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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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14
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -1512,6 +1512,7 @@ struct PhysicsServerCommandProcessorInternalData
struct GUIHelperInterface* m_guiHelper;
int m_sharedMemoryKey;
bool m_enableTinyRenderer;
bool m_verboseOutput;
@@ -1553,6 +1554,7 @@ struct PhysicsServerCommandProcessorInternalData
m_guiHelper(0),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false),
m_enableTinyRenderer(true),
m_pickedBody(0),
m_pickedConstraint(0),
m_pickingMultiBodyPoint2Point(0)
@@ -2659,6 +2661,7 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
m_data->m_sdfRecentLoadedBodies.clear();
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool forceFixedBase = false;
bool loadOk =u2b.loadSDF(fileName,forceFixedBase);
@@ -2690,7 +2693,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter, globalScaling);
u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
bool loadOk = u2b.loadURDF(fileName, useFixedBase);
@@ -6253,8 +6256,13 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
serverCmd.m_type =CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
if (clientCmd.m_updateFlags&COV_SET_FLAGS)
{
if (clientCmd.m_updateFlags&COV_SET_FLAGS)
{
if (clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag == COV_ENABLE_TINY_RENDERER)
{
m_data->m_enableTinyRenderer = clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled!=0;
}
m_data->m_guiHelper->setVisualizerFlag(clientCmd.m_configureOpenGLVisualizerArguments.m_setFlag,
clientCmd.m_configureOpenGLVisualizerArguments.m_setEnabled);
}

38
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -1840,12 +1840,15 @@ void PhysicsServerExample::updateGraphics()
{
case eGUIHelperCreateCollisionShapeGraphicsObject:
{
B3_PROFILE("eGUIHelperCreateCollisionShapeGraphicsObject");
m_multiThreadedHelper->m_childGuiHelper->createCollisionShapeGraphicsObject(m_multiThreadedHelper->m_colShape);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperCreateCollisionObjectGraphicsObject:
{
B3_PROFILE("eGUIHelperCreateCollisionObjectGraphicsObject");
m_multiThreadedHelper->m_childGuiHelper->createCollisionObjectGraphicsObject(m_multiThreadedHelper->m_obj,
m_multiThreadedHelper->m_color2);
m_multiThreadedHelper->mainThreadRelease();
@@ -1854,13 +1857,14 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIHelperCreateRigidBodyGraphicsObject:
{
B3_PROFILE("eGUIHelperCreateRigidBodyGraphicsObject");
m_multiThreadedHelper->m_childGuiHelper->createRigidBodyGraphicsObject(m_multiThreadedHelper->m_body,m_multiThreadedHelper->m_color3);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperRegisterTexture:
{
B3_PROFILE("eGUIHelperRegisterTexture");
m_multiThreadedHelper->m_textureId = m_multiThreadedHelper->m_childGuiHelper->registerTexture(m_multiThreadedHelper->m_texels,
m_multiThreadedHelper->m_textureWidth,m_multiThreadedHelper->m_textureHeight);
m_multiThreadedHelper->mainThreadRelease();
@@ -1868,6 +1872,7 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIHelperRegisterGraphicsShape:
{
B3_PROFILE("eGUIHelperRegisterGraphicsShape");
m_multiThreadedHelper->m_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsShape(
m_multiThreadedHelper->m_vertices,
m_multiThreadedHelper->m_numvertices,
@@ -1881,6 +1886,7 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperSetVisualizerFlag:
{
B3_PROFILE("eGUIHelperSetVisualizerFlag");
int flag = m_multiThreadedHelper->m_visualizerFlag;
int enable = m_multiThreadedHelper->m_visualizerEnable;
@@ -1922,6 +1928,7 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperRegisterGraphicsInstance:
{
B3_PROFILE("eGUIHelperRegisterGraphicsInstance");
m_multiThreadedHelper->m_instanceId = m_multiThreadedHelper->m_childGuiHelper->registerGraphicsInstance(
m_multiThreadedHelper->m_shapeIndex,
m_multiThreadedHelper->m_position,
@@ -1933,6 +1940,7 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIHelperRemoveAllGraphicsInstances:
{
B3_PROFILE("eGUIHelperRemoveAllGraphicsInstances");
#ifdef BT_ENABLE_VR
if (m_tinyVrGui)
{
@@ -1953,6 +1961,7 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIHelperRemoveGraphicsInstance:
{
B3_PROFILE("eGUIHelperRemoveGraphicsInstance");
m_multiThreadedHelper->m_childGuiHelper->removeGraphicsInstance(m_multiThreadedHelper->m_graphicsInstanceRemove);
m_multiThreadedHelper->mainThreadRelease();
break;
@@ -1960,6 +1969,7 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperGetShapeIndexFromInstance:
{
B3_PROFILE("eGUIHelperGetShapeIndexFromInstance");
m_multiThreadedHelper->getShapeIndex_shapeIndex = m_multiThreadedHelper->m_childGuiHelper->getShapeIndexFromInstance(m_multiThreadedHelper->m_getShapeIndex_instance);
m_multiThreadedHelper->mainThreadRelease();
break;
@@ -1967,6 +1977,8 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperChangeGraphicsInstanceTextureId:
{
B3_PROFILE("eGUIHelperChangeGraphicsInstanceTextureId");
m_multiThreadedHelper->m_childGuiHelper->replaceTexture(
m_multiThreadedHelper->m_graphicsInstanceChangeTextureShapeIndex,
m_multiThreadedHelper->m_graphicsInstanceChangeTextureId);
@@ -1977,6 +1989,8 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperChangeTexture:
{
B3_PROFILE("eGUIHelperChangeTexture");
m_multiThreadedHelper->m_childGuiHelper->changeTexture(
m_multiThreadedHelper->m_changeTextureUniqueId,
m_multiThreadedHelper->m_changeTextureRgbTexels,
@@ -1988,12 +2002,16 @@ void PhysicsServerExample::updateGraphics()
case eGUIHelperChangeGraphicsInstanceRGBAColor:
{
B3_PROFILE("eGUIHelperChangeGraphicsInstanceRGBAColor");
m_multiThreadedHelper->m_childGuiHelper->changeRGBAColor(m_multiThreadedHelper->m_graphicsInstanceChangeColor,m_multiThreadedHelper->m_rgbaColor);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIHelperChangeGraphicsInstanceSpecularColor:
{
B3_PROFILE("eGUIHelperChangeGraphicsInstanceSpecularColor");
m_multiThreadedHelper->m_childGuiHelper->changeSpecularColor(m_multiThreadedHelper->m_graphicsInstanceChangeSpecular,m_multiThreadedHelper->m_specularColor);
m_multiThreadedHelper->mainThreadRelease();
break;
@@ -2001,6 +2019,8 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIHelperDisplayCameraImageData:
{
B3_PROFILE("eGUIHelperDisplayCameraImageData");
if (m_canvas)
{
@@ -2119,6 +2139,8 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIHelperCopyCameraImageData:
{
B3_PROFILE("eGUIHelperCopyCameraImageData");
m_multiThreadedHelper->m_childGuiHelper->copyCameraImageData(m_multiThreadedHelper->m_viewMatrix,
m_multiThreadedHelper->m_projectionMatrix,
m_multiThreadedHelper->m_pixelsRGBA,
@@ -2137,6 +2159,8 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIHelperAutogenerateGraphicsObjects:
{
B3_PROFILE("eGUIHelperAutogenerateGraphicsObjects");
m_multiThreadedHelper->m_childGuiHelper->autogenerateGraphicsObjects(m_multiThreadedHelper->m_dynamicsWorld);
m_multiThreadedHelper->mainThreadRelease();
break;
@@ -2144,12 +2168,16 @@ void PhysicsServerExample::updateGraphics()
case eGUIUserDebugAddText:
{
B3_PROFILE("eGUIUserDebugAddText");
m_multiThreadedHelper->m_userDebugText.push_back(m_multiThreadedHelper->m_tmpText);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugAddParameter:
{
B3_PROFILE("eGUIUserDebugAddParameter");
UserDebugParameter* param = new UserDebugParameter(m_multiThreadedHelper->m_tmpParam);
m_multiThreadedHelper->m_userDebugParams.push_back(param);
@@ -2168,12 +2196,16 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIUserDebugAddLine:
{
B3_PROFILE("eGUIUserDebugAddLine");
m_multiThreadedHelper->m_userDebugLines.push_back(m_multiThreadedHelper->m_tmpLine);
m_multiThreadedHelper->mainThreadRelease();
break;
}
case eGUIUserDebugRemoveItem:
{
B3_PROFILE("eGUIUserDebugRemoveItem");
for (int i=0;i<m_multiThreadedHelper->m_userDebugLines.size();i++)
{
if (m_multiThreadedHelper->m_userDebugLines[i].m_itemUniqueId == m_multiThreadedHelper->m_removeDebugItemUid)
@@ -2200,6 +2232,8 @@ void PhysicsServerExample::updateGraphics()
}
case eGUIUserDebugRemoveAllItems:
{
B3_PROFILE("eGUIUserDebugRemoveAllItems");
m_multiThreadedHelper->m_userDebugLines.clear();
m_multiThreadedHelper->m_userDebugText.clear();
m_multiThreadedHelper->m_uidGenerator = 0;
@@ -2209,6 +2243,8 @@ void PhysicsServerExample::updateGraphics()
case eGUIDumpFramesToVideo:
{
B3_PROFILE("eGUIDumpFramesToVideo");
m_multiThreadedHelper->m_childGuiHelper->dumpFramesToVideo(m_multiThreadedHelper->m_mp4FileName);
m_multiThreadedHelper->mainThreadRelease();
break;

1
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -578,6 +578,7 @@ enum b3ConfigureDebugVisualizerEnum
COV_ENABLE_KEYBOARD_SHORTCUTS,
COV_ENABLE_MOUSE_PICKING,
COV_ENABLE_Y_AXIS_UP,
COV_ENABLE_TINY_RENDERER,
};
enum b3AddUserDebugItemEnum

14
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@@ -619,7 +619,10 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_rgbaColor[2] = rgbaColor[2];
visualShape.m_rgbaColor[3] = rgbaColor[3];
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices,textures, visualShape);
{
B3_PROFILE("convertURDFToVisualShape");
convertURDFToVisualShape(vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices, textures, visualShape);
}
m_data->m_visualShapes.push_back(visualShape);
if (vertices.size() && indices.size())
@@ -635,8 +638,12 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
textureHeight = textures[0].m_height;
}
tinyObj->registerMeshShape(&vertices[0].xyzw[0],vertices.size(),&indices[0],indices.size(),rgbaColor,
textureImage,textureWidth,textureHeight);
{
B3_PROFILE("registerMeshShape");
tinyObj->registerMeshShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), rgbaColor,
textureImage, textureWidth, textureHeight);
}
visuals->m_renderObjects.push_back(tinyObj);
}
for (int i=0;i<textures.size();i++)
@@ -1145,6 +1152,7 @@ int TinyRendererVisualShapeConverter::registerTexture(unsigned char* texels, int
int TinyRendererVisualShapeConverter::loadTextureFile(const char* filename)
{
B3_PROFILE("loadTextureFile");
int width,height,n;
unsigned char* image=0;
image = stbi_load(filename, &width, &height, &n, 3);