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https://github.com/bulletphysics/bullet3
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26531f3fbc
use DIRECTLY_UPDATE_VELOCITY_DURING_SOLVER_ITERATIONS by default for now, until we find the issue with some failing test cases in btMultiBody fix a crashing issue in MyMultiBodyCreator.cpp (uninitialized variable) disable excessive debug printf in URDF2Bullet
115 lines
2.7 KiB
C++
115 lines
2.7 KiB
C++
#include "SerializeSetup.h"
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#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
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#include "../CommonInterfaces/CommonRigidBodyBase.h"
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class SerializeSetup : public CommonRigidBodyBase
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{
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char m_fileName[1024];
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public:
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SerializeSetup(struct GUIHelperInterface* helper, const char* fileName);
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virtual ~SerializeSetup();
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virtual void initPhysics();
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virtual void stepSimulation(float deltaTime);
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virtual void setFileName(const char* fileName)
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{
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memcpy(m_fileName,fileName,strlen(fileName)+1);
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}
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virtual void resetCamera()
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{
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float dist = 9.5;
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float pitch = -2.8;
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float yaw = 20;
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float targetPos[3]={-0.2,-1.4,3.5};
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m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
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}
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};
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SerializeSetup::SerializeSetup(struct GUIHelperInterface* helper, const char* fileName)
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:CommonRigidBodyBase(helper)
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{
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if (fileName)
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{
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setFileName(fileName);
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} else
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{
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setFileName("spider.bullet");
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}
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}
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SerializeSetup::~SerializeSetup()
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{
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}
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void SerializeSetup::initPhysics()
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{
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this->createEmptyDynamicsWorld();
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m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
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m_dynamicsWorld->getDebugDrawer()->setDebugMode(btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints);
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btBulletWorldImporter* importer = new btBulletWorldImporter(m_dynamicsWorld);
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const char* prefix[]={"","./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
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int numPrefixes = sizeof(prefix)/sizeof(const char*);
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char relativeFileName[1024];
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FILE* f=0;
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for (int i=0;!f && i<numPrefixes;i++)
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{
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sprintf(relativeFileName,"%s%s",prefix[i],m_fileName);
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f = fopen(relativeFileName,"rb");
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if (f)
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{
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break;
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}
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}
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if (f)
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{
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fclose(f);
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}
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importer->loadFile(relativeFileName);
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//for now, guess the up axis from gravity
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if (m_dynamicsWorld->getGravity()[1] == 0.f)
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{
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m_guiHelper->setUpAxis(2);
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} else
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{
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m_guiHelper->setUpAxis(1);
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}
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//example code to export the dynamics world to a .bullet file
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btDefaultSerializer* serializer = new btDefaultSerializer();
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m_dynamicsWorld->serialize(serializer);
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FILE* file = fopen("SerializeSetupTestFile.bullet","wb");
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fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
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fclose(file);
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m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
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}
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void SerializeSetup::stepSimulation(float deltaTime)
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{
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CommonRigidBodyBase::stepSimulation(deltaTime);
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}
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class CommonExampleInterface* SerializeBulletCreateFunc(struct CommonExampleOptions& options)
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{
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return new SerializeSetup(options.m_guiHelper, options.m_fileName);
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}
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