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Merge remote-tracking branch 'bp/master'

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This commit is contained in:
erwincoumans
2018-06-16 06:06:18 -07:00
parent fbbd675ed6 5b3e43d4d8
commit bb8cbcdaae
14 changed files with 226 additions and 81 deletions
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38
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2737,12 +2737,14 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastCommandInit(b3PhysicsCl
b3Assert(command);
command->m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS;
command->m_requestRaycastIntersections.m_numRays = 1;
command->m_requestRaycastIntersections.m_rayFromPositions[0][0] = rayFromWorldX;
command->m_requestRaycastIntersections.m_rayFromPositions[0][1] = rayFromWorldY;
command->m_requestRaycastIntersections.m_rayFromPositions[0][2] = rayFromWorldZ;
command->m_requestRaycastIntersections.m_rayToPositions[0][0] = rayToWorldX;
command->m_requestRaycastIntersections.m_rayToPositions[0][1] = rayToWorldY;
command->m_requestRaycastIntersections.m_rayToPositions[0][2] = rayToWorldZ;
command->m_requestRaycastIntersections.m_numThreads = 1;
b3RayData* rayDataStream = (b3RayData *)cl->getSharedMemoryStreamBuffer();
rayDataStream[0].m_rayFromPosition[0] = rayFromWorldX;
rayDataStream[0].m_rayFromPosition[1] = rayFromWorldY;
rayDataStream[0].m_rayFromPosition[2] = rayFromWorldZ;
rayDataStream[0].m_rayToPosition[0] = rayToWorldX;
rayDataStream[0].m_rayToPosition[1] = rayToWorldY;
rayDataStream[0].m_rayToPosition[2] = rayToWorldZ;
return (b3SharedMemoryCommandHandle)command;
}
@@ -2757,25 +2759,37 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CreateRaycastBatchCommandInit(b3Phys
command->m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS;
command->m_updateFlags = 0;
command->m_requestRaycastIntersections.m_numRays = 0;
command->m_requestRaycastIntersections.m_numThreads = 1;
return (b3SharedMemoryCommandHandle)command;
}
B3_SHARED_API void b3RaycastBatchSetNumThreads(b3SharedMemoryCommandHandle commandHandle, int numThreads) {
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS);
command->m_requestRaycastIntersections.m_numThreads = numThreads;
}
B3_SHARED_API void b3RaycastBatchAddRay(b3SharedMemoryCommandHandle commandHandle, const double rayFromWorld[3], const double rayToWorld[3])
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS);
b3Assert(command->m_client)
PhysicsClient *cl = command->m_client;
b3Assert(cl);
if (command->m_type == CMD_REQUEST_RAY_CAST_INTERSECTIONS)
{
int numRays = command->m_requestRaycastIntersections.m_numRays;
if (numRays<MAX_RAY_INTERSECTION_BATCH_SIZE)
{
command->m_requestRaycastIntersections.m_rayFromPositions[numRays][0] = rayFromWorld[0];
command->m_requestRaycastIntersections.m_rayFromPositions[numRays][1] = rayFromWorld[1];
command->m_requestRaycastIntersections.m_rayFromPositions[numRays][2] = rayFromWorld[2];
command->m_requestRaycastIntersections.m_rayToPositions[numRays][0] = rayToWorld[0];
command->m_requestRaycastIntersections.m_rayToPositions[numRays][1] = rayToWorld[1];
command->m_requestRaycastIntersections.m_rayToPositions[numRays][2] = rayToWorld[2];
b3RayData* rayDataStream = (b3RayData *)cl->getSharedMemoryStreamBuffer();
rayDataStream[numRays].m_rayFromPosition[0] = rayFromWorld[0];
rayDataStream[numRays].m_rayFromPosition[1] = rayFromWorld[1];
rayDataStream[numRays].m_rayFromPosition[2] = rayFromWorld[2];
rayDataStream[numRays].m_rayToPosition[0] = rayToWorld[0];
rayDataStream[numRays].m_rayToPosition[1] = rayToWorld[1];
rayDataStream[numRays].m_rayToPosition[2] = rayToWorld[2];
command->m_requestRaycastIntersections.m_numRays++;
}
}