revert exposing getSharedMemoryStreamBuffer / adding to command structure

use 16k rays by default
add uploadRaysToSharedMemory method

examples/pybullet/examples/batchRayCast.py

@@ -2,9 +2,15 @@ import pybullet as p
 import time
 import math
 
-p.connect(p.DIRECT)#GUI)
+useGui = True
+
+if (useGui):
+	p.connect(p.GUI)
+else:
+	p.connect(p.DIRECT)
+
+#p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
 
-p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
 p.loadURDF("samurai.urdf")
 p.loadURDF("r2d2.urdf",[3,3,1])
 
@@ -12,7 +18,7 @@ p.loadURDF("r2d2.urdf",[3,3,1])
 rayFrom=[]
 rayTo=[]
 
-numRays = 2048
+numRays = 1024
 rayLen = 13
 
 
@@ -20,25 +26,38 @@ for i in range (numRays):
 	rayFrom.append([0,0,1])
 	rayTo.append([rayLen*math.sin(2.*math.pi*float(i)/numRays), rayLen*math.cos(2.*math.pi*float(i)/numRays),1])
 
-timingLog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"rayCastBench.json")
-for i in range (10):
+if (not useGui):
+	timingLog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"rayCastBench.json")
+
+numSteps = 10
+if (useGui):
+	numSteps = 327680
+
+for i in range (numSteps):
 	p.stepSimulation()
 	for j in range (8):
 		results = p.rayTestBatch(rayFrom,rayTo,j+1)
 	
 	for i in range (10):
 		p.removeAllUserDebugItems()	
-		p.removeAllUserDebugItems()	
+		
 		
 	
 	rayHitColor = [1,0,0]
 	rayMissColor = [0,1,0]
-	#for i in range (numRays):
-	#	if (results[i][0]<0):
-	#		p.addUserDebugLine(rayFrom[i],rayTo[i], rayMissColor)
-	#	else:
-	#		p.addUserDebugLine(rayFrom[i],rayTo[i], rayHitColor)
+	if (useGui):
+		p.removeAllUserDebugItems()	
+		for i in range (numRays):
+			hitObjectUid=results[i][0]
+			
+			
+			if (hitObjectUid<0):
+				p.addUserDebugLine(rayFrom[i],rayTo[i], rayMissColor)
+			else:
+				hitPosition = results[i][3]
+				p.addUserDebugLine(rayFrom[i],hitPosition, rayHitColor)
 		
 	#time.sleep(1./240.)
 	
-p.stopStateLogging(timingLog)
+if (not useGui):
+	p.stopStateLogging(timingLog)

examples/pybullet/pybullet.c

@@ -4729,7 +4729,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
 			} else
 			{
 				int i;
-
+				
 				if (lenFrom > MAX_RAY_INTERSECTION_BATCH_SIZE)
 				{
 					PyErr_SetString(SpamError, "Number of rays exceed the maximum batch size.");
@@ -4748,7 +4748,7 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
 					if ((pybullet_internalSetVectord(rayFromObj, rayFromWorld)) &&
 						(pybullet_internalSetVectord(rayToObj, rayToWorld)))
 					{
-						b3RaycastBatchAddRay(commandHandle, rayFromWorld, rayToWorld);	
+						b3RaycastBatchAddRay(sm, commandHandle, rayFromWorld, rayToWorld);	
 					} else
 					{
 						PyErr_SetString(SpamError, "Items in the from/to positions need to be an [x,y,z] list of 3 floats/doubles");