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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");