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PyBullet: deal with backward compatibility of b3RaycastBatchAddRay:

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use b3RaycastBatchAddRays API to enable MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING num rays.
Old API (b3RaycastBatchAddRay) sticks to 256 rays, MAX_RAY_INTERSECTION_BATCH_SIZE.
This commit is contained in:
erwincoumans
2018-06-16 12:28:21 -07:00
parent 04d03d10be
commit 7924d51665
8 changed files with 85 additions and 50 deletions
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41
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2736,13 +2736,19 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsCl
struct SharedMemoryCommand *command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS;
command->m_requestRaycastIntersections.m_numRays = 0;
command->m_requestRaycastIntersections.m_numCommandRays = 1;
command->m_requestRaycastIntersections.m_numStreamingRays = 0;
command->m_requestRaycastIntersections.m_numThreads = 1;
double rayFrom[3] = {rayFromWorldX,rayFromWorldY,rayFromWorldZ};
double rayTo[3] = {rayToWorldX,rayToWorldY,rayToWorldZ};
cl->uploadRaysToSharedMemory(*command, rayFrom, rayTo, 1);
command->m_requestRaycastIntersections.m_numCommandRays = 1;
command->m_requestRaycastIntersections.m_fromToRays[0].m_rayFromPosition[0] = rayFromWorldX;
command->m_requestRaycastIntersections.m_fromToRays[0].m_rayFromPosition[1] = rayFromWorldY;
command->m_requestRaycastIntersections.m_fromToRays[0].m_rayFromPosition[2] = rayFromWorldZ;
command->m_requestRaycastIntersections.m_fromToRays[0].m_rayToPosition[0] = rayToWorldX;
command->m_requestRaycastIntersections.m_fromToRays[0].m_rayToPosition[1] = rayToWorldY;
command->m_requestRaycastIntersections.m_fromToRays[0].m_rayToPosition[2] = rayToWorldZ;
return (b3SharedMemoryCommandHandle)command;
}
@@ -2755,7 +2761,8 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3Phys
b3Assert(command);
command->m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS;
command->m_updateFlags = 0;
command->m_requestRaycastIntersections.m_numRays = 0;
command->m_requestRaycastIntersections.m_numCommandRays = 0;
command->m_requestRaycastIntersections.m_numStreamingRays = 0;
command->m_requestRaycastIntersections.m_numThreads = 1;
return (b3SharedMemoryCommandHandle)command;
}
@@ -2767,18 +2774,26 @@ B3_SHARED_API void b3RaycastBatchSetNumThreads(b3SharedMemoryCommandHandle comm
command->m_requestRaycastIntersections.m_numThreads = numThreads;
}
B3_SHARED_API void b3RaycastBatchAddRay(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[3], const double rayToWorld[3])
B3_SHARED_API void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[3], const double rayToWorld[3])
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
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)
{
cl->uploadRaysToSharedMemory(*command, rayFromWorld, rayToWorld, 1);
int numRays = command->m_requestRaycastIntersections.m_numCommandRays;
if (numRays<MAX_RAY_INTERSECTION_BATCH_SIZE)
{
command->m_requestRaycastIntersections.m_fromToRays[numRays].m_rayFromPosition[0] = rayFromWorld[0];
command->m_requestRaycastIntersections.m_fromToRays[numRays].m_rayFromPosition[1] = rayFromWorld[1];
command->m_requestRaycastIntersections.m_fromToRays[numRays].m_rayFromPosition[2] = rayFromWorld[2];
command->m_requestRaycastIntersections.m_fromToRays[numRays].m_rayToPosition[0] = rayToWorld[0];
command->m_requestRaycastIntersections.m_fromToRays[numRays].m_rayToPosition[1] = rayToWorld[1];
command->m_requestRaycastIntersections.m_fromToRays[numRays].m_rayToPosition[2] = rayToWorld[2];
command->m_requestRaycastIntersections.m_numCommandRays++;
}
}
}
@@ -2790,7 +2805,7 @@ B3_SHARED_API void b3RaycastBatchAddRays(b3PhysicsClientHandle physClient, b3Sha
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS);
b3Assert(numRays<MAX_RAY_INTERSECTION_BATCH_SIZE);
b3Assert(numRays<MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING);
if (command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS)
{
cl->uploadRaysToSharedMemory(*command, rayFromWorldArray, rayToWorldArray, numRays);