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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
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@@ -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);
}