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serialize btGeneric6DofSpringConstraint

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serialize btSoftBody::Joint
See also Issue 456
This commit is contained in:
erwin.coumans
2010-12-16 02:35:44 +00:00
parent b52eced793
commit dd7ee6919e
12 changed files with 617 additions and 359 deletions
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51
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -889,6 +889,48 @@ bool btBulletWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile
break;
}
case D6_SPRING_CONSTRAINT_TYPE:
{
btGeneric6DofSpringConstraintData* dofData = (btGeneric6DofSpringConstraintData*)constraintData;
btGeneric6DofSpringConstraint* dof = 0;
if (rbA && rbB)
{
btTransform rbAFrame,rbBFrame;
rbAFrame.deSerializeFloat(dofData->m_6dofData.m_rbAFrame);
rbBFrame.deSerializeFloat(dofData->m_6dofData.m_rbBFrame);
dof = createGeneric6DofSpringConstraint(*rbA,*rbB,rbAFrame,rbBFrame,dofData->m_6dofData.m_useLinearReferenceFrameA!=0);
} else
{
printf("Error in btWorldImporter::createGeneric6DofSpringConstraint: requires rbA && rbB\n");
}
if (dof)
{
btVector3 angLowerLimit,angUpperLimit, linLowerLimit,linUpperlimit;
angLowerLimit.deSerializeFloat(dofData->m_6dofData.m_angularLowerLimit);
angUpperLimit.deSerializeFloat(dofData->m_6dofData.m_angularUpperLimit);
linLowerLimit.deSerializeFloat(dofData->m_6dofData.m_linearLowerLimit);
linUpperlimit.deSerializeFloat(dofData->m_6dofData.m_linearUpperLimit);
dof->setAngularLowerLimit(angLowerLimit);
dof->setAngularUpperLimit(angUpperLimit);
dof->setLinearLowerLimit(linLowerLimit);
dof->setLinearUpperLimit(linUpperlimit);
int i;
for (i=0;i<6;i++)
{
dof->setStiffness(i,dofData->m_springStiffness[i]);
dof->setEquilibriumPoint(i,dofData->m_equilibriumPoint[i]);
dof->enableSpring(i,dofData->m_springEnabled[i]!=0);
dof->setDamping(i,dofData->m_springDamping[i]);
}
}
constraint = dof;
break;
}
case D6_CONSTRAINT_TYPE:
{
btGeneric6DofConstraintData* dofData = (btGeneric6DofConstraintData*)constraintData;
@@ -1201,6 +1243,15 @@ btGeneric6DofConstraint* btBulletWorldImporter::createGeneric6DofConstraint(btRi
m_allocatedConstraints.push_back(dof);
return dof;
}
btGeneric6DofSpringConstraint* btBulletWorldImporter::createGeneric6DofSpringConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
{
btGeneric6DofSpringConstraint* dof = new btGeneric6DofSpringConstraint(rbA,rbB,frameInA,frameInB,useLinearReferenceFrameA);
m_allocatedConstraints.push_back(dof);
return dof;
}
btSliderConstraint* btBulletWorldImporter::createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA)
{
btSliderConstraint* slider = new btSliderConstraint(rbA,rbB,frameInA,frameInB,useLinearReferenceFrameA);

2
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h
View File

@@ -43,6 +43,7 @@ class btPoint2PointConstraint;
class btHingeConstraint;
class btConeTwistConstraint;
class btGeneric6DofConstraint;
class btGeneric6DofSpringConstraint;
class btSliderConstraint;
@@ -185,6 +186,7 @@ public:
virtual btConeTwistConstraint* createConeTwistConstraint(btRigidBody& rbA,const btTransform& rbAFrame);
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 btSliderConstraint* createSliderConstraint(btRigidBody& rbA, btRigidBody& rbB, const btTransform& frameInA, const btTransform& frameInB ,bool useLinearReferenceFrameA);
virtual btSliderConstraint* createSliderConstraint(btRigidBody& rbB, const btTransform& frameInB, bool useLinearReferenceFrameA);

2
Extras/Serialize/makesdna/makesdna.cpp
View File

@@ -141,6 +141,7 @@ typedef unsigned long uintptr_t;
#include "BulletDynamics/ConstraintSolver/btHingeConstraint.h"
#include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h"
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h"
#include "BulletDynamics/ConstraintSolver/btSliderConstraint.h"
#include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -182,6 +183,7 @@ char *includefiles[] = {
"../../../src/BulletDynamics/ConstraintSolver/btHingeConstraint.h",
"../../../src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h",
"../../../src/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h",
"../../../src/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.h",
"../../../src/BulletDynamics/ConstraintSolver/btSliderConstraint.h",
"../../../src/BulletSoftBody/btSoftBodyData.h",
// empty string to indicate end of includefiles