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added some template to restore (syncMultiBody, syncContactManifolds) for single float and double precision, in 'pybullet.restoreState'

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This commit is contained in:
Erwin Coumans
2017-12-31 11:19:29 -08:00
parent 20e00d11d8
commit f104765c47
5 changed files with 357 additions and 208 deletions
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48
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp
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@@ -361,7 +361,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma
return btPersistentManifoldDataName;
}
void btPersistentManifold::deSerializeDouble(const struct btPersistentManifoldDoubleData* manifoldDataPtr)
void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr)
{
m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
@@ -405,4 +405,50 @@ void btPersistentManifold::deSerializeDouble(const struct btPersistentManifoldDo
pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
}
}
void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr)
{
m_contactBreakingThreshold = manifoldDataPtr->m_contactBreakingThreshold;
m_contactProcessingThreshold = manifoldDataPtr->m_contactProcessingThreshold;
m_cachedPoints = manifoldDataPtr->m_numCachedPoints;
m_companionIdA = manifoldDataPtr->m_companionIdA;
m_companionIdB = manifoldDataPtr->m_companionIdB;
//m_index1a = manifoldDataPtr->m_index1a;
m_objectType = manifoldDataPtr->m_objectType;
for (int i = 0; i < this->getNumContacts(); i++)
{
btManifoldPoint& pt = m_pointCache[i];
pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);
pt.m_localPointB.deSerialize(manifoldDataPtr->m_pointCacheLocalPointB[i]);
pt.m_normalWorldOnB.deSerialize(manifoldDataPtr->m_pointCacheNormalWorldOnB[i]);
pt.m_distance1 = manifoldDataPtr->m_pointCacheDistance[i];
pt.m_combinedContactDamping1 = manifoldDataPtr->m_pointCacheCombinedContactDamping1[i];
pt.m_combinedContactStiffness1 = manifoldDataPtr->m_pointCacheCombinedContactStiffness1[i];
pt.m_lifeTime = manifoldDataPtr->m_pointCacheLifeTime[i];
pt.m_frictionCFM = manifoldDataPtr->m_pointCacheFrictionCFM[i];
pt.m_contactERP = manifoldDataPtr->m_pointCacheContactERP[i];
pt.m_contactCFM = manifoldDataPtr->m_pointCacheContactCFM[i];
pt.m_contactPointFlags = manifoldDataPtr->m_pointCacheContactPointFlags[i];
pt.m_index0 = manifoldDataPtr->m_pointCacheIndex0[i];
pt.m_index1 = manifoldDataPtr->m_pointCacheIndex1[i];
pt.m_partId0 = manifoldDataPtr->m_pointCachePartId0[i];
pt.m_partId1 = manifoldDataPtr->m_pointCachePartId1[i];
pt.m_positionWorldOnA.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnA[i]);
pt.m_positionWorldOnB.deSerialize(manifoldDataPtr->m_pointCachePositionWorldOnB[i]);
pt.m_combinedFriction = manifoldDataPtr->m_pointCacheCombinedFriction[i];
pt.m_lateralFrictionDir1.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir1[i]);
pt.m_lateralFrictionDir2.deSerialize(manifoldDataPtr->m_pointCacheLateralFrictionDir2[i]);
pt.m_combinedRollingFriction = manifoldDataPtr->m_pointCacheCombinedRollingFriction[i];
pt.m_combinedSpinningFriction = manifoldDataPtr->m_pointCacheCombinedSpinningFriction[i];
pt.m_combinedRestitution = manifoldDataPtr->m_pointCacheCombinedRestitution[i];
pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
}
}

7
src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h
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@@ -261,7 +261,8 @@ public:
int calculateSerializeBufferSize() const;
const char* serialize(const class btPersistentManifold* manifold, void* dataBuffer, class btSerializer* serializer) const;
void deSerializeDouble(const struct btPersistentManifoldDoubleData* manifoldDataPtr);
void deSerialize(const struct btPersistentManifoldDoubleData* manifoldDataPtr);
void deSerialize(const struct btPersistentManifoldFloatData* manifoldDataPtr);
};
@@ -321,8 +322,8 @@ struct btPersistentManifoldFloatData
btVector3FloatData m_pointCachePositionWorldOnA[4];
btVector3FloatData m_pointCachePositionWorldOnB[4];
btVector3FloatData m_pointCacheNormalWorldOnB[4];
btVector3FloatData m_pointCacheLateralFrictionDir1;
btVector3FloatData m_pointCacheLateralFrictionDir2;
btVector3FloatData m_pointCacheLateralFrictionDir1[4];
btVector3FloatData m_pointCacheLateralFrictionDir2[4];
float m_pointCacheDistance[4];
float m_pointCacheAppliedImpulse[4];
float m_pointCacheCombinedFriction[4];

14
src/LinearMath/btQuaternion.h
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@@ -602,7 +602,9 @@ public:
SIMD_FORCE_INLINE void serialize(struct btQuaternionData& dataOut) const;
SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionData& dataIn);
SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionFloatData& dataIn);
SIMD_FORCE_INLINE void deSerialize(const struct btQuaternionDoubleData& dataIn);
SIMD_FORCE_INLINE void serializeFloat(struct btQuaternionFloatData& dataOut) const;
@@ -1003,10 +1005,16 @@ SIMD_FORCE_INLINE void btQuaternion::serialize(struct btQuaternionData& dataOut)
dataOut.m_floats[i] = m_floats[i];
}
SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionData& dataIn)
SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionFloatData& dataIn)
{
for (int i = 0; i<4; i++)
m_floats[i] = (btScalar)dataIn.m_floats[i];
}
SIMD_FORCE_INLINE void btQuaternion::deSerialize(const struct btQuaternionDoubleData& dataIn)
{
for (int i=0;i<4;i++)
m_floats[i] = dataIn.m_floats[i];
m_floats[i] = (btScalar)dataIn.m_floats[i];
}

16
src/LinearMath/btVector3.h
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@@ -705,7 +705,9 @@ public:
SIMD_FORCE_INLINE void serialize(struct btVector3Data& dataOut) const;
SIMD_FORCE_INLINE void deSerialize(const struct btVector3Data& dataIn);
SIMD_FORCE_INLINE void deSerialize(const struct btVector3DoubleData& dataIn);
SIMD_FORCE_INLINE void deSerialize(const struct btVector3FloatData& dataIn);
SIMD_FORCE_INLINE void serializeFloat(struct btVector3FloatData& dataOut) const;
@@ -1354,10 +1356,18 @@ SIMD_FORCE_INLINE void btVector3::serialize(struct btVector3Data& dataOut) const
dataOut.m_floats[i] = m_floats[i];
}
SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3Data& dataIn)
SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3FloatData& dataIn)
{
for (int i = 0; i<4; i++)
m_floats[i] = (btScalar)dataIn.m_floats[i];
}
SIMD_FORCE_INLINE void btVector3::deSerialize(const struct btVector3DoubleData& dataIn)
{
for (int i=0;i<4;i++)
m_floats[i] = dataIn.m_floats[i];
m_floats[i] = (btScalar)dataIn.m_floats[i];
}
#endif //BT_VECTOR3_H