Ray Tracing for LIDAR. How does bullet ray test work.

[monty_hall]

When I ray test 26k times per frame, my frame rate drops from 60fps to 27fps. My question is how does rayTest work? Is it hardware accelerated? What data structures are used? BVH/kd-tree? I still need to size up how many rayTests per frame need to be done (26k may be overkill). Still, some info on implementation details would be nice before I start looking. Also, can I multithread the ray test? Query 8000k pt's per thread etc?

Thanks

[Basroil]

None of the 2.83 ones are hardware accelerated last I checked, but you should be able to test on multiple threads just fine. Just watch out for possible internal cache errors.

[svedach]

I have a similar problem. I tried to do raytest multithreaded, but there are internal Bullet error, so that you can not use multi-threading.