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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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41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4215,6 +4215,17 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices)
{
int numVertices = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices;
int numIndices = clientCmd.m_createUserShapeArgs.m_shapes[i].m_numIndices;
//int totalUploadSizeInBytes = numVertices * sizeof(double) * 3 + numIndices * sizeof(int);
char* data = bufferServerToClient;
double* vertexUpload = (double*)data;
int* indexUpload = (int*)(data + numVertices * sizeof(double)*3);
if (compound == 0)
{
compound = worldImporter->createCompoundShape();
@@ -4231,19 +4242,19 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
for (int j = 0; j < clientCmd.m_createUserShapeArgs.m_shapes[i].m_numIndices / 3; j++)
{
int i0 = clientCmd.m_createUserShapeArgs.m_shapes[i].m_indices[j*3+0];
int i1 = clientCmd.m_createUserShapeArgs.m_shapes[i].m_indices[j*3+1];
int i2 = clientCmd.m_createUserShapeArgs.m_shapes[i].m_indices[j*3+2];
int i0 = indexUpload[j*3+0];
int i1 = indexUpload[j*3+1];
int i2 = indexUpload[j*3+2];
btVector3 v0( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i0*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i0*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i0*3+2]);
btVector3 v1( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i1*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i1*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i1*3+2]);
btVector3 v2( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i2*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i2*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[i2*3+2]);
btVector3 v0(vertexUpload[i0*3+0],
vertexUpload[i0*3+1],
vertexUpload[i0*3+2]);
btVector3 v1(vertexUpload[i1*3+0],
vertexUpload[i1*3+1],
vertexUpload[i1*3+2]);
btVector3 v2(vertexUpload[i2*3+0],
vertexUpload[i2*3+1],
vertexUpload[i2*3+2]);
meshInterface->addTriangle(v0, v1, v2);
}
}
@@ -4274,9 +4285,9 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
for (int v = 0; v < clientCmd.m_createUserShapeArgs.m_shapes[i].m_numVertices; v++)
{
btVector3 pt( clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[v*3+0],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[v*3+1],
clientCmd.m_createUserShapeArgs.m_shapes[i].m_vertices[v*3+2]);
btVector3 pt(vertexUpload[v*3+0],
vertexUpload[v*3+1],
vertexUpload[v*3+2]);
convexHull->addPoint(pt, false);
}