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made some progress in saving and restoring the state during the simulation, with identical results.

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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.
This commit is contained in:
Erwin Coumans
2017-12-30 14:19:13 -08:00
parent 29cfac096b
commit 0326fa93a8
22 changed files with 1840 additions and 1105 deletions
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121
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
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@@ -63,6 +63,8 @@ typedef struct bInvalidHandle {
class btCapsuleShapeData;
class btTriangleInfoData;
class btTriangleInfoMapData;
class btPersistentManifoldDoubleData;
class btPersistentManifoldFloatData;
class btGImpactMeshShapeData;
class btConvexHullShapeData;
class btCollisionObjectDoubleData;
@@ -514,6 +516,96 @@ typedef struct bInvalidHandle {
};
// -------------------------------------------------- //
class btPersistentManifoldDoubleData
{
public:
btVector3DoubleData m_pointCacheLocalPointA[4];
btVector3DoubleData m_pointCacheLocalPointB[4];
btVector3DoubleData m_pointCachePositionWorldOnA[4];
btVector3DoubleData m_pointCachePositionWorldOnB[4];
btVector3DoubleData m_pointCacheNormalWorldOnB[4];
btVector3DoubleData m_pointCacheLateralFrictionDir1[4];
btVector3DoubleData m_pointCacheLateralFrictionDir2[4];
double m_pointCacheDistance[4];
double m_pointCacheAppliedImpulse[4];
double m_pointCacheCombinedFriction[4];
double m_pointCacheCombinedRollingFriction[4];
double m_pointCacheCombinedSpinningFriction[4];
double m_pointCacheCombinedRestitution[4];
int m_pointCachePartId0[4];
int m_pointCachePartId1[4];
int m_pointCacheIndex0[4];
int m_pointCacheIndex1[4];
int m_pointCacheContactPointFlags[4];
double m_pointCacheAppliedImpulseLateral1[4];
double m_pointCacheAppliedImpulseLateral2[4];
double m_pointCacheContactMotion1[4];
double m_pointCacheContactMotion2[4];
double m_pointCacheContactCFM[4];
double m_pointCacheCombinedContactStiffness1[4];
double m_pointCacheContactERP[4];
double m_pointCacheCombinedContactDamping1[4];
double m_pointCacheFrictionCFM[4];
int m_pointCacheLifeTime[4];
int m_numCachedPoints;
int m_companionIdA;
int m_companionIdB;
int m_index1a;
int m_objectType;
double m_contactBreakingThreshold;
double m_contactProcessingThreshold;
int m_padding;
void *m_body0;
void *m_body1;
};
// -------------------------------------------------- //
class btPersistentManifoldFloatData
{
public:
btVector3FloatData m_pointCacheLocalPointA[4];
btVector3FloatData m_pointCacheLocalPointB[4];
btVector3FloatData m_pointCachePositionWorldOnA[4];
btVector3FloatData m_pointCachePositionWorldOnB[4];
btVector3FloatData m_pointCacheNormalWorldOnB[4];
btVector3FloatData m_pointCacheLateralFrictionDir1;
btVector3FloatData m_pointCacheLateralFrictionDir2;
float m_pointCacheDistance[4];
float m_pointCacheAppliedImpulse[4];
float m_pointCacheCombinedFriction[4];
float m_pointCacheCombinedRollingFriction[4];
float m_pointCacheCombinedSpinningFriction[4];
float m_pointCacheCombinedRestitution[4];
int m_pointCachePartId0[4];
int m_pointCachePartId1[4];
int m_pointCacheIndex0[4];
int m_pointCacheIndex1[4];
int m_pointCacheContactPointFlags[4];
float m_pointCacheAppliedImpulseLateral1[4];
float m_pointCacheAppliedImpulseLateral2[4];
float m_pointCacheContactMotion1[4];
float m_pointCacheContactMotion2[4];
float m_pointCacheContactCFM[4];
float m_pointCacheCombinedContactStiffness1[4];
float m_pointCacheContactERP[4];
float m_pointCacheCombinedContactDamping1[4];
float m_pointCacheFrictionCFM[4];
int m_pointCacheLifeTime[4];
int m_numCachedPoints;
int m_companionIdA;
int m_companionIdB;
int m_index1a;
int m_objectType;
float m_contactBreakingThreshold;
float m_contactProcessingThreshold;
int m_padding;
void *m_body0;
void *m_body1;
};
// -------------------------------------------------- //
class btGImpactMeshShapeData
{
@@ -568,7 +660,9 @@ typedef struct bInvalidHandle {
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
char m_padding[4];
int m_collisionFilterGroup;
int m_collisionFilterMask;
int m_uniqueId;
};
@@ -602,7 +696,9 @@ typedef struct bInvalidHandle {
int m_activationState1;
int m_internalType;
int m_checkCollideWith;
char m_padding[4];
int m_collisionFilterGroup;
int m_collisionFilterMask;
int m_uniqueId;
};
@@ -1416,15 +1512,17 @@ typedef struct bInvalidHandle {
class btMultiBodyDoubleData
{
public:
btTransformDoubleData m_baseWorldTransform;
btVector3DoubleData m_baseWorldPosition;
btQuaternionDoubleData m_baseWorldOrientation;
btVector3DoubleData m_baseLinearVelocity;
btVector3DoubleData m_baseAngularVelocity;
btVector3DoubleData m_baseInertia;
double m_baseMass;
int m_numLinks;
char m_padding[4];
char *m_baseName;
btMultiBodyLinkDoubleData *m_links;
btCollisionObjectDoubleData *m_baseCollider;
char *m_paddingPtr;
int m_numLinks;
char m_padding[4];
};
@@ -1432,13 +1530,16 @@ typedef struct bInvalidHandle {
class btMultiBodyFloatData
{
public:
char *m_baseName;
btMultiBodyLinkFloatData *m_links;
btCollisionObjectFloatData *m_baseCollider;
btTransformFloatData m_baseWorldTransform;
btVector3FloatData m_baseWorldPosition;
btQuaternionFloatData m_baseWorldOrientation;
btVector3FloatData m_baseLinearVelocity;
btVector3FloatData m_baseAngularVelocity;
btVector3FloatData m_baseInertia;
float m_baseMass;
int m_numLinks;
char *m_baseName;
btMultiBodyLinkFloatData *m_links;
btCollisionObjectFloatData *m_baseCollider;
};

4
Extras/Serialize/BulletFileLoader/btBulletFile.cpp
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@@ -176,6 +176,10 @@ void btBulletFile::parseData()
// listID->push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_CONTACTMANIFOLD_CODE)
{
m_contactManifolds.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_MULTIBODY_CODE)
{
m_multiBodies.push_back((bStructHandle*)id);

2
Extras/Serialize/BulletFileLoader/btBulletFile.h
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@@ -59,6 +59,8 @@ namespace bParse {
btAlignedObjectArray<bStructHandle*> m_dynamicsWorldInfo;
btAlignedObjectArray<bStructHandle*> m_contactManifolds;
btAlignedObjectArray<char*> m_dataBlocks;
btBulletFile();

98
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
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@@ -52,10 +52,11 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
result = true;
//convert all multibodies
for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
//for (int i = 0; i < bulletFile2->m_multiBodies.size(); i++)
for (int i = bulletFile2->m_multiBodies.size()-1; i >=0; i--)
{
btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*)bulletFile2->m_multiBodies[i];
bool isFixedBase = mbd->m_baseMass == 0;
@@ -63,9 +64,20 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
btVector3 baseInertia;
baseInertia.deSerializeDouble(mbd->m_baseInertia);
btTransform tr; tr.deSerializeDouble(mbd->m_baseWorldTransform);
btMultiBody* mb = m_data->m_mbDynamicsWorld->getMultiBody(i);
mb->setBaseWorldTransform(tr);
btVector3 baseWorldPos;
baseWorldPos.deSerializeDouble(mbd->m_baseWorldPosition);
mb->setBasePos(baseWorldPos);
btQuaternion baseWorldRot;
baseWorldRot.deSerializeDouble(mbd->m_baseWorldOrientation);
mb->setWorldToBaseRot(baseWorldRot.inverse());
btVector3 baseLinVal;
baseLinVal.deSerializeDouble(mbd->m_baseLinearVelocity);
btVector3 baseAngVel;
baseAngVel.deSerializeDouble(mbd->m_baseAngularVelocity);
mb->setBaseVel(baseLinVal);
mb->setBaseOmega(baseAngVel);
for (int i = 0; i < mbd->m_numLinks; i++)
{
}
@@ -74,6 +86,74 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
mb->forwardKinematics(scratchQ, scratchM);
mb->updateCollisionObjectWorldTransforms(scratchQ, scratchM);
}
//todo: check why body1 pointer is not properly deserialized
for (int i = 0; i < bulletFile2->m_contactManifolds.size(); i++)
{
btPersistentManifoldDoubleData* manifoldData = (btPersistentManifoldDoubleData*)bulletFile2->m_contactManifolds[i];
void* ptr = bulletFile2->findLibPointer(manifoldData->m_body1);
if (ptr)
{
manifoldData->m_body1 = ptr;
btCollisionObjectDoubleData* cdd = (btCollisionObjectDoubleData*)ptr;
}
}
btDispatcherInfo& dispatchInfo = m_data->m_mbDynamicsWorld->getDispatchInfo();
{
m_data->m_mbDynamicsWorld->updateAabbs();
m_data->m_mbDynamicsWorld->computeOverlappingPairs();
btDispatcher* dispatcher = m_data->m_mbDynamicsWorld->getDispatcher();
if (dispatcher)
{
btOverlappingPairCache* pairCache = m_data->m_mbDynamicsWorld->getBroadphase()->getOverlappingPairCache();
if (dispatcher)
{
dispatcher->dispatchAllCollisionPairs(pairCache, dispatchInfo, dispatcher);
}
int numExistingManifolds = m_data->m_mbDynamicsWorld->getDispatcher()->getNumManifolds();
btManifoldArray manifoldArray;
for (int i = 0; i < pairCache->getNumOverlappingPairs(); i++)
{
btBroadphasePair& pair = pairCache->getOverlappingPairArray()[i];
if (pair.m_algorithm)
{
pair.m_algorithm->getAllContactManifolds(manifoldArray);
//for each existing manifold, search a matching manifoldData and reconstruct
for (int m = 0; m < manifoldArray.size(); m++)
{
btPersistentManifold* existingManifold = manifoldArray[m];
int uid0 = existingManifold->getBody0()->getBroadphaseHandle()->m_uniqueId;
int uid1 = existingManifold->getBody1()->getBroadphaseHandle()->m_uniqueId;
int matchingManifoldIndex = -1;
for (int q= 0; q < bulletFile2->m_contactManifolds.size(); q++)
{
btPersistentManifoldDoubleData* manifoldData = (btPersistentManifoldDoubleData*)bulletFile2->m_contactManifolds[q];
btCollisionObjectDoubleData* cdd0 = (btCollisionObjectDoubleData*)manifoldData->m_body0;
btCollisionObjectDoubleData* cdd1 = (btCollisionObjectDoubleData*)manifoldData->m_body1;
if (uid0 == cdd0->m_uniqueId && uid1 == cdd1->m_uniqueId)
{
matchingManifoldIndex = q;
}
}
if (matchingManifoldIndex >= 0)
{
btPersistentManifoldDoubleData* manifoldData = (btPersistentManifoldDoubleData*)bulletFile2->m_contactManifolds[matchingManifoldIndex];
existingManifold->deSerializeDouble(manifoldData);
}
else
{
printf("Issue: cannot find maching contact manifold (%d, %d), may cause issues in determinism.\n", uid0, uid1);
}
manifoldArray.clear();
}
}
}
}
}
}
}
else
@@ -94,8 +174,14 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
baseInertia.deSerializeDouble(mbd->m_baseInertia);
btMultiBody* mb = new btMultiBody(mbd->m_numLinks, mbd->m_baseMass, baseInertia, isFixedBase, canSleep);
mb->setHasSelfCollision(false);
btTransform tr; tr.deSerializeDouble(mbd->m_baseWorldTransform);
mb->setBaseWorldTransform(tr);
btVector3 baseWorldPos;
baseWorldPos.deSerializeDouble(mbd->m_baseWorldPosition);
btQuaternion baseWorldOrn;
baseWorldOrn.deSerializeDouble(mbd->m_baseWorldOrientation);
mb->setBasePos(baseWorldPos);
mb->setWorldToBaseRot(baseWorldOrn.inverse());
m_data->m_mbMap.insert(mbd, mb);
for (int i = 0; i < mbd->m_numLinks; i++)

2
Extras/Serialize/makesdna/makesdna.cpp
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@@ -132,6 +132,7 @@ typedef unsigned __int64 uint64_t;
#include "BulletCollision/CollisionShapes/btConeShape.h"
#include "BulletCollision/CollisionShapes/btCapsuleShape.h"
#include "BulletCollision/CollisionShapes/btTriangleInfoMap.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "BulletCollision/Gimpact/btGImpactShape.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
@@ -181,6 +182,7 @@ char *includefiles[] = {
"../../../src/BulletCollision/CollisionShapes/btConeShape.h",
"../../../src/BulletCollision/CollisionShapes/btCapsuleShape.h",
"../../../src/BulletCollision/CollisionShapes/btTriangleInfoMap.h",
"../../../src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h",
"../../../src/BulletCollision/Gimpact/btGImpactShape.h",
"../../../src/BulletCollision/CollisionShapes/btConvexHullShape.h",
"../../../src/BulletCollision/CollisionDispatch/btCollisionObject.h",