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improve loading performance of large textures:

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option to disable tinyrenderer, use p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
also make sure to use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loadURDF, and enable rendering afterwards using p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
reorder 2 loops, making the flip texels twice as fast (cache coherency),
single memcpy of entire texture in tinyrenderer, instead of per-pixel copy (memory layout is the same)
add lots of B3_PROFILE timings, to see where time is going
This commit is contained in:
Erwin Coumans
2017-10-06 13:46:24 -07:00
parent b572fe43f9
commit 26d32f2aa8
14 changed files with 199 additions and 100 deletions
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15
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -57,6 +57,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
mutable btAlignedObjectArray<btTriangleMesh*> m_allocatedMeshInterfaces;
LinkVisualShapesConverter* m_customVisualShapesConverter;
bool m_enableTinyRenderer;
void setSourceFile(const std::string& relativeFileName, const std::string& prefix)
{
@@ -68,6 +69,7 @@ ATTRIBUTE_ALIGNED16(struct) BulletURDFInternalData
BulletURDFInternalData()
{
m_enableTinyRenderer = true;
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);
}
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
for (int i=0;i<textures.size();i++)
{
B3_PROFILE("free textureData");
free( textures[i].textureData);
}
return graphicsIndex;
@@ -1206,10 +1212,15 @@ bool BulletURDFImporter::getLinkAudioSource(int linkIndex, SDFAudioSource& audio
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
{
if (m_data->m_customVisualShapesConverter)
if (m_data->m_enableTinyRenderer && m_data->m_customVisualShapesConverter)
{
const UrdfModel& model = m_data->m_urdfParser.getModel();
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 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 "MultiBodyCreationInterface.h"
#include <string>
#include "Bullet3Common/b3Logging.h"
//static int bodyCollisionFilterGroup=btBroadphaseProxy::CharacterFilter;
//static int bodyCollisionFilterMask=btBroadphaseProxy::AllFilter&(~btBroadphaseProxy::CharacterFilter);
@@ -183,6 +184,7 @@ void ConvertURDF2BulletInternal(
bool createMultiBody, const char* pathPrefix,
int flags = 0)
{
B3_PROFILE("ConvertURDF2BulletInternal2");
//b3Printf("start converting/extracting data from URDF interface\n");
btTransform linkTransformInWorldSpace;
@@ -264,8 +266,12 @@ void ConvertURDF2BulletInternal(
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;
specularColor = matCol.m_specularColor;
}
creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex,col,color2,specularColor);
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame,col, u2b.getBodyUniqueId());
{
B3_PROFILE("createCollisionObjectGraphicsInstance2");
creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex, col, color2, specularColor);
}
{
B3_PROFILE("convertLinkVisualShapes2");
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
}
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
@@ -571,7 +580,6 @@ void ConvertURDF2BulletInternal(
}
}
void ConvertURDF2Bullet(
const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
const btTransform& rootTransformInWorldSpace,
@@ -582,10 +590,12 @@ void ConvertURDF2Bullet(
InitURDF2BulletCache(u2b,cache);
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)
{
B3_PROFILE("Post process");
btMultiBody* mb = cache.m_bulletMultiBody;
mb->setHasSelfCollision((flags&CUF_USE_SELF_COLLISION)!=0);