feat: Feature/box2d v3 by sabarish-prasannna · Pull Request #37 · rapyuta-robotics/flatland

sabarish-prasannna · 2026-03-25T15:05:04Z

feat: migrate sootballs simulation to Box2D v3

Summary

Migrates the rr_sootballs simulation stack from Box2D v2 (C++ OOP pointer API) to Box2D v3 (C handle/identifier API), following the upstream flatland submodule migration on feature/box2d-v3.

Box2D v3 is a full rewrite of the physics engine from C++ to C, bringing significant performance improvements (multithreading, new Soft Step solver) and a cleaner API using opaque value-type handles (b2BodyId, b2WorldId) instead of raw pointers.

What changed

Submodule

Updated flatland submodule to feature/box2d-v3 which uses Box2D v3.1.0

Simulation code (sootballs_simulation)

Replaced all b2Body* pointer method calls with Box2D v3 free-function equivalents (e.g. body->GetPosition() → b2Body_GetPosition(bodyId))
Replaced b2RayCastCallback virtual class with a v3 free-function ray cast via b2World_CastRay
Updated include from <Box2D/Box2D.h> → <box2d/box2d.h>
Ported Model::GetWorld / GetMessageServer and UpdateTimer::CheckUpdate API changes from upstream flatland

Build system

Upgraded Docker builder stage CMake requirement to >=3.22 (required for Box2D v3's C17 build)
Pinned CMake to <3.30 to avoid googletest cmake_minimum_required breakage

Config

Moved obstacle.model.yaml from param/simulation/models/ → site/simulation/
Updated .env for new image versions

API mapping (v2 → v3)

Before (v2)	After (v3)
`body->physics_body_->GetPosition().x`	`b2Body_GetPosition(body->physics_body_).x`
`body->physics_body_->GetAngle()`	`b2Rot_GetAngle(b2Body_GetRotation(body->physics_body_))`
`world->RayCast(&cb, p1, p2)`	`b2World_CastRay(worldId, origin, translation, filter, fn, &ctx)`
`class Callback : public b2RayCastCallback`	free function `float RayCastFcn(b2ShapeId, b2Vec2, b2Vec2, float, void*)`

WHY Box2D v3?

Box2D v3 has built-in multithreading support, which is one of the key motivations for the upgrade. From the migration docs:

"multithreading support" is listed as a highlight of v3 over v2.

Specifically:

v3 uses enkiTS (a task scheduler library) under the hood to parallelize the physics solver across CPU cores
The world step can distribute work (broad-phase collision detection, constraint solving) across a thread pool
You configure it via b2WorldDef.workerCount or by providing a custom task system
In contrast, Box2D v2 was single-threaded only — the entire world step ran on one core regardless of hardware.

- Replace vendored Box2D 2.x with FetchContent Box2D v3.1.0 (erincatto/box2d) - Add FetchContent enkiTS v2.10 (dougbinks/enkiTS) for thread pool - Migrate all physics APIs: b2Body*/b2Fixture*/b2Joint* -> opaque IDs (b2BodyId, b2ShapeId, b2JointId, b2WorldId) - Replace contact callbacks with event polling (b2World_GetContactEvents) - Replace b2RayCastCallback with free-function ray cast callbacks - Wire enkiTS task scheduler into b2WorldDef for multi-core physics solver - Replace b2FixtureDef/CreateFixture with b2ShapeDef/b2Create*Shape - Replace b2WeldJointDef.bodyA/B with bodyIdA/B; use b2DefaultWeldJointDef - Replace b2RevoluteJointDef.bodyA/B with bodyIdA/B; use b2DefaultRevoluteJointDef - Remove ThreadPool dependency from laser plugin (enkiTS handles threading) - Update b2ChainShape usage removed (not in v3); use b2Segment instead - Update b2EdgeShape -> b2Segment with point1/point2 members - Update b2CircleShape.m_p/m_radius -> b2Circle.center/radius - Fix debug_visualization JointToMarkers to use type-specific local anchor getters - Migrate all test files (load_world, plugin_manager, service_manager, bumper, tween, debug_visualization) to v3 API

CMake 3.16 cannot determine the C17 flag for the compiler in the build environment, causing flatland_server to fail. The C standard setting is unnecessary since flatland_server only compiles C++ files. Box2D v3 headers are included in C++17 translation units and Box2D manages its own C standard internally via FetchContent.

- Update flatland_plugins (gps, tricycle_drive, tween) for Box2D v3 API - Update flatland_server world, model, debug_visualization for Box2D v3 - Remove unnecessary CMAKE_C_STANDARD 17 from CMakeLists.txt

…ve in distance.c)

…nstream builds

…and_interface compatibility

…_interface

…) for sootballs plugins

…rld.cpp

…b to World

Copilot

Pull request overview

Migrates the Flatland simulation stack from Box2D v2 pointer-based C++ API to Box2D v3 handle-based C API, including updated contact/raycast handling and multi-core stepping via enkiTS.

Changes:

Replaced Box2D v2 pointer usage (b2Body*, b2Fixture*, callbacks) with Box2D v3 ID/shape APIs and contact event polling.
Introduced enkiTS task scheduling integration for multi-threaded Box2D v3 stepping.
Updated build system/tooling (CMake/C++ standard), plus broad test updates for the new API.

Reviewed changes

Copilot reviewed 62 out of 110 changed files in this pull request and generated 19 comments.

Show a summary per file

File	Description
flatland_server/test/service_manager_test.cpp	Updates assertions to use Box2D v3 free-functions for body pose access.
flatland_server/test/plugin_manager_test.cpp	Updates plugin contact tests from fixtures/contacts to shape IDs and v3 semantics.
flatland_server/test/load_world_test.cpp	Reworks world-load verification to inspect v3 shapes/segments/joints via IDs.
flatland_server/test/debug_visualization_test.cpp	Ports debug visualization unit tests to v3 world/body/shape creation APIs.
flatland_server/src/world_plugin.cpp	Updates Box2D include path for v3.
flatland_server/src/world.cpp	Replaces b2World* lifecycle with b2WorldId, adds enkiTS task adapter, contact event polling.
flatland_server/src/plugin_manager.cpp	Ports contact dispatch to v3 shape-based callbacks (Begin/End/Hit).
flatland_server/src/model_plugin.cpp	Ports FilterContact from b2Contact/b2Fixture to b2ShapeId/b2BodyId.
flatland_server/src/model_body.cpp	Migrates footprint creation from b2FixtureDef to b2ShapeDef + v3 shape creation functions.
flatland_server/src/model.cpp	Adds World/MessageServer accessors and migrates pose transforms to v3 functions.
flatland_server/src/message_server.cpp	Adds compilation unit for new MessageServer header.
flatland_server/src/layer.cpp	Ports layer geometry from b2EdgeShape fixtures to v3 segment shapes.
flatland_server/src/joint.cpp	Migrates joints to b2JointId + v3 typed joint creation/destroy APIs.
flatland_server/src/interactive_marker_manager.cpp	Updates marker pose reads to v3 body position/rotation getters.
flatland_server/src/geometry.cpp	Updates Box2D include path for v3.
flatland_server/src/entity.cpp	Changes stored physics world reference to b2WorldId.
flatland_server/src/debug_visualization.cpp	Updates debug visualization to iterate v3 shapes and render circles/polygons/segments.
flatland_server/src/body.cpp	Migrates Body to b2BodyId lifecycle/accessors and shape counting.
flatland_server/include/flatland_server/yaml_reader.h	Updates Box2D include path for v3.
flatland_server/include/flatland_server/world_plugin.h	Updates Box2D include path and adds GetWorld accessor.
flatland_server/include/flatland_server/world.h	Removes b2ContactListener inheritance; introduces b2WorldId + enkiTS + MessageServer members.
flatland_server/include/flatland_server/types.h	Updates Box2D include path; adjusts Vec2::Box2D to v3-friendly initializer.
flatland_server/include/flatland_server/simulation_manager.h	Updates Box2D include path for v3.
flatland_server/include/flatland_server/plugin_manager.h	Updates contact method signatures to v3 shape IDs and hit events.
flatland_server/include/flatland_server/model_plugin.h	Updates FilterContact signatures to v3 shape/body IDs.
flatland_server/include/flatland_server/model_body.h	Updates footprint configuration to use b2ShapeDef.
flatland_server/include/flatland_server/model.h	Adds World pointer + MessageServer access and overloads MakeModel for World-aware construction.
flatland_server/include/flatland_server/message_server.h	Introduces internal MessageServer pub/sub APIs used by Model/World.
flatland_server/include/flatland_server/layer.h	Migrates Layer constructors/MakeLayer to use b2WorldId.
flatland_server/include/flatland_server/joint.h	Migrates Joint to store b2WorldId/b2JointId and updated factory methods.
flatland_server/include/flatland_server/geometry.h	Updates Box2D include path for v3.
flatland_server/include/flatland_server/flatland_plugin.h	Updates plugin callback surface to v3 contacts (shape IDs + hit events).
flatland_server/include/flatland_server/entity.h	Migrates Entity physics world storage/accessor to b2WorldId.
flatland_server/include/flatland_server/dummy_world_plugin.h	Updates Box2D include path for v3.
flatland_server/include/flatland_server/dummy_model_plugin.h	Updates Box2D include path for v3.
flatland_server/include/flatland_server/debug_visualization.h	Updates debug viz APIs to accept b2BodyId/b2JointId.
flatland_server/include/flatland_server/body.h	Migrates Body to b2BodyId, adds parent transform accessor, renames fixture count to shapes count.
flatland_server/CMakeLists.txt	Switches to C++17, adds FetchContent dependencies (Box2D v3 + enkiTS), updates linking/install.
flatland_plugins/test/tween_test.cpp	Updates tween plugin tests to read pose via v3 getters.
flatland_plugins/test/bumper_test.cpp	Updates bumper tests to use v3 body setters for velocities/transforms.
flatland_plugins/src/world_random_wall.cpp	Ports layer transform and wall extraction to v3 shapes/segments.
flatland_plugins/src/world_modifier.cpp	Ports ray tracing callback to v3 free-function ray cast callback signature.
flatland_plugins/src/tween.cpp	Ports transform updates and wake calls to v3 body free-functions.
flatland_plugins/src/tricycle_drive.cpp	Ports joint/body accessors and revolute joint limit APIs to v3.
flatland_plugins/src/model_tf_publisher.cpp	Ports transform reads to v3 body transform getter.
flatland_plugins/src/laser.cpp	Replaces threaded v2 RayCast callback with v3 b2World_CastRay + context struct.
flatland_plugins/src/gps.cpp	Ports transform reads and point conversion to v3.
flatland_plugins/src/diff_drive.cpp	Ports body accessors and velocity application to v3 APIs.
flatland_plugins/src/bumper.cpp	Replaces v2 PostSolve impulse logic with v3 hit events tracking (approachSpeed).
flatland_plugins/src/bool_sensor.cpp	Ports begin/end contact logic to shape IDs and v3 body lookup.
flatland_plugins/include/flatland_plugins/world_random_wall.h	Updates Box2D include path for v3.
flatland_plugins/include/flatland_plugins/world_modifier.h	Ports RayTrace from callback class to v3 free-function callback.
flatland_plugins/include/flatland_plugins/tween.h	Updates Box2D include path for v3.
flatland_plugins/include/flatland_plugins/tricycle_drive.h	Updates Box2D include path for v3.
flatland_plugins/include/flatland_plugins/laser.h	Removes ThreadPool + v2 callback class; adds v3 ray cast context/callback decl.
flatland_plugins/include/flatland_plugins/diff_drive.h	Updates Box2D include path for v3.
flatland_plugins/include/flatland_plugins/bumper.h	Ports contact tracking to shape-ID-based keys and hit events.
flatland_plugins/include/flatland_plugins/bool_sensor.h	Updates contact callback signatures to v3.
flatland_plugins/CMakeLists.txt	Bumps CMake minimum and switches to C++17.
docs/design/2026-03-24-box2d-v3-migration/spec.md	Adds migration spec documenting Box2D v3 and enkiTS approach.
docs/design/2026-03-24-box2d-v3-migration/plan.md	Adds detailed implementation plan for the migration.
docs/design/2026-03-24-box2d-v3-migration/agent.spec.md	Adds agent-facing migration spec with API mappings and task breakdown.

💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.

Copilot · 2026-03-25T15:09:24Z

flatland_server/include/flatland_server/message_server.h

+#ifndef FLATLAND_SERVER_MESSAGE_SERVER_H
+#define FLATLAND_SERVER_MESSAGE_SERVER_H
+
+#include <unordered_map>
+#include <vector>
+
+#include <ros/ros.h>
+
+namespace flatland_server {
+
+template <class T>
+class Subscriber;
+template <class T>
+class Publisher;
+class MessageServer;
+class MessageTopicBase {};


This header uses std::unique_ptr and std::function but does not include and . This can fail to compile depending on include order. Add the missing standard headers in message_server.h.

Copilot · 2026-03-25T15:09:25Z

flatland_server/include/flatland_server/message_server.h

+}
+}
+
+#endif  // FLATLAND_SERVER_MESSAGE_H


The include guard end comment does not match the guard name (MESSAGE_SERVER). This is easy to misread during maintenance; update the trailing comment to match FLATLAND_SERVER_MESSAGE_SERVER_H.

Suggested change

#endif // FLATLAND_SERVER_MESSAGE_H

#endif // FLATLAND_SERVER_MESSAGE_SERVER_H

Copilot · 2026-03-25T15:09:25Z

flatland_server/include/flatland_server/message_server.h

@@ -0,0 +1,113 @@
+#ifndef FLATLAND_SERVER_MESSAGE_SERVER_H


The file appears to start with a UTF-8 BOM (the hidden character before #ifndef). This can cause tooling and cross-platform compilation issues; save the header without BOM.

Suggested change

#ifndef FLATLAND_SERVER_MESSAGE_SERVER_H

#ifndef FLATLAND_SERVER_MESSAGE_SERVER_H

Copilot · 2026-03-25T15:09:25Z

flatland_server/src/message_server.cpp

@@ -0,0 +1,3 @@
+#include <flatland_server/message_server.h>


This source file also appears to start with a UTF-8 BOM. Consider removing the BOM to avoid build/tooling issues on stricter compilers or linters.

Suggested change

#include <flatland_server/message_server.h>

#include <flatland_server/message_server.h>

Copilot · 2026-03-25T15:09:26Z

flatland_server/CMakeLists.txt

@@ -1,8 +1,9 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.11)


FetchContent_MakeAvailable is not available in CMake 3.11 (it was introduced later). With cmake_minimum_required(VERSION 3.11), configuration can fail on systems that honor the stated minimum. Bump the minimum CMake version to one that supports FetchContent_MakeAvailable (and align it with the Box2D v3 requirements mentioned in the PR description).

Suggested change

cmake_minimum_required(VERSION 3.11)

cmake_minimum_required(VERSION 3.15)

Copilot · 2026-03-25T15:09:29Z

flatland_server/include/flatland_server/world.h

+                         /// call or not
+  InteractiveMarkerManager
+      int_marker_manager_;  ///< for dynamically moving models from Rviz
+  int physics_velocity_iterations_;  ///< Box2D solver velocity iterations


physics_velocity_iterations_ is documented as 'solver velocity iterations', but World::Update now passes it as the third argument to b2World_Step (which in Box2D v3 is sub-step count). This is confusing and risks misconfiguration via YAML/params. Rename the member (and any config key) to reflect v3 semantics (e.g., physics_substeps_) and update the comment accordingly.

Suggested change

int physics_velocity_iterations_; ///< Box2D solver velocity iterations

int physics_substeps_; ///< Box2D v3 physics sub-step count (was 'velocity iterations' in v2)

int &physics_velocity_iterations_ = physics_substeps_; ///< DEPRECATED alias, use physics_substeps_

Copilot · 2026-03-25T15:09:29Z

flatland_plugins/src/world_random_wall.cpp

+  }
+
+  std::srand(std::time(0));
+  std::random_shuffle(wall_segments.begin(), wall_segments.end());


std::random_shuffle was removed in C++17. Since this PR switches the project to C++17, this line can fail to compile on standard-compliant toolchains. Replace with std::shuffle and a properly seeded RNG (e.g., std::mt19937).

Copilot · 2026-03-25T15:09:29Z

flatland_server/src/model.cpp

+World &Model::GetWorld() const { return *world_; }
+
+MessageServer &Model::GetMessageServer() const {
+  return GetWorld().message_server;
+}


world_ is explicitly documented as 'may be nullptr for legacy construction' (in model.h), but GetWorld() unconditionally dereferences it. Either enforce world_ as non-null for all Models (remove the legacy path), or make GetWorld()/GetMessageServer() fail fast with a clear error (exception/assert) when world_ is null.

Copilot · 2026-03-25T15:09:30Z

flatland_server/test/debug_visualization_test.cpp

+  ASSERT_EQ(markers.markers.size(), 1);
+  ASSERT_EQ(markers.markers[0].type, markers.markers[0].LINE_LIST);
+  ASSERT_EQ(markers.markers[0].points.size(), 4);
+


This test used to assert the actual point coordinates/order for the combined LINE_LIST marker, but now only checks the point count. That reduces coverage and makes regressions in ordering/geometry harder to catch. Re-add assertions for the expected (x,y) values of points[0..3] to validate output correctness.

Suggested change

// Verify the actual geometry and ordering of the combined LINE_LIST points.

const auto &line_list_marker = markers.markers[0];

EXPECT_FLOAT_EQ(line_list_marker.points[0].x, 0.0f);

EXPECT_FLOAT_EQ(line_list_marker.points[0].y, 1.0f);

EXPECT_FLOAT_EQ(line_list_marker.points[1].x, 1.0f);

EXPECT_FLOAT_EQ(line_list_marker.points[1].y, 2.0f);

EXPECT_FLOAT_EQ(line_list_marker.points[2].x, -1.0f);

EXPECT_FLOAT_EQ(line_list_marker.points[2].y, 3.0f);

EXPECT_FLOAT_EQ(line_list_marker.points[3].x, 5.0f);

EXPECT_FLOAT_EQ(line_list_marker.points[3].y, 7.0f);

Copilot · 2026-03-25T15:09:30Z

flatland_server/test/debug_visualization_test.cpp

+
+  b2BodyDef bodyDef = b2DefaultBodyDef();
+  b2BodyId body = b2CreateBody(world, &bodyDef);
+  // No shapes added 窶・BodyToMarkers should produce no markers


The comment contains garbled characters, likely from an encoding/BOM issue. Replace the sequence with a normal dash so the comment is readable.

Suggested change

// No shapes added 窶・BodyToMarkers should produce no markers

// No shapes added - BodyToMarkers should produce no markers

gauthamm · 2026-03-25T15:14:52Z

@sabarish-prasannna we have made minimal changes to original flatland, mainly in laser, diff drive plugins and introducing path changes for world yaml.
The only significant changes are message server. Instead of merging upstream master and reviewing it, given the significant changes in upstream it might be better to rebase our changes on top of their master so that we can review the changes we have made is being added properly.
Note that diff-drive and laser changes are only used in non fast sim but if this is not being used by nav team not sure if its necessary to port as the upstream might have made performance improvements.
avidbots/flatland@master...rapyuta-robotics:flatland:rr-devel

sabarish-prasannna added 11 commits March 24, 2026 19:20

docs: add Box2D v3 migration spec and implementation plan

64adace

fix: update Box2D v3 plugin and server implementations

60da947

- Update flatland_plugins (gps, tricycle_drive, tween) for Box2D v3 API - Update flatland_server world, model, debug_visualization for Box2D v3 - Remove unnecessary CMAKE_C_STANDARD 17 from CMakeLists.txt

fix: suppress -Wmaybe-uninitialized on box2d target (GCC false positi…

4176717

…ve in distance.c)

fix: install enkiTS headers alongside flatland_server headers for dow…

f84265b

…nstream builds

fix: port MessageServer from rr-devel into feature/box2d-v3 for flatl…

281e7ab

…and_interface compatibility

fix: port Model::GetWorld/GetMessageServer from rr-devel for flatland…

e3cf3fe

…_interface

fix: add GetWorld(), LoadWorldEntities(), SlowSimTime(), FastSimTime(…

a70b314

…) for sootballs plugins

fix: restore missing void World::LoadLayers function definition in wo…

e350287

…rld.cpp

fix: add GetParentTransform() to Body, InitializeDynamicFastSim() stu…

122b235

…b to World

sabarish-prasannna requested review from Copilot and yuokamoto March 25, 2026 15:05

Copilot AI reviewed Mar 25, 2026

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feat: Feature/box2d v3#37

feat: Feature/box2d v3#37
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	#endif // FLATLAND_SERVER_MESSAGE_H
	#endif // FLATLAND_SERVER_MESSAGE_SERVER_H

	#ifndef FLATLAND_SERVER_MESSAGE_SERVER_H
	#ifndef FLATLAND_SERVER_MESSAGE_SERVER_H

	#include <flatland_server/message_server.h>
	#include <flatland_server/message_server.h>

		@@ -1,8 +1,9 @@
		cmake_minimum_required(VERSION 2.8.3)
		cmake_minimum_required(VERSION 3.11)

	cmake_minimum_required(VERSION 3.11)
	cmake_minimum_required(VERSION 3.15)

	int physics_velocity_iterations_; ///< Box2D solver velocity iterations
	int physics_substeps_; ///< Box2D v3 physics sub-step count (was 'velocity iterations' in v2)
	int &physics_velocity_iterations_ = physics_substeps_; ///< DEPRECATED alias, use physics_substeps_

+  // Verify the actual geometry and ordering of the combined LINE_LIST points.
+  const auto &line_list_marker = markers.markers[0];
+  EXPECT_FLOAT_EQ(line_list_marker.points[0].x, 0.0f);
+  EXPECT_FLOAT_EQ(line_list_marker.points[0].y, 1.0f);
+  EXPECT_FLOAT_EQ(line_list_marker.points[1].x, 1.0f);
+  EXPECT_FLOAT_EQ(line_list_marker.points[1].y, 2.0f);
+  EXPECT_FLOAT_EQ(line_list_marker.points[2].x, -1.0f);
+  EXPECT_FLOAT_EQ(line_list_marker.points[2].y, 3.0f);
+  EXPECT_FLOAT_EQ(line_list_marker.points[3].x, 5.0f);
+  EXPECT_FLOAT_EQ(line_list_marker.points[3].y, 7.0f);

	// No shapes added 窶・BodyToMarkers should produce no markers
	// No shapes added - BodyToMarkers should produce no markers

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sabarish-prasannna commented Mar 25, 2026

feat: migrate sootballs simulation to Box2D v3

Summary

What changed

API mapping (v2 → v3)

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