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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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28
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -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);