Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

PyBullet: deal with backward compatibility of b3RaycastBatchAddRay:

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

22
examples/SharedMemory/PhysicsDirect.cpp
View File

@@ -1355,22 +1355,22 @@ void PhysicsDirect::uploadBulletFileToSharedMemory(const char* data, int len)
void PhysicsDirect::uploadRaysToSharedMemory(struct SharedMemoryCommand& command, const double* rayFromWorldArray, const double* rayToWorldArray, int numRays)
{
int curNumRays = command.m_requestRaycastIntersections.m_numRays;
int newNumRays = curNumRays + numRays;
btAssert(newNumRays<MAX_RAY_INTERSECTION_BATCH_SIZE);
int curNumStreamingRays = command.m_requestRaycastIntersections.m_numStreamingRays;
int newNumRays = curNumStreamingRays + numRays;
btAssert(newNumRays<MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING);
if (newNumRays<MAX_RAY_INTERSECTION_BATCH_SIZE)
if (newNumRays<MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING)
{
for (int i=0;i<numRays;i++)
{
b3RayData* rayDataStream = (b3RayData *)m_data->m_bulletStreamDataServerToClient;
rayDataStream[curNumRays+i].m_rayFromPosition[0] = rayFromWorldArray[i*3+0];
rayDataStream[curNumRays+i].m_rayFromPosition[1] = rayFromWorldArray[i*3+1];
rayDataStream[curNumRays+i].m_rayFromPosition[2] = rayFromWorldArray[i*3+2];
rayDataStream[curNumRays+i].m_rayToPosition[0] = rayToWorldArray[i*3+0];
rayDataStream[curNumRays+i].m_rayToPosition[1] = rayToWorldArray[i*3+1];
rayDataStream[curNumRays+i].m_rayToPosition[2] = rayToWorldArray[i*3+2];
command.m_requestRaycastIntersections.m_numRays++;
rayDataStream[curNumStreamingRays+i].m_rayFromPosition[0] = rayFromWorldArray[i*3+0];
rayDataStream[curNumStreamingRays+i].m_rayFromPosition[1] = rayFromWorldArray[i*3+1];
rayDataStream[curNumStreamingRays+i].m_rayFromPosition[2] = rayFromWorldArray[i*3+2];
rayDataStream[curNumStreamingRays+i].m_rayToPosition[0] = rayToWorldArray[i*3+0];
rayDataStream[curNumStreamingRays+i].m_rayToPosition[1] = rayToWorldArray[i*3+1];
rayDataStream[curNumStreamingRays+i].m_rayToPosition[2] = rayToWorldArray[i*3+2];
command.m_requestRaycastIntersections.m_numStreamingRays++;
}
}