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don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps

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optimize gpu upload (use glBufferSubData instead of glMapBuffer
Avoid checking char array against zero.
This commit is contained in:
erwin coumans
2016-10-14 15:06:09 -07:00
parent 4ebc327151
commit 29f3afe2a4
23 changed files with 616 additions and 83 deletions
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12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -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));