Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

Timestamp:

Apr 21, 2011, 6:58:23 PM (13 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp (modified) (3 diffs)

code/branches/kicklib2/src/external/bullet/BulletDynamics/ConstraintSolver/btTypedConstraint.cpp

@@ -17 +17 @@
 #include "btTypedConstraint.h"
 #include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "LinearMath/btSerializer.h"
 
-static btRigidBody s_fixed(0, 0,0);
 
 #define DEFAULT_DEBUGDRAW_SIZE btScalar(0.3f)
 
-btTypedConstraint::btTypedConstraint(btTypedConstraintType type)
-:m_userConstraintType(-1),
+btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
+:btTypedObject(type),
+m_userConstraintType(-1),
 m_userConstraintId(-1),
-m_constraintType (type),
-m_rbA(s_fixed),
-m_rbB(s_fixed),
+m_needsFeedback(false),
+m_rbA(rbA),
+m_rbB(getFixedBody()),
 m_appliedImpulse(btScalar(0.)),
 m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
 {
-        s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-}
-btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA)
-:m_userConstraintType(-1),
-m_userConstraintId(-1),
-m_constraintType (type),
-m_rbA(rbA),
-m_rbB(s_fixed),
-m_appliedImpulse(btScalar(0.)),
-m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
-{
-                s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-
 }
 
 
 btTypedConstraint::btTypedConstraint(btTypedConstraintType type, btRigidBody& rbA,btRigidBody& rbB)
-:m_userConstraintType(-1),
+:btTypedObject(type),
+m_userConstraintType(-1),
 m_userConstraintId(-1),
-m_constraintType (type),
+m_needsFeedback(false),
 m_rbA(rbA),
 m_rbB(rbB),
@@ -56 +45 @@
 m_dbgDrawSize(DEFAULT_DEBUGDRAW_SIZE)
 {
-                s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
-
 }
 
 
-//-----------------------------------------------------------------------------
+
 
 btScalar btTypedConstraint::getMotorFactor(btScalar pos, btScalar lowLim, btScalar uppLim, btScalar vel, btScalar timeFact)
@@ -110 +97 @@
         }
         return lim_fact;
-} // btTypedConstraint::getMotorFactor()
+}
 
+///fills the dataBuffer and returns the struct name (and 0 on failure)
+const char*     btTypedConstraint::serialize(void* dataBuffer, btSerializer* serializer) const
+{
+        btTypedConstraintData* tcd = (btTypedConstraintData*) dataBuffer;
 
+        tcd->m_rbA = (btRigidBodyData*)serializer->getUniquePointer(&m_rbA);
+        tcd->m_rbB = (btRigidBodyData*)serializer->getUniquePointer(&m_rbB);
+        char* name = (char*) serializer->findNameForPointer(this);
+        tcd->m_name = (char*)serializer->getUniquePointer(name);
+        if (tcd->m_name)
+        {
+                serializer->serializeName(name);
+        }
+
+        tcd->m_objectType = m_objectType;
+        tcd->m_needsFeedback = m_needsFeedback;
+        tcd->m_userConstraintId =m_userConstraintId;
+        tcd->m_userConstraintType =m_userConstraintType;
+
+        tcd->m_appliedImpulse = float(m_appliedImpulse);
+        tcd->m_dbgDrawSize = float(m_dbgDrawSize );
+
+        tcd->m_disableCollisionsBetweenLinkedBodies = false;
+
+        int i;
+        for (i=0;i<m_rbA.getNumConstraintRefs();i++)
+                if (m_rbA.getConstraintRef(i) == this)
+                        tcd->m_disableCollisionsBetweenLinkedBodies = true;
+        for (i=0;i<m_rbB.getNumConstraintRefs();i++)
+                if (m_rbB.getConstraintRef(i) == this)
+                        tcd->m_disableCollisionsBetweenLinkedBodies = true;
+
+        return "btTypedConstraintData";
+}
+
+btRigidBody& btTypedConstraint::getFixedBody()
+{
+        static btRigidBody s_fixed(0, 0,0);
+        s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+        return s_fixed;
+}
+