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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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examples/pybullet/pybullet.c
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@@ -7876,8 +7876,8 @@ static PyMethodDef SpamMethods[] = {
{ "restoreState", (PyCFunction)pybullet_restoreState, METH_VARARGS | METH_KEYWORDS,
"Restore the full state of an existing world." },
// { "saveState", (PyCFunction)pybullet_saveState, METH_VARARGS | METH_KEYWORDS,
// "Save the full state of the world to memory." },
{ "saveState", (PyCFunction)pybullet_saveState, METH_VARARGS | METH_KEYWORDS,
"Save the full state of the world to memory." },
{"loadMJCF", (PyCFunction)pybullet_loadMJCF, METH_VARARGS | METH_KEYWORDS,
"Load multibodies from an MJCF file."},