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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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4
examples/SharedMemory/PhysicsClientC_API.h
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@@ -544,7 +544,9 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsCl
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3PhysicsClientHandle physClient);
// Sets the number of threads to use to compute the ray intersections for the batch. Specify 0 to let Bullet decide, 1 (default) for single core execution, 2 or more to select the number of threads to use.
B3_SHARED_API void b3RaycastBatchSetNumThreads(b3SharedMemoryCommandHandle commandHandle, int numThreads);
B3_SHARED_API void b3RaycastBatchAddRay(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[3], const double rayToWorld[3]);
//max num rays for b3RaycastBatchAddRay is MAX_RAY_INTERSECTION_BATCH_SIZE
B3_SHARED_API void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[3], const double rayToWorld[3]);
//max num rays for b3RaycastBatchAddRays is MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING
B3_SHARED_API void b3RaycastBatchAddRays(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double* rayFromWorld, const double* rayToWorld, int numRays);
B3_SHARED_API void b3GetRaycastInformation(b3PhysicsClientHandle physClient, struct b3RaycastInformation* raycastInfo);