Merge branch 'dev'

README.md

@@ -7,20 +7,21 @@ RocketSim supports the game modes: Soccar, Hoops, Heatseeker, and Snowday.
 
 # Speed
 RocketSim is designed to run extremely fast, even when complex collisions and suspension calculations are happening every tick.
-On an average PC running a single thread of RocketSim with two cars, RocketSim can simulate around 10 minutes of game time every second.
-This means that with 12 threads running RocketSim, you can simulate around 5 days of game time every minute!
+On an average PC running a single thread of RocketSim with two cars, RocketSim can simulate around 20 minutes of game time every second.
+This means that with 12 threads running RocketSim, you can simulate around 10 days of game time every minute!
 
 # Accuracy
-RocketSim is not a perfectly accurate replication of Rocket League, but is close enough for most applications.
+RocketSim is not a perfectly accurate replication of Rocket League, but is close enough for most applications (such as training ML bots).
 Perceivable differences between the simulation and the real game usually take at least a second to accumulate from an initial state.
 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*
+- *Accurately re-create entire games from inputs alone*
+- *Perfectly simulate long sequences of jumps and landings*
 
 ## Installation
 - Clone this repo and build it
@@ -56,12 +57,10 @@ Single-thread performance (calculated using average CPU cycles per tick on the R
 v1.0.0 = 30,334tps
 v1.1.0 = 48,191tps
 v1.2.0 = 50,763tps
+v2.0.0 = ~50,000tps
+v2.1.0 = 114,481tps
 ```
 
-## Simulation Accuracy
-RocketSim is not perfectly accurate, but it's close enough that it shouldn't matter (for ML bots or humans).
-Bots that work well in RocketSim will work well in the actual game and visa-versa.
-
 ## Issues & PRs
 Feel free to make issues and pull requests if you encounter any issues!
 

libsrc/bullet3-3.24/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp

@@ -0,0 +1,33 @@
+
+//Bullet Continuous Collision Detection and Physics Library
+//Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
+
+//
+// btAxisSweep3
+//
+// Copyright (c) 2006 Simon Hobbs
+//
+// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+//
+// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+//
+// 3. This notice may not be removed or altered from any source distribution.
+#include "btAxisSweep3.h"
+
+btAxisSweep3::btAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned short int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
+	: btAxisSweep3Internal<unsigned short int>(worldAabbMin, worldAabbMax, 0xfffe, 0xffff, maxHandles, pairCache, disableRaycastAccelerator)
+{
+	// 1 handle is reserved as sentinel
+	btAssert(maxHandles > 1 && maxHandles < 32767);
+}
+
+bt32BitAxisSweep3::bt32BitAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned int maxHandles, btOverlappingPairCache* pairCache, bool disableRaycastAccelerator)
+	: btAxisSweep3Internal<unsigned int>(worldAabbMin, worldAabbMax, 0xfffffffe, 0x7fffffff, maxHandles, pairCache, disableRaycastAccelerator)
+{
+	// 1 handle is reserved as sentinel
+	btAssert(maxHandles > 1 && maxHandles < 2147483647);
+}

libsrc/bullet3-3.24/BulletCollision/BroadphaseCollision/btAxisSweep3.h

@@ -0,0 +1,48 @@
+//Bullet Continuous Collision Detection and Physics Library
+//Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
+
+//
+// btAxisSweep3.h
+//
+// Copyright (c) 2006 Simon Hobbs
+//
+// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
+//
+// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
+//
+// 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+//
+// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+//
+// 3. This notice may not be removed or altered from any source distribution.
+
+#ifndef BT_AXIS_SWEEP_3_H
+#define BT_AXIS_SWEEP_3_H
+
+#include "../../LinearMath/btVector3.h"
+#include "btOverlappingPairCache.h"
+#include "btBroadphaseInterface.h"
+#include "btBroadphaseProxy.h"
+#include "btOverlappingPairCallback.h"
+#include "btDbvtBroadphase.h"
+#include "btAxisSweep3Internal.h"
+
+/// The btAxisSweep3 is an efficient implementation of the 3d axis sweep and prune broadphase.
+/// It uses arrays rather then lists for storage of the 3 axis. Also it operates using 16 bit integer coordinates instead of floats.
+/// For large worlds and many objects, use bt32BitAxisSweep3 or btDbvtBroadphase instead. bt32BitAxisSweep3 has higher precision and allows more then 16384 objects at the cost of more memory and bit of performance.
+class btAxisSweep3 : public btAxisSweep3Internal<unsigned short int>
+{
+public:
+	btAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned short int maxHandles = 16384, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
+};
+
+/// The bt32BitAxisSweep3 allows higher precision quantization and more objects compared to the btAxisSweep3 sweep and prune.
+/// This comes at the cost of more memory per handle, and a bit slower performance.
+/// It uses arrays rather then lists for storage of the 3 axis.
+class bt32BitAxisSweep3 : public btAxisSweep3Internal<unsigned int>
+{
+public:
+	bt32BitAxisSweep3(const btVector3& worldAabbMin, const btVector3& worldAabbMax, unsigned int maxHandles = 1500000, btOverlappingPairCache* pairCache = 0, bool disableRaycastAccelerator = false);
+};
+
+#endif