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further work on urdfEditor.py, fix some serialization issues

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This commit is contained in:
Erwin Coumans
2018-01-08 12:25:56 -08:00
parent a85a4f387b
commit e97b751781
23 changed files with 1926 additions and 1455 deletions
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20
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
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@@ -556,8 +556,8 @@ typedef struct bInvalidHandle {
double m_contactBreakingThreshold;
double m_contactProcessingThreshold;
int m_padding;
void *m_body0;
void *m_body1;
btCollisionObjectDoubleData *m_body0;
btCollisionObjectDoubleData *m_body1;
};
@@ -570,8 +570,8 @@ typedef struct bInvalidHandle {
btVector3FloatData m_pointCachePositionWorldOnA[4];
btVector3FloatData m_pointCachePositionWorldOnB[4];
btVector3FloatData m_pointCacheNormalWorldOnB[4];
btVector3FloatData m_pointCacheLateralFrictionDir1;
btVector3FloatData m_pointCacheLateralFrictionDir2;
btVector3FloatData m_pointCacheLateralFrictionDir1[4];
btVector3FloatData m_pointCacheLateralFrictionDir2[4];
float m_pointCacheDistance[4];
float m_pointCacheAppliedImpulse[4];
float m_pointCacheCombinedFriction[4];
@@ -601,8 +601,8 @@ typedef struct bInvalidHandle {
float m_contactBreakingThreshold;
float m_contactProcessingThreshold;
int m_padding;
void *m_body0;
void *m_body1;
btCollisionObjectFloatData *m_body0;
btCollisionObjectFloatData *m_body1;
};
@@ -1451,7 +1451,7 @@ typedef struct bInvalidHandle {
{
public:
btQuaternionDoubleData m_zeroRotParentToThis;
btVector3DoubleData m_parentComToThisComOffset;
btVector3DoubleData m_parentComToThisPivotOffset;
btVector3DoubleData m_thisPivotToThisComOffset;
btVector3DoubleData m_jointAxisTop[6];
btVector3DoubleData m_jointAxisBottom[6];
@@ -1482,7 +1482,7 @@ typedef struct bInvalidHandle {
{
public:
btQuaternionFloatData m_zeroRotParentToThis;
btVector3FloatData m_parentComToThisComOffset;
btVector3FloatData m_parentComToThisPivotOffset;
btVector3FloatData m_thisPivotToThisComOffset;
btVector3FloatData m_jointAxisTop[6];
btVector3FloatData m_jointAxisBottom[6];
@@ -1548,7 +1548,7 @@ typedef struct bInvalidHandle {
{
public:
btCollisionObjectFloatData m_colObjData;
void *m_multiBody;
btMultiBodyFloatData *m_multiBody;
int m_link;
char m_padding[4];
};
@@ -1559,7 +1559,7 @@ typedef struct bInvalidHandle {
{
public:
btCollisionObjectDoubleData m_colObjData;
void *m_multiBody;
btMultiBodyDoubleData *m_multiBody;
int m_link;
char m_padding[4];
};

10
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
View File

@@ -194,7 +194,7 @@ template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInterna
btQuaternion parentRotToThis;
parentRotToThis.deSerialize(mbd->m_links[i].m_zeroRotParentToThis);
btVector3 parentComToThisPivotOffset;
parentComToThisPivotOffset.deSerialize(mbd->m_links[i].m_parentComToThisComOffset);
parentComToThisPivotOffset.deSerialize(mbd->m_links[i].m_parentComToThisPivotOffset);
btVector3 thisPivotToThisComOffset;
thisPivotToThisComOffset.deSerialize(mbd->m_links[i].m_thisPivotToThisComOffset);
@@ -333,7 +333,7 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
void* ptr = bulletFile2->findLibPointer(manifoldData->m_body0);
if (ptr)
{
manifoldData->m_body0 = ptr;
manifoldData->m_body0 = (btCollisionObjectDoubleData*)ptr;
}
}
@@ -341,7 +341,7 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
if (ptr)
{
manifoldData->m_body1 = ptr;
manifoldData->m_body1 = (btCollisionObjectDoubleData*)ptr;
}
}
}
@@ -371,14 +371,14 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
void* ptr = bulletFile2->findLibPointer(manifoldData->m_body0);
if (ptr)
{
manifoldData->m_body0 = ptr;
manifoldData->m_body0 = (btCollisionObjectFloatData*)ptr;
}
}
{
void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
if (ptr)
{
manifoldData->m_body1 = ptr;
manifoldData->m_body1 = (btCollisionObjectFloatData*)ptr;
}
}
}