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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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23
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4826,21 +4826,30 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
BT_PROFILE("CMD_REQUEST_RAY_CAST_INTERSECTIONS");
serverStatusOut.m_raycastHits.m_numRaycastHits = 0;
const int numRays = clientCmd.m_requestRaycastIntersections.m_numRays;
const int numCommandRays = clientCmd.m_requestRaycastIntersections.m_numCommandRays;
const int numStreamingRays = clientCmd.m_requestRaycastIntersections.m_numStreamingRays;
const int numThreads = clientCmd.m_requestRaycastIntersections.m_numThreads;
int totalRays = numCommandRays+numStreamingRays;
btAlignedObjectArray<b3RayData> rays;
rays.resize(numRays);
memcpy(&rays[0],bufferServerToClient,numRays*sizeof(b3RayData));
rays.resize(totalRays);
if (numCommandRays)
{
memcpy(&rays[0],&clientCmd.m_requestRaycastIntersections.m_fromToRays[0],numCommandRays*sizeof(b3RayData));
}
if (numStreamingRays)
{
memcpy(&rays[numCommandRays],bufferServerToClient,numStreamingRays*sizeof(b3RayData));
}
BatchRayCaster batchRayCaster(m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo *)bufferServerToClient, numRays);
BatchRayCaster batchRayCaster(m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo *)bufferServerToClient, totalRays);
if (numThreads == 0) {
// When 0 is specified, Bullet can decide how many threads to use.
// About 16 rays per thread seems to work reasonably well.
batchRayCaster.castRays(numRays / 16);
batchRayCaster.castRays(totalRays / 16);
} else if (numThreads == 1) {
// Sequentially trace all rays:
for (int i = 0; i < numRays; i++) {
for (int i = 0; i < totalRays; i++) {
batchRayCaster.processRay(i);
}
} else {
@@ -4849,7 +4858,7 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
batchRayCaster.castRays(numThreads);
}
serverStatusOut.m_raycastHits.m_numRaycastHits = numRays;
serverStatusOut.m_raycastHits.m_numRaycastHits = totalRays;
serverStatusOut.m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED;
return hasStatus;
}