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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);