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bulletphysics / bullet3

Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.

Home Page:http://bulletphysics.org

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Can BulletRayCastVehicle enjoy the OpenCL support?

QuanyiLi opened this issue · comments

commented

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.