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add support for double precision and 64bit serialization (and compatibility between all versions)

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fix some issue in serialization of nested array data
add some tesing files
This commit is contained in:
erwin.coumans
2010-01-25 19:42:51 +00:00
parent 5d8e6dc3f3
commit e7ff71d99b
48 changed files with 1207 additions and 294 deletions
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88
Extras/Serialize/BulletFileLoader/btBulletFileLoader.cpp
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@@ -4,6 +4,7 @@
#include "btBulletDynamicsCommon.h"
btBulletFileLoader::btBulletFileLoader(btDynamicsWorld* world)
:m_dynamicsWorld(world),
m_verboseDumpAllTypes(false)
@@ -12,7 +13,7 @@ m_verboseDumpAllTypes(false)
bool btBulletFileLoader::loadFileFromMemory( char* fileName)
{
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile("testFile.bullet");
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
bool result = loadFileFromMemory(bulletFile2);
@@ -69,7 +70,7 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
{
btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
btVector3 implicitShapeDimensions;
implicitShapeDimensions.deSerialize(bsd->m_implicitShapeDimensions);
implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
btCollisionShape* shape = 0;
switch (shapeData->m_shapeType)
@@ -107,7 +108,7 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
tmpPos.resize(numSpheres);
for (int i=0;i<numSpheres;i++)
{
tmpPos[i].deSerialize(mss->m_localPositionArrayPtr[i].m_pos);
tmpPos[i].deSerializeFloat(mss->m_localPositionArrayPtr[i].m_pos);
radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
}
shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
@@ -115,6 +116,9 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
}
case CONVEX_HULL_SHAPE_PROXYTYPE:
{
int sz = sizeof(btConvexHullShapeData);
int sz2 = sizeof(btConvexInternalShapeData);
int sz3 = sizeof(btCollisionShapeData);
btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
int numPoints = convexData->m_numUnscaledPoints;
@@ -122,7 +126,17 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
tmpPoints.resize(numPoints);
for (int i=0;i<numPoints;i++)
{
tmpPoints[i].deSerialize(convexData->m_unscaledPointsPtr[i]);
#ifdef BT_USE_DOUBLE_PRECISION
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsDoublePtr[i]);
if (convexData->m_unscaledPointsFloatPtr)
tmpPoints[i].deSerializeFloat(convexData->m_unscaledPointsFloatPtr[i]);
#else
if (convexData->m_unscaledPointsFloatPtr)
tmpPoints[i].deSerialize(convexData->m_unscaledPointsFloatPtr[i]);
if (convexData->m_unscaledPointsDoublePtr)
tmpPoints[i].deSerializeDouble(convexData->m_unscaledPointsDoublePtr[i]);
#endif //BT_USE_DOUBLE_PRECISION
}
shape = new btConvexHullShape(&tmpPoints[0].getX(),numPoints,sizeof(btVector3));
break;
@@ -137,7 +151,7 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
{
shape->setMargin(bsd->m_collisionMargin);
btVector3 localScaling;
localScaling.deSerialize(bsd->m_localScaling);
localScaling.deSerializeFloat(bsd->m_localScaling);
shape->setLocalScaling(localScaling);
shapeMap.insert(shapeData,shape);
@@ -179,7 +193,7 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
meshInterface->addIndexedMesh(meshPart);
}
btVector3 scaling; scaling.deSerialize(trimesh->m_meshInterface.m_scaling);
btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
meshInterface->setScaling(scaling);
btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,true);
@@ -198,29 +212,53 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
}
for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
{
btRigidBodyData* colObjData = (btRigidBodyData*)bulletFile2->m_rigidBodies[i];
btScalar mass = colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f;
btVector3 localInertia;
localInertia.setZero();
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (shapePtr && *shapePtr)
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btTransform startTransform;
startTransform.deSerialize(colObjData->m_collisionObjectData.m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (mass)
btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
localInertia.setZero();
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (shapePtr && *shapePtr)
{
shape->calculateLocalInertia(mass,localInertia);
btTransform startTransform;
startTransform.deSerializeDouble(colObjData->m_collisionObjectData.m_worldTransform);
// startTransform.setBasis(btMatrix3x3::getIdentity());
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
bool isDynamic = mass!=0.f;
createRigidBody(isDynamic,mass,startTransform,shape);
} else
{
printf("error: no shape found\n");
}
bool isDynamic = mass!=0.f;
createRigidBody(isDynamic,mass,startTransform,shape);
} else
{
printf("error: no shape found\n");
btRigidBodyFloatData* colObjData = (btRigidBodyFloatData*)bulletFile2->m_rigidBodies[i];
btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
localInertia.setZero();
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
startTransform.deSerializeFloat(colObjData->m_collisionObjectData.m_worldTransform);
// startTransform.setBasis(btMatrix3x3::getIdentity());
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (mass)
{
shape->calculateLocalInertia(mass,localInertia);
}
bool isDynamic = mass!=0.f;
createRigidBody(isDynamic,mass,startTransform,shape);
} else
{
printf("error: no shape found\n");
}
}
}
@@ -244,7 +282,7 @@ btTypedConstraint* btBulletFileLoader::createUniversalD6Constraint(class btRig
return 0;
}
btRigidBody* btBulletFileLoader::createRigidBody(bool isDynamic, float mass, const btTransform& startTransform,btCollisionShape* shape)
btRigidBody* btBulletFileLoader::createRigidBody(bool isDynamic, btScalar mass, const btTransform& startTransform,btCollisionShape* shape)
{
btVector3 localInertia;