texture caching and geometry caching (PhysX) for much faster loading of many same objects, helps benchmarking/comparison.

add command-line args for PhysX (numCores=..., solver=tgs, )

examples/pybullet/examples/otherPhysicsEngine.py

@@ -1,18 +1,27 @@
 import pybullet as p
+import pybullet_data as pd
 import time
 import math
 
 usePhysX = True
 if usePhysX:
-  p.connect(p.PhysX)
+  p.connect(p.PhysX,options="--numCores=1 --solver=pgs")
   p.loadPlugin("eglRendererPlugin")
 else:
   p.connect(p.GUI)
 
-p.loadURDF("plane.urdf")
+useMaximalCoordinates = False
+p.setAdditionalSearchPath(pd.getDataPath())
+p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates)
+p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"physx_create_dominoes.json")
+for j in range (50):
+    for i in range (100):
+        sphere = p.loadURDF("domino/domino.urdf",[i*0.04,1+j*.25,0.03], useMaximalCoordinates=useMaximalCoordinates)
+print("loaded!")
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
 
-for i in range (10):
-  sphere = p.loadURDF("marble_cube.urdf",[0,-1,1+i*1], useMaximalCoordinates=False)
 p.changeDynamics(sphere ,-1, mass=1000)
 
 door = p.loadURDF("door.urdf",[0,0,1])
@@ -31,8 +40,12 @@ prevTime = time.time()
 
 angle = math.pi*0.5
 
+count=0
 while (1):
-  
+  count+=1
+  if (count==10):
+      p.stopStateLogging(logId)
+
   curTime = time.time()
   
   diff = curTime - prevTime
@@ -45,7 +58,7 @@ while (1):
     p.setJointMotorControl2(door,1,p.POSITION_CONTROL, targetPosition = angle, positionGain=10.1, velocityGain=1, force=11.001)
   else:  
     p.setJointMotorControl2(door,1,p.VELOCITY_CONTROL, targetVelocity=1, force=1011)
-  contacts = p.getContactPoints()
-  print("contacts=",contacts)
+  #contacts = p.getContactPoints()
+  #print("contacts=",contacts)
   p.stepSimulation()
   time.sleep(1./240.)

examples/pybullet/pybullet.c

@@ -456,7 +456,7 @@ static PyObject* pybullet_connectPhysicsServer(PyObject* self, PyObject* args, P
 #ifdef BT_ENABLE_PHYSX
 			case eCONNECT_PHYSX:
 			{
-				sm = b3ConnectPhysX();
+				sm = b3ConnectPhysX(argc, argv);
 				break;
 			}
 #endif