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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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8
CMakeLists.txt
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@@ -9,6 +9,13 @@ IF (NOT CMAKE_BUILD_TYPE)
ENDIF (NOT CMAKE_BUILD_TYPE) ENDIF (NOT CMAKE_BUILD_TYPE)
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
IF (USE_DOUBLE_PRECISION)
ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
ENDIF (USE_DOUBLE_PRECISION)
IF (WIN32) IF (WIN32)
OPTION(USE_GLUT "Use Glut" OFF) OPTION(USE_GLUT "Use Glut" OFF)
@@ -63,6 +70,7 @@ IF (USE_GLUT)
IF (MSVC) IF (MSVC)
MESSAGE ("GLUT NOT FOUND, trying to use Bullet/Glut/glut32.lib for MSVC") MESSAGE ("GLUT NOT FOUND, trying to use Bullet/Glut/glut32.lib for MSVC")
SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib) SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut32.lib)
#SET(GLUT_glut_LIBRARY ${BULLET_PHYSICS_SOURCE_DIR}/Glut/glut64.lib)
ENDIF (MSVC) ENDIF (MSVC)
ENDIF (GLUT_FOUND) ENDIF (GLUT_FOUND)

9
Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
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@@ -439,6 +439,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
cb.process(desc); cb.process(desc);
//now create some bodies //now create some bodies
if (1)
{ {
btCompoundShape* compound = new btCompoundShape(false); btCompoundShape* compound = new btCompoundShape(false);
m_collisionShapes.push_back (compound); m_collisionShapes.push_back (compound);
@@ -456,6 +457,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
btRigidBody* body = localCreateRigidBody( 1.0, trans,convexShape); btRigidBody* body = localCreateRigidBody( 1.0, trans,convexShape);
} }
#if 1
btScalar mass=10.f; btScalar mass=10.f;
trans.setOrigin(-convexDecompositionObjectOffset); trans.setOrigin(-convexDecompositionObjectOffset);
btRigidBody* body = localCreateRigidBody( mass, trans,compound); btRigidBody* body = localCreateRigidBody( mass, trans,compound);
@@ -470,7 +472,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
trans.setOrigin(-convexDecompositionObjectOffset); trans.setOrigin(-convexDecompositionObjectOffset);
body = localCreateRigidBody( mass, trans,compound); body = localCreateRigidBody( mass, trans,compound);
body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK); body->setCollisionFlags(body->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
#endif
} }
@@ -499,8 +501,13 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
setupEmptyDynamicsWorld(); setupEmptyDynamicsWorld();
btBulletFileLoader* fileLoader = new btBulletFileLoader(m_dynamicsWorld); btBulletFileLoader* fileLoader = new btBulletFileLoader(m_dynamicsWorld);
fileLoader->setVerboseMode(true);
fileLoader->loadFileFromMemory("testFile.bullet"); fileLoader->loadFileFromMemory("testFile.bullet");
//fileLoader->loadFileFromMemory("testFile64Double.bullet");
//fileLoader->loadFileFromMemory("testFile64Single.bullet");
//fileLoader->loadFileFromMemory("testFile32Single.bullet");

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Demos/ConvexDecompositionDemo/testFile32Single.bullet Normal file
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Demos/ConvexDecompositionDemo/testFile64Double.bullet Normal file
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Demos/ConvexDecompositionDemo/testFile64Single.bullet Normal file
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4
Demos/OpenGL/GL_DialogDynamicsWorld.cpp
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@@ -343,7 +343,7 @@ static int gPickingConstraintId = 0;
static btVector3 gOldPickingPos; static btVector3 gOldPickingPos;
static btVector3 gHitPos(-1,-1,-1); static btVector3 gHitPos(-1,-1,-1);
static float gOldPickingDist = 0.f; static btScalar gOldPickingDist = 0.f;
bool GL_DialogDynamicsWorld::mouseFunc(int button, int state, int x, int y) bool GL_DialogDynamicsWorld::mouseFunc(int button, int state, int x, int y)
{ {
@@ -719,7 +719,7 @@ void GL_DialogDynamicsWorld::mouseMotionFunc(int x,int y)
} }
float dx, dy; btScalar dx, dy;
dx = btScalar(x) - m_mouseOldX; dx = btScalar(x) - m_mouseOldX;
dy = btScalar(y) - m_mouseOldY; dy = btScalar(y) - m_mouseOldY;

2
Extras/CMakeLists.txt
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@@ -1 +1 @@
SUBDIRS( glui ConvexDecomposition BulletColladaConverter LibXML COLLADA_DOM GIMPACTUtils Serialize) SUBDIRS( Serialize ConvexDecomposition GIMPACTUtils )

13
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
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@@ -22,11 +22,12 @@
#include "bullet_PointerArray.h" #include "bullet_PointerArray.h"
#include "bullet_btPhysicsSystem.h" #include "bullet_btPhysicsSystem.h"
#include "bullet_ListBase.h" #include "bullet_ListBase.h"
#include "bullet_btVector3Data.h"
#include "bullet_btVector3FloatData.h" #include "bullet_btVector3FloatData.h"
#include "bullet_btVector3DoubleData.h" #include "bullet_btVector3DoubleData.h"
#include "bullet_btMatrix3x3Data.h" #include "bullet_btMatrix3x3FloatData.h"
#include "bullet_btTransformData.h" #include "bullet_btMatrix3x3DoubleData.h"
#include "bullet_btTransformFloatData.h"
#include "bullet_btTransformDoubleData.h"
#include "bullet_btCollisionShapeData.h" #include "bullet_btCollisionShapeData.h"
#include "bullet_btConvexInternalShapeData.h" #include "bullet_btConvexInternalShapeData.h"
#include "bullet_btPositionAndRadius.h" #include "bullet_btPositionAndRadius.h"
@@ -37,6 +38,8 @@
#include "bullet_btStridingMeshInterfaceData.h" #include "bullet_btStridingMeshInterfaceData.h"
#include "bullet_btTriangleMeshShapeData.h" #include "bullet_btTriangleMeshShapeData.h"
#include "bullet_btConvexHullShapeData.h" #include "bullet_btConvexHullShapeData.h"
#include "bullet_btCollisionObjectData.h" #include "bullet_btCollisionObjectDoubleData.h"
#include "bullet_btRigidBodyData.h" #include "bullet_btCollisionObjectFloatData.h"
#include "bullet_btRigidBodyFloatData.h"
#include "bullet_btRigidBodyDoubleData.h"
#endif//__BULLET_H__ #endif//__BULLET_H__

13
Extras/Serialize/BulletFileLoader/autogenerated/bullet_Common.h
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@@ -29,11 +29,12 @@ namespace Bullet {
class PointerArray; class PointerArray;
class btPhysicsSystem; class btPhysicsSystem;
class ListBase; class ListBase;
class btVector3Data;
class btVector3FloatData; class btVector3FloatData;
class btVector3DoubleData; class btVector3DoubleData;
class btMatrix3x3Data; class btMatrix3x3FloatData;
class btTransformData; class btMatrix3x3DoubleData;
class btTransformFloatData;
class btTransformDoubleData;
class btCollisionShapeData; class btCollisionShapeData;
class btConvexInternalShapeData; class btConvexInternalShapeData;
class btPositionAndRadius; class btPositionAndRadius;
@@ -44,7 +45,9 @@ namespace Bullet {
class btStridingMeshInterfaceData; class btStridingMeshInterfaceData;
class btTriangleMeshShapeData; class btTriangleMeshShapeData;
class btConvexHullShapeData; class btConvexHullShapeData;
class btCollisionObjectData; class btCollisionObjectDoubleData;
class btRigidBodyData; class btCollisionObjectFloatData;
class btRigidBodyFloatData;
class btRigidBodyDoubleData;
} }
#endif//__BULLETCOMMON_H__ #endif//__BULLETCOMMON_H__

64
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btCollisionObjectDoubleData.h Normal file
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@@ -0,0 +1,64 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* 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.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTCOLLISIONOBJECTDOUBLEDATA__H__
#define __BULLET_BTCOLLISIONOBJECTDOUBLEDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btTransformDoubleData.h"
#include "bullet_btVector3DoubleData.h"
namespace Bullet {
// ---------------------------------------------- //
class btCollisionObjectDoubleData
{
public:
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
void *m_userObjectPointer;
btTransformDoubleData m_worldTransform;
btTransformDoubleData m_interpolationWorldTransform;
btVector3DoubleData m_interpolationLinearVelocity;
btVector3DoubleData m_interpolationAngularVelocity;
btVector3DoubleData m_anisotropicFriction;
double m_contactProcessingThreshold;
double m_deactivationTime;
double m_friction;
double m_restitution;
double m_hitFraction;
double m_ccdSweptSphereRadius;
double m_ccdMotionThreshold;
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
char m_padding[4];
};
}
#endif//__BULLET_BTCOLLISIONOBJECTDOUBLEDATA__H__

63
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btCollisionObjectFloatData.h Normal file
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@@ -0,0 +1,63 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* 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.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTCOLLISIONOBJECTFLOATDATA__H__
#define __BULLET_BTCOLLISIONOBJECTFLOATDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btTransformFloatData.h"
#include "bullet_btVector3FloatData.h"
namespace Bullet {
// ---------------------------------------------- //
class btCollisionObjectFloatData
{
public:
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
void *m_userObjectPointer;
btTransformFloatData m_worldTransform;
btTransformFloatData m_interpolationWorldTransform;
btVector3FloatData m_interpolationLinearVelocity;
btVector3FloatData m_interpolationAngularVelocity;
btVector3FloatData m_anisotropicFriction;
float m_contactProcessingThreshold;
float m_deactivationTime;
float m_friction;
float m_restitution;
float m_hitFraction;
float m_ccdSweptSphereRadius;
float m_ccdMotionThreshold;
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
};
}
#endif//__BULLET_BTCOLLISIONOBJECTFLOATDATA__H__

5
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btConvexHullShapeData.h
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@@ -33,9 +33,10 @@ namespace Bullet {
{ {
public: public:
btConvexInternalShapeData m_convexInternalShapeData; btConvexInternalShapeData m_convexInternalShapeData;
btVector3Data *m_unscaledPointsPtr; btVector3FloatData *m_unscaledPointsFloatPtr;
btVector3DoubleData *m_unscaledPointsDoublePtr;
int m_numUnscaledPoints; int m_numUnscaledPoints;
char m_padding[4]; char m_padding3[4];
}; };
} }

10
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btConvexInternalShapeData.h
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@@ -24,7 +24,7 @@
// -------------------------------------------------- // // -------------------------------------------------- //
#include "bullet_Common.h" #include "bullet_Common.h"
#include "bullet_btCollisionShapeData.h" #include "bullet_btCollisionShapeData.h"
#include "bullet_btVector3Data.h" #include "bullet_btVector3FloatData.h"
namespace Bullet { namespace Bullet {
@@ -34,10 +34,10 @@ namespace Bullet {
{ {
public: public:
btCollisionShapeData m_collisionShapeData; btCollisionShapeData m_collisionShapeData;
btVector3Data m_localScaling; btVector3FloatData m_localScaling;
btVector3Data m_implicitShapeDimensions; btVector3FloatData m_implicitShapeDimensions;
btScalar m_collisionMargin; float m_collisionMargin;
char m_padding[4]; int m_padding;
}; };
} }

40
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btMatrix3x3DoubleData.h Normal file
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@@ -0,0 +1,40 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* 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.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTMATRIX3X3DOUBLEDATA__H__
#define __BULLET_BTMATRIX3X3DOUBLEDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btVector3DoubleData.h"
namespace Bullet {
// ---------------------------------------------- //
class btMatrix3x3DoubleData
{
public:
btVector3DoubleData m_el[3];
};
}
#endif//__BULLET_BTMATRIX3X3DOUBLEDATA__H__

40
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btMatrix3x3FloatData.h Normal file
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@@ -0,0 +1,40 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* 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.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTMATRIX3X3FLOATDATA__H__
#define __BULLET_BTMATRIX3X3FLOATDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btVector3FloatData.h"
namespace Bullet {
// ---------------------------------------------- //
class btMatrix3x3FloatData
{
public:
btVector3FloatData m_el[3];
};
}
#endif//__BULLET_BTMATRIX3X3FLOATDATA__H__

6
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btPositionAndRadius.h
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@@ -23,7 +23,7 @@
// -------------------------------------------------- // // -------------------------------------------------- //
#include "bullet_Common.h" #include "bullet_Common.h"
#include "bullet_btVector3Data.h" #include "bullet_btVector3FloatData.h"
namespace Bullet { namespace Bullet {
@@ -32,8 +32,8 @@ namespace Bullet {
class btPositionAndRadius class btPositionAndRadius
{ {
public: public:
btVector3Data m_pos; btVector3FloatData m_pos;
btScalar m_radius; float m_radius;
}; };
} }

63
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btRigidBodyDoubleData.h Normal file
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@@ -0,0 +1,63 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* 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.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTRIGIDBODYDOUBLEDATA__H__
#define __BULLET_BTRIGIDBODYDOUBLEDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btCollisionObjectDoubleData.h"
#include "bullet_btMatrix3x3DoubleData.h"
#include "bullet_btVector3DoubleData.h"
namespace Bullet {
// ---------------------------------------------- //
class btRigidBodyDoubleData
{
public:
btCollisionObjectDoubleData m_collisionObjectData;
btMatrix3x3DoubleData m_invInertiaTensorWorld;
btVector3DoubleData m_linearVelocity;
btVector3DoubleData m_angularVelocity;
btVector3DoubleData m_angularFactor;
btVector3DoubleData m_linearFactor;
btVector3DoubleData m_gravity;
btVector3DoubleData m_gravity_acceleration;
btVector3DoubleData m_invInertiaLocal;
btVector3DoubleData m_totalForce;
btVector3DoubleData m_totalTorque;
double m_inverseMass;
double m_linearDamping;
double m_angularDamping;
double m_additionalDampingFactor;
double m_additionalLinearDampingThresholdSqr;
double m_additionalAngularDampingThresholdSqr;
double m_additionalAngularDampingFactor;
double m_linearSleepingThreshold;
double m_angularSleepingThreshold;
int m_additionalDamping;
char m_padding[4];
};
}
#endif//__BULLET_BTRIGIDBODYDOUBLEDATA__H__

62
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btRigidBodyFloatData.h Normal file
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@@ -0,0 +1,62 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* 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.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTRIGIDBODYFLOATDATA__H__
#define __BULLET_BTRIGIDBODYFLOATDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btCollisionObjectFloatData.h"
#include "bullet_btMatrix3x3FloatData.h"
#include "bullet_btVector3FloatData.h"
namespace Bullet {
// ---------------------------------------------- //
class btRigidBodyFloatData
{
public:
btCollisionObjectFloatData m_collisionObjectData;
btMatrix3x3FloatData m_invInertiaTensorWorld;
btVector3FloatData m_linearVelocity;
btVector3FloatData m_angularVelocity;
btVector3FloatData m_angularFactor;
btVector3FloatData m_linearFactor;
btVector3FloatData m_gravity;
btVector3FloatData m_gravity_acceleration;
btVector3FloatData m_invInertiaLocal;
btVector3FloatData m_totalForce;
btVector3FloatData m_totalTorque;
float m_inverseMass;
float m_linearDamping;
float m_angularDamping;
float m_additionalDampingFactor;
float m_additionalLinearDampingThresholdSqr;
float m_additionalAngularDampingThresholdSqr;
float m_additionalAngularDampingFactor;
float m_linearSleepingThreshold;
float m_angularSleepingThreshold;
int m_additionalDamping;
};
}
#endif//__BULLET_BTRIGIDBODYFLOATDATA__H__

4
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btStridingMeshInterfaceData.h
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@@ -23,7 +23,7 @@
// -------------------------------------------------- // // -------------------------------------------------- //
#include "bullet_Common.h" #include "bullet_Common.h"
#include "bullet_btVector3Data.h" #include "bullet_btVector3FloatData.h"
namespace Bullet { namespace Bullet {
@@ -33,8 +33,8 @@ namespace Bullet {
{ {
public: public:
btMeshPartData *m_meshPartsPtr; btMeshPartData *m_meshPartsPtr;
btVector3FloatData m_scaling;
int m_numMeshParts; int m_numMeshParts;
btVector3Data m_scaling;
char m_padding[4]; char m_padding[4];
}; };
} }

42
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTransformDoubleData.h Normal file
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@@ -0,0 +1,42 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* 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.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTTRANSFORMDOUBLEDATA__H__
#define __BULLET_BTTRANSFORMDOUBLEDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btMatrix3x3DoubleData.h"
#include "bullet_btVector3DoubleData.h"
namespace Bullet {
// ---------------------------------------------- //
class btTransformDoubleData
{
public:
btMatrix3x3DoubleData m_basis;
btVector3DoubleData m_origin;
};
}
#endif//__BULLET_BTTRANSFORMDOUBLEDATA__H__

42
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTransformFloatData.h Normal file
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@@ -0,0 +1,42 @@
/* Copyright (C) 2006-2009 Erwin Coumans & Charlie C
*
* 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.
*/
// Auto generated from makesdna dna.c
#ifndef __BULLET_BTTRANSFORMFLOATDATA__H__
#define __BULLET_BTTRANSFORMFLOATDATA__H__
// -------------------------------------------------- //
#include "bullet_Common.h"
#include "bullet_btMatrix3x3FloatData.h"
#include "bullet_btVector3FloatData.h"
namespace Bullet {
// ---------------------------------------------- //
class btTransformFloatData
{
public:
btMatrix3x3FloatData m_basis;
btVector3FloatData m_origin;
};
}
#endif//__BULLET_BTTRANSFORMFLOATDATA__H__

7
Extras/Serialize/BulletFileLoader/autogenerated/bullet_btTriangleMeshShapeData.h
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@@ -23,6 +23,7 @@
// -------------------------------------------------- // // -------------------------------------------------- //
#include "bullet_Common.h" #include "bullet_Common.h"
#include "bullet_btCollisionShapeData.h"
#include "bullet_btStridingMeshInterfaceData.h" #include "bullet_btStridingMeshInterfaceData.h"
namespace Bullet { namespace Bullet {
@@ -32,10 +33,10 @@ namespace Bullet {
class btTriangleMeshShapeData class btTriangleMeshShapeData
{ {
public: public:
bInvalidHandle btCollisionShapeData; btCollisionShapeData m_collisionShapeData;
bInvalidHandle m_collisionShapeData;
btStridingMeshInterfaceData m_meshInterface; btStridingMeshInterfaceData m_meshInterface;
btScalar m_collisionMargin; float m_collisionMargin;
char m_padding[4];
}; };
} }

4
Extras/Serialize/BulletFileLoader/bDNA.cpp
View File

@@ -187,6 +187,8 @@ void bDNA::initCmpFlags(bDNA *memDNA)
mCMPFlags[i] = FDF_NONE; mCMPFlags[i] = FDF_NONE;
continue; continue;
} }
//char* typeName = mTypes[oldStruct[0]];
//#define SLOW_FORWARD_COMPATIBLE 1 //#define SLOW_FORWARD_COMPATIBLE 1
#ifdef SLOW_FORWARD_COMPATIBLE #ifdef SLOW_FORWARD_COMPATIBLE
char* typeName = mTypes[oldLookup]; char* typeName = mTypes[oldLookup];
@@ -227,6 +229,8 @@ void bDNA::initCmpFlags(bDNA *memDNA)
for (int j=0; j<elementLength; j++, curStruct+=2, oldStruct+=2) for (int j=0; j<elementLength; j++, curStruct+=2, oldStruct+=2)
{ {
// type the same // type the same
//const char* typeFileDNA = mTypes[oldStruct[0]];
//const char* typeMemDNA = mTypes[curStruct[0]];
if (strcmp(mTypes[oldStruct[0]], memDNA->mTypes[curStruct[0]])!=0) if (strcmp(mTypes[oldStruct[0]], memDNA->mTypes[curStruct[0]])!=0)
{ {
isSame=false; isSame=false;

35
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@@ -109,20 +109,26 @@ void bFile::parseHeader()
memcpy(header, blenderBuf, SIZEOFBLENDERHEADER); memcpy(header, blenderBuf, SIZEOFBLENDERHEADER);
header[SIZEOFBLENDERHEADER]='\0'; header[SIZEOFBLENDERHEADER]='\0';
if (strncmp(header, m_headerString, 7)!=0) if (strncmp(header, m_headerString, 6)!=0)
{ {
printf ("Invalid blend file..."); memcpy(header, m_headerString, SIZEOFBLENDERHEADER);
printf ("Invalid %s file...",header);
return; return;
} }
if (header[6] == 'd')
{
mFlags |= FD_DOUBLE_PRECISION;
}
char *ver = header+9; char *ver = header+9;
mVersion = atoi(ver); mVersion = atoi(ver);
if (mVersion <= 241) if (mVersion <= 241)
printf ("Warning, %d not fully tested : <= 242\n", mVersion); printf ("Warning, %d not fully tested : <= 242\n", mVersion);
int endian= 1; int littleEndian= 1;
endian= ((char*)&endian)[0]; littleEndian= ((char*)&littleEndian)[0];
// swap ptr sizes... // swap ptr sizes...
if (header[7]=='-') if (header[7]=='-')
@@ -134,10 +140,10 @@ void bFile::parseHeader()
else if (VOID_IS_8) mFlags |= FD_BITS_VARIES; else if (VOID_IS_8) mFlags |= FD_BITS_VARIES;
// swap endian... // swap endian...
if (header[8]=='V' && endian ==1) if (header[8]=='V' && littleEndian ==1)
mFlags |= FD_ENDIAN_SWAP; mFlags |= FD_ENDIAN_SWAP;
else else
if (endian==0) if (littleEndian==0)
mFlags |= FD_ENDIAN_SWAP; mFlags |= FD_ENDIAN_SWAP;
@@ -383,12 +389,25 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
cpo = getFileElement(firstStruct, memName, memType, dtPtr, &filePtrOld); cpo = getFileElement(firstStruct, memName, memType, dtPtr, &filePtrOld);
if (cpo) if (cpo)
{ {
int arrayLen = mFileDNA->getArraySizeNew(filePtrOld[1]);
old_nr = mFileDNA->getReverseType(memType); old_nr = mFileDNA->getReverseType(memType);
new_nr = revType; new_nr = revType;
fpLen = mFileDNA->getElementSize(filePtrOld[0], filePtrOld[1]); fpLen = mFileDNA->getElementSize(filePtrOld[0], filePtrOld[1]);
if (arrayLen==1)
{
parseStruct(cpc, cpo, old_nr, new_nr,fixupPointers);
} else
{
char* tmpCpc = cpc;
char* tmpCpo = cpo;
for (int i=0;i<arrayLen;i++)
parseStruct(cpc, cpo, old_nr, new_nr,fixupPointers); {
parseStruct(tmpCpc, tmpCpo, old_nr, new_nr,fixupPointers);
tmpCpc += size/arrayLen;
tmpCpo += fpLen/arrayLen;
}
}
cpc+=size; cpc+=size;
cpo+=fpLen; cpo+=fpLen;
} }

3
Extras/Serialize/BulletFileLoader/bFile.h
View File

@@ -31,7 +31,8 @@ namespace bParse {
FD_ENDIAN_SWAP =4, FD_ENDIAN_SWAP =4,
FD_FILE_64 =8, FD_FILE_64 =8,
FD_BITS_VARIES =16, FD_BITS_VARIES =16,
FD_VERSION_VARIES = 32 FD_VERSION_VARIES = 32,
FD_DOUBLE_PRECISION =64
}; };

46
Extras/Serialize/BulletFileLoader/btBulletFile.cpp
View File

@@ -20,11 +20,13 @@ subject to the following restrictions:
// 32 && 64 bit versions // 32 && 64 bit versions
//#ifdef _WIN64
extern unsigned char sBulletDNAstr64[];
extern int sBulletDNAlen64;
//#else
extern unsigned char sBulletDNAstr[]; extern unsigned char sBulletDNAstr[];
extern int sBulletDNAlen; extern int sBulletDNAlen;
//#endif //_WIN64
//not yetto. extern unsigned char DNAstr64[];
//not yetto. extern int DNAlen64;
using namespace bParse; using namespace bParse;
@@ -33,7 +35,13 @@ btBulletFile::btBulletFile()
:bFile("", "BULLET ") :bFile("", "BULLET ")
{ {
mMemoryDNA = new bDNA(); mMemoryDNA = new bDNA();
mMemoryDNA->init((char*)sBulletDNAstr,sBulletDNAlen); //#ifdef _WIN64
if (VOID_IS_8)
mMemoryDNA->init((char*)sBulletDNAstr64,sBulletDNAlen64);
else
//#else
mMemoryDNA->init((char*)sBulletDNAstr,sBulletDNAlen);
//#endif
} }
@@ -128,6 +136,9 @@ void btBulletFile::parseData()
// { // {
// m_glob = (bStructHandle*) id; // m_glob = (bStructHandle*) id;
// } // }
} else
{
printf("unknown chunk\n");
} }
// next please! // next please!
@@ -158,17 +169,25 @@ void btBulletFile::writeDNA(FILE* fp)
if (VOID_IS_8) if (VOID_IS_8)
{ {
//dataChunk.len = DNAlen64; //#ifdef _WIN64
//dataChunk.oldPtr = DNAstr64; dataChunk.len = sBulletDNAlen64;
//fwrite(&dataChunk,sizeof(bChunkInd),1,fp); dataChunk.oldPtr = sBulletDNAstr64;
//fwrite(DNAstr64, DNAlen64,1,fp); fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(sBulletDNAstr64, sBulletDNAlen64,1,fp);
//#else
// btAssert(0);
//#endif
} }
else else
{ {
//#ifndef _WIN64
dataChunk.len = sBulletDNAlen; dataChunk.len = sBulletDNAlen;
dataChunk.oldPtr = sBulletDNAstr; dataChunk.oldPtr = sBulletDNAstr;
fwrite(&dataChunk,sizeof(bChunkInd),1,fp); fwrite(&dataChunk,sizeof(bChunkInd),1,fp);
fwrite(sBulletDNAstr, sBulletDNAlen,1,fp); fwrite(sBulletDNAstr, sBulletDNAlen,1,fp);
//#else
// btAssert(0);
//#endif
} }
} }
@@ -177,12 +196,19 @@ void btBulletFile::parse(bool verboseDumpAllTypes)
{ {
if (VOID_IS_8) if (VOID_IS_8)
{ {
exit(0); //#ifdef _WIN64
//parseInternal(verboseDumpAllTypes,(char*)DNAstr64,DNAlen64); parseInternal(verboseDumpAllTypes,(char*)sBulletDNAstr64,sBulletDNAlen64);
//#else
// btAssert(0);
//#endif
} }
else else
{ {
//#ifndef _WIN64
parseInternal(verboseDumpAllTypes,(char*)sBulletDNAstr,sBulletDNAlen); parseInternal(verboseDumpAllTypes,(char*)sBulletDNAstr,sBulletDNAlen);
//#else
// btAssert(0);
//#endif
} }
} }

88
Extras/Serialize/BulletFileLoader/btBulletFileLoader.cpp
View File

@@ -4,6 +4,7 @@
#include "btBulletDynamicsCommon.h" #include "btBulletDynamicsCommon.h"
btBulletFileLoader::btBulletFileLoader(btDynamicsWorld* world) btBulletFileLoader::btBulletFileLoader(btDynamicsWorld* world)
:m_dynamicsWorld(world), :m_dynamicsWorld(world),
m_verboseDumpAllTypes(false) m_verboseDumpAllTypes(false)
@@ -12,7 +13,7 @@ m_verboseDumpAllTypes(false)
bool btBulletFileLoader::loadFileFromMemory( char* fileName) bool btBulletFileLoader::loadFileFromMemory( char* fileName)
{ {
bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile("testFile.bullet"); bParse::btBulletFile* bulletFile2 = new bParse::btBulletFile(fileName);
bool result = loadFileFromMemory(bulletFile2); bool result = loadFileFromMemory(bulletFile2);
@@ -69,7 +70,7 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
{ {
btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData; btConvexInternalShapeData* bsd = (btConvexInternalShapeData*)shapeData;
btVector3 implicitShapeDimensions; btVector3 implicitShapeDimensions;
implicitShapeDimensions.deSerialize(bsd->m_implicitShapeDimensions); implicitShapeDimensions.deSerializeFloat(bsd->m_implicitShapeDimensions);
btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin); btVector3 margin(bsd->m_collisionMargin,bsd->m_collisionMargin,bsd->m_collisionMargin);
btCollisionShape* shape = 0; btCollisionShape* shape = 0;
switch (shapeData->m_shapeType) switch (shapeData->m_shapeType)
@@ -107,7 +108,7 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
tmpPos.resize(numSpheres); tmpPos.resize(numSpheres);
for (int i=0;i<numSpheres;i++) 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; radii[i] = mss->m_localPositionArrayPtr[i].m_radius;
} }
shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres); shape = new btMultiSphereShape(&tmpPos[0],&radii[0],numSpheres);
@@ -115,6 +116,9 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
} }
case CONVEX_HULL_SHAPE_PROXYTYPE: case CONVEX_HULL_SHAPE_PROXYTYPE:
{ {
int sz = sizeof(btConvexHullShapeData);
int sz2 = sizeof(btConvexInternalShapeData);
int sz3 = sizeof(btCollisionShapeData);
btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd; btConvexHullShapeData* convexData = (btConvexHullShapeData*)bsd;
int numPoints = convexData->m_numUnscaledPoints; int numPoints = convexData->m_numUnscaledPoints;
@@ -122,7 +126,17 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
tmpPoints.resize(numPoints); tmpPoints.resize(numPoints);
for (int i=0;i<numPoints;i++) 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)); shape = new btConvexHullShape(&tmpPoints[0].getX(),numPoints,sizeof(btVector3));
break; break;
@@ -137,7 +151,7 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
{ {
shape->setMargin(bsd->m_collisionMargin); shape->setMargin(bsd->m_collisionMargin);
btVector3 localScaling; btVector3 localScaling;
localScaling.deSerialize(bsd->m_localScaling); localScaling.deSerializeFloat(bsd->m_localScaling);
shape->setLocalScaling(localScaling); shape->setLocalScaling(localScaling);
shapeMap.insert(shapeData,shape); shapeMap.insert(shapeData,shape);
@@ -179,7 +193,7 @@ bool btBulletFileLoader::loadFileFromMemory( bParse::btBulletFile* bulletFile2)
meshInterface->addIndexedMesh(meshPart); meshInterface->addIndexedMesh(meshPart);
} }
btVector3 scaling; scaling.deSerialize(trimesh->m_meshInterface.m_scaling); btVector3 scaling; scaling.deSerializeFloat(trimesh->m_meshInterface.m_scaling);
meshInterface->setScaling(scaling); meshInterface->setScaling(scaling);
btBvhTriangleMeshShape* trimeshShape = new btBvhTriangleMeshShape(meshInterface,true); 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++) for (i=0;i<bulletFile2->m_rigidBodies.size();i++)
{ {
btRigidBodyData* colObjData = (btRigidBodyData*)bulletFile2->m_rigidBodies[i]; if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
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)
{ {
btTransform startTransform; btRigidBodyDoubleData* colObjData = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
startTransform.deSerialize(colObjData->m_collisionObjectData.m_worldTransform); btScalar mass = btScalar(colObjData->m_inverseMass? 1.f/colObjData->m_inverseMass : 0.f);
btVector3 localInertia;
btCollisionShape* shape = (btCollisionShape*)*shapePtr; localInertia.setZero();
btCollisionShape** shapePtr = shapeMap.find(colObjData->m_collisionObjectData.m_collisionShape);
if (mass) 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 } 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; 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; btVector3 localInertia;

2
Extras/Serialize/BulletFileLoader/btBulletFileLoader.h
View File

@@ -75,7 +75,7 @@ public:
); );
virtual btRigidBody* createRigidBody(bool isDynamic, virtual btRigidBody* createRigidBody(bool isDynamic,
float mass, btScalar mass,
const btTransform& startTransform, const btTransform& startTransform,
btCollisionShape* shape); btCollisionShape* shape);

19
Extras/Serialize/makesdna/makesdna.cpp
View File

@@ -810,6 +810,7 @@ static int calculate_structlens(int firststruct)
// has_pointer is set or alphalen != len // has_pointer is set or alphalen != len
if (has_pointer || alphalen != len) { if (has_pointer || alphalen != len) {
if (alphalen % 8) { if (alphalen % 8) {
printf("alphalen = %d len = %d\n",alphalen,len);
printf("Sizeerror 8 in struct: %s (add %d bytes)\n", types[structtype], alphalen%8); printf("Sizeerror 8 in struct: %s (add %d bytes)\n", types[structtype], alphalen%8);
dna_error = 1; dna_error = 1;
} }
@@ -945,7 +946,6 @@ int make_structDNA(char *baseDirectory, FILE *file)
add_type("float", 4); /* 7 */ add_type("float", 4); /* 7 */
add_type("double", 8); /* 8 */ add_type("double", 8); /* 8 */
add_type("void", 0); /* 9 */ add_type("void", 0); /* 9 */
add_type("btScalar", 4); /* 10 */ /* 4 bytes in single precision, 8 in double precision */
// the defines above shouldn't be output in the padding file... // the defines above shouldn't be output in the padding file...
firststruct = nr_types; firststruct = nr_types;
@@ -1175,7 +1175,14 @@ int main(int argc, char ** argv)
strcpy(baseDirectory, BASE_HEADER); strcpy(baseDirectory, BASE_HEADER);
} }
fprintf (file, "unsigned char sBulletDNAstr[]= {\n"); if (sizeof(void*)==8)
{
fprintf (file, "unsigned char sBulletDNAstr64[]= {\n");
} else
{
fprintf (file, "unsigned char sBulletDNAstr[]= {\n");
}
if (make_structDNA(baseDirectory, file)) { if (make_structDNA(baseDirectory, file)) {
// error // error
fclose(file); fclose(file);
@@ -1183,7 +1190,13 @@ int main(int argc, char ** argv)
return_status = 1; return_status = 1;
} else { } else {
fprintf(file, "};\n"); fprintf(file, "};\n");
fprintf(file, "int sBulletDNAlen= sizeof(sBulletDNAstr);\n"); if (sizeof(void*)==8)
{
fprintf(file, "int sBulletDNAlen64= sizeof(sBulletDNAstr64);\n");
} else
{
fprintf(file, "int sBulletDNAlen= sizeof(sBulletDNAstr);\n");
}
fclose(file); fclose(file);
} }

71
src/BulletCollision/CollisionDispatch/btCollisionObject.h
View File

@@ -34,6 +34,14 @@ struct btCollisionShapeData;
typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray; typedef btAlignedObjectArray<class btCollisionObject*> btCollisionObjectArray;
#ifdef BT_USE_DOUBLE_PRECISION
#define btCollisionObjectData btCollisionObjectDoubleData
#define btCollisionObjectDataName "btCollisionObjectDoubleData"
#else
#define btCollisionObjectData btCollisionObjectFloatData
#define btCollisionObjectDataName "btCollisionObjectFloatData"
#endif
/// btCollisionObject can be used to manage collision detection objects. /// btCollisionObject can be used to manage collision detection objects.
/// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy. /// btCollisionObject maintains all information that is needed for a collision detection: Shape, Transform and AABB proxy.
@@ -427,34 +435,67 @@ public:
///using offsetof for m_vtablePadding might break some compilers, in that case define m_vtablePadding manually ///using offsetof for m_vtablePadding might break some compilers, in that case define m_vtablePadding manually
///for serialization ///for serialization
struct btCollisionObjectData struct btCollisionObjectDoubleData
{ {
btTransformData m_worldTransform;
btTransformData m_interpolationWorldTransform;
btVector3Data m_interpolationLinearVelocity;
btVector3Data m_interpolationAngularVelocity;
btVector3Data m_anisotropicFriction;
int m_hasAnisotropicFriction;
btScalar m_contactProcessingThreshold;
void *m_broadphaseHandle; void *m_broadphaseHandle;
void *m_collisionShape; void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape; btCollisionShapeData *m_rootCollisionShape;
void *m_userObjectPointer;
btTransformDoubleData m_worldTransform;
btTransformDoubleData m_interpolationWorldTransform;
btVector3DoubleData m_interpolationLinearVelocity;
btVector3DoubleData m_interpolationAngularVelocity;
btVector3DoubleData m_anisotropicFriction;
double m_contactProcessingThreshold;
double m_deactivationTime;
double m_friction;
double m_restitution;
double m_hitFraction;
double m_ccdSweptSphereRadius;
double m_ccdMotionThreshold;
int m_hasAnisotropicFriction;
int m_collisionFlags; int m_collisionFlags;
int m_islandTag1; int m_islandTag1;
int m_companionId; int m_companionId;
int m_activationState1; int m_activationState1;
btScalar m_deactivationTime;
btScalar m_friction;
btScalar m_restitution;
int m_internalType; int m_internalType;
int m_checkCollideWith;
char m_padding[4];
};
struct btCollisionObjectFloatData
{
void *m_broadphaseHandle;
void *m_collisionShape;
btCollisionShapeData *m_rootCollisionShape;
void *m_userObjectPointer; void *m_userObjectPointer;
btScalar m_hitFraction;
btScalar m_ccdSweptSphereRadius; btTransformFloatData m_worldTransform;
btScalar m_ccdMotionThreshold; btTransformFloatData m_interpolationWorldTransform;
btVector3FloatData m_interpolationLinearVelocity;
btVector3FloatData m_interpolationAngularVelocity;
btVector3FloatData m_anisotropicFriction;
float m_contactProcessingThreshold;
float m_deactivationTime;
float m_friction;
float m_restitution;
float m_hitFraction;
float m_ccdSweptSphereRadius;
float m_ccdMotionThreshold;
int m_hasAnisotropicFriction;
int m_collisionFlags;
int m_islandTag1;
int m_companionId;
int m_activationState1;
int m_internalType;
int m_checkCollideWith; int m_checkCollideWith;
}; };
SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const SIMD_FORCE_INLINE int btCollisionObject::calculateSerializeBufferSize() const
{ {
return sizeof(btCollisionObjectData); return sizeof(btCollisionObjectData);
@@ -491,7 +532,7 @@ SIMD_FORCE_INLINE const char* btCollisionObject::serialize(void* dataBuffer) con
dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold; dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
dataOut->m_checkCollideWith = m_checkCollideWith; dataOut->m_checkCollideWith = m_checkCollideWith;
return "btCollisionObjectData"; return btCollisionObjectDataName;
} }

16
src/BulletCollision/CollisionShapes/btConvexHullShape.cpp
View File

@@ -189,22 +189,32 @@ bool btConvexHullShape::isInside(const btVector3& ,btScalar ) const
///fills the dataBuffer and returns the struct name (and 0 on failure) ///fills the dataBuffer and returns the struct name (and 0 on failure)
const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const const char* btConvexHullShape::serialize(void* dataBuffer, btSerializer* serializer) const
{ {
int szc = sizeof(btConvexHullShapeData);
btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer; btConvexHullShapeData* shapeData = (btConvexHullShapeData*) dataBuffer;
btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer); btConvexInternalShape::serialize(&shapeData->m_convexInternalShapeData, serializer);
int numElem = m_unscaledPoints.size(); int numElem = m_unscaledPoints.size();
shapeData->m_numUnscaledPoints = numElem; shapeData->m_numUnscaledPoints = numElem;
shapeData->m_unscaledPointsPtr = numElem ? (btVector3Data*)&m_unscaledPoints[0]: 0; #ifdef BT_USE_DOUBLE_PRECISION
shapeData->m_unscaledPointsFloatPtr = 0;
shapeData->m_unscaledPointsDoublePtr = numElem ? (btVector3Data*)&m_unscaledPoints[0]: 0;
#else
shapeData->m_unscaledPointsFloatPtr = numElem ? (btVector3Data*)&m_unscaledPoints[0]: 0;
shapeData->m_unscaledPointsDoublePtr = 0;
#endif
if (numElem) if (numElem)
{ {
btChunk* chunk = serializer->allocate(sizeof(btVector3Data),numElem); int sz = sizeof(btVector3Data);
int sz2 = sizeof(btVector3DoubleData);
int sz3 = sizeof(btVector3FloatData);
btChunk* chunk = serializer->allocate(sz,numElem);
btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr; btVector3Data* memPtr = (btVector3Data*)chunk->m_oldPtr;
for (int i=0;i<numElem;i++,memPtr++) for (int i=0;i<numElem;i++,memPtr++)
{ {
m_unscaledPoints[i].serialize(*memPtr); m_unscaledPoints[i].serialize(*memPtr);
} }
serializer->finalizeChunk(chunk,"btVector3Data",BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]); serializer->finalizeChunk(chunk,btVector3DataName,BT_ARRAY_CODE,(void*)&m_unscaledPoints[0]);
} }
return "btConvexHullShapeData"; return "btConvexHullShapeData";

7
src/BulletCollision/CollisionShapes/btConvexHullShape.h
View File

@@ -101,12 +101,15 @@ struct btConvexHullShapeData
{ {
btConvexInternalShapeData m_convexInternalShapeData; btConvexInternalShapeData m_convexInternalShapeData;
btVector3Data *m_unscaledPointsPtr; btVector3FloatData *m_unscaledPointsFloatPtr;
btVector3DoubleData *m_unscaledPointsDoublePtr;
int m_numUnscaledPoints; int m_numUnscaledPoints;
char m_padding[4]; char m_padding3[4];
}; };
SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize() SIMD_FORCE_INLINE int btConvexHullShape::calculateSerializeBufferSize()
{ {
return sizeof(btConvexHullShapeData); return sizeof(btConvexHullShapeData);

17
src/BulletCollision/CollisionShapes/btConvexInternalShape.h
View File

@@ -19,6 +19,7 @@ subject to the following restrictions:
#include "btConvexShape.h" #include "btConvexShape.h"
#include "LinearMath/btAabbUtil2.h" #include "LinearMath/btAabbUtil2.h"
///The btConvexInternalShape is an internal base class, shared by most convex shape implementations. ///The btConvexInternalShape is an internal base class, shared by most convex shape implementations.
class btConvexInternalShape : public btConvexShape class btConvexInternalShape : public btConvexShape
{ {
@@ -118,19 +119,17 @@ public:
}; };
struct btConvexInternalShapeData struct btConvexInternalShapeData
{ {
btCollisionShapeData m_collisionShapeData; btCollisionShapeData m_collisionShapeData;
btVector3Data m_localScaling; btVector3FloatData m_localScaling;
btVector3Data m_implicitShapeDimensions; btVector3FloatData m_implicitShapeDimensions;
btScalar m_collisionMargin; float m_collisionMargin;
char m_padding[4]; int m_padding;
}; };
@@ -147,9 +146,9 @@ SIMD_FORCE_INLINE const char* btConvexInternalShape::serialize(void* dataBuffer,
btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer; btConvexInternalShapeData* shapeData = (btConvexInternalShapeData*) dataBuffer;
btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer); btCollisionShape::serialize(&shapeData->m_collisionShapeData, serializer);
m_implicitShapeDimensions.serialize(shapeData->m_implicitShapeDimensions); m_implicitShapeDimensions.serializeFloat(shapeData->m_implicitShapeDimensions);
m_localScaling.serialize(shapeData->m_localScaling); m_localScaling.serializeFloat(shapeData->m_localScaling);
shapeData->m_collisionMargin = m_collisionMargin; shapeData->m_collisionMargin = float(m_collisionMargin);
return "btConvexInternalShapeData"; return "btConvexInternalShapeData";
} }

4
src/BulletCollision/CollisionShapes/btMultiSphereShape.cpp
View File

@@ -155,8 +155,8 @@ const char* btMultiSphereShape::serialize(void* dataBuffer, btSerializer* serial
btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr; btPositionAndRadius* memPtr = (btPositionAndRadius*)chunk->m_oldPtr;
for (int i=0;i<numElem;i++,memPtr++) for (int i=0;i<numElem;i++,memPtr++)
{ {
m_localPositionArray[i].serialize(memPtr->m_pos); m_localPositionArray[i].serializeFloat(memPtr->m_pos);
memPtr->m_radius = m_radiArray[i]; memPtr->m_radius = float(m_radiArray[i]);
} }
serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]); serializer->finalizeChunk(chunk,"btPositionAndRadius",BT_ARRAY_CODE,(void*)&m_localPositionArray[0]);
} }

10
src/BulletCollision/CollisionShapes/btMultiSphereShape.h
View File

@@ -21,6 +21,8 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h" #include "LinearMath/btAlignedObjectArray.h"
#include "LinearMath/btAabbUtil2.h" #include "LinearMath/btAabbUtil2.h"
///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes. ///The btMultiSphereShape represents the convex hull of a collection of spheres. You can create special capsules or other smooth volumes.
///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius ///It is possible to animate the spheres for deformation, but call 'recalcLocalAabb' after changing any sphere position/radius
class btMultiSphereShape : public btConvexInternalAabbCachingShape class btMultiSphereShape : public btConvexInternalAabbCachingShape
@@ -69,10 +71,11 @@ public:
}; };
struct btPositionAndRadius struct btPositionAndRadius
{ {
btVector3Data m_pos; btVector3FloatData m_pos;
btScalar m_radius; float m_radius;
}; };
struct btMultiSphereShapeData struct btMultiSphereShapeData
@@ -82,9 +85,10 @@ struct btMultiSphereShapeData
btPositionAndRadius *m_localPositionArrayPtr; btPositionAndRadius *m_localPositionArrayPtr;
int m_localPositionArraySize; int m_localPositionArraySize;
char m_padding[4]; char m_padding[4];
}; };
SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize() SIMD_FORCE_INLINE int btMultiSphereShape::calculateSerializeBufferSize()
{ {
return sizeof(btMultiSphereShapeData); return sizeof(btMultiSphereShapeData);

2
src/BulletCollision/CollisionShapes/btStridingMeshInterface.cpp
View File

@@ -327,6 +327,6 @@ const char* btStridingMeshInterface::serialize(void* dataBuffer, btSerializer* s
} }
m_scaling.serialize(trimeshData->m_scaling); m_scaling.serializeFloat(trimeshData->m_scaling);
return "btStridingMeshInterfaceData"; return "btStridingMeshInterfaceData";
} }

11
src/BulletCollision/CollisionShapes/btStridingMeshInterface.h
View File

@@ -22,6 +22,8 @@ subject to the following restrictions:
/// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes. /// The btStridingMeshInterface is the interface class for high performance generic access to triangle meshes, used in combination with btBvhTriangleMeshShape and some other collision shapes.
/// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips. /// Using index striding of 3*sizeof(integer) it can use triangle arrays, using index striding of 1*sizeof(integer) it can handle triangle strips.
/// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory. /// It allows for sharing graphics and collision meshes. Also it provides locking/unlocking of graphics meshes that are in gpu memory.
@@ -118,19 +120,18 @@ struct btMeshPartData
int m_numVertices; int m_numVertices;
}; };
struct btStridingMeshInterfaceData struct btStridingMeshInterfaceData
{ {
btMeshPartData *m_meshPartsPtr; btMeshPartData *m_meshPartsPtr;
btVector3FloatData m_scaling;
int m_numMeshParts; int m_numMeshParts;
btVector3Data m_scaling;
char m_padding[4]; char m_padding[4];
}; };
SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize() SIMD_FORCE_INLINE int btStridingMeshInterface::calculateSerializeBufferSize()
{ {
return sizeof(btStridingMeshInterfaceData); return sizeof(btStridingMeshInterfaceData);

2
src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp
View File

@@ -218,7 +218,7 @@ const char* btTriangleMeshShape::serialize(void* dataBuffer, btSerializer* seria
m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer); m_meshInterface->serialize(&trimeshData->m_meshInterface, serializer);
trimeshData->m_collisionMargin = m_collisionMargin; trimeshData->m_collisionMargin = float(m_collisionMargin);
return "btTriangleMeshShapeData"; return "btTriangleMeshShapeData";
} }

7
src/BulletCollision/CollisionShapes/btTriangleMeshShape.h
View File

@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "btStridingMeshInterface.h" #include "btStridingMeshInterface.h"
///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead. ///The btTriangleMeshShape is an internal concave triangle mesh interface. Don't use this class directly, use btBvhTriangleMeshShape instead.
class btTriangleMeshShape : public btConcaveShape class btTriangleMeshShape : public btConcaveShape
{ {
@@ -90,14 +91,16 @@ public:
struct btTriangleMeshShapeData struct btTriangleMeshShapeData
{ {
//btConcaveShapeData m_concaveShapeData;
btCollisionShapeData m_collisionShapeData; btCollisionShapeData m_collisionShapeData;
btStridingMeshInterfaceData m_meshInterface; btStridingMeshInterfaceData m_meshInterface;
btScalar m_collisionMargin; float m_collisionMargin;
char m_padding[4];
}; };
SIMD_FORCE_INLINE int btTriangleMeshShape::calculateSerializeBufferSize() SIMD_FORCE_INLINE int btTriangleMeshShape::calculateSerializeBufferSize()
{ {
return sizeof(btTriangleMeshShapeData); return sizeof(btTriangleMeshShapeData);

2
src/BulletDynamics/Character/btKinematicCharacterController.h
View File

@@ -67,7 +67,7 @@ protected:
bool m_useGhostObjectSweepTest; bool m_useGhostObjectSweepTest;
bool m_useWalkDirection; bool m_useWalkDirection;
float m_velocityTimeInterval; btScalar m_velocityTimeInterval;
int m_upAxis; int m_upAxis;
btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal); btVector3 computeReflectionDirection (const btVector3& direction, const btVector3& normal);

2
src/BulletDynamics/Dynamics/btRigidBody.cpp
View File

@@ -350,6 +350,6 @@ const char* btRigidBody::serialize(void* dataBuffer) const
rbd->m_linearSleepingThreshold=m_linearSleepingThreshold; rbd->m_linearSleepingThreshold=m_linearSleepingThreshold;
rbd->m_angularSleepingThreshold = m_angularSleepingThreshold; rbd->m_angularSleepingThreshold = m_angularSleepingThreshold;
return "btRigidBodyData"; return btRigidBodyDataName;
} }

85
src/BulletDynamics/Dynamics/btRigidBody.h
View File

@@ -29,6 +29,16 @@ class btTypedConstraint;
extern btScalar gDeactivationTime; extern btScalar gDeactivationTime;
extern bool gDisableDeactivation; extern bool gDisableDeactivation;
#ifdef BT_USE_DOUBLE_PRECISION
#define btRigidBodyData btRigidBodyDoubleData
#define btRigidBodyDataName "btRigidBodyDoubleData"
#else
#define btRigidBodyData btRigidBodyFloatData
#define btRigidBodyDataName "btRigidBodyFloatData"
#endif //BT_USE_DOUBLE_PRECISION
///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. ///The btRigidBody is the main class for rigid body objects. It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape.
///It is recommended for performance and memory use to share btCollisionShape objects whenever possible. ///It is recommended for performance and memory use to share btCollisionShape objects whenever possible.
@@ -504,36 +514,55 @@ public:
//@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData //@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
///btRigidBodyData is used for btRigidBody serialization ///btRigidBodyData is used for btRigidBody serialization
struct btRigidBodyData struct btRigidBodyFloatData
{ {
btCollisionObjectData m_collisionObjectData; btCollisionObjectFloatData m_collisionObjectData;
btMatrix3x3FloatData m_invInertiaTensorWorld;
btVector3FloatData m_linearVelocity;
btVector3FloatData m_angularVelocity;
btVector3FloatData m_angularFactor;
btVector3FloatData m_linearFactor;
btVector3FloatData m_gravity;
btVector3FloatData m_gravity_acceleration;
btVector3FloatData m_invInertiaLocal;
btVector3FloatData m_totalForce;
btVector3FloatData m_totalTorque;
float m_inverseMass;
float m_linearDamping;
float m_angularDamping;
float m_additionalDampingFactor;
float m_additionalLinearDampingThresholdSqr;
float m_additionalAngularDampingThresholdSqr;
float m_additionalAngularDampingFactor;
float m_linearSleepingThreshold;
float m_angularSleepingThreshold;
int m_additionalDamping;
};
btMatrix3x3Data m_invInertiaTensorWorld; struct btRigidBodyDoubleData
btVector3Data m_linearVelocity; {
btVector3Data m_angularVelocity; btCollisionObjectDoubleData m_collisionObjectData;
btScalar m_inverseMass; btMatrix3x3DoubleData m_invInertiaTensorWorld;
btVector3Data m_angularFactor; btVector3DoubleData m_linearVelocity;
btVector3Data m_linearFactor; btVector3DoubleData m_angularVelocity;
btVector3DoubleData m_angularFactor;
btVector3Data m_gravity; btVector3DoubleData m_linearFactor;
btVector3Data m_gravity_acceleration; btVector3DoubleData m_gravity;
btVector3Data m_invInertiaLocal; btVector3DoubleData m_gravity_acceleration;
btVector3Data m_totalForce; btVector3DoubleData m_invInertiaLocal;
btVector3Data m_totalTorque; btVector3DoubleData m_totalForce;
btVector3DoubleData m_totalTorque;
btScalar m_linearDamping; double m_inverseMass;
btScalar m_angularDamping; double m_linearDamping;
double m_angularDamping;
int m_additionalDamping; double m_additionalDampingFactor;
btScalar m_additionalDampingFactor; double m_additionalLinearDampingThresholdSqr;
btScalar m_additionalLinearDampingThresholdSqr; double m_additionalAngularDampingThresholdSqr;
btScalar m_additionalAngularDampingThresholdSqr; double m_additionalAngularDampingFactor;
btScalar m_additionalAngularDampingFactor; double m_linearSleepingThreshold;
double m_angularSleepingThreshold;
int m_additionalDamping;
btScalar m_linearSleepingThreshold; char m_padding[4];
btScalar m_angularSleepingThreshold;
}; };

6
src/LinearMath/btConvexHull.cpp
View File

@@ -1011,9 +1011,9 @@ bool HullLibrary::CleanupVertices(unsigned int svcount,
btScalar y = v[1]; btScalar y = v[1];
btScalar z = v[2]; btScalar z = v[2];
btScalar dx = fabsf(x - px ); btScalar dx = btFabs(x - px );
btScalar dy = fabsf(y - py ); btScalar dy = btFabs(y - py );
btScalar dz = fabsf(z - pz ); btScalar dz = btFabs(z - pz );
if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon ) if ( dx < normalepsilon && dy < normalepsilon && dz < normalepsilon )
{ {

33
src/LinearMath/btMatrix3x3.h
View File

@@ -19,6 +19,11 @@ subject to the following restrictions:
#include "btVector3.h" #include "btVector3.h"
#include "btQuaternion.h" #include "btQuaternion.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btMatrix3x3Data btMatrix3x3DoubleData
#else
#define btMatrix3x3Data btMatrix3x3FloatData
#endif //BT_USE_DOUBLE_PRECISION
/**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3. /**@brief The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with btQuaternion, btTransform and btVector3.
@@ -500,6 +505,10 @@ public:
void deSerialize(const struct btMatrix3x3Data& dataIn); void deSerialize(const struct btMatrix3x3Data& dataIn);
void deSerializeFloat(const struct btMatrix3x3FloatData& dataIn);
void deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn);
}; };
@@ -628,11 +637,18 @@ SIMD_FORCE_INLINE bool operator==(const btMatrix3x3& m1, const btMatrix3x3& m2)
} }
///for serialization ///for serialization
struct btMatrix3x3Data struct btMatrix3x3FloatData
{ {
btVector3Data m_el[3]; btVector3FloatData m_el[3];
}; };
///for serialization
struct btMatrix3x3DoubleData
{
btVector3DoubleData m_el[3];
};
SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) const
{ {
@@ -640,11 +656,24 @@ SIMD_FORCE_INLINE void btMatrix3x3::serialize(struct btMatrix3x3Data& dataOut) c
m_el[i].serialize(dataOut.m_el[i]); m_el[i].serialize(dataOut.m_el[i]);
} }
SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn) SIMD_FORCE_INLINE void btMatrix3x3::deSerialize(const struct btMatrix3x3Data& dataIn)
{ {
for (int i=0;i<3;i++) for (int i=0;i<3;i++)
m_el[i].deSerialize(dataIn.m_el[i]); m_el[i].deSerialize(dataIn.m_el[i]);
} }
SIMD_FORCE_INLINE void btMatrix3x3::deSerializeFloat(const struct btMatrix3x3FloatData& dataIn)
{
for (int i=0;i<3;i++)
m_el[i].deSerializeFloat(dataIn.m_el[i]);
}
SIMD_FORCE_INLINE void btMatrix3x3::deSerializeDouble(const struct btMatrix3x3DoubleData& dataIn)
{
for (int i=0;i<3;i++)
m_el[i].deSerializeDouble(dataIn.m_el[i]);
}
#endif //BT_MATRIX3x3_H #endif //BT_MATRIX3x3_H

387
src/LinearMath/btSerializer.cpp
View File

@@ -1,5 +1,6 @@
unsigned char sBulletDNAstr[]= {
83,68,78,65,78,65,77,69,83,0,0,0,109,95,115,105,122,101,0,109, unsigned char sBulletDNAstr64[]= {
83,68,78,65,78,65,77,69,85,0,0,0,109,95,115,105,122,101,0,109,
95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95, 95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111, 99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110, 108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
@@ -12,115 +13,275 @@ unsigned char sBulletDNAstr[]= {
109,95,108,111,99,97,108,83,99,97,108,105,110,103,0,109,95,105,109,112, 109,95,108,111,99,97,108,83,99,97,108,105,110,103,0,109,95,105,109,112,
108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115, 108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115,
0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109, 0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109,
95,112,111,115,0,109,95,114,97,100,105,117,115,0,109,95,99,111,110,118, 95,112,97,100,100,105,110,103,0,109,95,112,111,115,0,109,95,114,97,100,
101,120,73,110,116,101,114,110,97,108,83,104,97,112,101,68,97,116,97,0, 105,117,115,0,109,95,99,111,110,118,101,120,73,110,116,101,114,110,97,108,
42,109,95,108,111,99,97,108,80,111,115,105,116,105,111,110,65,114,114,97, 83,104,97,112,101,68,97,116,97,0,42,109,95,108,111,99,97,108,80,111,
121,80,116,114,0,109,95,108,111,99,97,108,80,111,115,105,116,105,111,110, 115,105,116,105,111,110,65,114,114,97,121,80,116,114,0,109,95,108,111,99,
65,114,114,97,121,83,105,122,101,0,109,95,118,97,108,117,101,0,105,110, 97,108,80,111,115,105,116,105,111,110,65,114,114,97,121,83,105,122,101,0,
116,0,42,109,95,118,101,114,116,105,99,101,115,51,102,0,42,109,95,118, 109,95,118,97,108,117,101,0,105,110,116,0,42,109,95,118,101,114,116,105,
101,114,116,105,99,101,115,51,100,0,42,109,95,105,110,100,105,99,101,115, 99,101,115,51,102,0,42,109,95,118,101,114,116,105,99,101,115,51,100,0,
51,50,0,42,109,95,105,110,100,105,99,101,115,49,54,0,109,95,110,117, 42,109,95,105,110,100,105,99,101,115,51,50,0,42,109,95,105,110,100,105,
109,84,114,105,97,110,103,108,101,115,0,109,95,110,117,109,86,101,114,116, 99,101,115,49,54,0,109,95,110,117,109,84,114,105,97,110,103,108,101,115,
105,99,101,115,0,42,109,95,109,101,115,104,80,97,114,116,115,80,116,114, 0,109,95,110,117,109,86,101,114,116,105,99,101,115,0,42,109,95,109,101,
0,109,95,110,117,109,77,101,115,104,80,97,114,116,115,0,109,95,115,99, 115,104,80,97,114,116,115,80,116,114,0,109,95,115,99,97,108,105,110,103,
97,108,105,110,103,0,98,116,67,111,108,108,105,115,105,111,110,83,104,97, 0,109,95,110,117,109,77,101,115,104,80,97,114,116,115,0,109,95,109,101,
112,101,68,97,116,97,0,109,95,109,101,115,104,73,110,116,101,114,102,97, 115,104,73,110,116,101,114,102,97,99,101,0,42,109,95,117,110,115,99,97,
99,101,0,42,109,95,117,110,115,99,97,108,101,100,80,111,105,110,116,115, 108,101,100,80,111,105,110,116,115,70,108,111,97,116,80,116,114,0,42,109,
80,116,114,0,109,95,110,117,109,85,110,115,99,97,108,101,100,80,111,105, 95,117,110,115,99,97,108,101,100,80,111,105,110,116,115,68,111,117,98,108,
110,116,115,0,109,95,119,111,114,108,100,84,114,97,110,115,102,111,114,109, 101,80,116,114,0,109,95,110,117,109,85,110,115,99,97,108,101,100,80,111,
0,109,95,105,110,116,101,114,112,111,108,97,116,105,111,110,87,111,114,108, 105,110,116,115,0,109,95,112,97,100,100,105,110,103,51,91,52,93,0,42,
100,84,114,97,110,115,102,111,114,109,0,109,95,105,110,116,101,114,112,111, 109,95,98,114,111,97,100,112,104,97,115,101,72,97,110,100,108,101,0,42,
108,97,116,105,111,110,76,105,110,101,97,114,86,101,108,111,99,105,116,121, 109,95,99,111,108,108,105,115,105,111,110,83,104,97,112,101,0,42,109,95,
0,109,95,105,110,116,101,114,112,111,108,97,116,105,111,110,65,110,103,117, 114,111,111,116,67,111,108,108,105,115,105,111,110,83,104,97,112,101,0,42,
108,97,114,86,101,108,111,99,105,116,121,0,109,95,97,110,105,115,111,116, 109,95,117,115,101,114,79,98,106,101,99,116,80,111,105,110,116,101,114,0,
114,111,112,105,99,70,114,105,99,116,105,111,110,0,109,95,104,97,115,65, 109,95,119,111,114,108,100,84,114,97,110,115,102,111,114,109,0,109,95,105,
110,105,115,111,116,114,111,112,105,99,70,114,105,99,116,105,111,110,0,109, 110,116,101,114,112,111,108,97,116,105,111,110,87,111,114,108,100,84,114,97,
95,99,111,110,116,97,99,116,80,114,111,99,101,115,115,105,110,103,84,104, 110,115,102,111,114,109,0,109,95,105,110,116,101,114,112,111,108,97,116,105,
114,101,115,104,111,108,100,0,42,109,95,98,114,111,97,100,112,104,97,115, 111,110,76,105,110,101,97,114,86,101,108,111,99,105,116,121,0,109,95,105,
101,72,97,110,100,108,101,0,42,109,95,99,111,108,108,105,115,105,111,110, 110,116,101,114,112,111,108,97,116,105,111,110,65,110,103,117,108,97,114,86,
83,104,97,112,101,0,42,109,95,114,111,111,116,67,111,108,108,105,115,105, 101,108,111,99,105,116,121,0,109,95,97,110,105,115,111,116,114,111,112,105,
111,110,83,104,97,112,101,0,109,95,99,111,108,108,105,115,105,111,110,70, 99,70,114,105,99,116,105,111,110,0,109,95,99,111,110,116,97,99,116,80,
108,97,103,115,0,109,95,105,115,108,97,110,100,84,97,103,49,0,109,95, 114,111,99,101,115,115,105,110,103,84,104,114,101,115,104,111,108,100,0,109,
99,111,109,112,97,110,105,111,110,73,100,0,109,95,97,99,116,105,118,97, 95,100,101,97,99,116,105,118,97,116,105,111,110,84,105,109,101,0,109,95,
116,105,111,110,83,116,97,116,101,49,0,109,95,100,101,97,99,116,105,118, 102,114,105,99,116,105,111,110,0,109,95,114,101,115,116,105,116,117,116,105,
97,116,105,111,110,84,105,109,101,0,109,95,102,114,105,99,116,105,111,110, 111,110,0,109,95,104,105,116,70,114,97,99,116,105,111,110,0,109,95,99,
0,109,95,114,101,115,116,105,116,117,116,105,111,110,0,109,95,105,110,116, 99,100,83,119,101,112,116,83,112,104,101,114,101,82,97,100,105,117,115,0,
101,114,110,97,108,84,121,112,101,0,42,109,95,117,115,101,114,79,98,106, 109,95,99,99,100,77,111,116,105,111,110,84,104,114,101,115,104,111,108,100,
101,99,116,80,111,105,110,116,101,114,0,109,95,104,105,116,70,114,97,99, 0,109,95,104,97,115,65,110,105,115,111,116,114,111,112,105,99,70,114,105,
116,105,111,110,0,109,95,99,99,100,83,119,101,112,116,83,112,104,101,114, 99,116,105,111,110,0,109,95,99,111,108,108,105,115,105,111,110,70,108,97,
101,82,97,100,105,117,115,0,109,95,99,99,100,77,111,116,105,111,110,84, 103,115,0,109,95,105,115,108,97,110,100,84,97,103,49,0,109,95,99,111,
104,114,101,115,104,111,108,100,0,109,95,99,104,101,99,107,67,111,108,108, 109,112,97,110,105,111,110,73,100,0,109,95,97,99,116,105,118,97,116,105,
105,100,101,87,105,116,104,0,109,95,99,111,108,108,105,115,105,111,110,79, 111,110,83,116,97,116,101,49,0,109,95,105,110,116,101,114,110,97,108,84,
98,106,101,99,116,68,97,116,97,0,109,95,105,110,118,73,110,101,114,116, 121,112,101,0,109,95,99,104,101,99,107,67,111,108,108,105,100,101,87,105,
105,97,84,101,110,115,111,114,87,111,114,108,100,0,109,95,108,105,110,101, 116,104,0,109,95,99,111,108,108,105,115,105,111,110,79,98,106,101,99,116,
97,114,86,101,108,111,99,105,116,121,0,109,95,97,110,103,117,108,97,114, 68,97,116,97,0,109,95,105,110,118,73,110,101,114,116,105,97,84,101,110,
86,101,108,111,99,105,116,121,0,109,95,105,110,118,101,114,115,101,77,97, 115,111,114,87,111,114,108,100,0,109,95,108,105,110,101,97,114,86,101,108,
115,115,0,109,95,97,110,103,117,108,97,114,70,97,99,116,111,114,0,109, 111,99,105,116,121,0,109,95,97,110,103,117,108,97,114,86,101,108,111,99,
95,108,105,110,101,97,114,70,97,99,116,111,114,0,109,95,103,114,97,118, 105,116,121,0,109,95,97,110,103,117,108,97,114,70,97,99,116,111,114,0,
105,116,121,0,109,95,103,114,97,118,105,116,121,95,97,99,99,101,108,101, 109,95,108,105,110,101,97,114,70,97,99,116,111,114,0,109,95,103,114,97,
114,97,116,105,111,110,0,109,95,105,110,118,73,110,101,114,116,105,97,76, 118,105,116,121,0,109,95,103,114,97,118,105,116,121,95,97,99,99,101,108,
111,99,97,108,0,109,95,116,111,116,97,108,70,111,114,99,101,0,109,95, 101,114,97,116,105,111,110,0,109,95,105,110,118,73,110,101,114,116,105,97,
116,111,116,97,108,84,111,114,113,117,101,0,109,95,108,105,110,101,97,114, 76,111,99,97,108,0,109,95,116,111,116,97,108,70,111,114,99,101,0,109,
68,97,109,112,105,110,103,0,109,95,97,110,103,117,108,97,114,68,97,109, 95,116,111,116,97,108,84,111,114,113,117,101,0,109,95,105,110,118,101,114,
112,105,110,103,0,109,95,97,100,100,105,116,105,111,110,97,108,68,97,109, 115,101,77,97,115,115,0,109,95,108,105,110,101,97,114,68,97,109,112,105,
112,105,110,103,0,109,95,97,100,100,105,116,105,111,110,97,108,68,97,109, 110,103,0,109,95,97,110,103,117,108,97,114,68,97,109,112,105,110,103,0,
112,105,110,103,70,97,99,116,111,114,0,109,95,97,100,100,105,116,105,111, 109,95,97,100,100,105,116,105,111,110,97,108,68,97,109,112,105,110,103,70,
110,97,108,76,105,110,101,97,114,68,97,109,112,105,110,103,84,104,114,101, 97,99,116,111,114,0,109,95,97,100,100,105,116,105,111,110,97,108,76,105,
115,104,111,108,100,83,113,114,0,109,95,97,100,100,105,116,105,111,110,97, 110,101,97,114,68,97,109,112,105,110,103,84,104,114,101,115,104,111,108,100,
108,65,110,103,117,108,97,114,68,97,109,112,105,110,103,84,104,114,101,115, 83,113,114,0,109,95,97,100,100,105,116,105,111,110,97,108,65,110,103,117,
104,111,108,100,83,113,114,0,109,95,97,100,100,105,116,105,111,110,97,108, 108,97,114,68,97,109,112,105,110,103,84,104,114,101,115,104,111,108,100,83,
65,110,103,117,108,97,114,68,97,109,112,105,110,103,70,97,99,116,111,114, 113,114,0,109,95,97,100,100,105,116,105,111,110,97,108,65,110,103,117,108,
0,109,95,108,105,110,101,97,114,83,108,101,101,112,105,110,103,84,104,114, 97,114,68,97,109,112,105,110,103,70,97,99,116,111,114,0,109,95,108,105,
101,115,104,111,108,100,0,109,95,97,110,103,117,108,97,114,83,108,101,101, 110,101,97,114,83,108,101,101,112,105,110,103,84,104,114,101,115,104,111,108,
112,105,110,103,84,104,114,101,115,104,111,108,100,0,0,0,84,89,80,69, 100,0,109,95,97,110,103,117,108,97,114,83,108,101,101,112,105,110,103,84,
32,0,0,0,99,104,97,114,0,117,99,104,97,114,0,115,104,111,114,116, 104,114,101,115,104,111,108,100,0,109,95,97,100,100,105,116,105,111,110,97,
0,117,115,104,111,114,116,0,105,110,116,0,108,111,110,103,0,117,108,111, 108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,33,0,0,0,
110,103,0,102,108,111,97,116,0,100,111,117,98,108,101,0,118,111,105,100, 99,104,97,114,0,117,99,104,97,114,0,115,104,111,114,116,0,117,115,104,
0,98,116,83,99,97,108,97,114,0,80,111,105,110,116,101,114,65,114,114, 111,114,116,0,105,110,116,0,108,111,110,103,0,117,108,111,110,103,0,102,
97,121,0,98,116,80,104,121,115,105,99,115,83,121,115,116,101,109,0,76, 108,111,97,116,0,100,111,117,98,108,101,0,118,111,105,100,0,80,111,105,
105,115,116,66,97,115,101,0,98,116,86,101,99,116,111,114,51,68,97,116, 110,116,101,114,65,114,114,97,121,0,98,116,80,104,121,115,105,99,115,83,
97,0,98,116,86,101,99,116,111,114,51,70,108,111,97,116,68,97,116,97, 121,115,116,101,109,0,76,105,115,116,66,97,115,101,0,98,116,86,101,99,
0,98,116,86,101,99,116,111,114,51,68,111,117,98,108,101,68,97,116,97, 116,111,114,51,70,108,111,97,116,68,97,116,97,0,98,116,86,101,99,116,
0,98,116,77,97,116,114,105,120,51,120,51,68,97,116,97,0,98,116,84, 111,114,51,68,111,117,98,108,101,68,97,116,97,0,98,116,77,97,116,114,
114,97,110,115,102,111,114,109,68,97,116,97,0,98,116,67,111,108,108,105, 105,120,51,120,51,70,108,111,97,116,68,97,116,97,0,98,116,77,97,116,
115,105,111,110,83,104,97,112,101,68,97,116,97,0,98,116,67,111,110,118, 114,105,120,51,120,51,68,111,117,98,108,101,68,97,116,97,0,98,116,84,
101,120,73,110,116,101,114,110,97,108,83,104,97,112,101,68,97,116,97,0, 114,97,110,115,102,111,114,109,70,108,111,97,116,68,97,116,97,0,98,116,
98,116,80,111,115,105,116,105,111,110,65,110,100,82,97,100,105,117,115,0, 84,114,97,110,115,102,111,114,109,68,111,117,98,108,101,68,97,116,97,0,
98,116,77,117,108,116,105,83,112,104,101,114,101,83,104,97,112,101,68,97, 98,116,67,111,108,108,105,115,105,111,110,83,104,97,112,101,68,97,116,97,
116,97,0,98,116,73,110,116,73,110,100,101,120,68,97,116,97,0,98,116, 0,98,116,67,111,110,118,101,120,73,110,116,101,114,110,97,108,83,104,97,
83,104,111,114,116,73,110,116,73,110,100,101,120,68,97,116,97,0,98,116, 112,101,68,97,116,97,0,98,116,80,111,115,105,116,105,111,110,65,110,100,
77,101,115,104,80,97,114,116,68,97,116,97,0,98,116,83,116,114,105,100, 82,97,100,105,117,115,0,98,116,77,117,108,116,105,83,112,104,101,114,101,
105,110,103,77,101,115,104,73,110,116,101,114,102,97,99,101,68,97,116,97, 83,104,97,112,101,68,97,116,97,0,98,116,73,110,116,73,110,100,101,120,
0,98,116,84,114,105,97,110,103,108,101,77,101,115,104,83,104,97,112,101, 68,97,116,97,0,98,116,83,104,111,114,116,73,110,116,73,110,100,101,120,
68,97,116,97,0,109,95,99,111,110,99,97,118,101,83,104,97,112,101,68, 68,97,116,97,0,98,116,77,101,115,104,80,97,114,116,68,97,116,97,0,
97,116,97,59,0,98,116,67,111,110,118,101,120,72,117,108,108,83,104,97, 98,116,83,116,114,105,100,105,110,103,77,101,115,104,73,110,116,101,114,102,
112,101,68,97,116,97,0,98,116,67,111,108,108,105,115,105,111,110,79,98, 97,99,101,68,97,116,97,0,98,116,84,114,105,97,110,103,108,101,77,101,
106,101,99,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,121, 115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,110,118,101,120,
68,97,116,97,0,0,0,0,84,76,69,78,1,0,1,0,2,0,2,0, 72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,67,111,108,108,
4,0,4,0,4,0,4,0,8,0,0,0,4,0,12,0,36,0,8,0, 105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,101,68,97,116,
16,0,16,0,32,0,48,0,64,0,12,0,52,0,20,0,64,0,4,0, 97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,70,
4,0,24,0,28,0,0,0,0,0,64,0,-8,0,-32,1,83,84,82,67, 108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,121,
20,0,0,0,11,0,3,0,4,0,0,0,4,0,1,0,9,0,2,0, 70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,
12,0,3,0,11,0,3,0,11,0,4,0,11,0,5,0,13,0,2,0, 121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,1,0,1,0,
9,0,6,0,9,0,7,0,14,0,1,0,10,0,8,0,15,0,1,0, 2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,16,0,48,0,
7,0,8,0,16,0,1,0,8,0,8,0,17,0,1,0,14,0,9,0, 16,0,16,0,32,0,48,0,96,0,64,0,-128,0,16,0,56,0,20,0,
18,0,2,0,17,0,10,0,14,0,11,0,19,0,3,0,9,0,12,0, 72,0,4,0,4,0,40,0,32,0,56,0,80,0,-40,1,8,1,-16,1,
4,0,13,0,0,0,14,0,20,0,5,0,19,0,15,0,14,0,16,0, -88,3,0,0,83,84,82,67,23,0,0,0,10,0,3,0,4,0,0,0,
14,0,17,0,10,0,18,0,0,0,14,0,21,0,2,0,14,0,19,0, 4,0,1,0,9,0,2,0,11,0,3,0,10,0,3,0,10,0,4,0,
10,0,20,0,22,0,4,0,20,0,21,0,21,0,22,0,4,0,23,0, 10,0,5,0,12,0,2,0,9,0,6,0,9,0,7,0,13,0,1,0,
0,0,14,0,23,0,1,0,4,0,24,0,24,0,2,0,2,0,25,0, 7,0,8,0,14,0,1,0,8,0,8,0,15,0,1,0,13,0,9,0,
2,0,24,0,25,0,6,0,15,0,26,0,16,0,27,0,23,0,28,0, 16,0,1,0,14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,
24,0,29,0,4,0,30,0,4,0,31,0,26,0,4,0,25,0,32,0, 18,0,2,0,16,0,10,0,14,0,11,0,19,0,3,0,9,0,12,0,
4,0,33,0,14,0,34,0,0,0,14,0,27,0,4,0,28,0,35,0, 4,0,13,0,0,0,14,0,20,0,5,0,19,0,15,0,13,0,16,0,
28,0,15,0,26,0,36,0,10,0,18,0,29,0,4,0,20,0,21,0, 13,0,17,0,7,0,18,0,4,0,19,0,21,0,2,0,13,0,20,0,
14,0,37,0,4,0,38,0,0,0,14,0,30,0,23,0,18,0,39,0, 7,0,21,0,22,0,4,0,20,0,22,0,21,0,23,0,4,0,24,0,
18,0,40,0,14,0,41,0,14,0,42,0,14,0,43,0,4,0,44,0, 0,0,14,0,23,0,1,0,4,0,25,0,24,0,2,0,2,0,26,0,
10,0,45,0,9,0,46,0,9,0,47,0,19,0,48,0,4,0,49,0, 2,0,25,0,25,0,6,0,13,0,27,0,14,0,28,0,23,0,29,0,
4,0,50,0,4,0,51,0,4,0,52,0,10,0,53,0,10,0,54,0, 24,0,30,0,4,0,31,0,4,0,32,0,26,0,4,0,25,0,33,0,
10,0,55,0,4,0,56,0,9,0,57,0,10,0,58,0,10,0,59,0, 13,0,34,0,4,0,35,0,0,0,14,0,27,0,4,0,19,0,15,0,
10,0,60,0,4,0,61,0,31,0,21,0,30,0,62,0,17,0,63,0, 26,0,36,0,7,0,18,0,0,0,14,0,28,0,5,0,20,0,22,0,
14,0,64,0,14,0,65,0,10,0,66,0,14,0,67,0,14,0,68,0, 13,0,37,0,14,0,38,0,4,0,39,0,0,0,40,0,29,0,24,0,
14,0,69,0,14,0,70,0,14,0,71,0,14,0,72,0,14,0,73,0, 9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,18,0,45,0,
10,0,74,0,10,0,75,0,4,0,76,0,10,0,77,0,10,0,78,0, 18,0,46,0,14,0,47,0,14,0,48,0,14,0,49,0,8,0,50,0,
10,0,79,0,10,0,80,0,10,0,81,0,10,0,82,0,}; 8,0,51,0,8,0,52,0,8,0,53,0,8,0,54,0,8,0,55,0,
8,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
4,0,61,0,4,0,62,0,4,0,63,0,0,0,14,0,30,0,23,0,
9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,17,0,45,0,
17,0,46,0,13,0,47,0,13,0,48,0,13,0,49,0,7,0,50,0,
7,0,51,0,7,0,52,0,7,0,53,0,7,0,54,0,7,0,55,0,
7,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
4,0,61,0,4,0,62,0,4,0,63,0,31,0,21,0,30,0,64,0,
15,0,65,0,13,0,66,0,13,0,67,0,13,0,68,0,13,0,69,0,
13,0,70,0,13,0,71,0,13,0,72,0,13,0,73,0,13,0,74,0,
7,0,75,0,7,0,76,0,7,0,77,0,7,0,78,0,7,0,79,0,
7,0,80,0,7,0,81,0,7,0,82,0,7,0,83,0,4,0,84,0,
32,0,22,0,29,0,64,0,16,0,65,0,14,0,66,0,14,0,67,0,
14,0,68,0,14,0,69,0,14,0,70,0,14,0,71,0,14,0,72,0,
14,0,73,0,14,0,74,0,8,0,75,0,8,0,76,0,8,0,77,0,
8,0,78,0,8,0,79,0,8,0,80,0,8,0,81,0,8,0,82,0,
8,0,83,0,4,0,84,0,0,0,14,0,};
int sBulletDNAlen64= sizeof(sBulletDNAstr64);
unsigned char sBulletDNAstr[]= {
83,68,78,65,78,65,77,69,85,0,0,0,109,95,115,105,122,101,0,109,
95,99,97,112,97,99,105,116,121,0,42,109,95,100,97,116,97,0,109,95,
99,111,108,108,105,115,105,111,110,83,104,97,112,101,115,0,109,95,99,111,
108,108,105,115,105,111,110,79,98,106,101,99,116,115,0,109,95,99,111,110,
115,116,114,97,105,110,116,115,0,42,102,105,114,115,116,0,42,108,97,115,
116,0,109,95,102,108,111,97,116,115,91,52,93,0,109,95,101,108,91,51,
93,0,109,95,98,97,115,105,115,0,109,95,111,114,105,103,105,110,0,42,
109,95,117,115,101,114,80,111,105,110,116,101,114,0,109,95,115,104,97,112,
101,84,121,112,101,0,109,95,112,97,100,100,105,110,103,91,52,93,0,109,
95,99,111,108,108,105,115,105,111,110,83,104,97,112,101,68,97,116,97,0,
109,95,108,111,99,97,108,83,99,97,108,105,110,103,0,109,95,105,109,112,
108,105,99,105,116,83,104,97,112,101,68,105,109,101,110,115,105,111,110,115,
0,109,95,99,111,108,108,105,115,105,111,110,77,97,114,103,105,110,0,109,
95,112,97,100,100,105,110,103,0,109,95,112,111,115,0,109,95,114,97,100,
105,117,115,0,109,95,99,111,110,118,101,120,73,110,116,101,114,110,97,108,
83,104,97,112,101,68,97,116,97,0,42,109,95,108,111,99,97,108,80,111,
115,105,116,105,111,110,65,114,114,97,121,80,116,114,0,109,95,108,111,99,
97,108,80,111,115,105,116,105,111,110,65,114,114,97,121,83,105,122,101,0,
109,95,118,97,108,117,101,0,105,110,116,0,42,109,95,118,101,114,116,105,
99,101,115,51,102,0,42,109,95,118,101,114,116,105,99,101,115,51,100,0,
42,109,95,105,110,100,105,99,101,115,51,50,0,42,109,95,105,110,100,105,
99,101,115,49,54,0,109,95,110,117,109,84,114,105,97,110,103,108,101,115,
0,109,95,110,117,109,86,101,114,116,105,99,101,115,0,42,109,95,109,101,
115,104,80,97,114,116,115,80,116,114,0,109,95,115,99,97,108,105,110,103,
0,109,95,110,117,109,77,101,115,104,80,97,114,116,115,0,109,95,109,101,
115,104,73,110,116,101,114,102,97,99,101,0,42,109,95,117,110,115,99,97,
108,101,100,80,111,105,110,116,115,70,108,111,97,116,80,116,114,0,42,109,
95,117,110,115,99,97,108,101,100,80,111,105,110,116,115,68,111,117,98,108,
101,80,116,114,0,109,95,110,117,109,85,110,115,99,97,108,101,100,80,111,
105,110,116,115,0,109,95,112,97,100,100,105,110,103,51,91,52,93,0,42,
109,95,98,114,111,97,100,112,104,97,115,101,72,97,110,100,108,101,0,42,
109,95,99,111,108,108,105,115,105,111,110,83,104,97,112,101,0,42,109,95,
114,111,111,116,67,111,108,108,105,115,105,111,110,83,104,97,112,101,0,42,
109,95,117,115,101,114,79,98,106,101,99,116,80,111,105,110,116,101,114,0,
109,95,119,111,114,108,100,84,114,97,110,115,102,111,114,109,0,109,95,105,
110,116,101,114,112,111,108,97,116,105,111,110,87,111,114,108,100,84,114,97,
110,115,102,111,114,109,0,109,95,105,110,116,101,114,112,111,108,97,116,105,
111,110,76,105,110,101,97,114,86,101,108,111,99,105,116,121,0,109,95,105,
110,116,101,114,112,111,108,97,116,105,111,110,65,110,103,117,108,97,114,86,
101,108,111,99,105,116,121,0,109,95,97,110,105,115,111,116,114,111,112,105,
99,70,114,105,99,116,105,111,110,0,109,95,99,111,110,116,97,99,116,80,
114,111,99,101,115,115,105,110,103,84,104,114,101,115,104,111,108,100,0,109,
95,100,101,97,99,116,105,118,97,116,105,111,110,84,105,109,101,0,109,95,
102,114,105,99,116,105,111,110,0,109,95,114,101,115,116,105,116,117,116,105,
111,110,0,109,95,104,105,116,70,114,97,99,116,105,111,110,0,109,95,99,
99,100,83,119,101,112,116,83,112,104,101,114,101,82,97,100,105,117,115,0,
109,95,99,99,100,77,111,116,105,111,110,84,104,114,101,115,104,111,108,100,
0,109,95,104,97,115,65,110,105,115,111,116,114,111,112,105,99,70,114,105,
99,116,105,111,110,0,109,95,99,111,108,108,105,115,105,111,110,70,108,97,
103,115,0,109,95,105,115,108,97,110,100,84,97,103,49,0,109,95,99,111,
109,112,97,110,105,111,110,73,100,0,109,95,97,99,116,105,118,97,116,105,
111,110,83,116,97,116,101,49,0,109,95,105,110,116,101,114,110,97,108,84,
121,112,101,0,109,95,99,104,101,99,107,67,111,108,108,105,100,101,87,105,
116,104,0,109,95,99,111,108,108,105,115,105,111,110,79,98,106,101,99,116,
68,97,116,97,0,109,95,105,110,118,73,110,101,114,116,105,97,84,101,110,
115,111,114,87,111,114,108,100,0,109,95,108,105,110,101,97,114,86,101,108,
111,99,105,116,121,0,109,95,97,110,103,117,108,97,114,86,101,108,111,99,
105,116,121,0,109,95,97,110,103,117,108,97,114,70,97,99,116,111,114,0,
109,95,108,105,110,101,97,114,70,97,99,116,111,114,0,109,95,103,114,97,
118,105,116,121,0,109,95,103,114,97,118,105,116,121,95,97,99,99,101,108,
101,114,97,116,105,111,110,0,109,95,105,110,118,73,110,101,114,116,105,97,
76,111,99,97,108,0,109,95,116,111,116,97,108,70,111,114,99,101,0,109,
95,116,111,116,97,108,84,111,114,113,117,101,0,109,95,105,110,118,101,114,
115,101,77,97,115,115,0,109,95,108,105,110,101,97,114,68,97,109,112,105,
110,103,0,109,95,97,110,103,117,108,97,114,68,97,109,112,105,110,103,0,
109,95,97,100,100,105,116,105,111,110,97,108,68,97,109,112,105,110,103,70,
97,99,116,111,114,0,109,95,97,100,100,105,116,105,111,110,97,108,76,105,
110,101,97,114,68,97,109,112,105,110,103,84,104,114,101,115,104,111,108,100,
83,113,114,0,109,95,97,100,100,105,116,105,111,110,97,108,65,110,103,117,
108,97,114,68,97,109,112,105,110,103,84,104,114,101,115,104,111,108,100,83,
113,114,0,109,95,97,100,100,105,116,105,111,110,97,108,65,110,103,117,108,
97,114,68,97,109,112,105,110,103,70,97,99,116,111,114,0,109,95,108,105,
110,101,97,114,83,108,101,101,112,105,110,103,84,104,114,101,115,104,111,108,
100,0,109,95,97,110,103,117,108,97,114,83,108,101,101,112,105,110,103,84,
104,114,101,115,104,111,108,100,0,109,95,97,100,100,105,116,105,111,110,97,
108,68,97,109,112,105,110,103,0,0,0,0,84,89,80,69,33,0,0,0,
99,104,97,114,0,117,99,104,97,114,0,115,104,111,114,116,0,117,115,104,
111,114,116,0,105,110,116,0,108,111,110,103,0,117,108,111,110,103,0,102,
108,111,97,116,0,100,111,117,98,108,101,0,118,111,105,100,0,80,111,105,
110,116,101,114,65,114,114,97,121,0,98,116,80,104,121,115,105,99,115,83,
121,115,116,101,109,0,76,105,115,116,66,97,115,101,0,98,116,86,101,99,
116,111,114,51,70,108,111,97,116,68,97,116,97,0,98,116,86,101,99,116,
111,114,51,68,111,117,98,108,101,68,97,116,97,0,98,116,77,97,116,114,
105,120,51,120,51,70,108,111,97,116,68,97,116,97,0,98,116,77,97,116,
114,105,120,51,120,51,68,111,117,98,108,101,68,97,116,97,0,98,116,84,
114,97,110,115,102,111,114,109,70,108,111,97,116,68,97,116,97,0,98,116,
84,114,97,110,115,102,111,114,109,68,111,117,98,108,101,68,97,116,97,0,
98,116,67,111,108,108,105,115,105,111,110,83,104,97,112,101,68,97,116,97,
0,98,116,67,111,110,118,101,120,73,110,116,101,114,110,97,108,83,104,97,
112,101,68,97,116,97,0,98,116,80,111,115,105,116,105,111,110,65,110,100,
82,97,100,105,117,115,0,98,116,77,117,108,116,105,83,112,104,101,114,101,
83,104,97,112,101,68,97,116,97,0,98,116,73,110,116,73,110,100,101,120,
68,97,116,97,0,98,116,83,104,111,114,116,73,110,116,73,110,100,101,120,
68,97,116,97,0,98,116,77,101,115,104,80,97,114,116,68,97,116,97,0,
98,116,83,116,114,105,100,105,110,103,77,101,115,104,73,110,116,101,114,102,
97,99,101,68,97,116,97,0,98,116,84,114,105,97,110,103,108,101,77,101,
115,104,83,104,97,112,101,68,97,116,97,0,98,116,67,111,110,118,101,120,
72,117,108,108,83,104,97,112,101,68,97,116,97,0,98,116,67,111,108,108,
105,115,105,111,110,79,98,106,101,99,116,68,111,117,98,108,101,68,97,116,
97,0,98,116,67,111,108,108,105,115,105,111,110,79,98,106,101,99,116,70,
108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,121,
70,108,111,97,116,68,97,116,97,0,98,116,82,105,103,105,100,66,111,100,
121,68,111,117,98,108,101,68,97,116,97,0,84,76,69,78,1,0,1,0,
2,0,2,0,4,0,4,0,4,0,4,0,8,0,0,0,12,0,36,0,
8,0,16,0,32,0,48,0,96,0,64,0,-128,0,12,0,52,0,20,0,
64,0,4,0,4,0,24,0,28,0,48,0,68,0,-56,1,-8,0,-32,1,
-104,3,0,0,83,84,82,67,23,0,0,0,10,0,3,0,4,0,0,0,
4,0,1,0,9,0,2,0,11,0,3,0,10,0,3,0,10,0,4,0,
10,0,5,0,12,0,2,0,9,0,6,0,9,0,7,0,13,0,1,0,
7,0,8,0,14,0,1,0,8,0,8,0,15,0,1,0,13,0,9,0,
16,0,1,0,14,0,9,0,17,0,2,0,15,0,10,0,13,0,11,0,
18,0,2,0,16,0,10,0,14,0,11,0,19,0,3,0,9,0,12,0,
4,0,13,0,0,0,14,0,20,0,5,0,19,0,15,0,13,0,16,0,
13,0,17,0,7,0,18,0,4,0,19,0,21,0,2,0,13,0,20,0,
7,0,21,0,22,0,4,0,20,0,22,0,21,0,23,0,4,0,24,0,
0,0,14,0,23,0,1,0,4,0,25,0,24,0,2,0,2,0,26,0,
2,0,25,0,25,0,6,0,13,0,27,0,14,0,28,0,23,0,29,0,
24,0,30,0,4,0,31,0,4,0,32,0,26,0,4,0,25,0,33,0,
13,0,34,0,4,0,35,0,0,0,14,0,27,0,4,0,19,0,15,0,
26,0,36,0,7,0,18,0,0,0,14,0,28,0,5,0,20,0,22,0,
13,0,37,0,14,0,38,0,4,0,39,0,0,0,40,0,29,0,24,0,
9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,18,0,45,0,
18,0,46,0,14,0,47,0,14,0,48,0,14,0,49,0,8,0,50,0,
8,0,51,0,8,0,52,0,8,0,53,0,8,0,54,0,8,0,55,0,
8,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
4,0,61,0,4,0,62,0,4,0,63,0,0,0,14,0,30,0,23,0,
9,0,41,0,9,0,42,0,19,0,43,0,9,0,44,0,17,0,45,0,
17,0,46,0,13,0,47,0,13,0,48,0,13,0,49,0,7,0,50,0,
7,0,51,0,7,0,52,0,7,0,53,0,7,0,54,0,7,0,55,0,
7,0,56,0,4,0,57,0,4,0,58,0,4,0,59,0,4,0,60,0,
4,0,61,0,4,0,62,0,4,0,63,0,31,0,21,0,30,0,64,0,
15,0,65,0,13,0,66,0,13,0,67,0,13,0,68,0,13,0,69,0,
13,0,70,0,13,0,71,0,13,0,72,0,13,0,73,0,13,0,74,0,
7,0,75,0,7,0,76,0,7,0,77,0,7,0,78,0,7,0,79,0,
7,0,80,0,7,0,81,0,7,0,82,0,7,0,83,0,4,0,84,0,
32,0,22,0,29,0,64,0,16,0,65,0,14,0,66,0,14,0,67,0,
14,0,68,0,14,0,69,0,14,0,70,0,14,0,71,0,14,0,72,0,
14,0,73,0,14,0,74,0,8,0,75,0,8,0,76,0,8,0,77,0,
8,0,78,0,8,0,79,0,8,0,80,0,8,0,81,0,8,0,82,0,
8,0,83,0,4,0,84,0,0,0,14,0,};
int sBulletDNAlen= sizeof(sBulletDNAstr); int sBulletDNAlen= sizeof(sBulletDNAstr);

55
src/LinearMath/btSerializer.h
View File

@@ -23,9 +23,14 @@ subject to the following restrictions:
#include <string.h> #include <string.h>
///only the 32bit versions for now ///only the 32bit versions for now
extern unsigned char sBulletDNAstr[]; extern unsigned char sBulletDNAstr[];
extern int sBulletDNAlen; extern int sBulletDNAlen;
extern unsigned char sBulletDNAstr64[];
extern int sBulletDNAlen64;
class btChunk class btChunk
{ {
@@ -263,12 +268,18 @@ public:
if (VOID_IS_8) if (VOID_IS_8)
{ {
//64bit not yet supported (soon) //#if _WIN64
btAssert(0); initDNA((const char*)sBulletDNAstr64,sBulletDNAlen64);
return; //#else
// btAssert(0);
//#endif
} else } else
{ {
//#ifndef _WIN64
initDNA((const char*)sBulletDNAstr,sBulletDNAlen); initDNA((const char*)sBulletDNAstr,sBulletDNAlen);
//#else
// btAssert(0);
//#endif
} }
} }
@@ -282,28 +293,35 @@ public:
{ {
m_currentSize = BT_HEADER_LENGTH; m_currentSize = BT_HEADER_LENGTH;
memcpy(m_buffer, "BULLET ", 7); #ifdef BT_USE_DOUBLE_PRECISION
int endian= 1; memcpy(m_buffer, "BULLETd", 7);
endian= ((char*)&endian)[0]; #else
memcpy(m_buffer, "BULLETf", 7);
#endif //BT_USE_DOUBLE_PRECISION
int littleEndian= 1;
littleEndian= ((char*)&littleEndian)[0];
if (endian)
{
m_buffer[7] = '_';
} else
{
m_buffer[7] = '-';
}
if (sizeof(void*)==8) if (sizeof(void*)==8)
{ {
m_buffer[8]='V'; m_buffer[7] = '-';
} else } else
{ {
m_buffer[8]='v'; m_buffer[7] = '_';
} }
if (littleEndian)
{
m_buffer[8]='v';
} else
{
m_buffer[8]='V';
}
m_buffer[9] = '2'; m_buffer[9] = '2';
m_buffer[10] = '7'; m_buffer[10] = '7';
m_buffer[11] = '5'; m_buffer[11] = '6';
} }
@@ -327,6 +345,7 @@ public:
virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr) const virtual void finalizeChunk(btChunk* chunk, const char* structType, int chunkCode,void* oldPtr) const
{ {
chunk->m_dna_nr = getReverseType(structType); chunk->m_dna_nr = getReverseType(structType);
chunk->m_chunkCode = chunkCode; chunk->m_chunkCode = chunkCode;
chunk->m_oldPtr = oldPtr; chunk->m_oldPtr = oldPtr;
} }
@@ -339,14 +358,14 @@ public:
{ {
unsigned char* ptr = m_buffer+m_currentSize; unsigned char* ptr = m_buffer+m_currentSize;
m_currentSize += size*numElements+sizeof(btChunk); m_currentSize += int(size)*numElements+sizeof(btChunk);
unsigned char* data = ptr + sizeof(btChunk); unsigned char* data = ptr + sizeof(btChunk);
btChunk* chunk = (btChunk*)ptr; btChunk* chunk = (btChunk*)ptr;
chunk->m_chunkCode = 0; chunk->m_chunkCode = 0;
chunk->m_oldPtr = data; chunk->m_oldPtr = data;
chunk->m_length = size*numElements; chunk->m_length = int(size)*numElements;
chunk->m_number = numElements; chunk->m_number = numElements;
m_chunkPtrs.push_back(chunk); m_chunkPtrs.push_back(chunk);

39
src/LinearMath/btTransform.h
View File

@@ -20,6 +20,13 @@ subject to the following restrictions:
#include "btMatrix3x3.h" #include "btMatrix3x3.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btTransformData btTransformDoubleData
#else
#define btTransformData btTransformFloatData
#endif
/**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear. /**@brief The btTransform class supports rigid transforms with only translation and rotation and no scaling/shear.
@@ -205,6 +212,10 @@ public:
void deSerialize(const struct btTransformData& dataIn); void deSerialize(const struct btTransformData& dataIn);
void deSerializeDouble(const struct btTransformDoubleData& dataIn);
void deSerializeFloat(const struct btTransformFloatData& dataIn);
}; };
@@ -237,13 +248,22 @@ SIMD_FORCE_INLINE bool operator==(const btTransform& t1, const btTransform& t2)
t1.getOrigin() == t2.getOrigin() ); t1.getOrigin() == t2.getOrigin() );
} }
///for serialization ///for serialization
struct btTransformData struct btTransformFloatData
{ {
btMatrix3x3Data m_basis; btMatrix3x3FloatData m_basis;
btVector3Data m_origin; btVector3FloatData m_origin;
}; };
struct btTransformDoubleData
{
btMatrix3x3DoubleData m_basis;
btVector3DoubleData m_origin;
};
SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const SIMD_FORCE_INLINE void btTransform::serialize(btTransformData& dataOut) const
{ {
m_basis.serialize(dataOut.m_basis); m_basis.serialize(dataOut.m_basis);
@@ -256,6 +276,19 @@ SIMD_FORCE_INLINE void btTransform::deSerialize(const btTransformData& dataIn)
m_origin.deSerialize(dataIn.m_origin); m_origin.deSerialize(dataIn.m_origin);
} }
SIMD_FORCE_INLINE void btTransform::deSerializeFloat(const btTransformFloatData& dataIn)
{
m_basis.deSerializeFloat(dataIn.m_basis);
m_origin.deSerializeFloat(dataIn.m_origin);
}
SIMD_FORCE_INLINE void btTransform::deSerializeDouble(const btTransformDoubleData& dataIn)
{
m_basis.deSerializeDouble(dataIn.m_basis);
m_origin.deSerializeDouble(dataIn.m_origin);
}
#endif #endif

51
src/LinearMath/btVector3.h
View File

@@ -21,6 +21,14 @@ subject to the following restrictions:
#include "btScalar.h" #include "btScalar.h"
#include "btMinMax.h" #include "btMinMax.h"
#ifdef BT_USE_DOUBLE_PRECISION
#define btVector3Data btVector3DoubleData
#define btVector3DataName "btVector3DoubleData"
#else
#define btVector3Data btVector3FloatData
#define btVector3DataName "btVector3FloatData"
#endif //BT_USE_DOUBLE_PRECISION
@@ -330,10 +338,18 @@ public:
return length2() < SIMD_EPSILON; return length2() < SIMD_EPSILON;
} }
SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const; SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const;
SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn); SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn);
SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const;
SIMD_FORCE_INLINE void deSerializeFloat(const struct btVector3FloatData& dataIn);
SIMD_FORCE_INLINE void serializeDouble(struct btVector3DoubleData& dataOut) const;
SIMD_FORCE_INLINE void deSerializeDouble(const struct btVector3DoubleData& dataIn);
}; };
/**@brief Return the sum of two vectors (Point symantics)*/ /**@brief Return the sum of two vectors (Point symantics)*/
@@ -671,10 +687,6 @@ SIMD_FORCE_INLINE void btPlaneSpace1 (const btVector3& n, btVector3& p, btVector
} }
} }
struct btVector3Data
{
btScalar m_floats[4];
};
struct btVector3FloatData struct btVector3FloatData
{ {
@@ -684,8 +696,37 @@ struct btVector3FloatData
struct btVector3DoubleData struct btVector3DoubleData
{ {
double m_floats[4]; double m_floats[4];
}; };
SIMD_FORCE_INLINE void btVector3::serializeFloat(struct btVector3FloatData& dataOut) const
{
///could also do a memcpy, check if it is worth it
for (int i=0;i<4;i++)
dataOut.m_floats[i] = float(m_floats[i]);
}
SIMD_FORCE_INLINE void btVector3::deSerializeFloat(const struct btVector3FloatData& dataIn)
{
for (int i=0;i<4;i++)
m_floats[i] = btScalar(dataIn.m_floats[i]);
}
SIMD_FORCE_INLINE void btVector3::serializeDouble(struct btVector3DoubleData& dataOut) const
{
///could also do a memcpy, check if it is worth it
for (int i=0;i<4;i++)
dataOut.m_floats[i] = double(m_floats[i]);
}
SIMD_FORCE_INLINE void btVector3::deSerializeDouble(const struct btVector3DoubleData& dataIn)
{
for (int i=0;i<4;i++)
m_floats[i] = btScalar(dataIn.m_floats[i]);
}
SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
{ {
///could also do a memcpy, check if it is worth it ///could also do a memcpy, check if it is worth it