First draft of btMultiBody serialization, including optional names for base, link and joints (see ImportURDFDemo/ImportURDFSetup.cpp how this is done)

Bump up version number to 2.84 because of new serialization data.
2015-07-09 17:36:00 -07:00
parent 285ac286fa
commit f6f76901fd
20 changed files with 1435 additions and 517 deletions
--- a/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
+++ b/Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
@@ -31,6 +31,8 @@ typedef struct bInvalidHandle {
    class ListBase;
    class btVector3FloatData;
    class btVector3DoubleData;
+    class btQuaternionFloatData;
+    class btQuaternionDoubleData;
    class btMatrix3x3FloatData;
    class btMatrix3x3DoubleData;
    class btTransformFloatData;
@@ -57,6 +59,7 @@ typedef struct bInvalidHandle {
    class btCompoundShapeChildData;
    class btCompoundShapeData;
    class btCylinderShapeData;
+    class btConeShapeData;
    class btCapsuleShapeData;
    class btTriangleInfoData;
    class btTriangleInfoMapData;
@@ -64,18 +67,34 @@ typedef struct bInvalidHandle {
    class btConvexHullShapeData;
    class btCollisionObjectDoubleData;
    class btCollisionObjectFloatData;
+    class btDynamicsWorldDoubleData;
+    class btDynamicsWorldFloatData;
    class btRigidBodyFloatData;
    class btRigidBodyDoubleData;
    class btConstraintInfo1;
+    class btTypedConstraintFloatData;
    class btTypedConstraintData;
+    class btTypedConstraintDoubleData;
    class btPoint2PointConstraintFloatData;
+    class btPoint2PointConstraintDoubleData2;
    class btPoint2PointConstraintDoubleData;
    class btHingeConstraintDoubleData;
    class btHingeConstraintFloatData;
+    class btHingeConstraintDoubleData2;
+    class btConeTwistConstraintDoubleData;
    class btConeTwistConstraintData;
    class btGeneric6DofConstraintData;
+    class btGeneric6DofConstraintDoubleData2;
    class btGeneric6DofSpringConstraintData;
+    class btGeneric6DofSpringConstraintDoubleData2;
+    class btGeneric6DofSpring2ConstraintData;
+    class btGeneric6DofSpring2ConstraintDoubleData2;
    class btSliderConstraintData;
+    class btSliderConstraintDoubleData;
+    class btGearConstraintFloatData;
+    class btGearConstraintDoubleData;
+    class btContactSolverInfoDoubleData;
+    class btContactSolverInfoFloatData;
    class SoftBodyMaterialData;
    class SoftBodyNodeData;
    class SoftBodyLinkData;
@@ -87,6 +106,10 @@ typedef struct bInvalidHandle {
    class SoftBodyClusterData;
    class btSoftBodyJointData;
    class btSoftBodyFloatData;
+    class btMultiBodyLinkDoubleData;
+    class btMultiBodyLinkFloatData;
+    class btMultiBodyDoubleData;
+    class btMultiBodyFloatData;
 // -------------------------------------------------- //
    class PointerArray
    {
@@ -132,6 +155,22 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btQuaternionFloatData
+    {
+    public:
+        float m_floats[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btQuaternionDoubleData
+    {
+    public:
+        double m_floats[4];
+    };
+
+
 // -------------------------------------------------- //
    class btMatrix3x3FloatData
    {
@@ -421,6 +460,16 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btConeShapeData
+    {
+    public:
+        btConvexInternalShapeData m_convexInternalShapeData;
+        int m_upIndex;
+        char m_padding[4];
+    };
+
+
 // -------------------------------------------------- //
    class btCapsuleShapeData
    {
@@ -503,6 +552,7 @@ typedef struct bInvalidHandle {
        double m_contactProcessingThreshold;
        double m_deactivationTime;
        double m_friction;
+        double m_rollingFriction;
        double m_restitution;
        double m_hitFraction;
        double m_ccdSweptSphereRadius;
@@ -534,6 +584,7 @@ typedef struct bInvalidHandle {
        float m_contactProcessingThreshold;
        float m_deactivationTime;
        float m_friction;
+        float m_rollingFriction;
        float m_restitution;
        float m_hitFraction;
        float m_ccdSweptSphereRadius;
@@ -545,6 +596,25 @@ typedef struct bInvalidHandle {
        int m_activationState1;
        int m_internalType;
        int m_checkCollideWith;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btDynamicsWorldDoubleData
+    {
+    public:
+        btContactSolverInfoDoubleData m_solverInfo;
+        btVector3DoubleData m_gravity;
+    };
+
+
+// -------------------------------------------------- //
+    class btDynamicsWorldFloatData
+    {
+    public:
+        btContactSolverInfoFloatData m_solverInfo;
+        btVector3FloatData m_gravity;
    };


@@ -614,6 +684,26 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btTypedConstraintFloatData
+    {
+    public:
+        btRigidBodyFloatData *m_rbA;
+        btRigidBodyFloatData *m_rbB;
+        char *m_name;
+        int m_objectType;
+        int m_userConstraintType;
+        int m_userConstraintId;
+        int m_needsFeedback;
+        float m_appliedImpulse;
+        float m_dbgDrawSize;
+        int m_disableCollisionsBetweenLinkedBodies;
+        int m_overrideNumSolverIterations;
+        float m_breakingImpulseThreshold;
+        int m_isEnabled;
+    };
+
+
 // -------------------------------------------------- //
    class btTypedConstraintData
    {
@@ -634,6 +724,27 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btTypedConstraintDoubleData
+    {
+    public:
+        btRigidBodyDoubleData *m_rbA;
+        btRigidBodyDoubleData *m_rbB;
+        char *m_name;
+        int m_objectType;
+        int m_userConstraintType;
+        int m_userConstraintId;
+        int m_needsFeedback;
+        double m_appliedImpulse;
+        double m_dbgDrawSize;
+        int m_disableCollisionsBetweenLinkedBodies;
+        int m_overrideNumSolverIterations;
+        double m_breakingImpulseThreshold;
+        int m_isEnabled;
+        char padding[4];
+    };
+
+
 // -------------------------------------------------- //
    class btPoint2PointConstraintFloatData
    {
@@ -644,6 +755,16 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btPoint2PointConstraintDoubleData2
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btVector3DoubleData m_pivotInA;
+        btVector3DoubleData m_pivotInB;
+    };
+
+
 // -------------------------------------------------- //
    class btPoint2PointConstraintDoubleData
    {
@@ -694,6 +815,44 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btHingeConstraintDoubleData2
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        int m_useReferenceFrameA;
+        int m_angularOnly;
+        int m_enableAngularMotor;
+        double m_motorTargetVelocity;
+        double m_maxMotorImpulse;
+        double m_lowerLimit;
+        double m_upperLimit;
+        double m_limitSoftness;
+        double m_biasFactor;
+        double m_relaxationFactor;
+        char m_padding1[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btConeTwistConstraintDoubleData
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        double m_swingSpan1;
+        double m_swingSpan2;
+        double m_twistSpan;
+        double m_limitSoftness;
+        double m_biasFactor;
+        double m_relaxationFactor;
+        double m_damping;
+    };
+
+
 // -------------------------------------------------- //
    class btConeTwistConstraintData
    {
@@ -728,6 +887,22 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btGeneric6DofConstraintDoubleData2
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        btVector3DoubleData m_linearUpperLimit;
+        btVector3DoubleData m_linearLowerLimit;
+        btVector3DoubleData m_angularUpperLimit;
+        btVector3DoubleData m_angularLowerLimit;
+        int m_useLinearReferenceFrameA;
+        int m_useOffsetForConstraintFrame;
+    };
+
+
 // -------------------------------------------------- //
    class btGeneric6DofSpringConstraintData
    {
@@ -740,6 +915,114 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btGeneric6DofSpringConstraintDoubleData2
+    {
+    public:
+        btGeneric6DofConstraintDoubleData2 m_6dofData;
+        int m_springEnabled[6];
+        double m_equilibriumPoint[6];
+        double m_springStiffness[6];
+        double m_springDamping[6];
+    };
+
+
+// -------------------------------------------------- //
+    class btGeneric6DofSpring2ConstraintData
+    {
+    public:
+        btTypedConstraintData m_typeConstraintData;
+        btTransformFloatData m_rbAFrame;
+        btTransformFloatData m_rbBFrame;
+        btVector3FloatData m_linearUpperLimit;
+        btVector3FloatData m_linearLowerLimit;
+        btVector3FloatData m_linearBounce;
+        btVector3FloatData m_linearStopERP;
+        btVector3FloatData m_linearStopCFM;
+        btVector3FloatData m_linearMotorERP;
+        btVector3FloatData m_linearMotorCFM;
+        btVector3FloatData m_linearTargetVelocity;
+        btVector3FloatData m_linearMaxMotorForce;
+        btVector3FloatData m_linearServoTarget;
+        btVector3FloatData m_linearSpringStiffness;
+        btVector3FloatData m_linearSpringDamping;
+        btVector3FloatData m_linearEquilibriumPoint;
+        char m_linearEnableMotor[4];
+        char m_linearServoMotor[4];
+        char m_linearEnableSpring[4];
+        char m_linearSpringStiffnessLimited[4];
+        char m_linearSpringDampingLimited[4];
+        char m_padding1[4];
+        btVector3FloatData m_angularUpperLimit;
+        btVector3FloatData m_angularLowerLimit;
+        btVector3FloatData m_angularBounce;
+        btVector3FloatData m_angularStopERP;
+        btVector3FloatData m_angularStopCFM;
+        btVector3FloatData m_angularMotorERP;
+        btVector3FloatData m_angularMotorCFM;
+        btVector3FloatData m_angularTargetVelocity;
+        btVector3FloatData m_angularMaxMotorForce;
+        btVector3FloatData m_angularServoTarget;
+        btVector3FloatData m_angularSpringStiffness;
+        btVector3FloatData m_angularSpringDamping;
+        btVector3FloatData m_angularEquilibriumPoint;
+        char m_angularEnableMotor[4];
+        char m_angularServoMotor[4];
+        char m_angularEnableSpring[4];
+        char m_angularSpringStiffnessLimited[4];
+        char m_angularSpringDampingLimited[4];
+        int m_rotateOrder;
+    };
+
+
+// -------------------------------------------------- //
+    class btGeneric6DofSpring2ConstraintDoubleData2
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        btVector3DoubleData m_linearUpperLimit;
+        btVector3DoubleData m_linearLowerLimit;
+        btVector3DoubleData m_linearBounce;
+        btVector3DoubleData m_linearStopERP;
+        btVector3DoubleData m_linearStopCFM;
+        btVector3DoubleData m_linearMotorERP;
+        btVector3DoubleData m_linearMotorCFM;
+        btVector3DoubleData m_linearTargetVelocity;
+        btVector3DoubleData m_linearMaxMotorForce;
+        btVector3DoubleData m_linearServoTarget;
+        btVector3DoubleData m_linearSpringStiffness;
+        btVector3DoubleData m_linearSpringDamping;
+        btVector3DoubleData m_linearEquilibriumPoint;
+        char m_linearEnableMotor[4];
+        char m_linearServoMotor[4];
+        char m_linearEnableSpring[4];
+        char m_linearSpringStiffnessLimited[4];
+        char m_linearSpringDampingLimited[4];
+        char m_padding1[4];
+        btVector3DoubleData m_angularUpperLimit;
+        btVector3DoubleData m_angularLowerLimit;
+        btVector3DoubleData m_angularBounce;
+        btVector3DoubleData m_angularStopERP;
+        btVector3DoubleData m_angularStopCFM;
+        btVector3DoubleData m_angularMotorERP;
+        btVector3DoubleData m_angularMotorCFM;
+        btVector3DoubleData m_angularTargetVelocity;
+        btVector3DoubleData m_angularMaxMotorForce;
+        btVector3DoubleData m_angularServoTarget;
+        btVector3DoubleData m_angularSpringStiffness;
+        btVector3DoubleData m_angularSpringDamping;
+        btVector3DoubleData m_angularEquilibriumPoint;
+        char m_angularEnableMotor[4];
+        char m_angularServoMotor[4];
+        char m_angularEnableSpring[4];
+        char m_angularSpringStiffnessLimited[4];
+        char m_angularSpringDampingLimited[4];
+        int m_rotateOrder;
+    };
+
+
 // -------------------------------------------------- //
    class btSliderConstraintData
    {
@@ -756,6 +1039,103 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btSliderConstraintDoubleData
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btTransformDoubleData m_rbAFrame;
+        btTransformDoubleData m_rbBFrame;
+        double m_linearUpperLimit;
+        double m_linearLowerLimit;
+        double m_angularUpperLimit;
+        double m_angularLowerLimit;
+        int m_useLinearReferenceFrameA;
+        int m_useOffsetForConstraintFrame;
+    };
+
+
+// -------------------------------------------------- //
+    class btGearConstraintFloatData
+    {
+    public:
+        btTypedConstraintFloatData m_typeConstraintData;
+        btVector3FloatData m_axisInA;
+        btVector3FloatData m_axisInB;
+        float m_ratio;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btGearConstraintDoubleData
+    {
+    public:
+        btTypedConstraintDoubleData m_typeConstraintData;
+        btVector3DoubleData m_axisInA;
+        btVector3DoubleData m_axisInB;
+        double m_ratio;
+    };
+
+
+// -------------------------------------------------- //
+    class btContactSolverInfoDoubleData
+    {
+    public:
+        double m_tau;
+        double m_damping;
+        double m_friction;
+        double m_timeStep;
+        double m_restitution;
+        double m_maxErrorReduction;
+        double m_sor;
+        double m_erp;
+        double m_erp2;
+        double m_globalCfm;
+        double m_splitImpulsePenetrationThreshold;
+        double m_splitImpulseTurnErp;
+        double m_linearSlop;
+        double m_warmstartingFactor;
+        double m_maxGyroscopicForce;
+        double m_singleAxisRollingFrictionThreshold;
+        int m_numIterations;
+        int m_solverMode;
+        int m_restingContactRestitutionThreshold;
+        int m_minimumSolverBatchSize;
+        int m_splitImpulse;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btContactSolverInfoFloatData
+    {
+    public:
+        float m_tau;
+        float m_damping;
+        float m_friction;
+        float m_timeStep;
+        float m_restitution;
+        float m_maxErrorReduction;
+        float m_sor;
+        float m_erp;
+        float m_erp2;
+        float m_globalCfm;
+        float m_splitImpulsePenetrationThreshold;
+        float m_splitImpulseTurnErp;
+        float m_linearSlop;
+        float m_warmstartingFactor;
+        float m_maxGyroscopicForce;
+        float m_singleAxisRollingFrictionThreshold;
+        int m_numIterations;
+        int m_solverMode;
+        int m_restingContactRestitutionThreshold;
+        int m_minimumSolverBatchSize;
+        int m_splitImpulse;
+        char m_padding[4];
+    };
+
+
 // -------------------------------------------------- //
    class SoftBodyMaterialData
    {
@@ -964,5 +1344,82 @@ typedef struct bInvalidHandle {
    };


+// -------------------------------------------------- //
+    class btMultiBodyLinkDoubleData
+    {
+    public:
+        btQuaternionDoubleData m_zeroRotParentToThis;
+        btVector3DoubleData m_parentComToThisComOffset;
+        btVector3DoubleData m_thisPivotToThisComOffset;
+        btVector3DoubleData m_jointAxisTop[6];
+        btVector3DoubleData m_jointAxisBottom[6];
+        char *m_linkName;
+        char *m_jointName;
+        btCollisionObjectDoubleData *m_linkCollider;
+        btVector3DoubleData m_linkInertia;
+        double m_linkMass;
+        int m_parentIndex;
+        int m_jointType;
+        int m_dofCount;
+        int m_posVarCount;
+        double m_jointPos[7];
+        double m_jointVel[6];
+        double m_jointTorque[6];
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyLinkFloatData
+    {
+    public:
+        btQuaternionFloatData m_zeroRotParentToThis;
+        btVector3FloatData m_parentComToThisComOffset;
+        btVector3FloatData m_thisPivotToThisComOffset;
+        btVector3FloatData m_jointAxisTop[6];
+        btVector3FloatData m_jointAxisBottom[6];
+        char *m_linkName;
+        char *m_jointName;
+        btCollisionObjectFloatData *m_linkCollider;
+        btVector3FloatData m_linkInertia;
+        int m_dofCount;
+        float m_linkMass;
+        int m_parentIndex;
+        int m_jointType;
+        float m_jointPos[7];
+        float m_jointVel[6];
+        float m_jointTorque[6];
+        int m_posVarCount;
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyDoubleData
+    {
+    public:
+        char *m_baseName;
+        btMultiBodyLinkDoubleData *m_links;
+        btCollisionObjectDoubleData *m_baseCollider;
+        btTransformDoubleData m_baseWorldTransform;
+        btVector3DoubleData m_baseInertia;
+        int m_numLinks;
+        double m_baseMass;
+        char m_padding[4];
+    };
+
+
+// -------------------------------------------------- //
+    class btMultiBodyFloatData
+    {
+    public:
+        char *m_baseName;
+        btMultiBodyLinkFloatData *m_links;
+        btCollisionObjectFloatData *m_baseCollider;
+        btTransformFloatData m_baseWorldTransform;
+        btVector3FloatData m_baseInertia;
+        float m_baseMass;
+        int m_numLinks;
+    };
+
+
 }
 #endif//__BULLET_H__
--- a/Extras/Serialize/HeaderGenerator/apiGen.cpp
+++ b/Extras/Serialize/HeaderGenerator/apiGen.cpp
@@ -220,7 +220,7 @@ int main(int argc,char** argv)
 	fprintf(dump, "%s\n", data);

 	
-	char* filename = "../../../Demos/SerializeDemo/testFile.bullet";
+	char* filename = "../../../../data/slope.bullet";
 	
 	if (argc==2)
 		filename = argv[1];
--- a/Extras/Serialize/makesdna/makesdna.cpp
+++ b/Extras/Serialize/makesdna/makesdna.cpp
@@ -120,6 +120,7 @@ typedef unsigned long uintptr_t;
 // include files for automatic dependancies
 #include "DNA_rigidbody.h"
 #include "LinearMath/btVector3.h"
+#include "LinearMath/btQuaternion.h"
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btTransform.h"
 #include "BulletCollision/BroadphaseCollision/btQuantizedBvh.h"
@@ -152,6 +153,7 @@ typedef unsigned long uintptr_t;

 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "BulletSoftBody/btSoftBodyData.h"
+#include "BulletDynamics/Featherstone/btMultiBody.h"

 #ifdef HAVE_CONFIG_H
 #include <config.h>
@@ -167,6 +169,7 @@ char *includefiles[] = {
 	// of makesdna.c (this file) as well
 	"../makesdna/DNA_rigidbody.h",
 	"../../../src/LinearMath/btVector3.h",
+	"../../../src/LinearMath/btQuaternion.h",
 	"../../../src/LinearMath/btMatrix3x3.h",
 	"../../../src/LinearMath/btTransform.h",
 	"../../../src/BulletCollision/BroadphaseCollision/btQuantizedBvh.h",
@@ -197,7 +200,8 @@ char *includefiles[] = {
 	"../../../src/BulletDynamics/ConstraintSolver/btSliderConstraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btGearConstraint.h",
 	"../../../src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h",
-	"../../../src/BulletSoftBody/btSoftBodyData.h",	
+	"../../../src/BulletSoftBody/btSoftBodyData.h",
+	"../../../src/BulletDynamics/Featherstone/btMultiBody.h",
 	// empty string to indicate end of includefiles
 	""
 };