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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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102
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2235,58 +2235,74 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_RAY_CAST_INTERSECTIONS:
{
BT_PROFILE("CMD_REQUEST_RAY_CAST_INTERSECTIONS");
btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPosition[0],
clientCmd.m_requestRaycastIntersections.m_rayFromPosition[1],
clientCmd.m_requestRaycastIntersections.m_rayFromPosition[2]);
btVector3 rayToWorld(clientCmd.m_requestRaycastIntersections.m_rayToPosition[0],
clientCmd.m_requestRaycastIntersections.m_rayToPosition[1],
clientCmd.m_requestRaycastIntersections.m_rayToPosition[2]);
btCollisionWorld::ClosestRayResultCallback rayResultCallback(rayFromWorld,rayToWorld);
m_data->m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,rayResultCallback);
serverStatusOut.m_raycastHits.m_numRaycastHits = 0;
if (rayResultCallback.hasHit())
for (int ray=0;ray<clientCmd.m_requestRaycastIntersections.m_numRays;ray++)
{
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitFraction
= rayResultCallback.m_closestHitFraction;
btVector3 rayFromWorld(clientCmd.m_requestRaycastIntersections.m_rayFromPositions[ray][0],
clientCmd.m_requestRaycastIntersections.m_rayFromPositions[ray][1],
clientCmd.m_requestRaycastIntersections.m_rayFromPositions[ray][2]);
btVector3 rayToWorld(clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][0],
clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][1],
clientCmd.m_requestRaycastIntersections.m_rayToPositions[ray][2]);
int objectUniqueId = -1;
int linkIndex = -1;
btCollisionWorld::ClosestRayResultCallback rayResultCallback(rayFromWorld,rayToWorld);
m_data->m_dynamicsWorld->rayTest(rayFromWorld,rayToWorld,rayResultCallback);
int rayHits = serverStatusOut.m_raycastHits.m_numRaycastHits;
const btRigidBody* body = btRigidBody::upcast(rayResultCallback.m_collisionObject);
if (body)
if (rayResultCallback.hasHit())
{
objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitFraction
= rayResultCallback.m_closestHitFraction;
int objectUniqueId = -1;
int linkIndex = -1;
const btRigidBody* body = btRigidBody::upcast(rayResultCallback.m_collisionObject);
if (body)
{
objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
} else
{
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(rayResultCallback.m_collisionObject);
if (mblB && mblB->m_multiBody)
{
linkIndex = mblB->m_link;
objectUniqueId = mblB->m_multiBody->getUserIndex2();
}
}
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitObjectUniqueId
= objectUniqueId;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitObjectLinkIndex
= linkIndex;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[0]
= rayResultCallback.m_hitPointWorld[0];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[1]
= rayResultCallback.m_hitPointWorld[1];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[2]
= rayResultCallback.m_hitPointWorld[2];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[0]
= rayResultCallback.m_hitNormalWorld[0];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[1]
= rayResultCallback.m_hitNormalWorld[1];
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[2]
= rayResultCallback.m_hitNormalWorld[2];
} else
{
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(rayResultCallback.m_collisionObject);
if (mblB && mblB->m_multiBody)
{
linkIndex = mblB->m_link;
objectUniqueId = mblB->m_multiBody->getUserIndex2();
}
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitFraction = 1;
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectUniqueId = -1;
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectLinkIndex = -1;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[0] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[1] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitPositionWorld[2] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[0] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[1] = 0;
serverStatusOut.m_raycastHits.m_rayHits[rayHits].m_hitNormalWorld[2] = 0;
}
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectUniqueId
= objectUniqueId;
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitObjectLinkIndex
= linkIndex;
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitPositionWorld[0]
= rayResultCallback.m_hitPointWorld[0];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitPositionWorld[1]
= rayResultCallback.m_hitPointWorld[1];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitPositionWorld[2]
= rayResultCallback.m_hitPointWorld[2];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitNormalWorld[0]
= rayResultCallback.m_hitNormalWorld[0];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitNormalWorld[1]
= rayResultCallback.m_hitNormalWorld[1];
serverStatusOut.m_raycastHits.m_rayHits[serverStatusOut.m_raycastHits.m_numRaycastHits].m_hitNormalWorld[2]
= rayResultCallback.m_hitNormalWorld[2];
serverStatusOut.m_raycastHits.m_numRaycastHits++;
}
serverStatusOut.m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED;