Merge remote-tracking branch 'origin/dev' into python-dev

libsrc/bullet3-3.24/BulletCollision/BroadphaseCollision/btRSBroadphase.cpp

@@ -126,9 +126,21 @@ void _UpdateCellsStatic(btRSBroadphase* _this, btRSBroadphaseProxy* proxy) {
 	for (int i = iMin; i <= iMax; i++) {
 		for (int j = jMin; j <= jMax; j++) {
 			for (int k = kMin; k <= kMax; k++) {
-				auto& cell = _this->GetCell(i, j, k);
-
-#if 0	// TODO: This check misses certain cells for some reason
+				std::vector<btRSBroadphase::Cell*> cells = {};
+				for (int i1 = -1; i1 <= 1; i1++) {
+					for (int j1 = -1; j1 <= 1; j1++) {
+						for (int k1 = -1; k1 <= 1; k1++) {
+							int ci = i + i1;
+							int cj = j + j1;
+							int ck = k + k1;
+							if (ci < 0 || cj < 0 || ck < 0)
+								continue;
+							if (ci >= _this->cellsX || cj >= _this->cellsY || ck >= _this->cellsZ)
+								continue;
+							cells.push_back(&_this->GetCell(ci, cj, ck));
+						}
+					}
+				}
 
 				if (isTriMesh) {
 					auto triMeshShape = (btTriangleMeshShape*)colObj->m_collisionShape;
@@ -148,12 +160,21 @@ void _UpdateCellsStatic(btRSBroadphase* _this, btRSBroadphaseProxy* proxy) {
 						}
 					}
 				}
-#endif
 
-				if (ADD) {
-					cell.staticHandles.push_back(proxy);
-				} else {
-					cell.RemoveStatic(proxy);
+				for (auto cell : cells) {
+					if (ADD) {
+						bool alreadyExists = false;
+						for (auto staticHandle : cell->staticHandles) {
+							if (staticHandle == proxy) {
+								alreadyExists = true;
+								break;
+							}
+						}
+						if (!alreadyExists)
+							cell->staticHandles.push_back(proxy);
+					} else {
+						cell->RemoveStatic(proxy);
+					}
 				}
 			}
 		}

libsrc/bullet3-3.24/BulletCollision/CollisionShapes/btStaticPlaneShape.cpp

@@ -43,7 +43,7 @@ void btStaticPlaneShape::getAabb(const btTransform& t, btVector3& aabbMin, btVec
 	aabbMin.setValue(btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT), btScalar(-BT_LARGE_FLOAT));
 	aabbMax.setValue(btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT), btScalar(BT_LARGE_FLOAT));
 
-	constexpr float PLANE_CONSTANT_OFFSET = 0.01f;
+	constexpr float PLANE_CONSTANT_OFFSET = 0.2f;
 
 	if (m_isSingleAxis) {
 		aabbMin[m_singleAxisIdx] = t.getOrigin()[m_singleAxisIdx] + (m_planeConstant - PLANE_CONSTANT_OFFSET);

src/CollisionMeshFile/CollisionMeshFile.cpp

@@ -8,11 +8,10 @@
 
 RS_NS_START
 
-void CollisionMeshFile::ReadFromFile(std::string filePath) {
-	constexpr char ERROR_PREFIX_STR[] = " > CollisionMeshFile::ReadFromFile(): ";
-
-	DataStreamIn in = DataStreamIn(filePath, false);
+void CollisionMeshFile::ReadFromStream(DataStreamIn& in, std::string filePath) {
+	constexpr char ERROR_PREFIX_STR[] = " > CollisionMeshFile::ReadFromStream(): ";
 
+	// If you have more verts or tris then this, I have no idea what you are doing, godspeed
 	constexpr int MAX_VERT_OR_TRI_COUNT = 1000 * 1000;
 
 	// Read triangle/vertex counts

src/CollisionMeshFile/CollisionMeshFile.h

@@ -2,6 +2,8 @@
 #include "../Framework.h"
 #include "../BulletLink.h"
 
+#include "../DataStream/DataStreamIn.h"
+
 #define COLLISION_MESH_BASE_PATH "./collision_meshes/"
 #define COLLISION_MESH_FILE_EXTENSION ".cmf"
 
@@ -30,7 +32,7 @@ struct CollisionMeshFile {
 
 	uint32_t hash;
 
-	void ReadFromFile(std::string filePath);
+	void ReadFromStream(DataStreamIn& in, std::string filePath = "<NO FILE PATH>");
 	btTriangleMesh* MakeBulletMesh();
 	void UpdateHash();
 };

src/RocketSim.cpp

@@ -69,8 +69,42 @@ static SuspensionCollisionGrid
 
 void RocketSim::Init(std::filesystem::path collisionMeshesFolder) {
 
+	std::map<GameMode, std::vector<FileData>> meshFileMap = {};
+
+	for (int i = 0; i < 2; i++) { // Load collision meshes for soccar and hoops
+		GameMode gameMode = (i > 0) ? GameMode::HOOPS : GameMode::SOCCAR;
+		auto& meshes = GetArenaCollisionShapes(gameMode);
+
+		std::filesystem::path basePath = collisionMeshesFolder;
+		std::filesystem::path soccarMeshesFolder = basePath / GAMEMODE_STRS[(int)gameMode];
+
+		if (!std::filesystem::exists(soccarMeshesFolder))
+			continue;
+
+		MeshHashSet targetHashes = MeshHashSet(gameMode);
+
+		// Load collision meshes
+		auto dirItr = std::filesystem::directory_iterator(soccarMeshesFolder);
+		for (auto& entry : dirItr) {
+			auto entryPath = entry.path();
+			if (entryPath.has_extension() && entryPath.extension() == COLLISION_MESH_FILE_EXTENSION) {
+				DataStreamIn streamIn = DataStreamIn(entryPath, false);
+				meshFileMap[gameMode].push_back(streamIn.data);
+			}
+		}
+	}
+
+	RocketSim::InitFromMem(meshFileMap);
+
+	_collisionMeshesFolder = collisionMeshesFolder;
+}
+
+void RocketSim::InitFromMem(const std::map<GameMode, std::vector<FileData>>& meshFilesMap) {
+
 	constexpr char MSG_PREFIX[] = "RocketSim::Init(): ";
 
+	_collisionMeshesFolder = "<MESH FILES LOADED FROM MEMORY>";
+
 	_beginInitMutex.lock();
 	{
 		if (stage != RocketSimStage::UNINITIALIZED) {
@@ -81,56 +115,56 @@ void RocketSim::Init(std::filesystem::path collisionMeshesFolder) {
 
 		RS_LOG("Initializing RocketSim version " RS_VERSION ", created by ZealanL...");
 
-		_collisionMeshesFolder = collisionMeshesFolder;
+
 		stage = RocketSimStage::INITIALIZING;
 
 		uint64_t startMS = RS_CUR_MS();
 
-		for (int i = 0; i < 2; i++) { // Load collision meshes for soccar and hoops
-			GameMode gameMode = (i > 0) ? GameMode::HOOPS : GameMode::SOCCAR;
-			auto& meshes = GetArenaCollisionShapes(gameMode);
-
-			std::filesystem::path basePath = collisionMeshesFolder;
-			std::filesystem::path soccarMeshesFolder = basePath / GAMEMODE_STRS[(int)gameMode];
+		for (auto& mapPair : meshFilesMap) { // Load collision meshes for soccar and hoops
+			GameMode gameMode = mapPair.first;
+			auto& meshFiles = mapPair.second;
 
-			RS_LOG("Loading arena meshes from " << soccarMeshesFolder << "...");
+			RS_LOG("Loading arena meshes for " << GAMEMODE_STRS[(int)gameMode] << "...");
 
-			if (!std::filesystem::exists(soccarMeshesFolder)) {
-				RS_LOG("No arena meshes for " << GAMEMODE_STRS[(int)gameMode] << ", skipping...");
+			if (meshFiles.empty()) {
+				RS_LOG(" > No meshes, skipping");
 				continue;
 			}
 
+			auto& meshes = GetArenaCollisionShapes(gameMode);
+
 			MeshHashSet targetHashes = MeshHashSet(gameMode);
 
 			// Load collision meshes
-			auto dirItr = std::filesystem::directory_iterator(soccarMeshesFolder);
-			for (auto& entry : dirItr) {
-				auto entryPath = entry.path();
-				if (entryPath.has_extension() && entryPath.extension() == COLLISION_MESH_FILE_EXTENSION) {
-					CollisionMeshFile meshFile = {};
-					meshFile.ReadFromFile(entryPath.string());
-					int& hashCount = targetHashes[meshFile.hash];
-
-					if (hashCount > 0) {
-						RS_WARN(MSG_PREFIX << "Collision mesh " << entryPath << " is a duplicate (0x" << std::hex << meshFile.hash << "), " <<
-							"already loaded a mesh with the same hash."
-						);
-					} else if (targetHashes.hashes.count(meshFile.hash) == 0) {
-						RS_WARN(MSG_PREFIX <<
-							"Collision mesh " << entryPath << " does not match any known soccar collision file (0x" << std::hex << meshFile.hash << "), " <<
-							"make sure they were dumped from a normal soccar arena."
-						)
-					}
-					hashCount++;
-
-					btTriangleMesh* triMesh = meshFile.MakeBulletMesh();
-
-					auto bvtMesh = new btBvhTriangleMeshShape(triMesh, true);
-					btTriangleInfoMap* infoMap = new btTriangleInfoMap();
-					btGenerateInternalEdgeInfo(bvtMesh, infoMap);
-					bvtMesh->setTriangleInfoMap(infoMap);
-					meshes.push_back(bvtMesh);
+			int idx = 0;
+			for (auto& entry : meshFiles) {
+				DataStreamIn dataStream = {};
+				dataStream.data = entry;
+				CollisionMeshFile meshFile = {};
+				meshFile.ReadFromStream(dataStream);
+				int& hashCount = targetHashes[meshFile.hash];
+
+				if (hashCount > 0) {
+					RS_WARN(MSG_PREFIX << "Collision mesh [" << idx << "] is a duplicate (0x" << std::hex << meshFile.hash << "), " <<
+						"already loaded a mesh with the same hash."
+					);
+				} else if (targetHashes.hashes.count(meshFile.hash) == 0) {
+					RS_WARN(MSG_PREFIX <<
+						"Collision mesh [" << idx << "] does not match any known " << GAMEMODE_STRS[(int)gameMode] << " collision mesh (0x" << std::hex << meshFile.hash << "), " <<
+						"make sure they were dumped from a normal " << GAMEMODE_STRS[(int)gameMode] << " arena."
+					)
 				}
+				hashCount++;
+
+				btTriangleMesh* triMesh = meshFile.MakeBulletMesh();
+
+				auto bvtMesh = new btBvhTriangleMeshShape(triMesh, true);
+				btTriangleInfoMap* infoMap = new btTriangleInfoMap();
+				btGenerateInternalEdgeInfo(bvtMesh, infoMap);
+				bvtMesh->setTriangleInfoMap(infoMap);
+				meshes.push_back(bvtMesh);
+
+				idx++;
 			}
 		}
 
@@ -151,8 +185,8 @@ void RocketSim::Init(std::filesystem::path collisionMeshesFolder) {
 						auto& grid = GetDefaultSuspColGrid(gameMode, j);
 						grid.Allocate();
 						grid.SetupWorldCollision(meshes);
-					}
-				}
+	}
+}
 			}
 		}
 #endif

src/RocketSim.h

@@ -20,10 +20,19 @@ namespace RocketSim {
 		INITIALIZED
 	};
 
+	typedef std::vector<byte> FileData;
+
 	extern std::filesystem::path _collisionMeshesFolder;
 	extern std::mutex _beginInitMutex;
 
+
 	void Init(std::filesystem::path collisionMeshesFolder);
+
+	// Instead of loading a collision meshes folder, you can pass in the meshes in this memory-only format
+	// The map sorts mesh files to their respective game modes, where each game mode has a list of mesh files
+	// The mesh files themselves are just byte arrays
+	void InitFromMem(const std::map<GameMode, std::vector<FileData>>& meshFilesMap);
+
 	void AssertInitialized(const char* errorMsgPrefix);
 
 	RocketSimStage GetStage();

src/Sim/Car/Car.h

@@ -21,6 +21,7 @@ struct CarState : public PhysState {
 	// Not serialized
 	uint64_t updateCounter = 0;
 
+	// True if 3 or more wheels have contact
 	bool isOnGround = true;
 
 	// Whether each of the 4 wheels have contact