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allow batch creation of objects through PyBullet.createMultiBody, see createMultiBodyBatch.py example.

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expose minGraphicsUpdateTimeMs through PyBullet.connect(p.GUI, options="minGraphicsUpdateTimeMs=32000"), by default OpenGL rendering runs at 4000microseconds intervals.
allow a maximum of 128k objects
fix meshScale for PyBullet.createCollisionShape for custom mesh
expose Pybullet.setPhysicsEngineParameter(minimumSolverIslandSize=...), larger minimum batches group solver constraints together in the same island, to reduce calling overhead (even if they are not related)
This commit is contained in:
erwincoumans
2019-02-12 10:36:01 -08:00
parent a94a24959f
commit 85ee4c2934
10 changed files with 307 additions and 27 deletions
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19
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1604,11 +1604,30 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateMultiBodyCommandInit(b3Physics
command->m_createMultiBodyArgs.m_bodyName[0] = 0;
command->m_createMultiBodyArgs.m_baseLinkIndex = -1;
command->m_createMultiBodyArgs.m_numLinks = 0;
command->m_createMultiBodyArgs.m_numBatchObjects = 0;
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
//batch creation is an performance feature to create a large number of multi bodies in one command
B3_SHARED_API int b3CreateMultiBodySetBatchPositions(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, double* batchPositions, int numBatchObjects)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_CREATE_MULTI_BODY);
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
if (cl && command->m_type == CMD_CREATE_MULTI_BODY)
{
command->m_createMultiBodyArgs.m_numBatchObjects = numBatchObjects;
cl->uploadBulletFileToSharedMemory((const char*)batchPositions, sizeof(double) * 3 * numBatchObjects);
}
return 0;
}
B3_SHARED_API int b3CreateMultiBodyBase(b3SharedMemoryCommandHandle commandHandle, double mass, int collisionShapeUnique, int visualShapeUniqueId, const double basePosition[3], const double baseOrientation[4], const double baseInertialFramePosition[3], const double baseInertialFrameOrientation[4])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;