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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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examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -418,7 +418,7 @@ struct b3RobotSimulatorCreateMultiBodyArgs
int *m_linkParentIndices;
int *m_linkJointTypes;
btVector3 *m_linkJointAxes;
btAlignedObjectArray<btVector3> m_batchPositions;
int m_useMaximalCoordinates;
b3RobotSimulatorCreateMultiBodyArgs()