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

README.md

@@ -17,10 +17,11 @@ This means RocketSim is accurate enough to:
 - *Train machine learning bots*
 - *Simulate different shots on the ball at different angles to find the best input combination*
 - *Simulate air control to find the optimal orientation input*
+- *Simulate ground and floor pinches*
 
 However, RocketSim is NOT accurate enough to:
 - *Simulate entire games from inputs alone*
-- *Accurately determine the outcome of powerful pinches*
+- *Perfectly simulate long sequences of jumps and landings*
 
 ## Installation
 - Clone this repo and build it

libsrc/bullet3-3.24/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -1208,5 +1208,7 @@ void btCollisionWorld::contactPairTest(btCollisionObject* colObjA, btCollisionOb
 bool btCollisionWorld::RayResultCallback::needsCollision(btBroadphaseProxy* proxy0) const {
 	bool collides = (proxy0->m_collisionFilterGroup & m_collisionFilterMask) != 0
 		&& (m_collisionFilterGroup & proxy0->m_collisionFilterMask);
+	if (proxy0->m_clientObject == m_ignoreObj)
+		return false;
 	return collides;
 }

libsrc/bullet3-3.24/BulletCollision/CollisionDispatch/btCollisionWorld.h

@@ -177,6 +177,7 @@ class btCollisionWorld
 	{
 		btScalar m_closestHitFraction;
 		const btCollisionObject* m_collisionObject;
+		const btCollisionObject* m_ignoreObj;
 		int m_collisionFilterGroup;
 		int m_collisionFilterMask;
 		//@BP Mod - Custom flags, currently used to enable backface culling on tri-meshes, see btRaycastCallback.h. Apply any of the EFlags defined there on m_flags here to invoke.
@@ -195,6 +196,7 @@ class btCollisionWorld
 			  m_collisionObject(0),
 			  m_collisionFilterGroup(btBroadphaseProxy::DefaultFilter),
 			  m_collisionFilterMask(btBroadphaseProxy::AllFilter),
+			  m_ignoreObj(0),
 			  //@BP Mod
 			  m_flags(0)
 		{
@@ -208,10 +210,11 @@ class btCollisionWorld
 
 	struct ClosestRayResultCallback : public RayResultCallback
 	{
-		ClosestRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld)
+		ClosestRayResultCallback(const btVector3& rayFromWorld, const btVector3& rayToWorld, const btCollisionObject* ignoreObj)
 			: m_rayFromWorld(rayFromWorld),
 			  m_rayToWorld(rayToWorld)
 		{
+			this->m_ignoreObj = ignoreObj;
 		}
 
 		btVector3 m_rayFromWorld;  //used to calculate hitPointWorld from hitFraction

libsrc/bullet3-3.24/BulletDynamics/Vehicle/btDefaultVehicleRaycaster.cpp

@@ -29,11 +29,11 @@ btRigidBody& btActionInterface::getFixedBody()
 	return s_fixed;
 }
 
-void* btDefaultVehicleRaycaster::castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result)
+void* btDefaultVehicleRaycaster::castRay(const btVector3& from, const btVector3& to, const btCollisionObject* ignoreObj, btVehicleRaycasterResult& result)
 {
 	//	RayResultCallback& resultCallback;
 
-	btCollisionWorld::ClosestRayResultCallback rayCallback(from, to);
+	btCollisionWorld::ClosestRayResultCallback rayCallback(from, to, ignoreObj);
 	rayCallback.m_collisionFilterGroup = btBroadphaseProxy::CharacterFilter;
 	rayCallback.m_collisionFilterMask = btBroadphaseProxy::AllFilter;
 

libsrc/bullet3-3.24/BulletDynamics/Vehicle/btDefaultVehicleRaycaster.h

@@ -31,7 +31,7 @@ class btDefaultVehicleRaycaster : public btVehicleRaycaster
 	{
 	}
 
-	virtual void* castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result);
+	virtual void* castRay(const btVector3& from, const btVector3& to, const btCollisionObject* ignoreObj, btVehicleRaycasterResult& result);
 };
 
 #endif  //BT_RAYCASTVEHICLE_H

libsrc/bullet3-3.24/BulletDynamics/Vehicle/btVehicleRaycaster.h

@@ -27,7 +27,7 @@ struct btVehicleRaycaster
 		btScalar m_distFraction;
 	};
 
-	virtual void* castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result) = 0;
+	virtual void* castRay(const btVector3& from, const btVector3& to, const btCollisionObject* ignoreObj, btVehicleRaycasterResult& result) = 0;
 };
 
 #endif  //BT_VEHICLE_RAYCASTER_H

libsrc/bullet3-3.24/LinearMath/btHashMap.h

@@ -218,7 +218,7 @@ class btHashKey
 template <class Key, class Value>
 class btHashMap
 {
-protected:
+public:
 	btAlignedObjectArray<int> m_hashTable;
 	btAlignedObjectArray<int> m_next;
 

python-mtheall/Angle.cpp

@@ -10,18 +10,18 @@ PyTypeObject *Angle::Type = nullptr;
 
 PyMemberDef Angle::Members[] = {
     {.name      = "yaw",
-        .type   = TypeHelper<decltype (::Angle::yaw)>::type,
-        .offset = offsetof (Angle, angle) + offsetof (::Angle, yaw),
+        .type   = TypeHelper<decltype (RocketSim::Angle::yaw)>::type,
+        .offset = offsetof (Angle, angle) + offsetof (RocketSim::Angle, yaw),
         .flags  = 0,
         .doc    = "Yaw component"},
     {.name      = "pitch",
-        .type   = TypeHelper<decltype (::Angle::pitch)>::type,
-        .offset = offsetof (Angle, angle) + offsetof (::Angle, pitch),
+        .type   = TypeHelper<decltype (RocketSim::Angle::pitch)>::type,
+        .offset = offsetof (Angle, angle) + offsetof (RocketSim::Angle, pitch),
         .flags  = 0,
         .doc    = "Pitch component"},
     {.name      = "roll",
-        .type   = TypeHelper<decltype (::Angle::roll)>::type,
-        .offset = offsetof (Angle, angle) + offsetof (::Angle, roll),
+        .type   = TypeHelper<decltype (RocketSim::Angle::roll)>::type,
+        .offset = offsetof (Angle, angle) + offsetof (RocketSim::Angle, roll),
         .flags  = 0,
         .doc    = "Roll component"},
     {.name = nullptr, .type = 0, .offset = 0, .flags = 0, .doc = nullptr},
@@ -82,7 +82,7 @@ PyType_Spec Angle::Spec = {
     .slots     = Angle::Slots,
 };
 
-PyRef<Angle> Angle::NewFromAngle (::Angle const &angle_) noexcept
+PyRef<Angle> Angle::NewFromAngle (RocketSim::Angle const &angle_) noexcept
 {
 	auto const self = PyRef<Angle>::stealObject (Angle::New (Angle::Type, nullptr, nullptr));
 	if (!self || !InitFromAngle (self.borrow (), angle_))
@@ -91,13 +91,13 @@ PyRef<Angle> Angle::NewFromAngle (::Angle const &angle_) noexcept
 	return self;
 }
 
-bool Angle::InitFromAngle (Angle *const self_, ::Angle const &angle_) noexcept
+bool Angle::InitFromAngle (Angle *const self_, RocketSim::Angle const &angle_) noexcept
 {
 	self_->angle = angle_;
 	return true;
 }
 
-::Angle Angle::ToAngle (Angle *self_) noexcept
+RocketSim::Angle Angle::ToAngle (Angle *self_) noexcept
 {
 	return self_->angle;
 }
@@ -110,7 +110,7 @@ PyObject *Angle::New (PyTypeObject *subtype_, PyObject *args_, PyObject *kwds_)
 	if (!self)
 		return nullptr;
 
-	new (&self->angle)::Angle{};
+	new (&self->angle) RocketSim::Angle{};
 
 	return self.giftObject ();
 }
@@ -123,7 +123,7 @@ int Angle::Init (Angle *self_, PyObject *args_, PyObject *kwds_) noexcept
 
 	static char *dict[] = {yawKwd, pitchKwd, rollKwd, nullptr};
 
-	::Angle angle{};
+	RocketSim::Angle angle{};
 	if (!PyArg_ParseTupleAndKeywords (args_, kwds_, "|fff", dict, &angle.yaw, &angle.pitch, &angle.roll))
 		return -1;
 
@@ -193,7 +193,7 @@ PyObject *Angle::Pickle (Angle *self_) noexcept
 	if (!dict)
 		return nullptr;
 
-	::Angle const model{};
+	RocketSim::Angle const model{};
 	auto const angle = ToAngle (self_);
 
 	if (angle.yaw != model.yaw && !DictSetValue (dict.borrow (), "yaw", PyFloat_FromDouble (angle.yaw)))