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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();