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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/SharedMemory/SharedMemoryInProcessPhysicsC_API.cpp
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@@ -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