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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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15
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -2184,6 +2184,21 @@ int b3RobotSimulatorClientAPI_NoDirect::createMultiBody(struct b3RobotSimulatorC
command = b3CreateMultiBodyCommandInit(sm);
if (args.m_useMaximalCoordinates)
{
b3CreateMultiBodyUseMaximalCoordinates(command);
}
if (args.m_batchPositions.size())
{
btAlignedObjectArray<double> positionArray;
for (int i = 0; i < args.m_batchPositions.size(); i++)
{
positionArray.push_back(args.m_batchPositions[i][0]);
positionArray.push_back(args.m_batchPositions[i][1]);
positionArray.push_back(args.m_batchPositions[i][2]);
}
b3CreateMultiBodySetBatchPositions(sm, command, &positionArray[0], args.m_batchPositions.size());
}
baseIndex = b3CreateMultiBodyBase(command, args.m_baseMass, args.m_baseCollisionShapeIndex, args.m_baseVisualShapeIndex,
doubleBasePosition, doubleBaseOrientation, doubleBaseInertialFramePosition, doubleBaseInertialFrameOrientation);