Tigran Gasparian 08409cae9f Adds multithreading support for batch ray casts. ... To enable the feature, enable the BULLET2_MULTITHREADING option. Increases the number of rays that can go in a batch request by storing them in the shared memory stream instead of the shared memory command. Adds the API b3RaycastBatchSetNumThreads to specify the number of threads to use for the raycast batch, also adds the argument numThreads to the pybullet function rayTestBatch. Rays are distributed among the threads in a greedy fashion there's a shared queue of work, once a thread finishes its task, it picks the next available ray from the task. This works better than pre-distributing the rays among threads, since there's a large variance in computation time per ray. Some controversial changes: - Added a pointer to PhysicsClient to the SharedMemoryCommand struct, this was necessary to keep the C-API the same for b3RaycastBatchAddRay, while adding the ray to the shared memory stream instead of the command struct. I think this may be useful to simplify other APIs as well, that take both a client handle and a command handle. - Moved #define SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE to SharedMemoryPublic. This was necessary for the definition of MAX_RAY_INTERSECTION_BATCH_SIZE.		2018-06-15 16:47:04 +02:00
..
BasicDemo	CMakeLists glew to glad	2018-02-20 21:09:31 -08:00
Benchmarks	Merge remote-tracking branch 'upstream/master'	2017-06-02 18:26:04 -07:00
Collision	Add pybullet transparent.py example, transparency with global per-object sort in GLInstancingRenderer	2017-06-24 19:38:31 -07:00
CommonInterfaces	expose PyBullet.SHARED_MEMORY_SERVER	2018-05-07 15:57:36 -07:00
Constraints	Fix for #1582	2018-03-05 23:05:22 +01:00
DynamicControlDemo	Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.	2017-06-01 15:30:37 -07:00
Evolution	revert due to crashes on windows, when simulation speed is increased	2017-06-05 14:15:51 -07:00
ExampleBrowser	enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp)	2018-06-05 15:59:01 -07:00
Experiments/ImplicitCloth	enable URDF loading throught the 'File/Open' menu	2015-05-01 11:42:14 -07:00
ExtendedTutorials	Fix simple cloth example. Closes #1606	2018-03-21 18:52:59 -07:00
ForkLift	Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.	2017-06-01 15:30:37 -07:00
FractureDemo	Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.	2017-06-01 15:30:37 -07:00
GyroscopicDemo	Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.	2017-06-01 15:30:37 -07:00
HelloWorld	Fix for issue 1007	2017-03-13 11:00:56 -07:00
Importers	PyBullet.loadURDF, expose flags=URDF_INITIALIZE_SAT_FEATURES	2018-06-13 15:35:56 -07:00
InverseDynamics	premake build system fixes	2018-01-09 12:23:25 -08:00
InverseKinematics	Implement first pass of transparent graphics object for GLInstancingRenderer	2017-06-24 13:41:33 -07:00
LuaDemo	fix Lua example	2016-03-10 21:15:23 -08:00
MultiBody	pybullet.createCollisionShape, createVisualShape, createMultiBody, programmatic creation using ProgrammaticUrdfInterface	2017-06-03 10:57:56 -07:00
MultiThreadedDemo	dynamicsWorldMt: make island mgr aware of whether a parallel solver is present and make handoff from parallel solver to solver-pool more explicit	2018-03-05 20:05:38 -08:00
MultiThreading	fix some tsan issues (thread sanitizer)	2018-05-16 08:32:21 -07:00
OpenCL	add saveStateToMemory/restoreStateFromMemory/setAdditionalSearchPath/getAPIVersion to Bullet Robotics API.	2018-06-09 13:54:22 -07:00
OpenGLWindow	PyBullet: add option to cache graphics shapes for URDF files, handy for benchmarks with many duplicate robots	2018-05-23 13:26:00 +10:00
Planar2D	Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.	2017-06-01 15:30:37 -07:00
pybullet	Adds multithreading support for batch ray casts.	2018-06-15 16:47:04 +02:00
Raycast	Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.	2017-06-01 15:30:37 -07:00
RenderingExamples	pybullet.getCameraImage: preparation to expose link index in segmentation mask buffer	2017-12-28 10:18:35 -08:00
RigidBody	Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.	2017-06-01 15:30:37 -07:00
RoboticsLearning	fix getLinkState usage	2018-06-12 17:00:16 -07:00
RobotSimulator	exposed a few more methods in the C++ b3RobotSimulatorClientAPI (_NoDirect base class)	2018-06-09 19:40:12 -07:00
RollingFrictionDemo	Remove debug code.	2017-06-02 17:40:50 -07:00
SharedMemory	Adds multithreading support for batch ray casts.	2018-06-15 16:47:04 +02:00
SimpleOpenGL3	update imgui test	2018-02-24 14:57:49 -08:00
SoftDemo	fix SoftDemo crash, due to changes in OpenGLGuiHelper rendering	2018-05-01 09:23:08 -07:00
StandaloneMain	App_PhysicsServer_SharedMemory_VR: expose max_num_object_capacity and max_shape_capacity_in_bytes (and shared_memory_key)	2018-04-30 23:01:15 +02:00
ThirdPartyLibs	fix some incompatibilities between google3/third_party/GL,EGL, glad	2018-05-03 09:06:30 -07:00
TinyAudio	Add C++ version VRGloveSimulatorMain example, using the serial library.	2017-05-01 22:35:33 -07:00
TinyRenderer	add segmask_linkindex.py example using p.getCameraImage(320,200,flags=p.ER_SEGMENTATION_MASK_OBJECT_AND_LINKINDEX)	2017-12-28 12:37:07 -08:00
Tutorial	Fix for #1582	2018-03-05 23:05:22 +01:00
TwoJoint	enable pdControlPlugin by default (requires pdControlPlugin.cpp and b3RobotSimulatorClientAPI_NoDirect.cpp)	2018-06-05 15:59:01 -07:00
Utils	more fixes in pybullet_gym envs/data.	2017-08-27 19:34:00 -07:00
Vehicles	Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.	2017-06-01 15:30:37 -07:00
VoronoiFracture	Swap yaw and pitch in camera computation. Add functions to convert view matrix to camera position, and camera position to camera yaw pitch roll.	2017-06-01 15:30:37 -07:00
CMakeLists.txt	added TwoJoint example	2017-11-26 20:38:50 -05:00