bump up to Bullet version 2.89 and update serialization structures

VERSION

@@ -1 +1 @@
-2.88
+2.89

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -752,6 +752,14 @@ B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandl
 	return 0;
 }
 
+B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_physSimParamArgs.m_articulatedWarmStartingFactor = warmStartingFactor;
+	command->m_updateFlags |= SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR;
+	return 0;
+}
 B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -339,6 +339,7 @@ extern "C"
 	B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
 	B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
 	B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
+	B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
 	B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
 	B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
 	B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -9338,6 +9338,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 	{
 		m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = clientCmd.m_physSimParamArgs.m_warmStartingFactor;
 	}
+
+	if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR)
+	{
+		m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_USE_ARTICULATED_WARMSTARTING;
+		m_data->m_dynamicsWorld->getSolverInfo().m_articulatedWarmstartingFactor = clientCmd.m_physSimParamArgs.m_articulatedWarmStartingFactor;
+	}
 	SharedMemoryStatus& serverCmd = serverStatusOut;
 	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
 	return hasStatus;

examples/SharedMemory/SharedMemoryCommands.h

@@ -483,6 +483,7 @@ enum EnumSimParamUpdateFlags
 	SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25,
 	SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
 	SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
+	SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR = 1 << 28,
 
 };
 

examples/SharedMemory/SharedMemoryPublic.h

@@ -947,6 +947,7 @@ struct b3PhysicsSimulationParameters
 	int m_numSimulationSubSteps;
 	int m_numSolverIterations;
 	double m_warmStartingFactor;
+	double m_articulatedWarmStartingFactor;
 	int m_useRealTimeSimulation;
 	int m_useSplitImpulse;
 	double m_splitImpulsePenetrationThreshold;

src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h

@@ -55,6 +55,7 @@ class btManifoldPoint
 		: m_userPersistentData(0),
 		  m_contactPointFlags(0),
 		  m_appliedImpulse(0.f),
+		  m_prevRHS(0.f),
 		  m_appliedImpulseLateral1(0.f),
 		  m_appliedImpulseLateral2(0.f),
 		  m_contactMotion1(0.f),
@@ -79,6 +80,7 @@ class btManifoldPoint
 										 m_userPersistentData(0),
 										 m_contactPointFlags(0),
 										 m_appliedImpulse(0.f),
+										 m_prevRHS(0.f),
 										 m_appliedImpulseLateral1(0.f),
 										 m_appliedImpulseLateral2(0.f),
 										 m_contactMotion1(0.f),
@@ -114,6 +116,7 @@ class btManifoldPoint
 	int m_contactPointFlags;
 
 	btScalar m_appliedImpulse;
+	btScalar m_prevRHS;
 	btScalar m_appliedImpulseLateral1;
 	btScalar m_appliedImpulseLateral2;
 	btScalar m_contactMotion1;

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.cpp

@@ -325,6 +325,7 @@ const char* btPersistentManifold::serialize(const class btPersistentManifold* ma
 	{
 		const btManifoldPoint& pt = manifold->getContactPoint(i);
 		dataOut->m_pointCacheAppliedImpulse[i] = pt.m_appliedImpulse;
+		dataOut->m_pointCachePrevRHS[i] = pt.m_prevRHS;
 		dataOut->m_pointCacheAppliedImpulseLateral1[i] = pt.m_appliedImpulseLateral1;
 		dataOut->m_pointCacheAppliedImpulseLateral2[i] = pt.m_appliedImpulseLateral2;
 		pt.m_localPointA.serialize(dataOut->m_pointCacheLocalPointA[i]);
@@ -371,6 +372,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldDoubleDa
 		btManifoldPoint& pt = m_pointCache[i];
 
 		pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
+		pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
 		pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
 		pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
 		pt.m_localPointA.deSerializeDouble(manifoldDataPtr->m_pointCacheLocalPointA[i]);
@@ -416,6 +418,7 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat
 		btManifoldPoint& pt = m_pointCache[i];
 
 		pt.m_appliedImpulse = manifoldDataPtr->m_pointCacheAppliedImpulse[i];
+		pt.m_prevRHS = manifoldDataPtr->m_pointCachePrevRHS[i];
 		pt.m_appliedImpulseLateral1 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral1[i];
 		pt.m_appliedImpulseLateral2 = manifoldDataPtr->m_pointCacheAppliedImpulseLateral2[i];
 		pt.m_localPointA.deSerialize(manifoldDataPtr->m_pointCacheLocalPointA[i]);
@@ -444,4 +447,4 @@ void btPersistentManifold::deSerialize(const struct btPersistentManifoldFloatDat
 		pt.m_contactMotion1 = manifoldDataPtr->m_pointCacheContactMotion1[i];
 		pt.m_contactMotion2 = manifoldDataPtr->m_pointCacheContactMotion2[i];
 	}
-}
+}

src/BulletCollision/NarrowPhaseCollision/btPersistentManifold.h

@@ -173,6 +173,7 @@ btPersistentManifold : public btTypedObject
 			//get rid of duplicated userPersistentData pointer
 			m_pointCache[lastUsedIndex].m_userPersistentData = 0;
 			m_pointCache[lastUsedIndex].m_appliedImpulse = 0.f;
+			m_pointCache[lastUsedIndex].m_prevRHS = 0.f;
 			m_pointCache[lastUsedIndex].m_contactPointFlags = 0;
 			m_pointCache[lastUsedIndex].m_appliedImpulseLateral1 = 0.f;
 			m_pointCache[lastUsedIndex].m_appliedImpulseLateral2 = 0.f;
@@ -195,6 +196,7 @@ btPersistentManifold : public btTypedObject
 #ifdef MAINTAIN_PERSISTENCY
 		int lifeTime = m_pointCache[insertIndex].getLifeTime();
 		btScalar appliedImpulse = m_pointCache[insertIndex].m_appliedImpulse;
+		btScalar prevRHS = m_pointCache[insertIndex].m_prevRHS;
 		btScalar appliedLateralImpulse1 = m_pointCache[insertIndex].m_appliedImpulseLateral1;
 		btScalar appliedLateralImpulse2 = m_pointCache[insertIndex].m_appliedImpulseLateral2;
 
@@ -223,6 +225,7 @@ btPersistentManifold : public btTypedObject
 			m_pointCache[insertIndex] = newPoint;
 			m_pointCache[insertIndex].m_userPersistentData = cache;
 			m_pointCache[insertIndex].m_appliedImpulse = appliedImpulse;
+			m_pointCache[insertIndex].m_prevRHS = prevRHS;
 			m_pointCache[insertIndex].m_appliedImpulseLateral1 = appliedLateralImpulse1;
 			m_pointCache[insertIndex].m_appliedImpulseLateral2 = appliedLateralImpulse2;
 		}
@@ -276,7 +279,8 @@ struct btPersistentManifoldDoubleData
 	btVector3DoubleData	m_pointCacheLateralFrictionDir2[4];
 	double m_pointCacheDistance[4];
 	double m_pointCacheAppliedImpulse[4];
-	double m_pointCacheCombinedFriction[4];
+	double m_pointCachePrevRHS[4];
+	 double m_pointCacheCombinedFriction[4];
 	double m_pointCacheCombinedRollingFriction[4];
 	double m_pointCacheCombinedSpinningFriction[4];
 	double m_pointCacheCombinedRestitution[4];
@@ -322,6 +326,7 @@ struct btPersistentManifoldFloatData
 	btVector3FloatData	m_pointCacheLateralFrictionDir2[4];
 	float m_pointCacheDistance[4];
 	float m_pointCacheAppliedImpulse[4];
+	float m_pointCachePrevRHS[4];
 	float m_pointCacheCombinedFriction[4];
 	float m_pointCacheCombinedRollingFriction[4];
 	float m_pointCacheCombinedSpinningFriction[4];

src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -30,7 +30,8 @@ enum btSolverMode
 	SOLVER_SIMD = 256,
 	SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
 	SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
-	SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048
+	SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
+	SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
 };
 
 struct btContactSolverInfoData
@@ -54,7 +55,7 @@ struct btContactSolverInfoData
 	btScalar m_splitImpulseTurnErp;
 	btScalar m_linearSlop;
 	btScalar m_warmstartingFactor;
-
+	btScalar m_articulatedWarmstartingFactor;
 	int m_solverMode;
 	int m_restingContactRestitutionThreshold;
 	int m_minimumSolverBatchSize;
@@ -89,6 +90,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_splitImpulseTurnErp = 0.1f;
 		m_linearSlop = btScalar(0.0);
 		m_warmstartingFactor = btScalar(0.85);
+		m_articulatedWarmstartingFactor = btScalar(0.85);
 		//m_solverMode =  SOLVER_USE_WARMSTARTING |  SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
 		m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;  // | SOLVER_RANDMIZE_ORDER;
 		m_restingContactRestitutionThreshold = 2;              //unused as of 2.81
@@ -120,6 +122,7 @@ struct btContactSolverInfoDoubleData
 	double m_splitImpulseTurnErp;
 	double m_linearSlop;
 	double m_warmstartingFactor;
+	double m_articulatedWarmstartingFactor;
 	double m_maxGyroscopicForce;  ///it is only used for 'explicit' version of gyroscopic force
 	double m_singleAxisRollingFrictionThreshold;
 
@@ -150,16 +153,17 @@ struct btContactSolverInfoFloatData
 
 	float m_linearSlop;
 	float m_warmstartingFactor;
+	float m_articulatedWarmstartingFactor;
 	float m_maxGyroscopicForce;
-	float m_singleAxisRollingFrictionThreshold;
 
+	float m_singleAxisRollingFrictionThreshold;
 	int m_numIterations;
 	int m_solverMode;
 	int m_restingContactRestitutionThreshold;
-	int m_minimumSolverBatchSize;
 
+	int m_minimumSolverBatchSize;
 	int m_splitImpulse;
-	char m_padding[4];
+
 };
 
 #endif  //BT_CONTACT_SOLVER_INFO

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -1436,9 +1436,7 @@ void btDiscreteDynamicsWorld::serializeDynamicsWorldInfo(btSerializer* serialize
 
 	worldInfo->m_solverInfo.m_splitImpulse = getSolverInfo().m_splitImpulse;
 
-	// Fill padding with zeros to appease msan.
-	memset(worldInfo->m_solverInfo.m_padding, 0, sizeof(worldInfo->m_solverInfo.m_padding));
-
+
 #ifdef BT_USE_DOUBLE_PRECISION
 	const char* structType = "btDynamicsWorldDoubleData";
 #else   //BT_USE_DOUBLE_PRECISION

src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp

@@ -342,40 +342,6 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint(btMultiBodySolverConstra
 		solverConstraint.m_friction = 0.f;  //cp.m_combinedFriction;
 	}
 
-	///warm starting (or zero if disabled)
-	/*
-     if (infoGlobal.m_solverMode & SOLVER_USE_WARMSTARTING)
-     {
-     solverConstraint.m_appliedImpulse = isFriction ? 0 : cp.m_appliedImpulse * infoGlobal.m_warmstartingFactor;
-     
-     if (solverConstraint.m_appliedImpulse)
-     {
-     if (multiBodyA)
-     {
-     btScalar impulse = solverConstraint.m_appliedImpulse;
-     btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacAindex];
-     multiBodyA->applyDeltaVee(deltaV,impulse);
-     applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelAindex,ndofA);
-     } else
-     {
-     if (rb0)
-					bodyA->internalApplyImpulse(solverConstraint.m_contactNormal1*bodyA->internalGetInvMass()*rb0->getLinearFactor(),solverConstraint.m_angularComponentA,solverConstraint.m_appliedImpulse);
-     }
-     if (multiBodyB)
-     {
-     btScalar impulse = solverConstraint.m_appliedImpulse;
-     btScalar* deltaV = &data.m_deltaVelocitiesUnitImpulse[solverConstraint.m_jacBindex];
-     multiBodyB->applyDeltaVee(deltaV,impulse);
-     applyDeltaVee(data,deltaV,impulse,solverConstraint.m_deltaVelBindex,ndofB);
-     } else
-     {
-     if (rb1)
-					bodyB->internalApplyImpulse(-solverConstraint.m_contactNormal2*bodyB->internalGetInvMass()*rb1->getLinearFactor(),-solverConstraint.m_angularComponentB,-(btScalar)solverConstraint.m_appliedImpulse);
-     }
-     }
-     } else
-     */
-
 	solverConstraint.m_appliedImpulse = 0.f;
 	solverConstraint.m_appliedPushImpulse = 0.f;