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Merge remote-tracking branch 'bp/master'

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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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examples/pybullet/pybullet.c
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@@ -4683,16 +4683,17 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
int statusType;
PyObject* rayFromObjList = 0;
PyObject* rayToObjList = 0;
int numThreads = 1;
b3PhysicsClientHandle sm = 0;
int sizeFrom = 0;
int sizeTo = 0;
static char* kwlist[] = {"rayFromPositions", "rayToPositions", "physicsClientId", NULL};
static char* kwlist[] = {"rayFromPositions", "rayToPositions", "numThreads", "physicsClientId", NULL};
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|i", kwlist,
&rayFromObjList, &rayToObjList, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "OO|ii", kwlist,
&rayFromObjList, &rayToObjList, &numThreads, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -4704,6 +4705,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
commandHandle = b3CreateRaycastBatchCommandInit(sm);
b3RaycastBatchSetNumThreads(commandHandle, numThreads);
if (rayFromObjList)
@@ -4725,7 +4727,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
{
int i;
if (lenFrom >= MAX_RAY_INTERSECTION_BATCH_SIZE)
if (lenFrom > MAX_RAY_INTERSECTION_BATCH_SIZE)
{
PyErr_SetString(SpamError, "Number of rays exceed the maximum batch size.");
Py_DECREF(seqRayFromObj);
@@ -9404,7 +9406,9 @@ static PyMethodDef SpamMethods[] = {
{"rayTestBatch", (PyCFunction)pybullet_rayTestBatch, METH_VARARGS | METH_KEYWORDS,
"Cast a batch of rays and return the result for each of the rays (first object hit, if any. or -1) "
"Takes two arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates"},
"Takes two required arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates) "
"and one optional argument numThreads to specify the number of threads to use to compute the ray intersections for the batch. "
"Specify 0 to let Bullet decide, 1 (default) for single core execution, 2 or more to select the number of threads to use."},
{ "loadPlugin", (PyCFunction)pybullet_loadPlugin, METH_VARARGS | METH_KEYWORDS,
"Load a plugin, could implement custom commands etc." },