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Increase mesh allocation for vertices/indices in PyBullet.createCollisionShape

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See createMesh.py for an example.

The data has to fit in shared memory, hence the limit on Mac is lower than Windows and Linux:

#ifdef __APPLE__
#define B3_MAX_NUM_VERTICES 8192
#define B3_MAX_NUM_INDICES 32768
#else
#define B3_MAX_NUM_VERTICES 131072
#define B3_MAX_NUM_INDICES 524288
#endif
This commit is contained in:
Erwin Coumans
2019-01-03 16:19:28 -08:00
parent 21d9465d94
commit bf9efffa4b
7 changed files with 199 additions and 44 deletions
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31
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -1280,8 +1280,11 @@ B3_SHARED_API int b3CreateCollisionShapeAddMesh(b3SharedMemoryCommandHandle comm
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices)
B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
@@ -1305,12 +1308,7 @@ B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3SharedMemoryCommandHandl
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numVertices = numVertices;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numIndices = 0;
for (i=0;i<numVertices;i++)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+0]=vertices[i*3+0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+1]=vertices[i*3+1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+2]=vertices[i*3+2];
}
cl->uploadBulletFileToSharedMemory((const char*)vertices, numVertices * sizeof(double)*3);
command->m_createUserShapeArgs.m_numUserShapes++;
return shapeIndex;
}
@@ -1318,8 +1316,10 @@ B3_SHARED_API int b3CreateCollisionShapeAddConvexMesh(b3SharedMemoryCommandHandl
return -1;
}
B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices)
B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, const double meshScale[/*3*/], const double* vertices, int numVertices, const int* indices, int numIndices)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command);
b3Assert((command->m_type == CMD_CREATE_COLLISION_SHAPE) || (command->m_type == CMD_CREATE_VISUAL_SHAPE));
@@ -1342,11 +1342,16 @@ B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3SharedMemoryCommandHand
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_meshFileName[0]=0;
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numVertices = numVertices;
int totalUploadSizeInBytes = numVertices * sizeof(double) *3 + numIndices * sizeof(int);
char* data = (char*)malloc(totalUploadSizeInBytes);
double* vertexUpload = (double*)data;
int* indexUpload = (int*)(data + numVertices*sizeof(double)*3);
for (i=0;i<numVertices;i++)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+0]=vertices[i*3+0];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+1]=vertices[i*3+1];
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_vertices[i*3+2]=vertices[i*3+2];
vertexUpload[i*3+0]=vertices[i*3+0];
vertexUpload[i*3+1]=vertices[i*3+1];
vertexUpload[i*3+2]=vertices[i*3+2];
}
if (numIndices>B3_MAX_NUM_INDICES)
numIndices = B3_MAX_NUM_INDICES;
@@ -1354,9 +1359,11 @@ B3_SHARED_API int b3CreateCollisionShapeAddConcaveMesh(b3SharedMemoryCommandHand
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_numIndices = numIndices;
for (i=0;i<numIndices;i++)
{
command->m_createUserShapeArgs.m_shapes[shapeIndex].m_indices[i]=indices[i];
indexUpload[i]=indices[i];
}
command->m_createUserShapeArgs.m_numUserShapes++;
cl->uploadBulletFileToSharedMemory(data, totalUploadSizeInBytes);
free(data);
return shapeIndex;
}
}