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

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Bump up version number to 2.84 because of new serialization data.
This commit is contained in:
erwincoumans
2015-07-09 17:36:00 -07:00
parent 285ac286fa
commit f6f76901fd
20 changed files with 1435 additions and 517 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -40,6 +40,8 @@ protected:
virtual void updateActivationState(btScalar timeStep);
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void serializeMultiBodies(btSerializer* serializer);
public:
btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
@@ -91,5 +93,7 @@ public:
virtual void clearMultiBodyForces();
virtual void applyGravity();
virtual void serialize(btSerializer* serializer);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H