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https://github.com/bulletphysics/bullet3
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08409cae9f
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. |
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| examples | ||
| gym | ||
| notebooks | ||
| numpy | ||
| tensorflow | ||
| unittests | ||
| unity3d | ||
| CMakeLists.txt | ||
| premake4.lua | ||
| pybullet.c | ||