Can BulletRayCastVehicle enjoy the OpenCL support?
QuanyiLi opened this issue · comments
Hi Erwin,
We built the physics part of our driving simulator with Bullet.
We use the simulator to train RL agents with massive real-world driving data and thus the efficiency matters. When I checked the repo, I found there is OpenCL support for calculating the movements and contact for rigid bodies. I wonder if it can be applied to the BulletRayCastVehicle
and a heightfield shape terrain, which are also rigid bodies. If so, I guess we can move the physics simulation to GPU and get a huge performance boost by parallelizing the environments like IsaacGym and saving the communication cost between the CPU and GPU.