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implement pybullet.saveState command, for in-memory storage of state.

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bump up pybullet API version (SHARED_MEMORY_MAGIC_NUMBER) to 201801010
This commit is contained in:
Erwin Coumans
2017-12-31 15:37:16 -08:00
parent 4c6df650d4
commit 35b44f8a85
8 changed files with 123 additions and 19 deletions
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40
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
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@@ -268,7 +268,7 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
{
//check if the snapshot is valid for the existing world
//equal number of objects, # links etc
if (bulletFile2->m_multiBodies.size() != m_data->m_mbDynamicsWorld->getNumMultibodies())
if ((bulletFile2->m_multiBodies.size() != m_data->m_mbDynamicsWorld->getNumMultibodies()))
{
result = false;
return result;
@@ -287,6 +287,44 @@ bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletF
syncMultiBody(mbd, mb, m_data, scratchQ, scratchM);
}
for (int i = bulletFile2->m_rigidBodies.size() - 1; i >= 0; i--)
{
btRigidBodyDoubleData* rbd = (btRigidBodyDoubleData*)bulletFile2->m_rigidBodies[i];
int foundRb = -1;
int uid = rbd->m_collisionObjectData.m_uniqueId;
for (int i = 0; i < m_data->m_mbDynamicsWorld->getNumCollisionObjects(); i++)
{
if (uid == m_data->m_mbDynamicsWorld->getCollisionObjectArray()[i]->getBroadphaseHandle()->m_uniqueId)
{
foundRb = i;
break;
}
}
if (foundRb >= 0)
{
btRigidBody* rb = btRigidBody::upcast(m_data->m_mbDynamicsWorld->getCollisionObjectArray()[foundRb]);
if (rb)
{
btTransform tr;
tr.deSerializeDouble(rbd->m_collisionObjectData.m_worldTransform);
rb->setWorldTransform(tr);
btVector3 linVel, angVel;
linVel.deSerializeDouble(rbd->m_linearVelocity);
angVel.deSerializeDouble(rbd->m_angularVelocity);
rb->setLinearVelocity(linVel);
rb->setAngularVelocity(angVel);
}
else
{
result = false;
}
}
else
{
result = false;
}
}
//todo: check why body1 pointer is not properly deserialized
for (int i = 0; i < bulletFile2->m_contactManifolds.size(); i++)
{