don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps

optimize gpu upload (use glBufferSubData instead of glMapBuffer
Avoid checking char array against zero.

examples/SharedMemory/PhysicsClientExample.cpp

@@ -5,6 +5,7 @@
 #include "../CommonInterfaces/Common2dCanvasInterface.h"
 #include "SharedMemoryCommon.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
+
 #include "PhysicsClientC_API.h"
 #include "PhysicsClient.h"
 //#include "SharedMemoryCommands.h"

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -27,6 +27,7 @@
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "SharedMemoryCommands.h"
 
+
 //@todo(erwincoumans) those globals are hacks for a VR demo, move this to Python/pybullet!
 btVector3 gLastPickPos(0, 0, 0);
 bool gCloseToKuka=false;
@@ -403,6 +404,8 @@ struct PhysicsServerCommandProcessorInternalData
 	btMultiBody* m_kukaGripperMultiBody;
 	btMultiBodyPoint2Point* m_kukaGripperRevolute1;
 	btMultiBodyPoint2Point* m_kukaGripperRevolute2;
+	
+
 	int m_huskyId;
 	int m_KukaId;
 	int m_sphereId;
@@ -457,6 +460,10 @@ struct PhysicsServerCommandProcessorInternalData
 		:m_hasGround(false),
 		m_gripperRigidbodyFixed(0),
 		m_gripperMultiBody(0),
+		m_kukaGripperFixed(0),
+		m_kukaGripperMultiBody(0),
+		m_kukaGripperRevolute1(0),
+		m_kukaGripperRevolute2(0),
 		m_allowRealTimeSimulation(false),
 		m_huskyId(-1),
 		m_KukaId(-1),
@@ -1363,7 +1370,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 					///this is a very rudimentary way to save the state of the world, for scene authoring
 					///many todo's, for example save the state of motor controllers etc.
 
-					if (clientCmd.m_sdfArguments.m_sdfFileName)
+					
 					{
 						//saveWorld(clientCmd.m_sdfArguments.m_sdfFileName);
 
@@ -3128,6 +3135,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 		gBufferServerToClient.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
 		int bodyId = 0;
 
+		
 		if (gCreateObjectSimVR >= 0)
 		{
 			gCreateObjectSimVR = -1;
@@ -3317,7 +3325,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 				//loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 				//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 
-				loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+				//loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 				m_data->m_huskyId = bodyId;
 
 				m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));

examples/SharedMemory/PhysicsServerExample.cpp

@@ -12,6 +12,12 @@
 #include "Bullet3Common/b3Matrix3x3.h"
 #include "../Utils/b3Clock.h"
 #include "../MultiThreading/b3ThreadSupportInterface.h"
+#ifdef BT_ENABLE_VR
+#include "../RenderingExamples/TinyVRGui.h"
+#endif//BT_ENABLE_VR
+
+
+#include "../CommonInterfaces/CommonParameterInterface.h"
 
 #define MAX_VR_CONTROLLERS 8
 
@@ -546,6 +552,10 @@ class PhysicsServerExample : public SharedMemoryCommon
 	bool m_replay;
 	int m_options;
 	
+#ifdef BT_ENABLE_VR
+	TinyVRGui* m_tinyVrGui;
+#endif
+
 public:
 
 	PhysicsServerExample(MultiThreadedOpenGLGuiHelper* helper, SharedMemoryInterface* sharedMem=0, int options=0);
@@ -677,6 +687,9 @@ m_wantsShutdown(false),
 m_isConnected(false),
 m_replay(false),
 m_options(options)
+#ifdef BT_ENABLE_VR
+,m_tinyVrGui(0)
+#endif
 {
 	m_multiThreadedHelper = helper;
 	b3Printf("Started PhysicsServer\n");
@@ -686,6 +699,9 @@ m_options(options)
 
 PhysicsServerExample::~PhysicsServerExample()
 {
+#ifdef BT_ENABLE_VR
+	delete m_tinyVrGui;
+#endif
 	bool deInitializeSharedMemory = true;
 	m_physicsServer.disconnectSharedMemory(deInitializeSharedMemory);
     m_isConnected = false;
@@ -942,7 +958,73 @@ extern double gSubStep;
 void PhysicsServerExample::renderScene()
 {
 	B3_PROFILE("PhysicsServerExample::RenderScene");
+	static char line0[1024];
+		static char line1[1024];
 
+	if (gEnableRealTimeSimVR)
+	{
+		
+		static int frameCount=0;
+		static btScalar prevTime = m_clock.getTimeSeconds();
+		frameCount++;
+		
+		static btScalar worseFps = 1000000;
+		int numFrames = 200;
+		static int count = 0;
+		count++;
+
+		if (0 == (count & 1))
+		{
+			btScalar curTime = m_clock.getTimeSeconds();
+			btScalar fps = 1. / (curTime - prevTime);
+			prevTime = curTime;
+			if (fps < worseFps)
+			{
+				worseFps = fps;
+			}
+
+			if (count > numFrames)
+			{
+				count = 0;
+				sprintf(line0, "fps:%f frame:%d", worseFps, frameCount / 2);
+				sprintf(line1, "drop:%d tscale:%f dt:%f, substep %f)", gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
+				gDroppedSimulationSteps = 0;
+
+				worseFps = 1000000;
+			}
+		}
+
+#ifdef BT_ENABLE_VR
+		if (m_tinyVrGui==0)
+		{
+			ComboBoxParams comboParams;
+        comboParams.m_comboboxId = 0;
+        comboParams.m_numItems = 0;
+        comboParams.m_startItem = 0;
+        comboParams.m_callback = 0;//MyComboBoxCallback;
+        comboParams.m_userPointer = 0;//this;
+        
+			m_tinyVrGui = new TinyVRGui(comboParams,this->m_multiThreadedHelper->m_childGuiHelper->getRenderInterface());
+			m_tinyVrGui->init();
+		}
+
+		if (m_tinyVrGui)
+		{
+
+			b3Transform tr;tr.setIdentity();
+			tr.setOrigin(b3MakeVector3(gVRController2Pos[0],gVRController2Pos[1],gVRController2Pos[2]));
+			tr.setRotation(b3Quaternion(gVRController2Orn[0],gVRController2Orn[1],gVRController2Orn[2],gVRController2Orn[3]));
+			tr = tr*b3Transform(b3Quaternion(0,0,-SIMD_HALF_PI),b3MakeVector3(0,0,0));
+			b3Scalar dt = 0.01;
+			m_tinyVrGui->clearTextArea();
+			
+			m_tinyVrGui->grapicalPrintf(line0,0,0,0,0,0,255);
+			m_tinyVrGui->grapicalPrintf(line1,0,16,255,255,255,255);
+
+			m_tinyVrGui->tick(dt,tr);
+		}
+#endif//BT_ENABLE_VR
+	}
 	///debug rendering
 	//m_args[0].m_cs->lock();
 	
@@ -993,38 +1075,6 @@ void PhysicsServerExample::renderScene()
 		B3_PROFILE("Draw Debug HUD");
 		//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
 
-		static int frameCount=0;
-		static btScalar prevTime = m_clock.getTimeSeconds();
-		frameCount++;
-		static char line0[1024];
-		static char line1[1024];
-
-		static btScalar worseFps = 1000000;
-		int numFrames = 200;
-		static int count = 0;
-		count++;
-
-		if (0 == (count & 1))
-		{
-			btScalar curTime = m_clock.getTimeSeconds();
-			btScalar fps = 1. / (curTime - prevTime);
-			prevTime = curTime;
-			if (fps < worseFps)
-			{
-				worseFps = fps;
-			}
-
-			if (count > numFrames)
-			{
-				count = 0;
-				sprintf(line0, "Graphics FPS (worse) = %f, frame %d", worseFps, frameCount / 2);
-
-				sprintf(line1, "Physics Steps = %d, Drop = %d, time scale=%f, dt %f, Substep %f)", gNumSteps, gDroppedSimulationSteps, simTimeScalingFactor,gDtInSec, gSubStep);
-				gDroppedSimulationSteps = 0;
-
-				worseFps = 1000000;
-			}
-		}
 
 		float pos[4];
 		m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);

examples/SharedMemory/premake4.lua

@@ -231,6 +231,9 @@ if os.is("Windows") then
 					"../ExampleBrowser/OpenGLGuiHelper.cpp",
 					"../ExampleBrowser/GL_ShapeDrawer.cpp",
 					"../ExampleBrowser/CollisionShape2TriangleMesh.cpp",
+					"../RenderingExamples/TinyVRGui.cpp",
+					"../RenderingExamples/TimeSeriesCanvas.cpp",
+					"../RenderingExamples/TimeSeriesFontData.cpp",
 					"../ThirdPartyLibs/openvr/samples/shared/lodepng.cpp",
 					"../ThirdPartyLibs/openvr/samples/shared/lodepng.h",
 					"../ThirdPartyLibs/openvr/samples/shared/Matrices.cpp",