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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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3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -511,6 +511,9 @@ extern "C"
int linkJointType,
const double linkJointAxis[/*3*/]);
//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);
//useMaximalCoordinates are disabled by default, enabling them is experimental and not fully supported yet
B3_SHARED_API void b3CreateMultiBodyUseMaximalCoordinates(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API void b3CreateMultiBodySetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);