diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp | 196 |
1 files changed, 127 insertions, 69 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp index fb8a4068e23..361a054ec69 100644 --- a/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp +++ b/extern/bullet2/src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp @@ -4,8 +4,8 @@ Copyright (c) 2003-2009 Erwin Coumans http://bulletphysics.org This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 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. @@ -34,6 +34,7 @@ subject to the following restrictions: #include "BulletDynamics/ConstraintSolver/btHingeConstraint.h" #include "BulletDynamics/ConstraintSolver/btConeTwistConstraint.h" #include "BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.h" +#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h" #include "BulletDynamics/ConstraintSolver/btSliderConstraint.h" #include "BulletDynamics/ConstraintSolver/btContactConstraint.h" @@ -58,7 +59,7 @@ int firstHit=startHit; SIMD_FORCE_INLINE int btGetConstraintIslandId(const btTypedConstraint* lhs) { int islandId; - + const btCollisionObject& rcolObj0 = lhs->getRigidBodyA(); const btCollisionObject& rcolObj1 = lhs->getRigidBodyB(); islandId= rcolObj0.getIslandTag()>=0?rcolObj0.getIslandTag():rcolObj1.getIslandTag(); @@ -88,7 +89,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal int m_numConstraints; btIDebugDraw* m_debugDrawer; btDispatcher* m_dispatcher; - + btAlignedObjectArray<btCollisionObject*> m_bodies; btAlignedObjectArray<btPersistentManifold*> m_manifolds; btAlignedObjectArray<btTypedConstraint*> m_constraints; @@ -127,7 +128,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal m_constraints.resize (0); } - + virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId) { if (islandId<0) @@ -140,7 +141,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal btTypedConstraint** startConstraint = 0; int numCurConstraints = 0; int i; - + //find the first constraint for this island for (i=0;i<m_numConstraints;i++) { @@ -164,7 +165,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal m_solver->solveGroup( bodies,numBodies,manifolds, numManifolds,startConstraint,numCurConstraints,*m_solverInfo,m_debugDrawer,m_dispatcher); } else { - + for (i=0;i<numBodies;i++) m_bodies.push_back(bodies[i]); for (i=0;i<numManifolds;i++) @@ -187,7 +188,7 @@ struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCal btCollisionObject** bodies = m_bodies.size()? &m_bodies[0]:0; btPersistentManifold** manifold = m_manifolds.size()?&m_manifolds[0]:0; btTypedConstraint** constraints = m_constraints.size()?&m_constraints[0]:0; - + m_solver->solveGroup( bodies,m_bodies.size(),manifold, m_manifolds.size(),constraints, m_constraints.size() ,*m_solverInfo,m_debugDrawer,m_dispatcher); m_bodies.resize(0); m_manifolds.resize(0); @@ -206,10 +207,10 @@ m_solverIslandCallback ( NULL ), m_constraintSolver(constraintSolver), m_gravity(0,-10,0), m_localTime(0), +m_fixedTimeStep(0), m_synchronizeAllMotionStates(false), m_applySpeculativeContactRestitution(false), m_profileTimings(0), -m_fixedTimeStep(0), m_latencyMotionStateInterpolation(true) { @@ -317,6 +318,9 @@ void btDiscreteDynamicsWorld::debugDrawWorld() } } } + if (getDebugDrawer()) + getDebugDrawer()->flushLines(); + } void btDiscreteDynamicsWorld::clearForces() @@ -329,7 +333,7 @@ void btDiscreteDynamicsWorld::clearForces() //it might break backward compatibility (people applying forces on sleeping objects get never cleared and accumulate on wake-up body->clearForces(); } -} +} ///apply gravity, call this once per timestep void btDiscreteDynamicsWorld::applyGravity() @@ -445,7 +449,7 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, applyGravity(); - + for (int i=0;i<clampedSimulationSteps;i++) { @@ -463,18 +467,18 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps, #ifndef BT_NO_PROFILE CProfileManager::Increment_Frame_Counter(); #endif //BT_NO_PROFILE - + return numSimulationSubSteps; } void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) { - + BT_PROFILE("internalSingleStepSimulation"); if(0 != m_internalPreTickCallback) { (*m_internalPreTickCallback)(this, timeStep); - } + } ///apply gravity, predict motion predictUnconstraintMotion(timeStep); @@ -487,20 +491,20 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) createPredictiveContacts(timeStep); - + ///perform collision detection performDiscreteCollisionDetection(); calculateSimulationIslands(); - + getSolverInfo().m_timeStep = timeStep; - + ///solve contact and other joint constraints solveConstraints(getSolverInfo()); - + ///CallbackTriggers(); ///integrate transforms @@ -509,12 +513,12 @@ void btDiscreteDynamicsWorld::internalSingleStepSimulation(btScalar timeStep) ///update vehicle simulation updateActions(timeStep); - + updateActivationState( timeStep ); if(0 != m_internalTickCallback) { (*m_internalTickCallback)(this, timeStep); - } + } } void btDiscreteDynamicsWorld::setGravity(const btVector3& gravity) @@ -606,14 +610,14 @@ void btDiscreteDynamicsWorld::addRigidBody(btRigidBody* body, short group, short void btDiscreteDynamicsWorld::updateActions(btScalar timeStep) { BT_PROFILE("updateActions"); - + for ( int i=0;i<m_actions.size();i++) { m_actions[i]->updateAction( this, timeStep); } } - - + + void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) { BT_PROFILE("updateActivationState"); @@ -634,7 +638,7 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) { if (body->getActivationState() == ACTIVE_TAG) body->setActivationState( WANTS_DEACTIVATION ); - if (body->getActivationState() == ISLAND_SLEEPING) + if (body->getActivationState() == ISLAND_SLEEPING) { body->setAngularVelocity(btVector3(0,0,0)); body->setLinearVelocity(btVector3(0,0,0)); @@ -653,6 +657,9 @@ void btDiscreteDynamicsWorld::updateActivationState(btScalar timeStep) void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint,bool disableCollisionsBetweenLinkedBodies) { m_constraints.push_back(constraint); + //Make sure the two bodies of a type constraint are different (possibly add this to the btTypedConstraint constructor?) + btAssert(&constraint->getRigidBodyA()!=&constraint->getRigidBodyB()); + if (disableCollisionsBetweenLinkedBodies) { constraint->getRigidBodyA().addConstraintRef(constraint); @@ -704,25 +711,25 @@ void btDiscreteDynamicsWorld::removeCharacter(btActionInterface* character) void btDiscreteDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) { BT_PROFILE("solveConstraints"); - + m_sortedConstraints.resize( m_constraints.size()); - int i; + int i; for (i=0;i<getNumConstraints();i++) { m_sortedConstraints[i] = m_constraints[i]; } // btAssert(0); - - + + m_sortedConstraints.quickSort(btSortConstraintOnIslandPredicate()); - + btTypedConstraint** constraintsPtr = getNumConstraints() ? &m_sortedConstraints[0] : 0; - + m_solverIslandCallback->setup(&solverInfo,constraintsPtr,m_sortedConstraints.size(),getDebugDrawer()); m_constraintSolver->prepareSolve(getCollisionWorld()->getNumCollisionObjects(), getCollisionWorld()->getDispatcher()->getNumManifolds()); - + /// solve all the constraints for this island m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld(),m_solverIslandCallback); @@ -743,10 +750,10 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() for (int i=0;i<this->m_predictiveManifolds.size();i++) { btPersistentManifold* manifold = m_predictiveManifolds[i]; - + const btCollisionObject* colObj0 = manifold->getBody0(); const btCollisionObject* colObj1 = manifold->getBody1(); - + if (((colObj0) && (!(colObj0)->isStaticOrKinematicObject())) && ((colObj1) && (!(colObj1)->isStaticOrKinematicObject()))) { @@ -754,7 +761,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() } } } - + { int i; int numConstraints = int(m_constraints.size()); @@ -778,7 +785,7 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands() //Store the island id in each body getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld()); - + } @@ -794,7 +801,7 @@ public: btDispatcher* m_dispatcher; public: - btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : + btClosestNotMeConvexResultCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : btCollisionWorld::ClosestConvexResultCallback(fromA,toA), m_me(me), m_allowedPenetration(0.0f), @@ -874,7 +881,7 @@ int gNumClampedCcdMotions=0; void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) { BT_PROFILE("createPredictiveContacts"); - + { BT_PROFILE("release predictive contact manifolds"); @@ -896,7 +903,7 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) { body->predictIntegratedTransform(timeStep, predictedTrans); - + btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion) @@ -910,7 +917,7 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) { public: - StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : + StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher) { } @@ -940,14 +947,14 @@ void btDiscreteDynamicsWorld::createPredictiveContacts(btScalar timeStep) convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults); if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f)) { - + btVector3 distVec = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin())*sweepResults.m_closestHitFraction; btScalar distance = distVec.dot(-sweepResults.m_hitNormalWorld); - + btPersistentManifold* manifold = m_dispatcher1->getNewManifold(body,sweepResults.m_hitCollisionObject); m_predictiveManifolds.push_back(manifold); - + btVector3 worldPointB = body->getWorldTransform().getOrigin()+distVec; btVector3 localPointB = sweepResults.m_hitCollisionObject->getWorldTransform().inverse()*worldPointB; @@ -980,10 +987,10 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) { body->predictIntegratedTransform(timeStep, predictedTrans); - + btScalar squareMotion = (predictedTrans.getOrigin()-body->getWorldTransform().getOrigin()).length2(); - + if (getDispatchInfo().m_useContinuous && body->getCcdSquareMotionThreshold() && body->getCcdSquareMotionThreshold() < squareMotion) { @@ -996,7 +1003,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) { public: - StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : + StaticOnlyCallback (btCollisionObject* me,const btVector3& fromA,const btVector3& toA,btOverlappingPairCache* pairCache,btDispatcher* dispatcher) : btClosestNotMeConvexResultCallback(me,fromA,toA,pairCache,dispatcher) { } @@ -1026,7 +1033,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) convexSweepTest(&tmpSphere,body->getWorldTransform(),modifiedPredictedTrans,sweepResults); if (sweepResults.hasHit() && (sweepResults.m_closestHitFraction < 1.f)) { - + //printf("clamped integration to hit fraction = %f\n",fraction); body->setHitFraction(sweepResults.m_closestHitFraction); body->predictIntegratedTransform(timeStep*body->getHitFraction(), predictedTrans); @@ -1051,13 +1058,13 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) printf("sm2=%f\n",sm2); } #else - + //don't apply the collision response right now, it will happen next frame //if you really need to, you can uncomment next 3 lines. Note that is uses zero restitution. //btScalar appliedImpulse = 0.f; //btScalar depth = 0.f; //appliedImpulse = resolveSingleCollision(body,(btCollisionObject*)sweepResults.m_hitCollisionObject,sweepResults.m_hitPointWorld,sweepResults.m_hitNormalWorld,getSolverInfo(), depth); - + #endif @@ -1065,10 +1072,10 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) } } } - + body->proceedToTransform( predictedTrans); - + } } @@ -1082,7 +1089,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) btPersistentManifold* manifold = m_predictiveManifolds[i]; btRigidBody* body0 = btRigidBody::upcast((btCollisionObject*)manifold->getBody0()); btRigidBody* body1 = btRigidBody::upcast((btCollisionObject*)manifold->getBody1()); - + for (int p=0;p<manifold->getNumContacts();p++) { const btManifoldPoint& pt = manifold->getContactPoint(p); @@ -1092,11 +1099,11 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) //if (pt.getDistance()>0 && combinedRestitution>0 && pt.m_appliedImpulse != 0.f) { btVector3 imp = -pt.m_normalWorldOnB * pt.m_appliedImpulse* combinedRestitution; - + const btVector3& pos1 = pt.getPositionWorldOnA(); const btVector3& pos2 = pt.getPositionWorldOnB(); - btVector3 rel_pos0 = pos1 - body0->getWorldTransform().getOrigin(); + btVector3 rel_pos0 = pos1 - body0->getWorldTransform().getOrigin(); btVector3 rel_pos1 = pos2 - body1->getWorldTransform().getOrigin(); if (body0) @@ -1107,7 +1114,7 @@ void btDiscreteDynamicsWorld::integrateTransforms(btScalar timeStep) } } } - + } @@ -1146,7 +1153,7 @@ void btDiscreteDynamicsWorld::startProfiling(btScalar timeStep) - + void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) { @@ -1166,12 +1173,12 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) btTransform tr; tr.setIdentity(); btVector3 pivot = p2pC->getPivotInA(); - pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot; + pivot = p2pC->getRigidBodyA().getCenterOfMassTransform() * pivot; tr.setOrigin(pivot); getDebugDrawer()->drawTransform(tr, dbgDrawSize); - // that ideally should draw the same frame + // that ideally should draw the same frame pivot = p2pC->getPivotInB(); - pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot; + pivot = p2pC->getRigidBodyB().getCenterOfMassTransform() * pivot; tr.setOrigin(pivot); if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); } @@ -1190,13 +1197,13 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) break; } bool drawSect = true; - if(minAng > maxAng) + if(!pHinge->hasLimit()) { minAng = btScalar(0.f); maxAng = SIMD_2_PI; drawSect = false; } - if(drawLimits) + if(drawLimits) { btVector3& center = tr.getOrigin(); btVector3 normal = tr.getBasis().getColumn(2); @@ -1231,7 +1238,7 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) getDebugDrawer()->drawLine(tr.getOrigin(), pCur, btVector3(0,0,0)); pPrev = pCur; - } + } btScalar tws = pCT->getTwistSpan(); btScalar twa = pCT->getTwistAngle(); bool useFrameB = (pCT->getRigidBodyB().getInvMass() > btScalar(0.f)); @@ -1259,7 +1266,7 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); tr = p6DOF->getCalculatedTransformB(); if(drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); - if(drawLimits) + if(drawLimits) { tr = p6DOF->getCalculatedTransformA(); const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin(); @@ -1300,6 +1307,57 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) } } break; + ///note: the code for D6_SPRING_2_CONSTRAINT_TYPE is identical to D6_CONSTRAINT_TYPE, the D6_CONSTRAINT_TYPE+D6_SPRING_CONSTRAINT_TYPE will likely become obsolete/deprecated at some stage + case D6_SPRING_2_CONSTRAINT_TYPE: + { + { + btGeneric6DofSpring2Constraint* p6DOF = (btGeneric6DofSpring2Constraint*)constraint; + btTransform tr = p6DOF->getCalculatedTransformA(); + if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + tr = p6DOF->getCalculatedTransformB(); + if (drawFrames) getDebugDrawer()->drawTransform(tr, dbgDrawSize); + if (drawLimits) + { + tr = p6DOF->getCalculatedTransformA(); + const btVector3& center = p6DOF->getCalculatedTransformB().getOrigin(); + btVector3 up = tr.getBasis().getColumn(2); + btVector3 axis = tr.getBasis().getColumn(0); + btScalar minTh = p6DOF->getRotationalLimitMotor(1)->m_loLimit; + btScalar maxTh = p6DOF->getRotationalLimitMotor(1)->m_hiLimit; + btScalar minPs = p6DOF->getRotationalLimitMotor(2)->m_loLimit; + btScalar maxPs = p6DOF->getRotationalLimitMotor(2)->m_hiLimit; + getDebugDrawer()->drawSpherePatch(center, up, axis, dbgDrawSize * btScalar(.9f), minTh, maxTh, minPs, maxPs, btVector3(0, 0, 0)); + axis = tr.getBasis().getColumn(1); + btScalar ay = p6DOF->getAngle(1); + btScalar az = p6DOF->getAngle(2); + btScalar cy = btCos(ay); + btScalar sy = btSin(ay); + btScalar cz = btCos(az); + btScalar sz = btSin(az); + btVector3 ref; + ref[0] = cy*cz*axis[0] + cy*sz*axis[1] - sy*axis[2]; + ref[1] = -sz*axis[0] + cz*axis[1]; + ref[2] = cz*sy*axis[0] + sz*sy*axis[1] + cy*axis[2]; + tr = p6DOF->getCalculatedTransformB(); + btVector3 normal = -tr.getBasis().getColumn(0); + btScalar minFi = p6DOF->getRotationalLimitMotor(0)->m_loLimit; + btScalar maxFi = p6DOF->getRotationalLimitMotor(0)->m_hiLimit; + if (minFi > maxFi) + { + getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, -SIMD_PI, SIMD_PI, btVector3(0, 0, 0), false); + } + else if (minFi < maxFi) + { + getDebugDrawer()->drawArc(center, normal, ref, dbgDrawSize, dbgDrawSize, minFi, maxFi, btVector3(0, 0, 0), true); + } + tr = p6DOF->getCalculatedTransformA(); + btVector3 bbMin = p6DOF->getTranslationalLimitMotor()->m_lowerLimit; + btVector3 bbMax = p6DOF->getTranslationalLimitMotor()->m_upperLimit; + getDebugDrawer()->drawBox(bbMin, bbMax, tr, btVector3(0, 0, 0)); + } + } + break; + } case SLIDER_CONSTRAINT_TYPE: { btSliderConstraint* pSlider = (btSliderConstraint*)constraint; @@ -1322,7 +1380,7 @@ void btDiscreteDynamicsWorld::debugDrawConstraint(btTypedConstraint* constraint) } } break; - default : + default : break; } return; @@ -1422,19 +1480,19 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize worldInfo->m_solverInfo.m_globalCfm = getSolverInfo().m_globalCfm; worldInfo->m_solverInfo.m_splitImpulsePenetrationThreshold = getSolverInfo().m_splitImpulsePenetrationThreshold; worldInfo->m_solverInfo.m_splitImpulseTurnErp = getSolverInfo().m_splitImpulseTurnErp; - + worldInfo->m_solverInfo.m_linearSlop = getSolverInfo().m_linearSlop; worldInfo->m_solverInfo.m_warmstartingFactor = getSolverInfo().m_warmstartingFactor; worldInfo->m_solverInfo.m_maxGyroscopicForce = getSolverInfo().m_maxGyroscopicForce; worldInfo->m_solverInfo.m_singleAxisRollingFrictionThreshold = getSolverInfo().m_singleAxisRollingFrictionThreshold; - + worldInfo->m_solverInfo.m_numIterations = getSolverInfo().m_numIterations; worldInfo->m_solverInfo.m_solverMode = getSolverInfo().m_solverMode; worldInfo->m_solverInfo.m_restingContactRestitutionThreshold = getSolverInfo().m_restingContactRestitutionThreshold; worldInfo->m_solverInfo.m_minimumSolverBatchSize = getSolverInfo().m_minimumSolverBatchSize; - + worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse; - + #ifdef BT_USE_DOUBLE_PRECISION const char* structType = "btDynamicsWorldDoubleData"; #else//BT_USE_DOUBLE_PRECISION @@ -1450,10 +1508,10 @@ void btDiscreteDynamicsWorld::serialize(btSerializer* serializer) serializeDynamicsWorldInfo(serializer); - serializeRigidBodies(serializer); - serializeCollisionObjects(serializer); + serializeRigidBodies(serializer); + serializer->finishSerialization(); } |