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revert exposing getSharedMemoryStreamBuffer / adding to command structure

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use 16k rays by default
add uploadRaysToSharedMemory method
This commit is contained in:
erwincoumans
2018-06-16 08:14:00 -07:00
parent 23f9250e04
commit cb1fce7899
14 changed files with 147 additions and 67 deletions
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43
examples/pybullet/examples/batchRayCast.py
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@@ -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)