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Implement rayTestBatch. At the moment, it is still testing individual rays on the physics server. We can enable multi-threaded version later. At least the python + shared-memory IPC overhead will be much lower.

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This commit is contained in:
Erwin Coumans
2017-04-05 15:21:26 -07:00
parent e32debdca4
commit 6cbb00fd6b
6 changed files with 274 additions and 60 deletions
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examples/SharedMemory/PhysicsClientC_API.h
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@@ -332,6 +332,9 @@ b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsClientHandle phy
double rayFromWorldY, double rayFromWorldZ,
double rayToWorldX, double rayToWorldY, double rayToWorldZ);
b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3PhysicsClientHandle physClient);
void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[3], const double rayToWorld[3]);
void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo);