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.

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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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src/LinearMath/btSerializer.cpp

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