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improve pybullet performance of loadURDF/SDF/MJCF and 'createCollisionShape'/'createMultiBody' for GUI/VR/SHARED_MEMORY,

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use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loading and
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) afterwards
This commit is contained in:
Erwin Coumans
2017-07-14 23:12:16 +01:00
parent b63023c692
commit 0df8887990
7 changed files with 58 additions and 27 deletions
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12
examples/ExampleBrowser/InProcessExampleBrowser.cpp
View File

@@ -230,6 +230,7 @@ static double gMinUpdateTimeMicroSecs = 4000.;
void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
{
printf("ExampleBrowserThreadFunc started\n");
ExampleBrowserThreadLocalStorage* localStorage = (ExampleBrowserThreadLocalStorage*) lsMemory;
@@ -257,7 +258,9 @@ void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
do
{
B3_PROFILE("ExampleBrowserThreadFunc");
clock.usleep(0);
//B3_PROFILE("ExampleBrowserThreadFunc");
float deltaTimeInSeconds = clock.getTimeMicroseconds()/1000000.f;
{
if (deltaTimeInSeconds > 0.1)
@@ -266,13 +269,13 @@ void ExampleBrowserThreadFunc(void* userPtr,void* lsMemory)
}
if (deltaTimeInSeconds < (gMinUpdateTimeMicroSecs/1e6))
{
B3_PROFILE("clock.usleep");
clock.usleep(gMinUpdateTimeMicroSecs/10.);
//B3_PROFILE("clock.usleep");
exampleBrowser->updateGraphics();
} else
{
B3_PROFILE("exampleBrowser->update");
//B3_PROFILE("exampleBrowser->update");
clock.reset();
exampleBrowser->updateGraphics();
exampleBrowser->update(deltaTimeInSeconds);
}
}
@@ -429,6 +432,7 @@ void btUpdateInProcessExampleBrowserMainThread(btInProcessExampleBrowserMainThre
{
float deltaTimeInSeconds = data->m_clock.getTimeMicroseconds()/1000000.f;
data->m_clock.reset();
data->m_exampleBrowser->updateGraphics();
data->m_exampleBrowser->update(deltaTimeInSeconds);
}
void btShutDownExampleBrowserMainThread(btInProcessExampleBrowserMainThreadInternalData* data)

11
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
View File

@@ -127,6 +127,8 @@ extern bool useShadowMap;
bool visualWireframe=false;
static bool renderVisualGeometry=true;
static bool renderGrid = true;
static bool gEnableRenderLoop = true;
bool renderGui = true;
static bool enable_experimental_opencl = false;
@@ -370,6 +372,10 @@ void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExa
void OpenGLExampleBrowserVisualizerFlagCallback(int flag, bool enable)
{
if (flag == COV_ENABLE_RENDERING)
{
gEnableRenderLoop = (enable!=0);
}
if (flag == COV_ENABLE_SHADOWS)
{
useShadowMap = enable;
@@ -1185,7 +1191,7 @@ void OpenGLExampleBrowser::updateGraphics()
{
if (!pauseSimulation || singleStepSimulation)
{
B3_PROFILE("sCurrentDemo->updateGraphics");
//B3_PROFILE("sCurrentDemo->updateGraphics");
sCurrentDemo->updateGraphics();
}
}
@@ -1193,6 +1199,9 @@ void OpenGLExampleBrowser::updateGraphics()
void OpenGLExampleBrowser::update(float deltaTime)
{
if (!gEnableRenderLoop)
return;
b3ChromeUtilsEnableProfiling();
B3_PROFILE("OpenGLExampleBrowser::update");

12
examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
View File

@@ -4,6 +4,7 @@
#include "PhysicsClientSharedMemory.h"
#include"../ExampleBrowser/InProcessExampleBrowser.h"
#include <stdio.h>
#include "PhysicsServerExampleBullet2.h"
@@ -52,12 +53,12 @@ public:
}
}
{
unsigned long int ms = m_clock.getTimeMilliseconds();
if (ms>20)
//unsigned long int ms = m_clock.getTimeMilliseconds();
//if (ms>2)
{
B3_PROFILE("m_clock.reset()");
// B3_PROFILE("m_clock.reset()");
m_clock.reset();
// m_clock.reset();
btUpdateInProcessExampleBrowserMainThread(m_data);
}
}
@@ -165,7 +166,8 @@ public:
// return non-null if there is a status, nullptr otherwise
virtual const struct SharedMemoryStatus* processServerStatus()
{
//m_physicsServerExample->updateGraphics();
printf("updating graphics!\n");
m_physicsServerExample->updateGraphics();
unsigned long long int curTime = m_clock.getTimeMicroseconds();
unsigned long long int dtMicro = curTime - m_prevTime;

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -4,7 +4,8 @@
#define SHARED_MEMORY_KEY 12347
///increase the SHARED_MEMORY_MAGIC_NUMBER whenever incompatible changes are made in the structures
///my convention is year/month/day/rev
#define SHARED_MEMORY_MAGIC_NUMBER 201706015
#define SHARED_MEMORY_MAGIC_NUMBER 201707140
//#define SHARED_MEMORY_MAGIC_NUMBER 201706015
//#define SHARED_MEMORY_MAGIC_NUMBER 201706001
//#define SHARED_MEMORY_MAGIC_NUMBER 201703024

22
examples/StandaloneMain/hellovr_opengl_main.cpp
View File

@@ -373,8 +373,8 @@ void MyKeyboardCallback(int key, int state)
#include "../SharedMemory/SharedMemoryPublic.h"
extern bool useShadowMap;
bool gEnableVRRenderControllers=true;
static bool gEnableVRRenderControllers=true;
static bool gEnableVRRendering = true;
void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable)
@@ -391,7 +391,10 @@ void VRPhysicsServerVisualizerFlagCallback(int flag, bool enable)
{
gEnableVRRenderControllers = enable;
}
if (flag == COV_ENABLE_RENDERING)
{
gEnableVRRendering = enable;
}
if (flag == COV_ENABLE_WIREFRAME)
@@ -887,13 +890,18 @@ void CMainApplication::RunMainLoop()
while ( !bQuit && !m_app->m_window->requestedExit())
{
b3ChromeUtilsEnableProfiling();
if (gEnableVRRendering)
{
B3_PROFILE("main");
B3_PROFILE("main");
bQuit = HandleInput();
bQuit = HandleInput();
RenderFrame();
}
RenderFrame();
} else
{
b3Clock::usleep(0);
sExample->updateGraphics();
}
}
}

23
examples/Utils/ChromeTraceUtil.cpp
View File

@@ -250,18 +250,25 @@ void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix)
static int fileCounter = 0;
sprintf(fileName,"%s_%d.json",fileNamePrefix, fileCounter++);
gTimingFile = fopen(fileName,"w");
fprintf(gTimingFile,"{\"traceEvents\":[\n");
//dump the content to file
for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
if (gTimingFile)
{
if (gTimings[i].m_numTimings)
fprintf(gTimingFile,"{\"traceEvents\":[\n");
//dump the content to file
for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
{
printf("Writing %d timings for thread %d\n", gTimings[i].m_numTimings, i);
gTimings[i].flush();
if (gTimings[i].m_numTimings)
{
printf("Writing %d timings for thread %d\n", gTimings[i].m_numTimings, i);
gTimings[i].flush();
}
}
fprintf(gTimingFile,"\n],\n\"displayTimeUnit\": \"ns\"}");
fclose(gTimingFile);
} else
{
b3Printf("Error opening file");
b3Printf(fileName);
}
fprintf(gTimingFile,"\n],\n\"displayTimeUnit\": \"ns\"}");
fclose(gTimingFile);
gTimingFile = 0;
}