Merge pull request #1743 from erwincoumans/master

enable more unit tests in PyBullet, add BulletRobotics for premake build.
2018-06-11 02:06:46 +00:00
parent 8a70afa4f6 0cec85626f
commit 6705d2d649
8 changed files with 406 additions and 89 deletions
--- a/.travis.yml
+++ b/.travis.yml
@@ -19,6 +19,8 @@ script:
  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo pip3 install setuptools; fi
  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo python3 setup.py install; fi
  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then python3 examples/pybullet/unittests/unittests.py --verbose; fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then python3 examples/pybullet/unittests/userDataTest.py --verbose; fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then python3 examples/pybullet/unittests/saveRestoreStateTest.py --verbose; fi
  - cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
  - make -j8
  - ctest -j8 --output-on-failure
--- a/Extras/BulletRobotics/premake4.lua
+++ b/Extras/BulletRobotics/premake4.lua
@@ -0,0 +1,179 @@
+		
+
+project ("BulletRobotics")
+		language "C++"
+		kind "StaticLib"
+		
+		includedirs {"../../src", "../../examples",
+		"../../examples/ThirdPartyLibs"}
+		defines {"PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}
+	hasCL = findOpenCL("clew")
+
+	links{"BulletExampleBrowserLib","gwen", "BulletFileLoader","BulletWorldImporter","OpenGL_Window","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK", "Bullet3Common"}
+	initOpenGL()
+	initGlew()
+
+  	includedirs {
+                "../../src",
+                "../../examples",
+                "../../examples/SharedMemory",
+                "../ThirdPartyLibs",
+                "../ThirdPartyLibs/enet/include",
+                "../ThirdPartyLibs/clsocket/src",
+                }
+
+	if os.is("MacOSX") then
+--		targetextension {"so"}
+		links{"Cocoa.framework","Python"}
+	end
+
+	
+if not _OPTIONS["no-enet"] then
+
+		includedirs {"../../examples/ThirdPartyLibs/enet/include"}
+	
+		if os.is("Windows") then 
+--			targetextension {"dylib"}
+			defines { "WIN32" }
+			links {"Ws2_32","Winmm"}
+		end
+		if os.is("Linux") then
+		end
+		if os.is("MacOSX") then
+		end		
+		
+		links {"enet"}		
+
+		files {
+			"../../examples/SharedMemory/PhysicsClientUDP.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP.h",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp",
+			"../../examples/SharedMemory/PhysicsClientUDP_C_API.h",
+		}	
+		defines {"BT_ENABLE_ENET"}
+	end
+
+	if not _OPTIONS["no-clsocket"] then
+
+                includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+
+		 if os.is("Windows") then
+                	defines { "WIN32" }
+                	links {"Ws2_32","Winmm"}
+       		 end
+        	if os.is("Linux") then
+                	defines {"_LINUX"}
+        	end
+        	if os.is("MacOSX") then
+                	defines {"_DARWIN"}
+        	end
+
+                links {"clsocket"}
+
+                files {
+                        "../../examples/SharedMemory/PhysicsClientTCP.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP.h",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp",
+                        "../../examples/SharedMemory/PhysicsClientTCP_C_API.h",
+                }
+                defines {"BT_ENABLE_CLSOCKET"}
+        end
+
+
+		files {
+		"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
+		"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
+		"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",
+		"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
+		"../../examples/SharedMemory/IKTrajectoryHelper.h",
+		"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
+		"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
+		"../../examples/OpenGLWindow/SimpleCamera.cpp",
+		"../../examples/OpenGLWindow/SimpleCamera.h",
+		"../../examples/TinyRenderer/geometry.cpp",
+		"../../examples/TinyRenderer/model.cpp",
+		"../../examples/TinyRenderer/tgaimage.cpp",
+		"../../examples/TinyRenderer/our_gl.cpp",
+		"../../examples/TinyRenderer/TinyRenderer.cpp",
+		"../../examples/SharedMemory/InProcessMemory.cpp",
+		"../../examples/SharedMemory/PhysicsClient.cpp",
+		"../../examples/SharedMemory/PhysicsClient.h",
+		"../../examples/SharedMemory/PhysicsServer.cpp",
+		"../../examples/SharedMemory/PhysicsServer.h",
+		"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
+		"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
+		"../../examples/SharedMemory/PhysicsDirect.cpp",
+		"../../examples/SharedMemory/PhysicsDirect.h",
+		"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
+		"../../examples/SharedMemory/PhysicsDirectC_API.h",
+		"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
+		"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
+		"../../examples/SharedMemory/b3PluginManager.cpp",
+		"../../examples/SharedMemory/b3PluginManager.h",
+				
+		"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
+		"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
+		"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
+		"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
+		"../../examples/SharedMemory/PhysicsClientC_API.cpp",
+	
+		"../../examples/SharedMemory/PhysicsClientC_API.h",
+		"../../examples/SharedMemory/SharedMemoryPublic.h",
+
+		"../../examples/SharedMemory/Win32SharedMemory.cpp",
+		"../../examples/SharedMemory/Win32SharedMemory.h",
+		"../../examples/SharedMemory/PosixSharedMemory.cpp",
+		"../../examples/SharedMemory/PosixSharedMemory.h",
+
+		"../../examples/Utils/b3ResourcePath.cpp",
+		"../../examples/Utils/b3ResourcePath.h",
+		"../../examples/Utils/RobotLoggingUtil.cpp",
+		"../../examples/Utils/RobotLoggingUtil.h",
+		"../../examples/Utils/b3Clock.cpp",
+		"../../examples/Utils/b3ResourcePath.cpp",
+		"../../examples/Utils/b3ERPCFMHelper.hpp",
+		"../../examples/Utils/b3ReferenceFrameHelper.hpp",
+		"../../examples/Utils/ChromeTraceUtil.cpp",
+
+		"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
+
+		"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+		"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
+
+		"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
+
+		"../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/Misc.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/Node.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/Tree.cpp",
+		"../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp",
+
+		"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
+		"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
+		"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+		"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
+		"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+		"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
+		"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
+		"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
+		"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
+		"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
+
+		"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
+		"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
+		"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
+			}
+			
+if (_OPTIONS["enable_static_vr_plugin"]) then
+		files {"../../examples/SharedMemory/plugins/vrSyncPlugin/vrSyncPlugin.cpp"}
+end
+
+
+	
--- a/Extras/premake4.lua
+++ b/Extras/premake4.lua
@@ -7,3 +7,4 @@ include "Serialize/BulletFileLoader"
 include "Serialize/BulletWorldImporter"
 include "Serialize/BulletXmlWorldImporter"
 include "obj2sdf"
+include "BulletRobotics"
--- a/examples/RobotSimulator/premake4.lua
+++ b/examples/RobotSimulator/premake4.lua
@@ -1,73 +1,4 @@

-myfiles = 
-{
-
-			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.cpp",
-			"../../examples/SharedMemory/plugins/pdControlPlugin/pdControlPlugin.h",
-			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.cpp",
-			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoGUI.h",
-			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp",
-			"../../examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h",			
-			"../../examples/SharedMemory/IKTrajectoryHelper.cpp",
-			"../../examples/SharedMemory/IKTrajectoryHelper.h",
-			"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
-			"../../examples/SharedMemory/InProcessMemory.cpp",
-			"../../examples/SharedMemory/PhysicsClient.cpp",
-			"../../examples/SharedMemory/PhysicsClient.h",
-			"../../examples/SharedMemory/PhysicsServer.cpp",
-			"../../examples/SharedMemory/PhysicsServer.h",
-			"../../examples/SharedMemory/PhysicsServerExample.cpp",
-			"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
-			"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
-			"../../examples/SharedMemory/PhysicsServerSharedMemory.cpp",
-			"../../examples/SharedMemory/PhysicsServerSharedMemory.h",
-			"../../examples/SharedMemory/PhysicsDirect.cpp",
-			"../../examples/SharedMemory/PhysicsDirect.h",
-			"../../examples/SharedMemory/PhysicsDirectC_API.cpp",
-			"../../examples/SharedMemory/PhysicsDirectC_API.h",
-			"../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp",
-			"../../examples/SharedMemory/PhysicsServerCommandProcessor.h",
-			"../../examples/SharedMemory/b3PluginManager.cpp",
-
-			"../../examples/SharedMemory/PhysicsClientSharedMemory.cpp",
-			"../../examples/SharedMemory/PhysicsClientSharedMemory.h",
-			"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp",
-			"../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h",
-			"../../examples/SharedMemory/PhysicsClientC_API.cpp",
-			"../../examples/SharedMemory/PhysicsClientC_API.h",
-			"../../examples/SharedMemory/Win32SharedMemory.cpp",
-			"../../examples/SharedMemory/Win32SharedMemory.h",
-			"../../examples/SharedMemory/PosixSharedMemory.cpp",
-			"../../examples/SharedMemory/PosixSharedMemory.h",
-			"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
-			"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.cpp",
-			"../../examples/TinyRenderer/geometry.cpp",
-			"../../examples/TinyRenderer/model.cpp",
-			"../../examples/TinyRenderer/tgaimage.cpp",
-			"../../examples/TinyRenderer/our_gl.cpp",
-			"../../examples/TinyRenderer/TinyRenderer.cpp",
-			"../../examples/Utils/b3ResourcePath.cpp",
-			"../../examples/Utils/b3ResourcePath.h",
-			"../../examples/Utils/RobotLoggingUtil.cpp",
-			"../../examples/Utils/RobotLoggingUtil.h",
-			"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
-			"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
-			"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h",
-			"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
-			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
-			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
-			"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
-			"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
-			"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
-			"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
-			"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
-			"../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
-			"../../examples/MultiThreading/b3PosixThreadSupport.cpp",
-			"../../examples/MultiThreading/b3Win32ThreadSupport.cpp",
-			"../../examples/MultiThreading/b3ThreadSupportInterface.cpp",
-			"../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
-			"../../examples/ThirdPartyLibs/stb_image/stb_image.cpp",
-}

 project ("App_RobotSimulator")

@@ -78,9 +9,8 @@ project ("App_RobotSimulator")
 		"../../examples/ThirdPartyLibs"}
 		defines {"B3_USE_ROBOTSIM_GUI", "PHYSICS_IN_PROCESS_EXAMPLE_BROWSER"}

-	hasCL = findOpenCL("clew")

-	links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
+	links{"BulletRobotics", "BulletExampleBrowserLib", "gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
 	initOpenGL()
 	initGlew()

@@ -96,17 +26,6 @@ project ("App_RobotSimulator")
 		links{"Cocoa.framework"}
 	end

-		if (hasCL) then
-			links {
-				"Bullet3OpenCL_clew",
-				"Bullet3Dynamics",
-				"Bullet3Collision",
-				"Bullet3Geometry",
-				"Bullet3Common",
-			}
-		end
-
-

 if not _OPTIONS["no-enet"] then

@@ -200,7 +119,10 @@ if not _OPTIONS["no-enet"] then
 			"b3RobotSimulatorClientAPI.h",
 			"MinitaurSetup.cpp",
 			"MinitaurSetup.h",
-			myfiles
+			"../../examples/ExampleBrowser/InProcessExampleBrowser.cpp",
+			"../../examples/SharedMemory/PhysicsServerExample.cpp",
+			"../../examples/SharedMemory/PhysicsServerExampleBullet2.cpp",
+			"../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp",
 		}

 if (_OPTIONS["enable_static_vr_plugin"]) then
@@ -225,7 +147,7 @@ project ("App_VRGloveHandSimulator")

 	hasCL = findOpenCL("clew")

-	links{"BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
+	links{"BulletRobotics", "BulletExampleBrowserLib","gwen", "OpenGL_Window","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","BussIK","Bullet3Common"}
 	initOpenGL()
 	initGlew()

@@ -288,7 +210,7 @@ project ("App_VRGloveHandSimulator")
 			"VRGloveSimulatorMain.cpp",
 			"b3RobotSimulatorClientAPI.cpp",
 			"b3RobotSimulatorClientAPI.h",
-			myfiles
+			
 		}

 if (_OPTIONS["enable_static_vr_plugin"]) then
@@ -299,3 +221,64 @@ end
       		initX11()
 	end
 end
+
+
+project ("App_HelloBulletRobotics")
+
+	language "C++"
+	kind "ConsoleApp"
+
+	links{"BulletRobotics","BulletFileLoader","BulletWorldImporter","BulletSoftBody", "BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision","LinearMath","Bullet3Common"}
+	
+  includedirs {
+                ".",
+                "../../src",
+                "../../examples/SharedMemory",
+                "../ThirdPartyLibs",
+                }
+
+if not _OPTIONS["no-enet"] then
+
+		includedirs {"../../examples/ThirdPartyLibs/enet/include"}
+	
+		if os.is("Windows") then 
+			defines { "WIN32" }
+			links {"Ws2_32","Winmm"}
+		end
+		if os.is("Linux") then
+		end
+		if os.is("MacOSX") then
+		end		
+		links {"enet"}		
+		defines {"BT_ENABLE_ENET"}
+	end
+
+	if not _OPTIONS["no-clsocket"] then
+
+		includedirs {"../../examples/ThirdPartyLibs/clsocket/src"}
+
+		if os.is("Windows") then
+    		defines { "WIN32" }
+        links {"Ws2_32","Winmm"}
+    end
+    if os.is("Linux") then
+    	defines {"_LINUX"}
+    end
+		if os.is("MacOSX") then
+    	defines {"_DARWIN"}
+		end
+
+		links {"clsocket"}
+    defines {"BT_ENABLE_CLSOCKET"}
+	end
+
+	if os.is("MacOSX") then
+		links{"Cocoa.framework"}
+	end
+	
+		
+		files {
+			 "HelloBulletRobotics.cpp"
+		}
+
+
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -820,8 +820,8 @@ static PyObject* pybullet_getUserData(PyObject* self, PyObject* args, PyObject*

 	if (!b3GetUserData(sm, bodyUniqueId, linkIndex, userDataId, &value)) {
 		
-		PyErr_SetString(SpamError, "Cannot get user data");
-		return NULL;
+		Py_INCREF(Py_None);
+		return Py_None;
 	}
 	if (value.m_type != USER_DATA_VALUE_TYPE_STRING) 
 	{
--- a/examples/pybullet/unittests/saveRestoreStateTest.py
+++ b/examples/pybullet/unittests/saveRestoreStateTest.py
@@ -0,0 +1,144 @@
+import unittest
+import pybullet as p
+import math, time
+import difflib,sys
+
+from utils import allclose, dot
+
+class TestPybulletSaveRestoreMethods(unittest.TestCase):
+
+	def setupWorld(self):
+		numObjects = 50
+		
+		
+		maximalCoordinates = False
+
+		p.resetSimulation()
+		p.setPhysicsEngineParameter(deterministicOverlappingPairs=1)
+		p.loadURDF("planeMesh.urdf",useMaximalCoordinates=maximalCoordinates)
+		kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf",[0,0,10], useMaximalCoordinates=maximalCoordinates)
+		for i in range (p.getNumJoints(kukaId)):
+			p.setJointMotorControl2(kukaId,i,p.POSITION_CONTROL,force=0)
+		for i in range (numObjects):
+			cube = p.loadURDF("cube_small.urdf",[0,i*0.02,(i+1)*0.2])
+			#p.changeDynamics(cube,-1,mass=100)
+		p.stepSimulation()
+		p.setGravity(0,0,-10)
+
+
+	def dumpStateToFile(self, file):
+		for i in  range (p.getNumBodies()):
+			pos,orn = p.getBasePositionAndOrientation(i)
+			linVel,angVel = p.getBaseVelocity(i)
+			txtPos = "pos="+str(pos)+"\n"
+			txtOrn = "orn="+str(orn)+"\n"
+			txtLinVel = "linVel"+str(linVel)+"\n"
+			txtAngVel = "angVel"+str(angVel)+"\n"
+			file.write(txtPos)
+			file.write(txtOrn)
+			file.write(txtLinVel)
+			file.write(txtAngVel)
+		
+	def compareFiles(self, file1,file2):
+		diff = difflib.unified_diff(
+	            file1.readlines(),
+	            file2.readlines(),
+	            fromfile='saveFile.txt',
+	            tofile='restoreFile.txt',
+	        )
+		numDifferences = 0
+		for line in diff:
+			numDifferences = numDifferences+1
+			sys.stdout.write(line)
+		self.assertEqual(numDifferences,0)
+		
+
+	def testSaveRestoreState(self):
+		numSteps = 500
+		numSteps2 = 30
+
+		
+		verbose = 0
+		self.setupWorld()
+		
+
+		for i in range (numSteps):
+			p.stepSimulation()	
+		p.saveBullet("state.bullet")
+		if verbose:
+			p.setInternalSimFlags(1)
+		p.stepSimulation()
+		if verbose:
+			p.setInternalSimFlags(0)
+			print("contact points=")
+			for q in p.getContactPoints():
+				print(q)
+
+		for i in range (numSteps2):
+			p.stepSimulation()
+
+
+		file = open("saveFile.txt","w") 
+		self.dumpStateToFile(file)
+		file.close() 
+
+		#################################
+		self.setupWorld()
+
+		#both restore from file or from in-memory state should work
+		p.restoreState(fileName="state.bullet")
+		stateId = p.saveState()
+
+		if verbose:
+			p.setInternalSimFlags(1)
+		p.stepSimulation()
+		if verbose:
+			p.setInternalSimFlags(0)
+			print("contact points restored=")
+			for q in p.getContactPoints():
+				print(q)
+		for i in range (numSteps2):
+			p.stepSimulation()
+
+			
+		file = open("restoreFile.txt","w")
+		self.dumpStateToFile(file)
+		file.close() 
+
+		p.restoreState(stateId)
+		if verbose:
+			p.setInternalSimFlags(1)
+		p.stepSimulation()
+		if verbose:
+			p.setInternalSimFlags(0)
+			print("contact points restored=")
+			for q in p.getContactPoints():
+				print(q)
+		for i in range (numSteps2):
+			p.stepSimulation()
+
+			
+		file = open("restoreFile2.txt","w")
+		self.dumpStateToFile(file)
+		file.close() 
+
+		file1 = open("saveFile.txt","r") 
+		file2 = open("restoreFile.txt","r") 
+		self.compareFiles(file1,file2)
+		file1.close()
+		file2.close()
+
+		file1 = open("saveFile.txt","r") 
+		file2 = open("restoreFile2.txt","r") 
+		self.compareFiles(file1,file2)
+		file1.close()
+		file2.close()        
+
+		
+
+#while (p.getConnectionInfo()["isConnected"]):
+#	time.sleep(1)
+
+if __name__ == '__main__':
+	p.connect(p.DIRECT)
+	unittest.main()
--- a/src/BulletCollision/BroadphaseCollision/btDispatcher.h
+++ b/src/BulletCollision/BroadphaseCollision/btDispatcher.h
@@ -47,7 +47,7 @@ struct btDispatcherInfo
 		m_allowedCcdPenetration(btScalar(0.04)),
 		m_useConvexConservativeDistanceUtil(false),
 		m_convexConservativeDistanceThreshold(0.0f),
-		m_deterministicOverlappingPairs(false)
+		m_deterministicOverlappingPairs(true)
 	{

 	}
--- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -252,7 +252,15 @@ void	btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa

 	btCollisionPairCallback	collisionCallback(dispatchInfo,this);

-	pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
+	if (dispatchInfo.m_deterministicOverlappingPairs)
+	{
+		BT_PROFILE("sortOverlappingPairs");
+		pairCache->sortOverlappingPairs(this);
+	}
+	{
+		BT_PROFILE("processAllOverlappingPairs");
+		pairCache->processAllOverlappingPairs(&collisionCallback,dispatcher);
+	}

 	//m_blockedForChanges = false;