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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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10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2172,9 +2172,12 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_pairCache = new btHashedOverlappingPairCache();
m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback);
//int maxProxies = 32768;
//m_data->m_broadphase = new btSimpleBroadphase(maxProxies, m_data->m_pairCache);
m_data->m_broadphase = new btDbvtBroadphase(m_data->m_pairCache);
m_data->m_solver = new btMultiBodyConstraintSolver;
#ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -2183,7 +2186,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
#endif
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
//Workaround: in a VR application, where we avoid synchronizing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(32768);
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
@@ -8305,6 +8308,9 @@ bool PhysicsServerCommandProcessor::processSaveBulletCommand(const struct Shared
if (f)
{
btDefaultSerializer* ser = new btDefaultSerializer();
int currentFlags = ser->getSerializationFlags();
ser->setSerializationFlags(currentFlags | BT_SERIALIZE_CONTACT_MANIFOLDS);
m_data->m_dynamicsWorld->serialize(ser);
fwrite(ser->getBufferPointer(), ser->getCurrentBufferSize(), 1, f);
fclose(f);