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Code Issues Releases Wiki Activity

Merge pull request #1360 from erwincoumans/master

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improve loading performance of large textures:
This commit is contained in:
erwincoumans 2017-10-06 15:04:06 -07:00 committed by GitHub
commit 571d9d3137
14 changed files with 200 additions and 100 deletions
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78
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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@ -33,47 +33,51 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
} }
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes); GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
//int textureIndex = -1;
//try to load some texture
for (int i=0; meshData.m_textureImage==0 && i<shapes.size();i++)
{ {
const tinyobj::shape_t& shape = shapes[i]; B3_PROFILE("Load Texture");
if (shape.material.diffuse_texname.length()>0) //int textureIndex = -1;
//try to load some texture
for (int i = 0; meshData.m_textureImage == 0 && i < shapes.size(); i++)
{ {
const tinyobj::shape_t& shape = shapes[i];
int width,height,n; if (shape.material.diffuse_texname.length() > 0)
const char* filename = shape.material.diffuse_texname.c_str();
unsigned char* image=0;
const char* prefix[]={ pathPrefix,"./","./data/","../data/","../../data/","../../../data/","../../../../data/"};
int numprefix = sizeof(prefix)/sizeof(const char*);
for (int i=0;!image && i<numprefix;i++)
{ {
char relativeFileName[1024];
sprintf(relativeFileName,"%s%s",prefix[i],filename);
char relativeFileName2[1024];
if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
{
image = stbi_load(relativeFileName, &width, &height, &n, 3);
meshData.m_textureImage = image;
if (image)
{
meshData.m_textureWidth = width;
meshData.m_textureHeight = height;
} else
{
b3Warning("Unsupported texture image format [%s]\n",relativeFileName);
meshData.m_textureWidth = 0;
meshData.m_textureHeight = 0;
break;
}
} else int width, height, n;
{ const char* filename = shape.material.diffuse_texname.c_str();
b3Warning("not found [%s]\n",relativeFileName); unsigned char* image = 0;
}
const char* prefix[] = { pathPrefix, "./", "./data/", "../data/", "../../data/", "../../../data/", "../../../../data/" };
int numprefix = sizeof(prefix) / sizeof(const char*);
for (int i = 0; !image && i < numprefix; i++)
{
char relativeFileName[1024];
sprintf(relativeFileName, "%s%s", prefix[i], filename);
char relativeFileName2[1024];
if (b3ResourcePath::findResourcePath(relativeFileName, relativeFileName2, 1024))
{
image = stbi_load(relativeFileName, &width, &height, &n, 3);
meshData.m_textureImage = image;
if (image)
{
meshData.m_textureWidth = width;
meshData.m_textureHeight = height;
}
else
{
b3Warning("Unsupported texture image format [%s]\n", relativeFileName);
meshData.m_textureWidth = 0;
meshData.m_textureHeight = 0;
break;
}
}
else
{
b3Warning("not found [%s]\n", relativeFileName);
}
}
} }
} }

4
examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
View File

@ -55,7 +55,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
vtx0.uv[1] = shape.mesh.texcoords[uv1Index]; vtx0.uv[1] = shape.mesh.texcoords[uv1Index];
} else } else
{ {
b3Warning("obj texture coordinate out-of-range!"); // b3Warning("obj texture coordinate out-of-range!");
vtx0.uv[0] = 0; vtx0.uv[0] = 0;
vtx0.uv[1] = 0; vtx0.uv[1] = 0;
} }
@ -82,7 +82,7 @@ GLInstanceGraphicsShape* btgCreateGraphicsShapeFromWavefrontObj(std::vector<tiny
vtx1.uv[1] = shape.mesh.texcoords[uv1Index]; vtx1.uv[1] = shape.mesh.texcoords[uv1Index];
} else } else
{ {
b3Warning("obj texture coordinate out-of-range!"); // b3Warning("obj texture coordinate out-of-range!");
vtx1.uv[0] = 0; vtx1.uv[0] = 0;
vtx1.uv[1] = 0; vtx1.uv[1] = 0;
} }

15
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@ -57,6 +57,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces; mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
LinkVisualShapesConverter* m_customVisualShapesConverter; LinkVisualShapesConverter* m_customVisualShapesConverter;
bool m_enableTinyRenderer;
void setSourceFile(const std::string& relativeFileName, const std::string& prefix) void setSourceFile(const std::string& relativeFileName, const std::string& prefix)
{ {
@ -68,6 +69,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
BulletURDFInternalData() BulletURDFInternalData()
{ {
m_enableTinyRenderer = true;
m_pathPrefix[0] = 0; m_pathPrefix[0] = 0;
} }
@ -1143,7 +1145,10 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height); textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
} }
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex); {
B3_PROFILE("registerGraphicsShape");
graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
}
} }
} }
@ -1151,6 +1156,7 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
//delete textures //delete textures
for (int i=0;i<textures.size();i++) for (int i=0;i<textures.size();i++)
{ {
B3_PROFILE("free textureData");
free( textures[i].textureData); free( textures[i].textureData);
} }
return graphicsIndex; return graphicsIndex;
@ -1206,10 +1212,15 @@ bool BulletURDFImporter::getLinkAudioSource(int linkIndex, SDFAudioSource& audio
return false; return false;
} }
void BulletURDFImporter::setEnableTinyRenderer(bool enable)
{
m_data->m_enableTinyRenderer = enable;
}
void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const void BulletURDFImporter::convertLinkVisualShapes2(int linkIndex, int urdfIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionObject* colObj, int bodyUniqueId) const
{ {
if (m_data->m_customVisualShapesConverter) if (m_data->m_enableTinyRenderer && m_data->m_customVisualShapesConverter)
{ {
const UrdfModel& model = m_data->m_urdfParser.getModel(); const UrdfModel& model = m_data->m_urdfParser.getModel();
UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex); UrdfLink*const* linkPtr = model.m_links.getAtIndex(urdfIndex);

1
examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
View File

@ -74,6 +74,7 @@ public:
virtual int getNumAllocatedMeshInterfaces() const; virtual int getNumAllocatedMeshInterfaces() const;
virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index); virtual class btStridingMeshInterface* getAllocatedMeshInterface(int index);
virtual void setEnableTinyRenderer(bool enable);
}; };

28
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@ -10,6 +10,7 @@
#include "URDFImporterInterface.h" #include "URDFImporterInterface.h"
#include "MultiBodyCreationInterface.h" #include "MultiBodyCreationInterface.h"
#include <string> #include <string>
#include "Bullet3Common/b3Logging.h"
//static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter; //static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter); //static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
@ -183,6 +184,7 @@ void ConvertURDF2BulletInternal(
bool createMultiBody, const char* pathPrefix, bool createMultiBody, const char* pathPrefix,
int flags = 0) int flags = 0)
{ {
B3_PROFILE("ConvertURDF2BulletInternal2");
//b3Printf("start converting/extracting data from URDF interface\n"); //b3Printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace; btTransform linkTransformInWorldSpace;
@ -264,8 +266,12 @@ void ConvertURDF2BulletInternal(
compoundShape = tmpShape->getChildShape(0); compoundShape = tmpShape->getChildShape(0);
} }
int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
int graphicsIndex;
{
B3_PROFILE("convertLinkVisualShapes");
graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
}
@ -525,11 +531,14 @@ void ConvertURDF2BulletInternal(
color2 = matCol.m_rgbaColor; color2 = matCol.m_rgbaColor;
specularColor = matCol.m_specularColor; specularColor = matCol.m_specularColor;
} }
{
creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex,col,color2,specularColor); B3_PROFILE("createCollisionObjectGraphicsInstance2");
creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex, col, color2, specularColor);
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame,col, u2b.getBodyUniqueId()); }
{
B3_PROFILE("convertLinkVisualShapes2");
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
}
URDFLinkContactInfo contactInfo; URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo); u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
@ -571,7 +580,6 @@ void ConvertURDF2BulletInternal(
} }
} }
void ConvertURDF2Bullet( void ConvertURDF2Bullet(
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation, const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
const btTransform& rootTransformInWorldSpace, const btTransform& rootTransformInWorldSpace,
@ -582,10 +590,12 @@ void ConvertURDF2Bullet(
InitURDF2BulletCache(u2b,cache); InitURDF2BulletCache(u2b,cache);
int urdfLinkIndex = u2b.getRootLinkIndex(); int urdfLinkIndex = u2b.getRootLinkIndex();
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags); B3_PROFILE("ConvertURDF2Bullet");
ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags);
if (world1 && cache.m_bulletMultiBody) if (world1 && cache.m_bulletMultiBody)
{ {
B3_PROFILE("Post process");
btMultiBody* mb = cache.m_bulletMultiBody; btMultiBody* mb = cache.m_bulletMultiBody;
mb->setHasSelfCollision((flags&CUF_USE_SELF_COLLISION)!=0); mb->setHasSelfCollision((flags&CUF_USE_SELF_COLLISION)!=0);

9
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@ -945,6 +945,7 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY) int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY)
{ {
B3_PROFILE("GLInstancingRenderer::registerTexture");
b3Assert(glGetError() ==GL_NO_ERROR); b3Assert(glGetError() ==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0); glActiveTexture(GL_TEXTURE0);
int textureIndex = m_data->m_textureHandles.size(); int textureIndex = m_data->m_textureHandles.size();
@ -963,6 +964,7 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
m_data->m_textureHandles.push_back(h); m_data->m_textureHandles.push_back(h);
if (texels) if (texels)
{ {
B3_PROFILE("updateTexture");
updateTexture(textureIndex, texels, flipPixelsY); updateTexture(textureIndex, texels, flipPixelsY);
} }
return textureIndex; return textureIndex;
@ -985,6 +987,7 @@ void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY) void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY)
{ {
B3_PROFILE("updateTexture");
if ((textureIndex>=0) && (textureIndex < m_data->m_textureHandles.size())) if ((textureIndex>=0) && (textureIndex < m_data->m_textureHandles.size()))
{ {
glActiveTexture(GL_TEXTURE0); glActiveTexture(GL_TEXTURE0);
@ -995,13 +998,14 @@ void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
if (flipPixelsY) if (flipPixelsY)
{ {
B3_PROFILE("flipPixelsY");
//textures need to be flipped for OpenGL... //textures need to be flipped for OpenGL...
b3AlignedObjectArray<unsigned char> flippedTexels; b3AlignedObjectArray<unsigned char> flippedTexels;
flippedTexels.resize(h.m_width* h.m_height * 3); flippedTexels.resize(h.m_width* h.m_height * 3);
for (int i = 0; i < h.m_width; i++) for (int j = 0; j < h.m_height; j++)
{ {
for (int j = 0; j < h.m_height; j++) for (int i = 0; i < h.m_width; i++)
{ {
flippedTexels[(i + j*h.m_width) * 3] = texels[(i + (h.m_height - 1 -j )*h.m_width) * 3]; flippedTexels[(i + j*h.m_width) * 3] = texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
flippedTexels[(i + j*h.m_width) * 3+1] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1]; flippedTexels[(i + j*h.m_width) * 3+1] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
@ -1017,6 +1021,7 @@ void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
b3Assert(glGetError() ==GL_NO_ERROR); b3Assert(glGetError() ==GL_NO_ERROR);
if (h.m_enableFiltering) if (h.m_enableFiltering)
{ {
B3_PROFILE("glGenerateMipmap");
glGenerateMipmap(GL_TEXTURE_2D); glGenerateMipmap(GL_TEXTURE_2D);
} }
b3Assert(glGetError() ==GL_NO_ERROR); b3Assert(glGetError() ==GL_NO_ERROR);

14
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -1512,6 +1512,7 @@ struct PhysicsServerCommandProcessorInternalData
struct GUIHelperInterface* m_guiHelper; struct GUIHelperInterface* m_guiHelper;
int m_sharedMemoryKey; int m_sharedMemoryKey;
bool m_enableTinyRenderer;
bool m_verboseOutput; bool m_verboseOutput;
@ -1553,6 +1554,7 @@ struct PhysicsServerCommandProcessorInternalData
m_guiHelper(0), m_guiHelper(0),
m_sharedMemoryKey(SHARED_MEMORY_KEY), m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false), m_verboseOutput(false),
m_enableTinyRenderer(true),
m_pickedBody(0), m_pickedBody(0),
m_pickedConstraint(0), m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0) m_pickingMultiBodyPoint2Point(0)
@ -2659,6 +2661,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
m_data->m_sdfRecentLoadedBodies.clear(); m_data->m_sdfRecentLoadedBodies.clear();
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling); BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool forceFixedBase = false; bool forceFixedBase = false;
bool loadOk =u2b.loadSDF(fileName,forceFixedBase); bool loadOk =u2b.loadSDF(fileName,forceFixedBase);
@ -2690,7 +2693,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling); BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase); bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@ -6253,8 +6256,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED; serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true; hasStatus = true;
if (clientCmd.m_updateFlags&COV_SET_FLAGS)
{ if (clientCmd.m_updateFlags&COV_SET_FLAGS)
{
if (clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag == COV_ENABLE_TINY_RENDERER)
{
m_data->m_enableTinyRenderer = clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled!=0;
}
m_data->m_guiHelper->setVisualizerFlag(clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag, m_data->m_guiHelper->setVisualizerFlag(clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag,
clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled); clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled);
} }

38
examples/SharedMemory/PhysicsServerExample.cpp
View File

@ -1840,12 +1840,15 @@ void PhysicsServerExample::updateGraphics()
{ {
case eGUIHelperCreateCollisionShapeGraphicsObject: case eGUIHelperCreateCollisionShapeGraphicsObject:
{ {
B3_PROFILE("eGUIHelperCreateCollisionShapeGraphicsObject");
m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape); m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;
} }
case eGUIHelperCreateCollisionObjectGraphicsObject: case eGUIHelperCreateCollisionObjectGraphicsObject:
{ {
B3_PROFILE("eGUIHelperCreateCollisionObjectGraphicsObject");
m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj, m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
m_multiThreadedHelper->m_color2); m_multiThreadedHelper->m_color2);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
@ -1854,13 +1857,14 @@ void PhysicsServerExample::updateGraphics()
} }
case eGUIHelperCreateRigidBodyGraphicsObject: case eGUIHelperCreateRigidBodyGraphicsObject:
{ {
B3_PROFILE("eGUIHelperCreateRigidBodyGraphicsObject");
m_multiThreadedHelper->m_childGuiHelper->createRigidBodyGraphicsObject(m_multiThreadedHelper->m_body,m_multiThreadedHelper->m_color3); m_multiThreadedHelper->m_childGuiHelper->createRigidBodyGraphicsObject(m_multiThreadedHelper->m_body,m_multiThreadedHelper->m_color3);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;
} }
case eGUIHelperRegisterTexture: case eGUIHelperRegisterTexture:
{ {
B3_PROFILE("eGUIHelperRegisterTexture");
m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels, m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight); m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
@ -1868,6 +1872,7 @@ void PhysicsServerExample::updateGraphics()
} }
case eGUIHelperRegisterGraphicsShape: case eGUIHelperRegisterGraphicsShape:
{ {
B3_PROFILE("eGUIHelperRegisterGraphicsShape");
m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape( m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
m_multiThreadedHelper->m_vertices, m_multiThreadedHelper->m_vertices,
m_multiThreadedHelper->m_numvertices, m_multiThreadedHelper->m_numvertices,
@ -1881,6 +1886,7 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperSetVisualizerFlag: case eGUIHelperSetVisualizerFlag:
{ {
B3_PROFILE("eGUIHelperSetVisualizerFlag");
int flag = m_multiThreadedHelper->m_visualizerFlag; int flag = m_multiThreadedHelper->m_visualizerFlag;
int enable = m_multiThreadedHelper->m_visualizerEnable; int enable = m_multiThreadedHelper->m_visualizerEnable;
@ -1922,6 +1928,7 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperRegisterGraphicsInstance: case eGUIHelperRegisterGraphicsInstance:
{ {
B3_PROFILE("eGUIHelperRegisterGraphicsInstance");
m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance( m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
m_multiThreadedHelper->m_shapeIndex, m_multiThreadedHelper->m_shapeIndex,
m_multiThreadedHelper->m_position, m_multiThreadedHelper->m_position,
@ -1933,6 +1940,7 @@ void PhysicsServerExample::updateGraphics()
} }
case eGUIHelperRemoveAllGraphicsInstances: case eGUIHelperRemoveAllGraphicsInstances:
{ {
B3_PROFILE("eGUIHelperRemoveAllGraphicsInstances");
#ifdef BT_ENABLE_VR #ifdef BT_ENABLE_VR
if (m_tinyVrGui) if (m_tinyVrGui)
{ {
@ -1953,6 +1961,7 @@ void PhysicsServerExample::updateGraphics()
} }
case eGUIHelperRemoveGraphicsInstance: case eGUIHelperRemoveGraphicsInstance:
{ {
B3_PROFILE("eGUIHelperRemoveGraphicsInstance");
m_multiThreadedHelper->m_childGuiHelper->removeGraphicsInstance(m_multiThreadedHelper->m_graphicsInstanceRemove); m_multiThreadedHelper->m_childGuiHelper->removeGraphicsInstance(m_multiThreadedHelper->m_graphicsInstanceRemove);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;
@ -1960,6 +1969,7 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperGetShapeIndexFromInstance: case eGUIHelperGetShapeIndexFromInstance:
{ {
B3_PROFILE("eGUIHelperGetShapeIndexFromInstance");
m_multiThreadedHelper->getShapeIndex_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->getShapeIndexFromInstance(m_multiThreadedHelper->m_getShapeIndex_instance); m_multiThreadedHelper->getShapeIndex_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->getShapeIndexFromInstance(m_multiThreadedHelper->m_getShapeIndex_instance);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;
@ -1967,6 +1977,8 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperChangeGraphicsInstanceTextureId: case eGUIHelperChangeGraphicsInstanceTextureId:
{ {
B3_PROFILE("eGUIHelperChangeGraphicsInstanceTextureId");
m_multiThreadedHelper->m_childGuiHelper->replaceTexture( m_multiThreadedHelper->m_childGuiHelper->replaceTexture(
m_multiThreadedHelper->m_graphicsInstanceChangeTextureShapeIndex, m_multiThreadedHelper->m_graphicsInstanceChangeTextureShapeIndex,
m_multiThreadedHelper->m_graphicsInstanceChangeTextureId); m_multiThreadedHelper->m_graphicsInstanceChangeTextureId);
@ -1977,6 +1989,8 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperChangeTexture: case eGUIHelperChangeTexture:
{ {
B3_PROFILE("eGUIHelperChangeTexture");
m_multiThreadedHelper->m_childGuiHelper->changeTexture( m_multiThreadedHelper->m_childGuiHelper->changeTexture(
m_multiThreadedHelper->m_changeTextureUniqueId, m_multiThreadedHelper->m_changeTextureUniqueId,
m_multiThreadedHelper->m_changeTextureRgbTexels, m_multiThreadedHelper->m_changeTextureRgbTexels,
@ -1988,12 +2002,16 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperChangeGraphicsInstanceRGBAColor: case eGUIHelperChangeGraphicsInstanceRGBAColor:
{ {
B3_PROFILE("eGUIHelperChangeGraphicsInstanceRGBAColor");
m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor); m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;
} }
case eGUIHelperChangeGraphicsInstanceSpecularColor: case eGUIHelperChangeGraphicsInstanceSpecularColor:
{ {
B3_PROFILE("eGUIHelperChangeGraphicsInstanceSpecularColor");
m_multiThreadedHelper->m_childGuiHelper->changeSpecularColor(m_multiThreadedHelper->m_graphicsInstanceChangeSpecular,m_multiThreadedHelper->m_specularColor); m_multiThreadedHelper->m_childGuiHelper->changeSpecularColor(m_multiThreadedHelper->m_graphicsInstanceChangeSpecular,m_multiThreadedHelper->m_specularColor);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;
@ -2001,6 +2019,8 @@ void PhysicsServerExample::updateGraphics()
} }
case eGUIHelperDisplayCameraImageData: case eGUIHelperDisplayCameraImageData:
{ {
B3_PROFILE("eGUIHelperDisplayCameraImageData");
if (m_canvas) if (m_canvas)
{ {
@ -2119,6 +2139,8 @@ void PhysicsServerExample::updateGraphics()
} }
case eGUIHelperCopyCameraImageData: case eGUIHelperCopyCameraImageData:
{ {
B3_PROFILE("eGUIHelperCopyCameraImageData");
m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_multiThreadedHelper->m_viewMatrix, m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_multiThreadedHelper->m_viewMatrix,
m_multiThreadedHelper->m_projectionMatrix, m_multiThreadedHelper->m_projectionMatrix,
m_multiThreadedHelper->m_pixelsRGBA, m_multiThreadedHelper->m_pixelsRGBA,
@ -2137,6 +2159,8 @@ void PhysicsServerExample::updateGraphics()
} }
case eGUIHelperAutogenerateGraphicsObjects: case eGUIHelperAutogenerateGraphicsObjects:
{ {
B3_PROFILE("eGUIHelperAutogenerateGraphicsObjects");
m_multiThreadedHelper->m_childGuiHelper->autogenerateGraphicsObjects(m_multiThreadedHelper->m_dynamicsWorld); m_multiThreadedHelper->m_childGuiHelper->autogenerateGraphicsObjects(m_multiThreadedHelper->m_dynamicsWorld);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;
@ -2144,12 +2168,16 @@ void PhysicsServerExample::updateGraphics()
case eGUIUserDebugAddText: case eGUIUserDebugAddText:
{ {
B3_PROFILE("eGUIUserDebugAddText");
m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText); m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;
} }
case eGUIUserDebugAddParameter: case eGUIUserDebugAddParameter:
{ {
B3_PROFILE("eGUIUserDebugAddParameter");
UserDebugParameter* param = new UserDebugParameter(m_multiThreadedHelper->m_tmpParam); UserDebugParameter* param = new UserDebugParameter(m_multiThreadedHelper->m_tmpParam);
m_multiThreadedHelper->m_userDebugParams.push_back(param); m_multiThreadedHelper->m_userDebugParams.push_back(param);
@ -2168,12 +2196,16 @@ void PhysicsServerExample::updateGraphics()
} }
case eGUIUserDebugAddLine: case eGUIUserDebugAddLine:
{ {
B3_PROFILE("eGUIUserDebugAddLine");
m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine); m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;
} }
case eGUIUserDebugRemoveItem: case eGUIUserDebugRemoveItem:
{ {
B3_PROFILE("eGUIUserDebugRemoveItem");
for (int i=0;i<m_multiThreadedHelper->m_userDebugLines.size();i++) for (int i=0;i<m_multiThreadedHelper->m_userDebugLines.size();i++)
{ {
if (m_multiThreadedHelper->m_userDebugLines[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid) if (m_multiThreadedHelper->m_userDebugLines[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid)
@ -2200,6 +2232,8 @@ void PhysicsServerExample::updateGraphics()
} }
case eGUIUserDebugRemoveAllItems: case eGUIUserDebugRemoveAllItems:
{ {
B3_PROFILE("eGUIUserDebugRemoveAllItems");
m_multiThreadedHelper->m_userDebugLines.clear(); m_multiThreadedHelper->m_userDebugLines.clear();
m_multiThreadedHelper->m_userDebugText.clear(); m_multiThreadedHelper->m_userDebugText.clear();
m_multiThreadedHelper->m_uidGenerator = 0; m_multiThreadedHelper->m_uidGenerator = 0;
@ -2209,6 +2243,8 @@ void PhysicsServerExample::updateGraphics()
case eGUIDumpFramesToVideo: case eGUIDumpFramesToVideo:
{ {
B3_PROFILE("eGUIDumpFramesToVideo");
m_multiThreadedHelper->m_childGuiHelper->dumpFramesToVideo(m_multiThreadedHelper->m_mp4FileName); m_multiThreadedHelper->m_childGuiHelper->dumpFramesToVideo(m_multiThreadedHelper->m_mp4FileName);
m_multiThreadedHelper->mainThreadRelease(); m_multiThreadedHelper->mainThreadRelease();
break; break;

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -578,6 +578,7 @@ enum b3ConfigureDebugVisualizerEnum
COV_ENABLE_KEYBOARD_SHORTCUTS, COV_ENABLE_KEYBOARD_SHORTCUTS,
COV_ENABLE_MOUSE_PICKING, COV_ENABLE_MOUSE_PICKING,
COV_ENABLE_Y_AXIS_UP, COV_ENABLE_Y_AXIS_UP,
COV_ENABLE_TINY_RENDERER,
}; };
enum b3AddUserDebugItemEnum enum b3AddUserDebugItemEnum

14
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@ -619,7 +619,10 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_rgbaColor[2] = rgbaColor[2]; visualShape.m_rgbaColor[2] = rgbaColor[2];
visualShape.m_rgbaColor[3] = rgbaColor[3]; visualShape.m_rgbaColor[3] = rgbaColor[3];
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures, visualShape); {
B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
}
m_data->m_visualShapes.push_back(visualShape); m_data->m_visualShapes.push_back(visualShape);
if (vertices.size() && indices.size()) if (vertices.size() && indices.size())
@ -635,8 +638,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
textureHeight = textures[0].m_height; textureHeight = textures[0].m_height;
} }
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor, {
textureImage,textureWidth,textureHeight); B3_PROFILE("registerMeshShape");
tinyObj->registerMeshShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), rgbaColor,
textureImage, textureWidth, textureHeight);
}
visuals->m_renderObjects.push_back(tinyObj); visuals->m_renderObjects.push_back(tinyObj);
} }
for (int i=0;i<textures.size();i++) for (int i=0;i<textures.size();i++)
@ -1145,6 +1152,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename) int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
{ {
B3_PROFILE("loadTextureFile");
int width,height,n; int width,height,n;
unsigned char* image=0; unsigned char* image=0;
image = stbi_load(filename, &width, &height, &n, 3); image = stbi_load(filename, &width, &height, &n, 3);

59
examples/TinyRenderer/TinyRenderer.cpp
View File

@ -285,11 +285,18 @@ void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVerti
{ {
if (0==m_model) if (0==m_model)
{ {
m_model = new Model(); {
m_model->setColorRGBA(rgbaColor); B3_PROFILE("setColorRGBA");
m_model = new Model();
m_model->setColorRGBA(rgbaColor);
}
if (textureImage) if (textureImage)
{ {
m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight); {
B3_PROFILE("setDiffuseTextureFromData");
m_model->setDiffuseTextureFromData(textureImage, textureWidth, textureHeight);
}
} else } else
{ {
/*char relativeFileName[1024]; /*char relativeFileName[1024];
@ -299,25 +306,33 @@ void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVerti
} }
*/ */
} }
{
m_model->reserveMemory(numVertices,numIndices); B3_PROFILE("reserveMemory");
for (int i=0;i<numVertices;i++) m_model->reserveMemory(numVertices, numIndices);
{ }
m_model->addVertex(vertices[i*9], {
vertices[i*9+1], B3_PROFILE("addVertex");
vertices[i*9+2], for (int i = 0; i < numVertices; i++)
vertices[i*9+4], {
vertices[i*9+5], m_model->addVertex(vertices[i * 9],
vertices[i*9+6], vertices[i * 9 + 1],
vertices[i*9+7], vertices[i * 9 + 2],
vertices[i*9+8]); vertices[i * 9 + 4],
} vertices[i * 9 + 5],
for (int i=0;i<numIndices;i+=3) vertices[i * 9 + 6],
{ vertices[i * 9 + 7],
m_model->addTriangle(indices[i],indices[i],indices[i], vertices[i * 9 + 8]);
indices[i+1],indices[i+1],indices[i+1], }
indices[i+2],indices[i+2],indices[i+2]); }
} {
B3_PROFILE("addTriangle");
for (int i = 0; i < numIndices; i += 3)
{
m_model->addTriangle(indices[i], indices[i], indices[i],
indices[i + 1], indices[i + 1], indices[i + 1],
indices[i + 2], indices[i + 2], indices[i + 2]);
}
}
} }
} }

33
examples/TinyRenderer/model.cpp
View File

@ -3,7 +3,8 @@
#include <fstream> #include <fstream>
#include <sstream> #include <sstream>
#include "model.h" #include "model.h"
#include "Bullet3Common/b3Logging.h"
#include <string.h> // memcpy
Model::Model(const char *filename) : verts_(), faces_(), norms_(), uv_(), diffusemap_(), normalmap_(), specularmap_() { Model::Model(const char *filename) : verts_(), faces_(), norms_(), uv_(), diffusemap_(), normalmap_(), specularmap_() {
std::ifstream in; std::ifstream in;
in.open (filename, std::ifstream::in); in.open (filename, std::ifstream::in);
@ -51,24 +52,22 @@ Model::Model():verts_(), faces_(), norms_(), uv_(), diffusemap_(), normalmap_(),
void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight) void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight)
{ {
diffusemap_ = TGAImage(textureWidth, textureHeight, TGAImage::RGB);
for (int i=0;i<textureWidth;i++)
{ {
for (int j=0;j<textureHeight;j++) B3_PROFILE("new TGAImage");
{ diffusemap_ = TGAImage(textureWidth, textureHeight, TGAImage::RGB);
TGAColor color; }
color.bgra[0] = textureImage[(i+j*textureWidth)*3+0]; TGAColor color;
color.bgra[1] = textureImage[(i+j*textureWidth)*3+1]; color.bgra[3] = 255;
color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
color.bgra[3] = 255; color.bytespp = 3;
{
color.bytespp = 3; B3_PROFILE("copy texels");
diffusemap_.set(i,j,color); memcpy(diffusemap_.buffer(), textureImage, textureHeight*textureWidth * 3);
}
} {
B3_PROFILE("flip_vertically");
diffusemap_.flip_vertically();
} }
diffusemap_.flip_vertically();
} }
void Model::loadDiffuseTexture(const char* relativeFileName) void Model::loadDiffuseTexture(const char* relativeFileName)

4
examples/TinyRenderer/tgaimage.cpp
View File

@ -10,13 +10,13 @@ TGAImage::TGAImage() : data(NULL), width(0), height(0), bytespp(0) {}
TGAImage::TGAImage(int w, int h, int bpp) : data(NULL), width(w), height(h), bytespp(bpp) { TGAImage::TGAImage(int w, int h, int bpp) : data(NULL), width(w), height(h), bytespp(bpp) {
unsigned long nbytes = width*height*bytespp; unsigned long nbytes = width*height*bytespp;
data = new unsigned char[nbytes]; data = new unsigned char[nbytes];
memset(data, 0, nbytes); //memset(data, 0, nbytes);
} }
TGAImage::TGAImage(const TGAImage &img) : data(NULL), width(img.width), height(img.height), bytespp(img.bytespp) { TGAImage::TGAImage(const TGAImage &img) : data(NULL), width(img.width), height(img.height), bytespp(img.bytespp) {
unsigned long nbytes = width*height*bytespp; unsigned long nbytes = width*height*bytespp;
data = new unsigned char[nbytes]; data = new unsigned char[nbytes];
memcpy(data, img.data, nbytes); //memcpy(data, img.data, nbytes);
} }
TGAImage::~TGAImage() { TGAImage::~TGAImage() {

2
examples/pybullet/pybullet.c
View File

@ -7987,6 +7987,8 @@ initpybullet(void)
PyModule_AddIntConstant(m, "COV_ENABLE_VR_PICKING", COV_ENABLE_VR_PICKING); PyModule_AddIntConstant(m, "COV_ENABLE_VR_PICKING", COV_ENABLE_VR_PICKING);
PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING); PyModule_AddIntConstant(m, "COV_ENABLE_VR_TELEPORTING", COV_ENABLE_VR_TELEPORTING);
PyModule_AddIntConstant(m, "COV_ENABLE_RENDERING", COV_ENABLE_RENDERING); PyModule_AddIntConstant(m, "COV_ENABLE_RENDERING", COV_ENABLE_RENDERING);
PyModule_AddIntConstant(m, "COV_ENABLE_TINY_RENDERER", COV_ENABLE_TINY_RENDERER);
PyModule_AddIntConstant(m, "COV_ENABLE_VR_RENDER_CONTROLLERS", COV_ENABLE_VR_RENDER_CONTROLLERS); PyModule_AddIntConstant(m, "COV_ENABLE_VR_RENDER_CONTROLLERS", COV_ENABLE_VR_RENDER_CONTROLLERS);
PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS); PyModule_AddIntConstant(m, "COV_ENABLE_KEYBOARD_SHORTCUTS", COV_ENABLE_KEYBOARD_SHORTCUTS);
PyModule_AddIntConstant(m, "COV_ENABLE_MOUSE_PICKING", COV_ENABLE_MOUSE_PICKING); PyModule_AddIntConstant(m, "COV_ENABLE_MOUSE_PICKING", COV_ENABLE_MOUSE_PICKING);