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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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28
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -199,6 +199,22 @@ class btPersistentManifoldSortPredicate
}
};
class btPersistentManifoldSortPredicateDeterministic
{
public:
SIMD_FORCE_INLINE bool operator() (const btPersistentManifold* lhs, const btPersistentManifold* rhs) const
{
return (
(getIslandId(lhs) < getIslandId(rhs))
|| ((getIslandId(lhs) == getIslandId(rhs)) && lhs->getBody0()->getBroadphaseHandle()->m_uniqueId < rhs->getBody0()->getBroadphaseHandle()->m_uniqueId)
||((getIslandId(lhs) == getIslandId(rhs)) && (lhs->getBody0()->getBroadphaseHandle()->m_uniqueId == rhs->getBody0()->getBroadphaseHandle()->m_uniqueId) &&
(lhs->getBody1()->getBroadphaseHandle()->m_uniqueId < rhs->getBody1()->getBroadphaseHandle()->m_uniqueId))
);
}
};
void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisionWorld* collisionWorld)
{
@@ -318,7 +334,9 @@ void btSimulationIslandManager::buildIslands(btDispatcher* dispatcher,btCollisio
for (i=0;i<maxNumManifolds ;i++)
{
btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal(i);
if (manifold->getNumContacts() == 0)
continue;
const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>(manifold->getBody0());
const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>(manifold->getBody1());
@@ -379,7 +397,13 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
//tried a radix sort, but quicksort/heapsort seems still faster
//@todo rewrite island management
m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//m_islandmanifold.quickSort(btPersistentManifoldSortPredicate());
//btPersistentManifoldSortPredicateDeterministic sorts contact manifolds based on islandid,
//but also based on object0 unique id and object1 unique id
m_islandmanifold.quickSort(btPersistentManifoldSortPredicateDeterministic());
//m_islandmanifold.heapSort(btPersistentManifoldSortPredicate());
//now process all active islands (sets of manifolds for now)