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make Bullet compile on Visual Studio 6

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This commit is contained in:
erwin.coumans
2010-01-30 23:10:12 +00:00
parent 788f48643b
commit e57f03599a
12 changed files with 515 additions and 481 deletions
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2
CMakeLists.txt
View File

@@ -36,7 +36,7 @@ ADD_DEFINITIONS( -DUSE_GRAPHICAL_BENCHMARK)
ENDIF (USE_GRAPHICAL_BENCHMARK)
IF (WIN32)
OPTION(USE_GLUT "Use Glut" OFF)
OPTION(USE_GLUT "Use Glut" ON)
ADD_DEFINITIONS( -D_IRR_STATIC_LIB_ )
ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
ADD_DEFINITIONS( -D_CRT_SECURE_NO_DEPRECATE )

2
Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
View File

@@ -254,7 +254,7 @@ void CollisionInterfaceDemo::clientResetScene()
{
objects[0].getWorldTransform().setOrigin(btVector3(0.0f,3.f,0.f));
btQuaternion rotA(0.739,-0.204,0.587,0.257);
btQuaternion rotA(0.739f,-0.204f,0.587f,0.257f);
rotA.normalize();
objects[0].getWorldTransform().setRotation(rotA);

8
Demos/GenericJointDemo/Ragdoll.cpp
View File

@@ -97,9 +97,9 @@ btScalar(0.)));
// Setup some damping on the m_bodies
for (int i = 0; i < BODYPART_COUNT; ++i)
{
m_bodies[i]->setDamping(0.05, 0.85);
m_bodies[i]->setDeactivationTime(0.8);
m_bodies[i]->setSleepingThresholds(1.6, 2.5);
m_bodies[i]->setDamping(0.05f, 0.85f);
m_bodies[i]->setDeactivationTime(0.8f);
m_bodies[i]->setSleepingThresholds(1.6f, 2.5f);
}
///////////////////////////// SETTING THE CONSTRAINTS /////////////////////////////////////////////7777
@@ -191,7 +191,7 @@ btScalar(0.)));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_EPSILON,SIMD_EPSILON,SIMD_EPSILON));
#else
joint6DOF->setAngularLowerLimit(btVector3(-SIMD_EPSILON,-SIMD_EPSILON,-SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7,SIMD_EPSILON,SIMD_EPSILON));
joint6DOF->setAngularUpperLimit(btVector3(SIMD_PI*0.7f,SIMD_EPSILON,SIMD_EPSILON));
#endif
m_joints[JOINT_LEFT_ELBOW] = joint6DOF;
m_ownerWorld->addConstraint(m_joints[JOINT_LEFT_ELBOW], true);

6
Demos/OpenGL/GL_DialogDynamicsWorld.cpp
View File

@@ -110,7 +110,9 @@ void GL_DialogDynamicsWorld::setScreenSize(int width, int height)
{
for (int i=0;i<m_dynamicsWorld->getCollisionObjectArray().size();i++)
int i;
for ( i=0;i<m_dynamicsWorld->getCollisionObjectArray().size();i++)
{
btCollisionObject* colObj = m_dynamicsWorld->getCollisionObjectArray()[i];
btRigidBody* body = btRigidBody::upcast(colObj);
@@ -129,7 +131,7 @@ void GL_DialogDynamicsWorld::setScreenSize(int width, int height)
}
}
for (int i=0;i<m_dialogs.size();i++)
for ( i=0;i<m_dialogs.size();i++)
{
m_dialogs[i]->setScreenSize(width,height);
}

20
Demos/SoftDemo/CMakeLists.txt
View File

@@ -10,6 +10,7 @@
# You shouldn't have to modify anything below this line
########################################################
IF (USE_GLUT)
INCLUDE_DIRECTORIES(
@@ -25,3 +26,22 @@ ADD_EXECUTABLE(AppSoftBodyDemo
SoftDemo.cpp
)
IF (WIN32)
IF (CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppSoftBodyDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/glut64.dll ${CMAKE_CURRENT_BINARY_DIR}
)
ELSE(CMAKE_CL_64)
ADD_CUSTOM_COMMAND(
TARGET AppSoftBodyDemo
POST_BUILD
COMMAND ${CMAKE_COMMAND} ARGS -E copy_if_different ${BULLET_PHYSICS_SOURCE_DIR}/GLUT32.DLL ${CMAKE_CURRENT_BINARY_DIR}
)
ENDIF(CMAKE_CL_64)
ENDIF(WIN32)
ELSE(USE_GLUT)
ENDIF (USE_GLUT)

4
Demos/SoftDemo/SoftDemo.cpp
View File

@@ -218,7 +218,7 @@ void SoftDemo::clientMoveAndDisplay()
#endif //PRINT_CONTACT_STATISTICS
glutSwapBuffers();
swapBuffers();
}
@@ -232,7 +232,7 @@ void SoftDemo::displayCallback(void) {
renderme();
glFlush();
glutSwapBuffers();
swapBuffers();
}

8
Demos/SoftDemo/SoftDemo.h
View File

@@ -19,7 +19,13 @@ subject to the following restrictions:
#ifndef SOFT_DEMO_H
#define SOFT_DEMO_H
#ifdef _WINDOWS
#include "Win32DemoApplication.h"
#define PlatformDemoApplication Win32DemoApplication
#else
#include "GlutDemoApplication.h"
#define PlatformDemoApplication GlutDemoApplication
#endif
#include "LinearMath/btAlignedObjectArray.h"
#include "BulletSoftBody/btSoftBody.h"
@@ -41,7 +47,7 @@ class btSoftRigidDynamicsWorld;
///CcdPhysicsDemo shows basic stacking using Bullet physics, and allows toggle of Ccd (using key '1')
class SoftDemo : public GlutDemoApplication
class SoftDemo : public PlatformDemoApplication
{
public:

18
Extras/Serialize/BulletFileLoader/bDNA.cpp
View File

@@ -177,7 +177,8 @@ void bDNA::initCmpFlags(bDNA *memDNA)
for (int i=0; i<(int)mStructs.size(); i++)
int i;
for ( i=0; i<(int)mStructs.size(); i++)
{
short *oldStruct = mStructs[i];
@@ -258,7 +259,7 @@ void bDNA::initCmpFlags(bDNA *memDNA)
// recurse in
for (int i=0; i<(int)mStructs.size(); i++)
for ( i=0; i<(int)mStructs.size(); i++)
{
if (mCMPFlags[i] == FDF_STRUCT_NEQU)
initRecurseCmpFlags(i);
@@ -368,7 +369,8 @@ void bDNA::init(char *data, int len, bool swap)
intPtr++;
cp = (char*)intPtr;
for (int i=0; i<dataLen; i++)
int i;
for ( i=0; i<dataLen; i++)
{
bNameInfo info;
info.m_name = cp;
@@ -406,7 +408,7 @@ void bDNA::init(char *data, int len, bool swap)
intPtr++;
cp = (char*)intPtr;
for (int i=0; i<dataLen; i++)
for ( i=0; i<dataLen; i++)
{
mTypes.push_back(cp);
while (*cp)cp++;
@@ -437,7 +439,7 @@ void bDNA::init(char *data, int len, bool swap)
dataLen = (int)mTypes.size();
shtPtr = (short*)intPtr;
for (int i=0; i<dataLen; i++, shtPtr++)
for ( i=0; i<dataLen; i++, shtPtr++)
{
if (swap)
shtPtr[0] = ChunkUtils::swapShort(shtPtr[0]);
@@ -467,7 +469,7 @@ void bDNA::init(char *data, int len, bool swap)
shtPtr = (short*)intPtr;
for (int i=0; i<dataLen; i++)
for ( i=0; i<dataLen; i++)
{
mStructs.push_back (shtPtr);
if (swap)
@@ -490,7 +492,7 @@ void bDNA::init(char *data, int len, bool swap)
// build reverse lookups
for (int i=0; i<(int)mStructs.size(); i++)
for ( i=0; i<(int)mStructs.size(); i++)
{
short *strc = mStructs.at(i);
if (!mPtrLen && strcmp(mTypes[strc[0]],"ListBase")==0)
@@ -539,7 +541,7 @@ void bDNA::dumpTypeDefinitions()
}
for (int i=0; i<(int)mStructs.size(); i++)
for ( i=0; i<(int)mStructs.size(); i++)
{
int totalBytes=0;
short *oldStruct = mStructs[i];

10
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@@ -855,14 +855,15 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
dbPtr = &dbarray[0];
if (dbPtr)
{
int i;
getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr);
for (int i=0;i<recursion;i++)
for (i=0;i<recursion;i++)
printf(" ");
if (arrayLen==1)
printf("<%s type=\"%s\">",memName,memType);
else
printf("<%s type=\"%s\" count=%d>",memName,memType,arrayLen);
for (int i=0;i<arrayLen;i++)
for (i=0;i<arrayLen;i++)
printf(" %d ",dbPtr[i]);
printf("</%s>\n",memName);
}
@@ -875,14 +876,15 @@ void bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, bool verbo
dbPtr = &dbarray[0];
if (dbPtr)
{
int i;
getElement(arrayLen, newtype,memType, tmp, (char*)dbPtr);
for (int i=0;i<recursion;i++)
for (i=0;i<recursion;i++)
printf(" ");
if (arrayLen==1)
printf("<%s type=\"%s\">",memName,memType);
else
printf("<%s type=\"%s\" count=%d>",memName,memType,arrayLen);
for (int i=0;i<arrayLen;i++)
for (i=0;i<arrayLen;i++)
printf(" %f ",dbPtr[i]);
printf("</%s>\n",memName);
}

8
Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
View File

@@ -216,7 +216,8 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
btAlignedObjectArray<btScalar> radii;
radii.resize(numSpheres);
tmpPos.resize(numSpheres);
for (int i=0;i<numSpheres;i++)
int i;
for ( i=0;i<numSpheres;i++)
{
tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
@@ -234,7 +235,8 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
btAlignedObjectArray<btVector3> tmpPoints;
tmpPoints.resize(numPoints);
for (int i=0;i<numPoints;i++)
int i;
for ( i=0;i<numPoints;i++)
{
#ifdef BT_USE_DOUBLE_PRECISION
if (convexData->m_unscaledPointsDoublePtr)
@@ -249,7 +251,7 @@ btCollisionShape* btBulletWorldImporter::convertCollisionShape( btCollisionShap
#endif //BT_USE_DOUBLE_PRECISION
}
btConvexHullShape* hullShape = createConvexHullShape();
for (int i=0;i<numPoints;i++)
for (i=0;i<numPoints;i++)
{
hullShape->addPoint(tmpPoints[i]);
}

6
src/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.cpp
View File

@@ -135,14 +135,13 @@ static int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
static btScalar EdgeSeparation(const btBox2dShape* poly1, const btTransform& xf1, int edge1,
const btBox2dShape* poly2, const btTransform& xf2)
{
//int count1 = poly1->getVertexCount();
const btVector3* vertices1 = poly1->getVertices();
const btVector3* normals1 = poly1->getNormals();
int count2 = poly2->getVertexCount();
const btVector3* vertices2 = poly2->getVertices();
btAssert(0 <= edge1 && edge1 < count1);
btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
// Convert normal from poly1's frame into poly2's frame.
btVector3 normal1World = b2Mul(xf1.getBasis(), normals1[edge1]);
@@ -271,14 +270,13 @@ static void FindIncidentEdge(ClipVertex c[2],
const btBox2dShape* poly1, const btTransform& xf1, int edge1,
const btBox2dShape* poly2, const btTransform& xf2)
{
//int count1 = poly1->getVertexCount();
const btVector3* normals1 = poly1->getNormals();
int count2 = poly2->getVertexCount();
const btVector3* vertices2 = poly2->getVertices();
const btVector3* normals2 = poly2->getNormals();
btAssert(0 <= edge1 && edge1 < count1);
btAssert(0 <= edge1 && edge1 < poly1->getVertexCount());
// Get the normal of the reference edge in poly2's frame.
btVector3 normal1 = b2MulT(xf2.getBasis(), b2Mul(xf1.getBasis(), normals1[edge1]));

904
src/LinearMath/btSerializer.h
View File

@@ -1,451 +1,453 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_SERIALIZER_H
#define BT_SERIALIZER_H
#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
#include "btStackAlloc.h"
#include "btHashMap.h"
#include <memory.h>
#include <string.h>
///only the 32bit versions for now
extern unsigned char sBulletDNAstr[];
extern int sBulletDNAlen;
extern unsigned char sBulletDNAstr64[];
extern int sBulletDNAlen64;
class btChunk
{
public:
int m_chunkCode;
int m_length;
void *m_oldPtr;
int m_dna_nr;
int m_number;
};
class btSerializer
{
public:
virtual const unsigned char* getBufferPointer() const = 0;
virtual int getCurrentBufferSize() const = 0;
virtual btChunk* allocate(size_t size, int numElements) = 0;
virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0;
virtual void* findPointer(void* oldPtr) = 0;
virtual void startSerialization() = 0;
virtual void finishSerialization() = 0;
};
#define BT_HEADER_LENGTH 12
#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
# define MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
#else
# define MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
#endif
#define BT_COLLISIONOBJECT_CODE MAKE_ID('C','O','B','J')
#define BT_RIGIDBODY_CODE MAKE_ID('R','B','D','Y')
#define BT_CONSTRAINT_CODE MAKE_ID('C','O','N','S')
#define BT_BOXSHAPE_CODE MAKE_ID('B','O','X','S')
#define BT_SHAPE_CODE MAKE_ID('S','H','A','P')
#define BT_ARRAY_CODE MAKE_ID('A','R','A','Y')
class btDefaultSerializer : public btSerializer
{
btAlignedObjectArray<char*> mTypes;
btAlignedObjectArray<short*> mStructs;
btAlignedObjectArray<short> mTlens;
btHashMap<btHashInt, int> mStructReverse;
btHashMap<btHashString,int> mTypeLookup;
btHashMap<btHashPtr,void*> m_chunkP;
int m_totalSize;
unsigned char* m_buffer;
int m_currentSize;
btAlignedObjectArray<btChunk*> m_chunkPtrs;
protected:
virtual void* findPointer(void* oldPtr)
{
void** ptr = m_chunkP.find(oldPtr);
if (ptr && *ptr)
return *ptr;
return 0;
}
void writeDNA()
{
unsigned char* dnaTarget = m_buffer+m_currentSize;
memcpy(dnaTarget,m_dna,m_dnaLength);
m_currentSize += m_dnaLength;
}
int getReverseType(const char *type) const
{
btHashString key(type);
const int* valuePtr = mTypeLookup.find(key);
if (valuePtr)
return *valuePtr;
return -1;
}
void initDNA(const char* bdnaOrg,int dnalen)
{
///was already initialized
if (m_dna)
return;
int littleEndian= 1;
littleEndian= ((char*)&littleEndian)[0];
m_dna = btAlignedAlloc(dnalen,16);
memcpy(m_dna,bdnaOrg,dnalen);
m_dnaLength = dnalen;
int *intPtr=0;
short *shtPtr=0;
char *cp = 0;int dataLen =0;long nr=0;
intPtr = (int*)m_dna;
/*
SDNA (4 bytes) (magic number)
NAME (4 bytes)
<nr> (4 bytes) amount of names (int)
<string>
<string>
*/
if (strncmp((const char*)m_dna, "SDNA", 4)==0)
{
// skip ++ NAME
intPtr++; intPtr++;
}
// Parse names
if (!littleEndian)
*intPtr = btSwapEndian(*intPtr);
dataLen = *intPtr;
intPtr++;
cp = (char*)intPtr;
for (int i=0; i<dataLen; i++)
{
while (*cp)cp++;
cp++;
}
{
nr= (long)cp;
// long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
/*
TYPE (4 bytes)
<nr> amount of types (int)
<string>
<string>
*/
intPtr = (int*)cp;
assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
if (!littleEndian)
*intPtr = btSwapEndian(*intPtr);
dataLen = *intPtr;
intPtr++;
cp = (char*)intPtr;
for (int i=0; i<dataLen; i++)
{
mTypes.push_back(cp);
while (*cp)cp++;
cp++;
}
{
nr= (long)cp;
// long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
/*
TLEN (4 bytes)
<len> (short) the lengths of types
<len>
*/
// Parse type lens
intPtr = (int*)cp;
assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
dataLen = (int)mTypes.size();
shtPtr = (short*)intPtr;
for (int i=0; i<dataLen; i++, shtPtr++)
{
if (!littleEndian)
shtPtr[0] = btSwapEndian(shtPtr[0]);
mTlens.push_back(shtPtr[0]);
}
if (dataLen & 1) shtPtr++;
/*
STRC (4 bytes)
<nr> amount of structs (int)
<typenr>
<nr_of_elems>
<typenr>
<namenr>
<typenr>
<namenr>
*/
intPtr = (int*)shtPtr;
cp = (char*)intPtr;
assert(strncmp(cp, "STRC", 4)==0); intPtr++;
if (!littleEndian)
*intPtr = btSwapEndian(*intPtr);
dataLen = *intPtr ;
intPtr++;
shtPtr = (short*)intPtr;
for (int i=0; i<dataLen; i++)
{
mStructs.push_back (shtPtr);
if (!littleEndian)
{
shtPtr[0]= btSwapEndian(shtPtr[0]);
shtPtr[1]= btSwapEndian(shtPtr[1]);
int len = shtPtr[1];
shtPtr+= 2;
for (int a=0; a<len; a++, shtPtr+=2)
{
shtPtr[0]= btSwapEndian(shtPtr[0]);
shtPtr[1]= btSwapEndian(shtPtr[1]);
}
} else
{
shtPtr+= (2*shtPtr[1])+2;
}
}
// build reverse lookups
for (int i=0; i<(int)mStructs.size(); i++)
{
short *strc = mStructs.at(i);
mStructReverse.insert(strc[0], i);
mTypeLookup.insert(btHashString(mTypes[strc[0]]),i);
}
}
public:
void* m_dna;
int m_dnaLength;
btDefaultSerializer(int totalSize)
:m_totalSize(totalSize),
m_currentSize(0),
m_dna(0),
m_dnaLength(0)
{
m_buffer = (unsigned char*)btAlignedAlloc(totalSize, 16);
const bool VOID_IS_8 = ((sizeof(void*)==8));
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
if (VOID_IS_8)
{
#if _WIN64
initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
#else
btAssert(0);
#endif
} else
{
#ifndef _WIN64
initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
#else
btAssert(0);
#endif
}
#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
if (VOID_IS_8)
{
initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
} else
{
initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
}
#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
}
virtual ~btDefaultSerializer()
{
btAlignedFree(m_buffer);
}
virtual void startSerialization()
{
m_currentSize = BT_HEADER_LENGTH;
#ifdef BT_USE_DOUBLE_PRECISION
memcpy(m_buffer, "BULLETd", 7);
#else
memcpy(m_buffer, "BULLETf", 7);
#endif //BT_USE_DOUBLE_PRECISION
int littleEndian= 1;
littleEndian= ((char*)&littleEndian)[0];
if (sizeof(void*)==8)
{
m_buffer[7] = '-';
} else
{
m_buffer[7] = '_';
}
if (littleEndian)
{
m_buffer[8]='v';
} else
{
m_buffer[8]='V';
}
m_buffer[9] = '2';
m_buffer[10] = '7';
m_buffer[11] = '6';
}
virtual void finishSerialization()
{
writeDNA();
}
virtual const unsigned char* getBufferPointer() const
{
return m_buffer;
}
virtual int getCurrentBufferSize() const
{
return m_currentSize;
}
virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)
{
btAssert(!findPointer(oldPtr));
chunk->m_dna_nr = getReverseType(structType);
chunk->m_chunkCode = chunkCode;
m_chunkP.insert(oldPtr,chunk->m_oldPtr);
chunk->m_oldPtr = oldPtr;
}
virtual btChunk* allocate(size_t size, int numElements)
{
unsigned char* ptr = m_buffer+m_currentSize;
m_currentSize += int(size)*numElements+sizeof(btChunk);
btAssert(m_currentSize<m_totalSize);
unsigned char* data = ptr + sizeof(btChunk);
btChunk* chunk = (btChunk*)ptr;
chunk->m_chunkCode = 0;
chunk->m_oldPtr = data;
chunk->m_length = int(size)*numElements;
chunk->m_number = numElements;
m_chunkPtrs.push_back(chunk);
return chunk;
}
};
#endif //BT_SERIALIZER_H
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_SERIALIZER_H
#define BT_SERIALIZER_H
#include "btScalar.h" // has definitions like SIMD_FORCE_INLINE
#include "btStackAlloc.h"
#include "btHashMap.h"
#include <memory.h>
#include <string.h>
///only the 32bit versions for now
extern unsigned char sBulletDNAstr[];
extern int sBulletDNAlen;
extern unsigned char sBulletDNAstr64[];
extern int sBulletDNAlen64;
class btChunk
{
public:
int m_chunkCode;
int m_length;
void *m_oldPtr;
int m_dna_nr;
int m_number;
};
class btSerializer
{
public:
virtual const unsigned char* getBufferPointer() const = 0;
virtual int getCurrentBufferSize() const = 0;
virtual btChunk* allocate(size_t size, int numElements) = 0;
virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)= 0;
virtual void* findPointer(void* oldPtr) = 0;
virtual void startSerialization() = 0;
virtual void finishSerialization() = 0;
};
#define BT_HEADER_LENGTH 12
#if defined(__sgi) || defined (__sparc) || defined (__sparc__) || defined (__PPC__) || defined (__ppc__) || defined (__BIG_ENDIAN__)
# define MAKE_ID(a,b,c,d) ( (int)(a)<<24 | (int)(b)<<16 | (c)<<8 | (d) )
#else
# define MAKE_ID(a,b,c,d) ( (int)(d)<<24 | (int)(c)<<16 | (b)<<8 | (a) )
#endif
#define BT_COLLISIONOBJECT_CODE MAKE_ID('C','O','B','J')
#define BT_RIGIDBODY_CODE MAKE_ID('R','B','D','Y')
#define BT_CONSTRAINT_CODE MAKE_ID('C','O','N','S')
#define BT_BOXSHAPE_CODE MAKE_ID('B','O','X','S')
#define BT_SHAPE_CODE MAKE_ID('S','H','A','P')
#define BT_ARRAY_CODE MAKE_ID('A','R','A','Y')
class btDefaultSerializer : public btSerializer
{
btAlignedObjectArray<char*> mTypes;
btAlignedObjectArray<short*> mStructs;
btAlignedObjectArray<short> mTlens;
btHashMap<btHashInt, int> mStructReverse;
btHashMap<btHashString,int> mTypeLookup;
btHashMap<btHashPtr,void*> m_chunkP;
int m_totalSize;
unsigned char* m_buffer;
int m_currentSize;
btAlignedObjectArray<btChunk*> m_chunkPtrs;
protected:
virtual void* findPointer(void* oldPtr)
{
void** ptr = m_chunkP.find(oldPtr);
if (ptr && *ptr)
return *ptr;
return 0;
}
void writeDNA()
{
unsigned char* dnaTarget = m_buffer+m_currentSize;
memcpy(dnaTarget,m_dna,m_dnaLength);
m_currentSize += m_dnaLength;
}
int getReverseType(const char *type) const
{
btHashString key(type);
const int* valuePtr = mTypeLookup.find(key);
if (valuePtr)
return *valuePtr;
return -1;
}
void initDNA(const char* bdnaOrg,int dnalen)
{
///was already initialized
if (m_dna)
return;
int littleEndian= 1;
littleEndian= ((char*)&littleEndian)[0];
m_dna = btAlignedAlloc(dnalen,16);
memcpy(m_dna,bdnaOrg,dnalen);
m_dnaLength = dnalen;
int *intPtr=0;
short *shtPtr=0;
char *cp = 0;int dataLen =0;long nr=0;
intPtr = (int*)m_dna;
/*
SDNA (4 bytes) (magic number)
NAME (4 bytes)
<nr> (4 bytes) amount of names (int)
<string>
<string>
*/
if (strncmp((const char*)m_dna, "SDNA", 4)==0)
{
// skip ++ NAME
intPtr++; intPtr++;
}
// Parse names
if (!littleEndian)
*intPtr = btSwapEndian(*intPtr);
dataLen = *intPtr;
intPtr++;
cp = (char*)intPtr;
int i;
for ( i=0; i<dataLen; i++)
{
while (*cp)cp++;
cp++;
}
{
nr= (long)cp;
// long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
/*
TYPE (4 bytes)
<nr> amount of types (int)
<string>
<string>
*/
intPtr = (int*)cp;
assert(strncmp(cp, "TYPE", 4)==0); intPtr++;
if (!littleEndian)
*intPtr = btSwapEndian(*intPtr);
dataLen = *intPtr;
intPtr++;
cp = (char*)intPtr;
for (i=0; i<dataLen; i++)
{
mTypes.push_back(cp);
while (*cp)cp++;
cp++;
}
{
nr= (long)cp;
// long mask=3;
nr= ((nr+3)&~3)-nr;
while (nr--)
{
cp++;
}
}
/*
TLEN (4 bytes)
<len> (short) the lengths of types
<len>
*/
// Parse type lens
intPtr = (int*)cp;
assert(strncmp(cp, "TLEN", 4)==0); intPtr++;
dataLen = (int)mTypes.size();
shtPtr = (short*)intPtr;
for (i=0; i<dataLen; i++, shtPtr++)
{
if (!littleEndian)
shtPtr[0] = btSwapEndian(shtPtr[0]);
mTlens.push_back(shtPtr[0]);
}
if (dataLen & 1) shtPtr++;
/*
STRC (4 bytes)
<nr> amount of structs (int)
<typenr>
<nr_of_elems>
<typenr>
<namenr>
<typenr>
<namenr>
*/
intPtr = (int*)shtPtr;
cp = (char*)intPtr;
assert(strncmp(cp, "STRC", 4)==0); intPtr++;
if (!littleEndian)
*intPtr = btSwapEndian(*intPtr);
dataLen = *intPtr ;
intPtr++;
shtPtr = (short*)intPtr;
for (i=0; i<dataLen; i++)
{
mStructs.push_back (shtPtr);
if (!littleEndian)
{
shtPtr[0]= btSwapEndian(shtPtr[0]);
shtPtr[1]= btSwapEndian(shtPtr[1]);
int len = shtPtr[1];
shtPtr+= 2;
for (int a=0; a<len; a++, shtPtr+=2)
{
shtPtr[0]= btSwapEndian(shtPtr[0]);
shtPtr[1]= btSwapEndian(shtPtr[1]);
}
} else
{
shtPtr+= (2*shtPtr[1])+2;
}
}
// build reverse lookups
for (i=0; i<(int)mStructs.size(); i++)
{
short *strc = mStructs.at(i);
mStructReverse.insert(strc[0], i);
mTypeLookup.insert(btHashString(mTypes[strc[0]]),i);
}
}
public:
void* m_dna;
int m_dnaLength;
btDefaultSerializer(int totalSize)
:m_totalSize(totalSize),
m_currentSize(0),
m_dna(0),
m_dnaLength(0)
{
m_buffer = (unsigned char*)btAlignedAlloc(totalSize, 16);
const bool VOID_IS_8 = ((sizeof(void*)==8));
#ifdef BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
if (VOID_IS_8)
{
#if _WIN64
initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
#else
btAssert(0);
#endif
} else
{
#ifndef _WIN64
initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
#else
btAssert(0);
#endif
}
#else //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
if (VOID_IS_8)
{
initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
} else
{
initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
}
#endif //BT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES
}
virtual ~btDefaultSerializer()
{
btAlignedFree(m_buffer);
}
virtual void startSerialization()
{
m_currentSize = BT_HEADER_LENGTH;
#ifdef BT_USE_DOUBLE_PRECISION
memcpy(m_buffer, "BULLETd", 7);
#else
memcpy(m_buffer, "BULLETf", 7);
#endif //BT_USE_DOUBLE_PRECISION
int littleEndian= 1;
littleEndian= ((char*)&littleEndian)[0];
if (sizeof(void*)==8)
{
m_buffer[7] = '-';
} else
{
m_buffer[7] = '_';
}
if (littleEndian)
{
m_buffer[8]='v';
} else
{
m_buffer[8]='V';
}
m_buffer[9] = '2';
m_buffer[10] = '7';
m_buffer[11] = '6';
}
virtual void finishSerialization()
{
writeDNA();
}
virtual const unsigned char* getBufferPointer() const
{
return m_buffer;
}
virtual int getCurrentBufferSize() const
{
return m_currentSize;
}
virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr)
{
btAssert(!findPointer(oldPtr));
chunk->m_dna_nr = getReverseType(structType);
chunk->m_chunkCode = chunkCode;
m_chunkP.insert(oldPtr,chunk->m_oldPtr);
chunk->m_oldPtr = oldPtr;
}
virtual btChunk* allocate(size_t size, int numElements)
{
unsigned char* ptr = m_buffer+m_currentSize;
m_currentSize += int(size)*numElements+sizeof(btChunk);
btAssert(m_currentSize<m_totalSize);
unsigned char* data = ptr + sizeof(btChunk);
btChunk* chunk = (btChunk*)ptr;
chunk->m_chunkCode = 0;
chunk->m_oldPtr = data;
chunk->m_length = int(size)*numElements;
chunk->m_number = numElements;
m_chunkPtrs.push_back(chunk);
return chunk;
}
};
#endif //BT_SERIALIZER_H