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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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9
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -945,6 +945,7 @@ int GLInstancingRenderer::registerGraphicsInstance(int shapeIndex, const float*
int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width, int height, bool flipPixelsY)
{
B3_PROFILE("GLInstancingRenderer::registerTexture");
b3Assert(glGetError() ==GL_NO_ERROR);
glActiveTexture(GL_TEXTURE0);
int textureIndex = m_data->m_textureHandles.size();
@@ -963,6 +964,7 @@ int GLInstancingRenderer::registerTexture(const unsigned char* texels, int width
m_data->m_textureHandles.push_back(h);
if (texels)
{
B3_PROFILE("updateTexture");
updateTexture(textureIndex, texels, flipPixelsY);
}
return textureIndex;
@@ -985,6 +987,7 @@ void GLInstancingRenderer::replaceTexture(int shapeIndex, int textureId)
void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned char* texels, bool flipPixelsY)
{
B3_PROFILE("updateTexture");
if ((textureIndex>=0) && (textureIndex < m_data->m_textureHandles.size()))
{
glActiveTexture(GL_TEXTURE0);
@@ -995,13 +998,14 @@ void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
if (flipPixelsY)
{
B3_PROFILE("flipPixelsY");
//textures need to be flipped for OpenGL...
b3AlignedObjectArray<unsigned char> flippedTexels;
flippedTexels.resize(h.m_width* h.m_height * 3);
for (int i = 0; i < h.m_width; i++)
for (int j = 0; j < h.m_height; j++)
{
for (int j = 0; j < h.m_height; j++)
for (int i = 0; i < h.m_width; i++)
{
flippedTexels[(i + j*h.m_width) * 3] = texels[(i + (h.m_height - 1 -j )*h.m_width) * 3];
flippedTexels[(i + j*h.m_width) * 3+1] = texels[(i + (h.m_height - 1 - j)*h.m_width) * 3+1];
@@ -1017,6 +1021,7 @@ void GLInstancingRenderer::updateTexture(int textureIndex, const unsigned cha
b3Assert(glGetError() ==GL_NO_ERROR);
if (h.m_enableFiltering)
{
B3_PROFILE("glGenerateMipmap");
glGenerateMipmap(GL_TEXTURE_2D);
}
b3Assert(glGetError() ==GL_NO_ERROR);