0326fa93a8
Option to de/serialize btPersistentContactManifolds and fix lossy conversion during btMultiBody de/serialization of base world transform (serialize the quaternion, not the converted 3x3 matrix) There are still several caches not taken into account, and btMultiBody links/constraints are not deserialized yet etc. See examples\pybullet\examples\saveRestoreState.py for an example.
141 lines
5.0 KiB
C++
141 lines
5.0 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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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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#include "btCollisionObject.h"
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#include "LinearMath/btSerializer.h"
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#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
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btCollisionObject::btCollisionObject()
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: m_interpolationLinearVelocity(0.f, 0.f, 0.f),
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m_interpolationAngularVelocity(0.f, 0.f, 0.f),
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m_anisotropicFriction(1.f,1.f,1.f),
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m_hasAnisotropicFriction(false),
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m_contactProcessingThreshold(BT_LARGE_FLOAT),
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m_broadphaseHandle(0),
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m_collisionShape(0),
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m_extensionPointer(0),
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m_rootCollisionShape(0),
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m_collisionFlags(btCollisionObject::CF_STATIC_OBJECT),
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m_islandTag1(-1),
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m_companionId(-1),
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m_worldArrayIndex(-1),
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m_activationState1(1),
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m_deactivationTime(btScalar(0.)),
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m_friction(btScalar(0.5)),
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m_restitution(btScalar(0.)),
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m_rollingFriction(0.0f),
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m_spinningFriction(0.f),
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m_contactDamping(.1),
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m_contactStiffness(1e4),
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m_internalType(CO_COLLISION_OBJECT),
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m_userObjectPointer(0),
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m_userIndex2(-1),
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m_userIndex(-1),
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m_hitFraction(btScalar(1.)),
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m_ccdSweptSphereRadius(btScalar(0.)),
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m_ccdMotionThreshold(btScalar(0.)),
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m_checkCollideWith(false),
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m_updateRevision(0)
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{
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m_worldTransform.setIdentity();
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m_interpolationWorldTransform.setIdentity();
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}
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btCollisionObject::~btCollisionObject()
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{
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}
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void btCollisionObject::setActivationState(int newState) const
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{
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if ( (m_activationState1 != DISABLE_DEACTIVATION) && (m_activationState1 != DISABLE_SIMULATION))
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m_activationState1 = newState;
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}
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void btCollisionObject::forceActivationState(int newState) const
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{
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m_activationState1 = newState;
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}
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void btCollisionObject::activate(bool forceActivation) const
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{
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if (forceActivation || !(m_collisionFlags & (CF_STATIC_OBJECT|CF_KINEMATIC_OBJECT)))
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{
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setActivationState(ACTIVE_TAG);
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m_deactivationTime = btScalar(0.);
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}
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}
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const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* serializer) const
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{
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btCollisionObjectData* dataOut = (btCollisionObjectData*)dataBuffer;
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m_worldTransform.serialize(dataOut->m_worldTransform);
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m_interpolationWorldTransform.serialize(dataOut->m_interpolationWorldTransform);
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m_interpolationLinearVelocity.serialize(dataOut->m_interpolationLinearVelocity);
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m_interpolationAngularVelocity.serialize(dataOut->m_interpolationAngularVelocity);
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m_anisotropicFriction.serialize(dataOut->m_anisotropicFriction);
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dataOut->m_hasAnisotropicFriction = m_hasAnisotropicFriction;
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dataOut->m_contactProcessingThreshold = m_contactProcessingThreshold;
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dataOut->m_broadphaseHandle = 0;
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dataOut->m_collisionShape = serializer->getUniquePointer(m_collisionShape);
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dataOut->m_rootCollisionShape = 0;//@todo
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dataOut->m_collisionFlags = m_collisionFlags;
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dataOut->m_islandTag1 = m_islandTag1;
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dataOut->m_companionId = m_companionId;
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dataOut->m_activationState1 = m_activationState1;
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dataOut->m_deactivationTime = m_deactivationTime;
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dataOut->m_friction = m_friction;
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dataOut->m_rollingFriction = m_rollingFriction;
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dataOut->m_contactDamping = m_contactDamping;
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dataOut->m_contactStiffness = m_contactStiffness;
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dataOut->m_restitution = m_restitution;
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dataOut->m_internalType = m_internalType;
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char* name = (char*) serializer->findNameForPointer(this);
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dataOut->m_name = (char*)serializer->getUniquePointer(name);
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if (dataOut->m_name)
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{
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serializer->serializeName(name);
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}
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dataOut->m_hitFraction = m_hitFraction;
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dataOut->m_ccdSweptSphereRadius = m_ccdSweptSphereRadius;
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dataOut->m_ccdMotionThreshold = m_ccdMotionThreshold;
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dataOut->m_checkCollideWith = m_checkCollideWith;
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if (m_broadphaseHandle)
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{
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dataOut->m_collisionFilterGroup = m_broadphaseHandle->m_collisionFilterGroup;
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dataOut->m_collisionFilterMask = m_broadphaseHandle->m_collisionFilterMask;
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dataOut->m_uniqueId = m_broadphaseHandle->m_uniqueId;
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}
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else
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{
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dataOut->m_collisionFilterGroup = 0;
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dataOut->m_collisionFilterMask = 0;
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dataOut->m_uniqueId = -1;
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}
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return btCollisionObjectDataName;
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}
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void btCollisionObject::serializeSingleObject(class btSerializer* serializer) const
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{
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int len = calculateSerializeBufferSize();
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btChunk* chunk = serializer->allocate(len,1);
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const char* structType = serialize(chunk->m_oldPtr, serializer);
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serializer->finalizeChunk(chunk,structType,BT_COLLISIONOBJECT_CODE,(void*)this);
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}
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