Physx Backend With GPU Test

[syslot]

Hi, I'm trying to use physx as a backend.

Using PhysX with CPU, it works well(Tested by otherPhysicsEngine.py). But using PhysX with GPU, after load urdf and do step_simulation, one exception with 'allocAligned out of sharedMemory' occurred. libPhysXGpu.so throws this exception.

Not all of urdf would cause this exception(r2d2.urdf works normal while minitaur.urdf works abnormal).

Is this a problem caused by URDF2PHYSX?

[erwincoumans]

The PhysX backend is still early stage, and I never tried the GPU backend. You are following a new path, consider contributing :)

[syslot]

Thanks for your replay.

Based on your work and according to the source code , I just do a slightly change in the PhysXServerCommandProcessor::connect.

Now I also open an issue in physx and wait for some help.

[erwincoumans]

This is unsupported work, best not to report issues related to this, unless you can reproduce it outside of this code base.

update: ah, it is a known issue in PhysX.

[syslot]

Yeah . I will wait for their next version and if I test ok, I will commit one patch to the physx4 brach 😊 .

Close it now.