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Merge pull request #2981 from sippeyxp/faster_raytest_input

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Pybullet fast numpy input support for rayTestBatch.
This commit is contained in:
erwincoumans
2020-08-11 08:26:35 -07:00
committed by GitHub
parent 714e25e8a7 20667bd7d0
commit ed9c8fca21
1 changed files with 34 additions and 1 deletions
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35
examples/pybullet/pybullet.c
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@@ -6667,11 +6667,44 @@ static PyObject* pybullet_rayTestBatch(PyObject* self, PyObject* args, PyObject*
return NULL;
}
if (!rayFromObjList || !rayToObjList)
{
PyErr_SetString(SpamError, "rayFromPositions and rayToPositions must be not None.");
return NULL;
}
commandHandle = b3CreateRaycastBatchCommandInit(sm);
b3RaycastBatchSetNumThreads(commandHandle, numThreads);
if (rayFromObjList)
int raysAdded = 0;
#ifdef PYBULLET_USE_NUMPY
// Faster approach if both inputs can be converted into ndarray.
if (PyArray_Check(rayFromObjList) && PyArray_Check(rayToObjList)) {
b3PushProfileTiming(sm, "extractPythonFromToNumpy");
PyArrayObject* rayFromPyArrayObj = (PyArrayObject*)PyArray_FROMANY(rayFromObjList, NPY_DOUBLE, 1, 2, NPY_ARRAY_CARRAY_RO);
PyArrayObject* rayToPyArrayObj = (PyArrayObject*)PyArray_FROMANY(rayToObjList, NPY_DOUBLE, 1, 2, NPY_ARRAY_CARRAY_RO);
// If there is error, this will fall back to default method and error messages will be reported there.
if (rayFromPyArrayObj && rayToPyArrayObj
&& PyArray_SAMESHAPE(rayFromPyArrayObj, rayToPyArrayObj)
&& PyArray_DIMS(rayFromPyArrayObj)[PyArray_NDIM(rayFromPyArrayObj) - 1] == 3)
{
int len = (PyArray_NDIM(rayFromPyArrayObj) == 2) ? PyArray_DIMS(rayFromPyArrayObj)[0] : 1;
if (len <= MAX_RAY_INTERSECTION_BATCH_SIZE_STREAMING)
{
b3RaycastBatchAddRays(sm, commandHandle, PyArray_DATA(rayFromPyArrayObj), PyArray_DATA(rayToPyArrayObj), len);
raysAdded = 1;
}
}
if (rayFromPyArrayObj) Py_DECREF(rayFromPyArrayObj);
if (rayToPyArrayObj) Py_DECREF(rayToPyArrayObj);
b3PopProfileTiming(sm);
}
#endif
if (!raysAdded)
{
// go back to default method.
PyObject* seqRayFromObj = PySequence_Fast(rayFromObjList, "expected a sequence of rayFrom positions");
PyObject* seqRayToObj = PySequence_Fast(rayToObjList, "expected a sequence of 'rayTo' positions");