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Adds multithreading support for batch ray casts.

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To enable the feature, enable the BULLET2_MULTITHREADING option.

Increases the number of rays that can go in a batch request by storing
them in the shared memory stream instead of the shared memory command.
Adds the API b3RaycastBatchSetNumThreads to specify the number of
threads to use for the raycast batch, also adds the argument numThreads
to the pybullet function rayTestBatch.
Rays are distributed among the threads in a greedy fashion there's a shared
queue of work, once a thread finishes its task, it picks the next
available ray from the task. This works better than pre-distributing the
rays among threads, since there's a large variance in computation time per ray.

Some controversial changes:
- Added a pointer to PhysicsClient to the SharedMemoryCommand struct, this
was necessary to keep the C-API the same for b3RaycastBatchAddRay, while
adding the ray to the shared memory stream instead of the command
struct. I think this may be useful to simplify other APIs as well, that
take both a client handle and a command handle.
- Moved #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE to
SharedMemoryPublic. This was necessary for the definition of
MAX_RAY_INTERSECTION_BATCH_SIZE.
This commit is contained in:
Tigran Gasparian
2018-06-15 16:47:04 +02:00
parent 997211650e
commit 08409cae9f
13 changed files with 213 additions and 75 deletions
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23
examples/SharedMemory/SharedMemoryPublic.h
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@@ -5,7 +5,7 @@
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201806020
#define SHARED_MEMORY_MAGIC_NUMBER 201806150
//#define SHARED_MEMORY_MAGIC_NUMBER 201801170
//#define SHARED_MEMORY_MAGIC_NUMBER 201801080
//#define SHARED_MEMORY_MAGIC_NUMBER 201801010
@@ -17,6 +17,11 @@
//#define SHARED_MEMORY_MAGIC_NUMBER 201706001
//#define SHARED_MEMORY_MAGIC_NUMBER 201703024
#ifdef __APPLE__
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (512*1024)
#else
#define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE (8*1024*1024)
#endif
enum EnumSharedMemoryClientCommand
{
@@ -408,8 +413,7 @@ enum b3VREventType
#define MAX_VR_BUTTONS 64
#define MAX_VR_CONTROLLERS 8
#define MAX_RAY_INTERSECTION_BATCH_SIZE 256
#define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
#define MAX_KEYBOARD_EVENTS 256
#define MAX_MOUSE_EVENTS 256
@@ -544,6 +548,12 @@ struct b3ContactInformation
struct b3ContactPointData* m_contactPointData;
};
struct b3RayData
{
double m_rayFromPosition[3];
double m_rayToPosition[3];
};
struct b3RayHitInfo
{
double m_hitFraction;
@@ -559,7 +569,12 @@ struct b3RaycastInformation
struct b3RayHitInfo* m_rayHits;
};
typedef union {
struct b3RayData a;
struct b3RayHitInfo b;
} RAY_DATA_UNION;
#define MAX_RAY_INTERSECTION_BATCH_SIZE SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE / sizeof( RAY_DATA_UNION )
#define MAX_RAY_HITS MAX_RAY_INTERSECTION_BATCH_SIZE
#define VISUAL_SHAPE_MAX_PATH_LEN 1024
struct b3VisualShapeData