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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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8
examples/pybullet/pybullet.c
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@@ -4730,7 +4730,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
{
int i;
if (lenFrom > MAX_RAY_INTERSECTION_BATCH_SIZE)
if (lenFrom > MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING)
{
PyErr_SetString(SpamError, "Number of rays exceed the maximum batch size.");
Py_DECREF(seqRayFromObj);
@@ -4748,7 +4748,9 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
if ((pybullet_internalSetVectord(rayFromObj, rayFromWorld)) &&
(pybullet_internalSetVectord(rayToObj, rayToWorld)))
{
b3RaycastBatchAddRay(sm, commandHandle, rayFromWorld, rayToWorld);
//todo: better to upload all rays at once
//b3RaycastBatchAddRay(commandHandle, rayFromWorld, rayToWorld);
b3RaycastBatchAddRays(sm, commandHandle, rayFromWorld, rayToWorld,1);
} else
{
PyErr_SetString(SpamError, "Items in the from/to positions need to be an [x,y,z] list of 3 floats/doubles");
@@ -9647,7 +9649,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);
PyModule_AddIntConstant(m, "MAX_RAY_INTERSECTION_BATCH_SIZE", MAX_RAY_INTERSECTION_BATCH_SIZE);
PyModule_AddIntConstant(m, "MAX_RAY_INTERSECTION_BATCH_SIZE", MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING);
PyModule_AddIntConstant(m, "B3G_F1", B3G_F1);
PyModule_AddIntConstant(m, "B3G_F2", B3G_F2);