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Merge pull request #1061 from erwincoumans/master

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Implement rayTestBatch. At the moment, it is still testing individual…
This commit is contained in:
erwincoumans
2017-04-06 04:56:49 +00:00
committed by GitHub
parent 8658682d2a 6cbb00fd6b
commit 2e13531493
6 changed files with 274 additions and 60 deletions
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49
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1383,17 +1383,52 @@ b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsClientHandle phy
struct SharedMemoryCommand *command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS;
command->m_requestRaycastIntersections.m_rayFromPosition[0] = rayFromWorldX;
command->m_requestRaycastIntersections.m_rayFromPosition[1] = rayFromWorldY;
command->m_requestRaycastIntersections.m_rayFromPosition[2] = rayFromWorldZ;
command->m_requestRaycastIntersections.m_rayToPosition[0] = rayToWorldX;
command->m_requestRaycastIntersections.m_rayToPosition[1] = rayToWorldY;
command->m_requestRaycastIntersections.m_rayToPosition[2] = rayToWorldZ;
command->m_requestRaycastIntersections.m_numRays = 1;
command->m_requestRaycastIntersections.m_rayFromPositions[0][0] = rayFromWorldX;
command->m_requestRaycastIntersections.m_rayFromPositions[0][1] = rayFromWorldY;
command->m_requestRaycastIntersections.m_rayFromPositions[0][2] = rayFromWorldZ;
command->m_requestRaycastIntersections.m_rayToPositions[0][0] = rayToWorldX;
command->m_requestRaycastIntersections.m_rayToPositions[0][1] = rayToWorldY;
command->m_requestRaycastIntersections.m_rayToPositions[0][2] = rayToWorldZ;
return (b3SharedMemoryCommandHandle)command;
}
b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3PhysicsClientHandle physClient)
{
PhysicsClient *cl = (PhysicsClient *)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand *command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS;
command->m_updateFlags = 0;
command->m_requestRaycastIntersections.m_numRays = 0;
return (b3SharedMemoryCommandHandle)command;
}
void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[3], const double rayToWorld[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS);
if (command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS)
{
int numRays = command->m_requestRaycastIntersections.m_numRays;
if (numRays<MAX_RAY_INTERSECTION_BATCH_SIZE)
{
command->m_requestRaycastIntersections.m_rayFromPositions[numRays][0] = rayFromWorld[0];
command->m_requestRaycastIntersections.m_rayFromPositions[numRays][1] = rayFromWorld[1];
command->m_requestRaycastIntersections.m_rayFromPositions[numRays][2] = rayFromWorld[2];
command->m_requestRaycastIntersections.m_rayToPositions[numRays][0] = rayToWorld[0];
command->m_requestRaycastIntersections.m_rayToPositions[numRays][1] = rayToWorld[1];
command->m_requestRaycastIntersections.m_rayToPositions[numRays][2] = rayToWorld[2];
command->m_requestRaycastIntersections.m_numRays++;
}
}
}
void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;