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Merge pull request #719 from erwincoumans/master

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fix ffmpeg stream to create quicktime compatible videos
This commit is contained in:
erwincoumans 2016-07-29 09:07:46 -07:00 committed by GitHub
commit d605897d13
2 changed files with 30 additions and 26 deletions
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14
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@ -750,7 +750,7 @@ static void writeTextureToFile(int textureWidth, int textureHeight, const char*
void SimpleOpenGL3App::swapBuffer()
{
m_window->endRendering();
if (m_data->m_frameDumpPngFileName)
{
int width = (int)m_window->getRetinaScale()*m_instancingRenderer->getScreenWidth();
@ -764,7 +764,8 @@ void SimpleOpenGL3App::swapBuffer()
m_data->m_frameDumpPngFileName = 0;
}
}
m_window->startRendering();
m_window->endRendering();
m_window->startRendering();
}
// see also http://blog.mmacklin.com/2013/06/11/real-time-video-capture-with-ffmpeg/
@ -775,12 +776,15 @@ void SimpleOpenGL3App::dumpFramesToVideo(const char* mp4FileName)
char cmd[8192];
#ifdef _WIN32
sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
"-y -crf 0 -b:v 1500000 -an -vcodec h264 -vf vflip %s", width, height, mp4FileName);
sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
"-threads 0 -y -b 50000k -t 20 -c:v libx264 -preset slow -crf 22 -an -pix_fmt yuv420p -vf vflip %s", width, height, mp4FileName);
//sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
// "-y -crf 0 -b:v 1500000 -an -vcodec h264 -vf vflip %s", width, height, mp4FileName);
#else
sprintf(cmd, "ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "
"-threads 0 -y -crf 0 -b 50000k -vf vflip %s", width, height, mp4FileName);
"-threads 0 -y -b 50000k -t 20 -c:v libx264 -preset slow -crf 22 -an -pix_fmt yuv420p -vf vflip %s", width, height, mp4FileName);
#endif
//sprintf(cmd,"ffmpeg -r 60 -f rawvideo -pix_fmt rgba -s %dx%d -i - "

42
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@ -299,7 +299,7 @@ void btMultiBody::setupPlanar(int i,
m_links[i].m_eVector = parentComToThisComOffset;
//
static btVector3 vecNonParallelToRotAxis(1, 0, 0);
btVector3 vecNonParallelToRotAxis(1, 0, 0);
if(rotationAxis.normalized().dot(vecNonParallelToRotAxis) > 0.999)
vecNonParallelToRotAxis.setValue(0, 1, 0);
//
@ -714,15 +714,15 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
btScalar * Y = &scratch_r[0];
//
//aux variables
static btSpatialMotionVector spatJointVel; //spatial velocity due to the joint motion (i.e. without predecessors' influence)
static btScalar D[36]; //"D" matrix; it's dofxdof for each body so asingle 6x6 D matrix will do
static btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies
static btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel)
static btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough
static btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors
static btSpatialTransformationMatrix fromParent; //spatial transform from parent to child
static btSymmetricSpatialDyad dyadTemp; //inertia matrix temp
static btSpatialTransformationMatrix fromWorld;
btSpatialMotionVector spatJointVel; //spatial velocity due to the joint motion (i.e. without predecessors' influence)
btScalar D[36]; //"D" matrix; it's dofxdof for each body so asingle 6x6 D matrix will do
btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies
btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel)
btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough
btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors
btSpatialTransformationMatrix fromParent; //spatial transform from parent to child
btSymmetricSpatialDyad dyadTemp; //inertia matrix temp
btSpatialTransformationMatrix fromWorld;
fromWorld.m_trnVec.setZero();
/////////////////
@ -919,8 +919,8 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
case btMultibodyLink::eSpherical:
case btMultibodyLink::ePlanar:
{
static btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]);
static btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse();
btMatrix3x3 D3x3; D3x3.setValue(D[0], D[1], D[2], D[3], D[4], D[5], D[6], D[7], D[8]);
btMatrix3x3 invD3x3; invD3x3 = D3x3.inverse();
//unroll the loop?
for(int row = 0; row < 3; ++row)
@ -1323,11 +1323,11 @@ void btMultiBody::calcAccelerationDeltasMultiDof(const btScalar *force, btScalar
btScalar * Y = r_ptr;
////////////////
//aux variables
static btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies
static btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel)
static btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough
static btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors
static btSpatialTransformationMatrix fromParent;
btScalar invD_times_Y[6]; //D^{-1} * Y [dofxdof x dofx1 = dofx1] <=> D^{-1} * u; better moved to buffers since it is recalced in calcAccelerationDeltasMultiDof; num_dof of btScalar would cover all bodies
btSpatialMotionVector result; //holds results of the SolveImatrix op; it is a spatial motion vector (accel)
btScalar Y_minus_hT_a[6]; //Y - h^{T} * a; it's dofx1 for each body so a single 6x1 temp is enough
btSpatialForceVector spatForceVecTemps[6]; //6 temporary spatial force vectors
btSpatialTransformationMatrix fromParent;
/////////////////
// First 'upward' loop.
@ -1522,8 +1522,8 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd
btScalar *pBaseQuat = pq ? pq : m_baseQuat;
btScalar *pBaseOmega = pqd ? pqd : &m_realBuf[0]; //note: the !pqd case assumes m_realBuf starts with base omega (should be wrapped for safety)
//
static btQuaternion baseQuat; baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]);
static btVector3 baseOmega; baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]);
btQuaternion baseQuat; baseQuat.setValue(pBaseQuat[0], pBaseQuat[1], pBaseQuat[2], pBaseQuat[3]);
btVector3 baseOmega; baseOmega.setValue(pBaseOmega[0], pBaseOmega[1], pBaseOmega[2]);
pQuatUpdateFun(baseOmega, baseQuat, true, dt);
pBaseQuat[0] = baseQuat.x();
pBaseQuat[1] = baseQuat.y();
@ -1557,8 +1557,8 @@ void btMultiBody::stepPositionsMultiDof(btScalar dt, btScalar *pq, btScalar *pqd
}
case btMultibodyLink::eSpherical:
{
static btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]);
static btQuaternion jointOri; jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]);
btVector3 jointVel; jointVel.setValue(pJointVel[0], pJointVel[1], pJointVel[2]);
btQuaternion jointOri; jointOri.setValue(pJointPos[0], pJointPos[1], pJointPos[2], pJointPos[3]);
pQuatUpdateFun(jointVel, jointOri, false, dt);
pJointPos[0] = jointOri.x(); pJointPos[1] = jointOri.y(); pJointPos[2] = jointOri.z(); pJointPos[3] = jointOri.w();
break;