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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/TinyRendererVisualShapeConverter.cpp
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@@ -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);