreateFunc(struct CommonExampleOptions& options)
{
return new SerializeSetup(options.m_guiHelper);
return new SerializeSetup(options.m_guiHelper, options.m_fileName);
}

4
examples/OpenGLWindow/Win32OpenGLWindow.cpp
View File

@@ -157,13 +157,13 @@ int Win32OpenGLWindow::fileOpenDialog(char* fileName, int maxFileNameLength)
ofn.lpstrFile = bla;
ofn.lpstrFile[0] = '\0';
ofn.nMaxFile = 1023;
ofn.lpstrFilter = L"URDF\0*.urdf\0";
ofn.lpstrFilter = L"All Files\0*.*\0URDF\0*.urdf\0.bullet\0*.bullet\0";
#else
ofn.lpstrFile = fileName;
ofn.lpstrFile[0] = '\0';
ofn.nMaxFile = 1023;
//ofn.lpstrFilter = "All\0*.*\0Text\0*.TXT\0";
ofn.lpstrFilter = "URDF\0*.urdf\0";
ofn.lpstrFilter = "All Files\0*.*\0URDF\0*.urdf\0.bullet\0*.bullet\0";
#endif

5
examples/OpenGLWindow/Win32Window.cpp
View File

@@ -64,10 +64,7 @@ int getAsciiCodeFromVirtualKeycode(int virtualKeyCode)
{
return virtualKeyCode;
}
if (virtualKeyCode >= 'a' && virtualKeyCode <= 'z')
{
return virtualKeyCode;
}
if (virtualKeyCode >= 'A' && virtualKeyCode <= 'Z')
{
return virtualKeyCode+32;//todo: fix the ascii A vs a input