Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

improve loading performance of large textures:

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

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;