6c9ce344ea
remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
87 lines
2.3 KiB
C++
87 lines
2.3 KiB
C++
/*
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bParse
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Copyright (c) 2006-2010 Charlie C & Erwin Coumans http://gamekit.googlecode.com
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef BT_BULLET_FILE_H
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#define BT_BULLET_FILE_H
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#include "bFile.h"
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#include "LinearMath/btAlignedObjectArray.h"
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#include "bDefines.h"
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#include "LinearMath/btSerializer.h"
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namespace bParse {
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// ----------------------------------------------------- //
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class btBulletFile : public bFile
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{
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protected:
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char* m_DnaCopy;
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public:
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btAlignedObjectArray<bStructHandle*> m_multiBodies;
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btAlignedObjectArray<bStructHandle*> m_softBodies;
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btAlignedObjectArray<bStructHandle*> m_rigidBodies;
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btAlignedObjectArray<bStructHandle*> m_collisionObjects;
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btAlignedObjectArray<bStructHandle*> m_collisionShapes;
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btAlignedObjectArray<bStructHandle*> m_constraints;
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btAlignedObjectArray<bStructHandle*> m_bvhs;
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btAlignedObjectArray<bStructHandle*> m_triangleInfoMaps;
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btAlignedObjectArray<bStructHandle*> m_dynamicsWorldInfo;
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btAlignedObjectArray<char*> m_dataBlocks;
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btBulletFile();
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btBulletFile(const char* fileName);
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btBulletFile(char *memoryBuffer, int len);
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virtual ~btBulletFile();
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virtual void addDataBlock(char* dataBlock);
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// experimental
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virtual int write(const char* fileName, bool fixupPointers=false);
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virtual void parse(int verboseMode);
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virtual void parseData();
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virtual void writeDNA(FILE* fp);
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void addStruct(const char* structType,void* data, int len, void* oldPtr, int code);
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};
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};
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#endif //BT_BULLET_FILE_H
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