expose collision stack size

haosulab · Aug 14, 2024 · 72ae940 · 72ae940
1 parent f3ca041
commit 72ae940
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Showing 3 changed files with 7 additions and 3 deletions.
diff --git a/include/sapien/physx/physx_default.h b/include/sapien/physx/physx_default.h
@@ -49,7 +49,8 @@ class PhysxDefault {
                                  uint32_t maxRigidPatchCount, uint32_t heapCapacity,
                                  uint32_t foundLostPairsCapacity,
                                  uint32_t foundLostAggregatePairsCapacity,
-                                 uint32_t totalAggregatePairsCapacity);
+                                 uint32_t totalAggregatePairsCapacity,
+                                 uint32_t collisionStackSize);
   static ::physx::PxgDynamicsMemoryConfig const &getGpuMemoryConfig();
 
   static void setSceneConfig(Vec3 gravity, float bounceThreshold, bool enablePCM, bool enableTGS,

diff --git a/python/pybind/physx.cpp b/python/pybind/physx.cpp
@@ -1186,7 +1186,8 @@ set some motion axes of the dynamic rigid body to be locked
            py::arg("heap_capacity") = 64 * 1024 * 1024,
            py::arg("found_lost_pairs_capacity") = 256 * 1024,
            py::arg("found_lost_aggregate_pairs_capacity") = 1024,
-           py::arg("total_aggregate_pairs_capacity") = 1024)
+           py::arg("total_aggregate_pairs_capacity") = 1024,
+           py::arg("collision_stack_size") = 64 * 64 * 1024)
 
       .def("set_scene_config",
            py::overload_cast<Vec3, float, bool, bool, bool, bool, bool, uint32_t>(

diff --git a/src/physx/physx_default.cpp b/src/physx/physx_default.cpp
@@ -39,14 +39,16 @@ void PhysxDefault::setGpuMemoryConfig(uint32_t tempBufferCapacity, uint32_t maxR
                                       uint32_t maxRigidPatchCount, uint32_t heapCapacity,
                                       uint32_t foundLostPairsCapacity,
                                       uint32_t foundLostAggregatePairsCapacity,
-                                      uint32_t totalAggregatePairsCapacity) {
+                                      uint32_t totalAggregatePairsCapacity,
+                                      uint32_t collisionStackSize) {
   gGpuMemoryConfig.tempBufferCapacity = tempBufferCapacity;
   gGpuMemoryConfig.maxRigidContactCount = maxRigidContactCount;
   gGpuMemoryConfig.maxRigidPatchCount = maxRigidPatchCount;
   gGpuMemoryConfig.heapCapacity = heapCapacity;
   gGpuMemoryConfig.foundLostPairsCapacity = foundLostPairsCapacity;
   gGpuMemoryConfig.foundLostAggregatePairsCapacity = foundLostAggregatePairsCapacity;
   gGpuMemoryConfig.totalAggregatePairsCapacity = totalAggregatePairsCapacity;
+  gGpuMemoryConfig.collisionStackSize = collisionStackSize;
 }
 
 ::physx::PxgDynamicsMemoryConfig const &PhysxDefault::getGpuMemoryConfig() {