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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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59
examples/TinyRenderer/TinyRenderer.cpp
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@@ -285,11 +285,18 @@ void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVerti
{
if (0==m_model)
{
m_model = new Model();
m_model->setColorRGBA(rgbaColor);
{
B3_PROFILE("setColorRGBA");
m_model = new Model();
m_model->setColorRGBA(rgbaColor);
}
if (textureImage)
{
m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
{
B3_PROFILE("setDiffuseTextureFromData");
m_model->setDiffuseTextureFromData(textureImage, textureWidth, textureHeight);
}
} else
{
/*char relativeFileName[1024];
@@ -299,25 +306,33 @@ void TinyRenderObjectData::registerMeshShape(const float* vertices, int numVerti
}
*/
}
m_model->reserveMemory(numVertices,numIndices);
for (int i=0;i<numVertices;i++)
{
m_model->addVertex(vertices[i*9],
vertices[i*9+1],
vertices[i*9+2],
vertices[i*9+4],
vertices[i*9+5],
vertices[i*9+6],
vertices[i*9+7],
vertices[i*9+8]);
}
for (int i=0;i<numIndices;i+=3)
{
m_model->addTriangle(indices[i],indices[i],indices[i],
indices[i+1],indices[i+1],indices[i+1],
indices[i+2],indices[i+2],indices[i+2]);
}
{
B3_PROFILE("reserveMemory");
m_model->reserveMemory(numVertices, numIndices);
}
{
B3_PROFILE("addVertex");
for (int i = 0; i < numVertices; i++)
{
m_model->addVertex(vertices[i * 9],
vertices[i * 9 + 1],
vertices[i * 9 + 2],
vertices[i * 9 + 4],
vertices[i * 9 + 5],
vertices[i * 9 + 6],
vertices[i * 9 + 7],
vertices[i * 9 + 8]);
}
}
{
B3_PROFILE("addTriangle");
for (int i = 0; i < numIndices; i += 3)
{
m_model->addTriangle(indices[i], indices[i], indices[i],
indices[i + 1], indices[i + 1], indices[i + 1],
indices[i + 2], indices[i + 2], indices[i + 2]);
}
}
}
}

32
examples/TinyRenderer/model.cpp
View File

@@ -3,7 +3,7 @@
#include <fstream>
#include <sstream>
#include "model.h"
#include "Bullet3Common/b3Logging.h"
Model::Model(const char *filename) : verts_(), faces_(), norms_(), uv_(), diffusemap_(), normalmap_(), specularmap_() {
std::ifstream in;
in.open (filename, std::ifstream::in);
@@ -51,24 +51,22 @@ Model::Model():verts_(), faces_(), norms_(), uv_(), diffusemap_(), normalmap_(),
void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWidth,int textureHeight)
{
diffusemap_ = TGAImage(textureWidth, textureHeight, TGAImage::RGB);
for (int i=0;i<textureWidth;i++)
{
for (int j=0;j<textureHeight;j++)
{
TGAColor color;
color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
color.bgra[3] = 255;
color.bytespp = 3;
diffusemap_.set(i,j,color);
}
B3_PROFILE("new TGAImage");
diffusemap_ = TGAImage(textureWidth, textureHeight, TGAImage::RGB);
}
TGAColor color;
color.bgra[3] = 255;
color.bytespp = 3;
{
B3_PROFILE("copy texels");
memcpy(diffusemap_.buffer(), textureImage, textureHeight*textureWidth * 3);
}
{
B3_PROFILE("flip_vertically");
diffusemap_.flip_vertically();
}
diffusemap_.flip_vertically();
}
void Model::loadDiffuseTexture(const char* relativeFileName)

4
examples/TinyRenderer/tgaimage.cpp
View File

@@ -10,13 +10,13 @@ TGAImage::TGAImage() : data(NULL), width(0), height(0), bytespp(0) {}
TGAImage::TGAImage(int w, int h, int bpp) : data(NULL), width(w), height(h), bytespp(bpp) {
unsigned long nbytes = width*height*bytespp;
data = new unsigned char[nbytes];
memset(data, 0, nbytes);
//memset(data, 0, nbytes);
}
TGAImage::TGAImage(const TGAImage &img) : data(NULL), width(img.width), height(img.height), bytespp(img.bytespp) {
unsigned long nbytes = width*height*bytespp;
data = new unsigned char[nbytes];
memcpy(data, img.data, nbytes);
//memcpy(data, img.data, nbytes);
}
TGAImage::~TGAImage() {