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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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10
examples/SharedMemory/SharedMemoryCommands.h
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@@ -287,14 +287,18 @@ struct RequestRaycastIntersections
// 1: Use a single thread (i.e. no multi-threading)
// 2 or more: Number of threads to use.
int m_numThreads;
int m_numRays;
// Actual ray data stored in m_bulletStreamDataServerToClientRefactor.
int m_numCommandRays;
//m_numCommandRays command rays are stored in m_fromToRays
b3RayData m_fromToRays[MAX_RAY_INTERSECTION_BATCH_SIZE];
int m_numStreamingRays;
//streaming ray data stored in shared memory streaming part. (size m_numStreamingRays )
};
struct SendRaycastHits
{
int m_numRaycastHits;
// Actual ray data stored in m_bulletStreamDataServerToClientRefactor.
// Actual ray result data stored in shared memory streaming part.
};
struct RequestContactDataArgs