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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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1
examples/BasicDemo/BasicExample.cpp
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@@ -14,7 +14,6 @@ subject to the following restrictions:
*/
#include "BasicExample.h"
#include "btBulletDynamicsCommon.h"

10
examples/CommonInterfaces/CommonRigidBodyBase.h
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@@ -446,9 +446,15 @@ struct CommonRigidBodyBase : public CommonExampleInterface
virtual void renderScene()
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
{
m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
}
m_guiHelper->render(m_dynamicsWorld);
{
m_guiHelper->render(m_dynamicsWorld);
}
}
};

8
examples/ExampleBrowser/CMakeLists.txt
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@@ -131,7 +131,7 @@ SET(BulletExampleBrowser_SRCS
../SharedMemory/TinyRendererVisualShapeConverter.h
../SharedMemory/IKTrajectoryHelper.cpp
../SharedMemory/IKTrajectoryHelper.h
../RenderingExamples/TinyRendererSetup.cpp
../SharedMemory/PhysicsServer.cpp
../SharedMemory/PhysicsClientSharedMemory.cpp
../SharedMemory/PhysicsClient.cpp
@@ -208,10 +208,16 @@ SET(BulletExampleBrowser_SRCS
../MultiThreading/b3PosixThreadSupport.cpp
../MultiThreading/b3Win32ThreadSupport.cpp
../MultiThreading/b3ThreadSupportInterface.cpp
../RenderingExamples/TinyRendererSetup.cpp
../RenderingExamples/TimeSeriesCanvas.cpp
../RenderingExamples/TimeSeriesCanvas.h
../RenderingExamples/TimeSeriesFontData.cpp
../RenderingExamples/TimeSeriesFontData.h
../RenderingExamples/DynamicTexturedCubeDemo.cpp
../RenderingExamples/DynamicTexturedCubeDemo.h
../RenderingExamples/TinyVRGui.cpp
../RenderingExamples/TinyVRGui.h
../RoboticsLearning/GripperGraspExample.cpp
../RoboticsLearning/GripperGraspExample.h
../RoboticsLearning/b3RobotSimAPI.cpp

5
examples/ExampleBrowser/ExampleEntries.cpp
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@@ -6,7 +6,7 @@
#include "../RenderingExamples/CoordinateSystemDemo.h"
#include "../RenderingExamples/RaytracerSetup.h"
#include "../RenderingExamples/TinyRendererSetup.h"
#include "../RenderingExamples/DynamicTexturedCubeDemo.h"
#include "../ForkLift/ForkLiftDemo.h"
#include "../BasicDemo/BasicExample.h"
#include "../Planar2D/Planar2D.h"
@@ -290,6 +290,9 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc),
ExampleEntry(1,"TinyRenderer", "Very small software renderer.", TinyRendererCreateFunc),
ExampleEntry(1,"Dynamic Texture", "Dynamic updated textured applied to a cube.", DynamicTexturedCubeDemoCreateFunc),
//Extended Tutorials Added by Mobeen
ExampleEntry(0,"Extended Tutorials"),

13
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -1087,7 +1087,7 @@ bool OpenGLExampleBrowser::requestedExit()
void OpenGLExampleBrowser::update(float deltaTime)
{
B3_PROFILE("OpenGLExampleBrowser::update");
assert(glGetError()==GL_NO_ERROR);
s_instancingRenderer->init();
DrawGridData dg;
@@ -1139,9 +1139,11 @@ void OpenGLExampleBrowser::update(float deltaTime)
singleStepSimulation = false;
//printf("---------------------------------------------------\n");
//printf("Framecount = %d\n",frameCount);
B3_PROFILE("sCurrentDemo->stepSimulation");
if (gFixedTimeStep>0)
{
sCurrentDemo->stepSimulation(gFixedTimeStep);
} else
{
@@ -1167,7 +1169,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
sCurrentDemo->renderScene();
}
{
B3_PROFILE("physicsDebugDraw");
glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
}
@@ -1179,6 +1181,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
{
B3_PROFILE("setStatusBarMessage");
char msg[1024];
float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
@@ -1194,6 +1197,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
static int toggle = 1;
if (renderGui)
{
B3_PROFILE("renderGui");
// if (!pauseSimulation)
// processProfileData(s_profWindow,false);
@@ -1202,7 +1206,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
saveOpenGLState(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
}
BT_PROFILE("Draw Gwen GUI");
if (m_internalData->m_gui)
{
m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
@@ -1237,6 +1241,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
if (gui2)
{
B3_PROFILE("forceUpdateScrollBars");
gui2->forceUpdateScrollBars();
}

23
examples/ExampleBrowser/OpenGLGuiHelper.cpp
View File

@@ -289,18 +289,25 @@ void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
return;
int numCollisionObjects = rbWorld->getNumCollisionObjects();
for (int i = 0; i<numCollisionObjects; i++)
{
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj->getUserIndex();
if (index >= 0)
B3_PROFILE("write all InstanceTransformToCPU");
for (int i = 0; i<numCollisionObjects; i++)
{
m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
B3_PROFILE("writeSingleInstanceTransformToCPU");
btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
btVector3 pos = colObj->getWorldTransform().getOrigin();
btQuaternion orn = colObj->getWorldTransform().getRotation();
int index = colObj->getUserIndex();
if (index >= 0)
{
m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
}
}
}
m_data->m_glApp->m_renderer->writeTransforms();
{
B3_PROFILE("writeTransforms");
m_data->m_glApp->m_renderer->writeTransforms();
}
}

1
examples/ExampleBrowser/premake4.lua
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@@ -54,7 +54,6 @@ project "App_BulletExampleBrowser"
"../TinyRenderer/tgaimage.cpp",
"../TinyRenderer/our_gl.cpp",
"../TinyRenderer/TinyRenderer.cpp",
"../RenderingExamples/TinyRendererSetup.cpp",
"../SharedMemory/IKTrajectoryHelper.cpp",
"../SharedMemory/IKTrajectoryHelper.h",
"../SharedMemory/PhysicsClientC_API.cpp",

62
examples/OpenGLWindow/GLInstancingRenderer.cpp
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@@ -413,17 +413,32 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
void GLInstancingRenderer::writeTransforms()
{
b3Assert(glGetError() ==GL_NO_ERROR);
{
B3_PROFILE("b3Assert(glGetError() 1");
b3Assert(glGetError() ==GL_NO_ERROR);
}
{
B3_PROFILE("glBindBuffer");
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
}
{
B3_PROFILE("glFlush()");
//without the flush, the glBufferSubData can spike to really slow (seconds slow)
glFlush();
}
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
//glFlush();
b3Assert(glGetError() ==GL_NO_ERROR);
{
B3_PROFILE("b3Assert(glGetError() 2");
b3Assert(glGetError() ==GL_NO_ERROR);
}
#ifdef B3_DEBUG
{
//B3_PROFILE("m_data->m_totalNumInstances == totalNumInstances");
int totalNumInstances= 0;
for (int k=0;k<m_graphicsInstances.size();k++)
{
@@ -440,14 +455,29 @@ void GLInstancingRenderer::writeTransforms()
// int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
#if 1
{
// printf("m_data->m_totalNumInstances = %d\n", m_data->m_totalNumInstances);
{
B3_PROFILE("glBufferSubData pos");
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
&m_data->m_instance_positions_ptr[0]);
}
{
B3_PROFILE("glBufferSubData orn");
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
&m_data->m_instance_quaternion_ptr[0]);
}
{
B3_PROFILE("glBufferSubData color");
glBufferSubData( GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
&m_data->m_instance_colors_ptr[0]);
}
{
B3_PROFILE("glBufferSubData scale");
glBufferSubData( GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
&m_data->m_instance_scale_ptr[0]);
}
}
#else
char* orgBase = (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
@@ -517,9 +547,15 @@ void GLInstancingRenderer::writeTransforms()
#endif
glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
{
B3_PROFILE("glBindBuffer 2");
glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
}
b3Assert(glGetError() ==GL_NO_ERROR);
{
B3_PROFILE("b3Assert(glGetError() 4");
b3Assert(glGetError() ==GL_NO_ERROR);
}
}
@@ -686,9 +722,13 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
char* dest= (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
int vertexStrideInBytes = 9*sizeof(float);
int sz = numvertices*vertexStrideInBytes;
#if 0
char* dest= (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
#ifdef B3_DEBUG
int totalUsed = vertexStrideInBytes*gfxObj->m_vertexArrayOffset+sz;
b3Assert(totalUsed<m_data->m_maxShapeCapacityInBytes);
@@ -696,6 +736,10 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
memcpy(dest+vertexStrideInBytes*gfxObj->m_vertexArrayOffset,vertices,sz);
glUnmapBuffer( GL_ARRAY_BUFFER);
#else
glBufferSubData( GL_ARRAY_BUFFER,vertexStrideInBytes*gfxObj->m_vertexArrayOffset,sz,
vertices);
#endif
glGenBuffers(1, &gfxObj->m_index_vbo);
@@ -1465,7 +1509,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
#endif//OLD_SHADOWMAP_INIT
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);

6
examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl
View File

@@ -36,11 +36,9 @@ void main(void)
//float bias = 0.005f;
float bias = 0.0001*tan(acos(intensity));
bias = clamp(bias, 0,0.01);
float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));
float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));
intensity = 0.7*intensity + 0.3*intensity*visibility;

5
examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h
View File

@@ -30,9 +30,8 @@ static const char* useShadowMapInstancingFragmentShader= \
" \n"
" //float bias = 0.005f;\n"
" \n"
" float bias = 0.0001*tan(acos(intensity));\n"
" bias = clamp(bias, 0,0.01);\n"
" float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));\n"
" \n"
" float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));\n"
" \n"
" intensity = 0.7*intensity + 0.3*intensity*visibility;\n"
" \n"

1
examples/OpenGLWindow/SimpleOpenGL3App.cpp
View File

@@ -173,6 +173,7 @@ SimpleOpenGL3App::SimpleOpenGL3App( const char* title, int width,int height, boo
b3Assert(glGetError() ==GL_NO_ERROR);
m_instancingRenderer = new GLInstancingRenderer(128*1024,128*1024*1024);
m_primRenderer = new GLPrimitiveRenderer(width,height);
m_renderer = m_instancingRenderer ;

152
examples/RenderingExamples/DynamicTexturedCubeDemo.cpp Normal file
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@@ -0,0 +1,152 @@
#include "DynamicTexturedCubeDemo.h"
#include "Bullet3Common/b3Logging.h"
#include "../CommonInterfaces/CommonGraphicsAppInterface.h"
#include "Bullet3Common/b3Quaternion.h"
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonExampleInterface.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "GwenGuiSupport/GraphingTexture.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "../RenderingExamples/TimeSeriesCanvas.h"
#include "../RenderingExamples/TimeSeriesFontData.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "TinyVRGui.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
class DynamicTexturedCubeDemo : public CommonExampleInterface
{
CommonGraphicsApp* m_app;
float m_x;
float m_y;
float m_z;
b3AlignedObjectArray<int> m_movingInstances;
TinyVRGui* m_tinyVrGUI;
enum
{
numCubesX = 1,
numCubesY = 1
};
public:
DynamicTexturedCubeDemo(CommonGraphicsApp* app)
:m_app(app),
m_x(0),
m_y(0),
m_z(0),
m_tinyVrGUI(0)
{
m_app->setUpAxis(2);
{
b3Vector3 extents=b3MakeVector3(100,100,100);
extents[m_app->getUpAxis()]=1;
int xres = 20;
int yres = 20;
b3Vector4 color0=b3MakeVector4(0.1, 0.1, 0.5,1);
b3Vector4 color1=b3MakeVector4(0.6, 0.6, 0.6,1);
m_app->registerGrid(xres, yres, color0, color1);
}
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,m_app->m_renderer);
m_tinyVrGUI->init();
m_app->m_renderer->writeTransforms();
}
virtual ~DynamicTexturedCubeDemo()
{
delete m_tinyVrGUI;
m_app->m_renderer->enableBlend(false);
}
virtual void physicsDebugDraw(int debugDrawMode)
{
}
virtual void initPhysics()
{
}
virtual void exitPhysics()
{
}
virtual void stepSimulation(float deltaTime)
{
static b3Transform tr = b3Transform::getIdentity();
static b3Scalar t = 0.f;
t+=deltaTime;
tr.setOrigin(b3MakeVector3(0.,0.,2.)+b3MakeVector3(0.,0.,0.02*b3Sin(t)));
m_tinyVrGUI->tick(deltaTime,tr);
m_app->m_renderer->writeTransforms();
}
virtual void renderScene()
{
m_app->m_renderer->renderScene();
}
virtual void physicsDebugDraw()
{
}
virtual bool mouseMoveCallback(float x,float y)
{
return false;
}
virtual bool mouseButtonCallback(int button, int state, float x, float y)
{
return false;
}
virtual bool keyboardCallback(int key, int state)
{
return false;
}
virtual void resetCamera()
{
float dist = 1.15;
float pitch = 396;
float yaw = 33.7;
float targetPos[3]={-0.5,0.7,1.45};
if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
{
m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
}
}
};
class CommonExampleInterface* DynamicTexturedCubeDemoCreateFunc(struct CommonExampleOptions& options)
{
return new DynamicTexturedCubeDemo(options.m_guiHelper->getAppInterface());
}

6
examples/RenderingExamples/DynamicTexturedCubeDemo.h Normal file
View File

@@ -0,0 +1,6 @@
#ifndef DYNAMIC_TEXTURED_CUBE_DEMO_H
#define DYNAMIC_TEXTURED_CUBE_DEMO_H
class CommonExampleInterface* DynamicTexturedCubeDemoCreateFunc(struct CommonExampleOptions& options);
#endif //DYNAMIC_TEXTURED_CUBE_DEMO_H

23
examples/RenderingExamples/TimeSeriesCanvas.cpp
View File

@@ -104,7 +104,7 @@ void TimeSeriesCanvas::addDataSource(const char* dataSourceLabel, unsigned char
m_internalData->m_dataSources.push_back(dataSource);
}
void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime)
void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas)
{
if (0==m_internalData->m_canvasInterface)
return;
@@ -113,20 +113,23 @@ void TimeSeriesCanvas::setupTimeSeries(float yScale, int ticksPerSecond, int sta
m_internalData->m_ticksPerSecond = ticksPerSecond;
m_internalData->m_yScale = yScale;
m_internalData->m_dataSources.clear();
for (int i=0;i<m_internalData->m_width;i++)
if (clearCanvas)
{
for (int j=0;j<m_internalData->m_height;j++)
for (int i=0;i<m_internalData->m_width;i++)
{
for (int j=0;j<m_internalData->m_height;j++)
{
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i,j,
m_internalData->m_backgroundRed,
m_internalData->m_backgroundGreen,
m_internalData->m_backgroundBlue,
m_internalData->m_backgroundAlpha);
m_internalData->m_canvasInterface->setPixel(m_internalData->m_canvasIndex,i,j,
m_internalData->m_backgroundRed,
m_internalData->m_backgroundGreen,
m_internalData->m_backgroundBlue,
m_internalData->m_backgroundAlpha);
}
}
}
float zeroPixelCoord = m_internalData->m_zero;
float pixelsPerUnit = m_internalData->m_pixelsPerUnit;
@@ -207,7 +210,7 @@ void TimeSeriesCanvas::shift1PixelToLeft()
int countdown = resetVal;
//shift pixture one pixel to the left
for (int j=0;j<m_internalData->m_height-48;j++)
for (int j=50;j<m_internalData->m_height-48;j++)
{
for (int i=40;i<this->m_internalData->m_width;i++)
{

6
examples/RenderingExamples/TimeSeriesCanvas.h
View File

@@ -6,17 +6,17 @@ class TimeSeriesCanvas
protected:
struct TimeSeriesInternalData* m_internalData;
void shift1PixelToLeft();
void grapicalPrintf(const char* str, void* fontData, int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
public:
TimeSeriesCanvas(struct Common2dCanvasInterface* canvasInterface, int width, int height, const char* windowTitle);
virtual ~TimeSeriesCanvas();
void setupTimeSeries(float yScale, int ticksPerSecond, int startTime);
void setupTimeSeries(float yScale, int ticksPerSecond, int startTime, bool clearCanvas=true);
void addDataSource(const char* dataSourceLabel, unsigned char red,unsigned char green,unsigned char blue);
void insertDataAtCurrentTime(float value, int dataSourceIndex, bool connectToPrevious);
float getCurrentTime() const;
void grapicalPrintf(const char* str, void* fontData, int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
virtual void nextTick();

218
examples/RenderingExamples/TinyVRGui.cpp Normal file
View File

@@ -0,0 +1,218 @@
#include "TinyVRGui.h"
#include "../CommonInterfaces/CommonGUIHelperInterface.h"
#include "../ExampleBrowser/GwenGuiSupport/GraphingTexture.h"
#include "../CommonInterfaces/Common2dCanvasInterface.h"
#include "../RenderingExamples/TimeSeriesCanvas.h"
#include "../RenderingExamples/TimeSeriesFontData.h"
#include "../Importers/ImportMeshUtility/b3ImportMeshUtility.h"
#include "../OpenGLWindow/GLInstanceGraphicsShape.h"
#include "../CommonInterfaces/CommonRenderInterface.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
struct TestCanvasInterface2 : public Common2dCanvasInterface
{
b3AlignedObjectArray<unsigned char>& m_texelsRGB;
int m_width;
int m_height;
TestCanvasInterface2(b3AlignedObjectArray<unsigned char>& texelsRGB, int width, int height)
:m_width(width),
m_height(height),
m_texelsRGB(texelsRGB)
{
}
virtual ~TestCanvasInterface2()
{}
virtual int createCanvas(const char* canvasName, int width, int height)
{
return 0;
}
virtual void destroyCanvas(int canvasId)
{
}
virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)
{
if (x>=0 && x<m_width && y>=0 && y<m_height)
{
m_texelsRGB[(x+y*m_width)*3+0] = red;
m_texelsRGB[(x+y*m_width)*3+1] = green;
m_texelsRGB[(x+y*m_width)*3+2] = blue;
}
}
virtual void getPixel(int canvasId, int x, int y, unsigned char& red, unsigned char& green,unsigned char& blue, unsigned char& alpha)
{
if (x>=0 && x<m_width && y>=0 && y<m_height)
{
red = m_texelsRGB[(x+y*m_width)*3+0];
green = m_texelsRGB[(x+y*m_width)*3+1];
blue = m_texelsRGB[(x+y*m_width)*3+2];
}
}
virtual void refreshImageData(int canvasId)
{
}
};
struct TinyVRGuiInternalData
{
CommonRenderInterface* m_renderer;
b3AlignedObjectArray<unsigned char> m_texelsRGB;
TestCanvasInterface2* m_testCanvas;
TimeSeriesCanvas* m_timeSeries;
int m_src;
int m_textureId;
int m_gfxObjectId;
TinyVRGuiInternalData()
:m_renderer(0),
m_testCanvas(0),
m_timeSeries(0),
m_src(-1),
m_textureId(-1),
m_gfxObjectId(-1)
{
}
};
TinyVRGui::TinyVRGui(struct ComboBoxParams& params, struct CommonRenderInterface* renderer)
{
m_data = new TinyVRGuiInternalData;
m_data->m_renderer = renderer;
}
TinyVRGui::~TinyVRGui()
{
delete m_data->m_timeSeries;
delete m_data->m_testCanvas;
delete m_data;
}
bool TinyVRGui::init()
{
{
int width = 256;
int height = 256;
m_data->m_texelsRGB.resize(width*height*3);
for (int i=0;i<width;i++)
for (int j=0;j<height;j++)
{
m_data->m_texelsRGB[(i+j*width)*3+0] = 155;
m_data->m_texelsRGB[(i+j*width)*3+1] = 155;
m_data->m_texelsRGB[(i+j*width)*3+2] = 255;
}
m_data->m_testCanvas = new TestCanvasInterface2(m_data->m_texelsRGB,width,height);
m_data->m_timeSeries = new TimeSeriesCanvas(m_data->m_testCanvas,width,height,"time series");
bool clearCanvas = false;
m_data->m_timeSeries->setupTimeSeries(3,100, 0,clearCanvas);
m_data->m_timeSeries->addDataSource("Some sine wave", 255,0,0);
m_data->m_timeSeries->addDataSource("Some cosine wave", 0,255,0);
m_data->m_timeSeries->addDataSource("Delta Time (*10)", 0,0,255);
m_data->m_timeSeries->addDataSource("Tan", 255,0,255);
m_data->m_timeSeries->addDataSource("Some cosine wave2", 255,255,0);
m_data->m_timeSeries->addDataSource("Empty source2", 255,0,255);
m_data->m_textureId = m_data->m_renderer->registerTexture(&m_data->m_texelsRGB[0],width,height);
{
const char* fileName = "cube.obj";//"textured_sphere_smooth.obj";
//fileName = "cube.obj";
int shapeId = -1;
b3ImportMeshData meshData;
if (b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(fileName, meshData))
{
shapeId = m_data->m_renderer->registerShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0],
meshData.m_gfxShape->m_numvertices,
&meshData.m_gfxShape->m_indices->at(0),
meshData.m_gfxShape->m_numIndices,
B3_GL_TRIANGLES,
m_data->m_textureId);
float position[4]={0,0,2,1};
float orn[4]={0,0,0,1};
float color[4]={1,1,1,1};
float scaling[4]={.1,.1,.1,1};
m_data->m_gfxObjectId = m_data->m_renderer->registerGraphicsInstance(shapeId,position,orn,color,scaling);
m_data->m_renderer->writeTransforms();
meshData.m_gfxShape->m_scaling[0] = scaling[0];
meshData.m_gfxShape->m_scaling[1] = scaling[1];
meshData.m_gfxShape->m_scaling[2] = scaling[2];
delete meshData.m_gfxShape;
delete meshData.m_textureImage;
}
}
}
m_data->m_renderer->writeTransforms();
return true;
}
void TinyVRGui::tick(b3Scalar deltaTime, const b3Transform& guiWorldTransform)
{
float time = m_data->m_timeSeries->getCurrentTime();
float v = sinf(time);
m_data->m_timeSeries->insertDataAtCurrentTime(v,0,true);
v = cosf(time);
m_data->m_timeSeries->insertDataAtCurrentTime(v,1,true);
v = tanf(time);
m_data->m_timeSeries->insertDataAtCurrentTime(v,3,true);
m_data->m_timeSeries->insertDataAtCurrentTime(deltaTime*10,2,true);
m_data->m_timeSeries->nextTick();
m_data->m_renderer->updateTexture(m_data->m_textureId,&m_data->m_texelsRGB[0]);
m_data->m_renderer->writeSingleInstanceTransformToCPU(guiWorldTransform.getOrigin(),guiWorldTransform.getRotation(),m_data->m_gfxObjectId);
m_data->m_renderer->writeTransforms();
}
void TinyVRGui::clearTextArea()
{
int width = 256;
int height = 50;
for (int i=0;i<width;i++)
for (int j=0;j<height;j++)
{
m_data->m_texelsRGB[(i+j*width)*3+0] = 155;
m_data->m_texelsRGB[(i+j*width)*3+1] = 155;
m_data->m_texelsRGB[(i+j*width)*3+2] = 255;
}
}
void TinyVRGui::grapicalPrintf(const char* str,int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha)
{
m_data->m_timeSeries->grapicalPrintf(str,sTimeSeriesFontData,rasterposx,rasterposy,red,green,blue,alpha);
}

25
examples/RenderingExamples/TinyVRGui.h Normal file
View File

@@ -0,0 +1,25 @@
#ifndef TINY_VR_GUI_H
#define TINY_VR_GUI_H
#include "Bullet3Common/b3Transform.h"
class TinyVRGui
{
struct TinyVRGuiInternalData* m_data;
public:
TinyVRGui(struct ComboBoxParams& params, struct CommonRenderInterface* renderer);
virtual ~TinyVRGui();
bool init();
void tick(b3Scalar deltaTime, const b3Transform& guiWorldTransform);
void clearTextArea();
void grapicalPrintf(const char* str,int rasterposx,int rasterposy,unsigned char red, unsigned char green, unsigned char blue, unsigned char alpha);
};
#endif //TINY_VR_GUI_H

1
examples/SharedMemory/PhysicsClientExample.cpp
View File

@@ -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"

12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -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));

114
examples/SharedMemory/PhysicsServerExample.cpp
View File

@@ -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);

3
examples/SharedMemory/premake4.lua
View File

@@ -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",

2
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -28,7 +28,7 @@
#include "btMultiBodyJointFeedback.h"
#include "LinearMath/btTransformUtil.h"
#include "LinearMath/btSerializer.h"
#include "Bullet3Common/b3Logging.h"
//#include "Bullet3Common/b3Logging.h"
// #define INCLUDE_GYRO_TERM
///todo: determine if we need these options. If so, make a proper API, otherwise delete those globals

2
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
View File

@@ -1118,7 +1118,7 @@ static void applyJointFeedback(btMultiBodyJacobianData& data, const btMultiBodyS
}
#endif
#include "Bullet3Common/b3Logging.h"
void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolverConstraint& c, btScalar deltaTime)
{
#if 1