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add python dumpLog.py utility to view log files created using 'startStateLogging'

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don't enable <CTRL> for hotkeys yet
add some more profile markers
log objectId and linkIndex as signed int ('i') and not unsigned int 'I'
fix issue in startStateLogging: number of parameters was wrong
This commit is contained in:
Erwin Coumans
2017-04-12 15:02:47 -07:00
parent f73b54e4ab
commit 5158c1ae98
12 changed files with 158 additions and 25 deletions
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7
examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
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@@ -10,7 +10,7 @@
bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string& fileName, b3ImportMeshData& meshData)
{
B3_PROFILE("loadAndRegisterMeshFromFileInternal");
meshData.m_gfxShape = 0;
meshData.m_textureImage = 0;
meshData.m_textureHeight = 0;
@@ -26,7 +26,10 @@ bool b3ImportMeshUtility::loadAndRegisterMeshFromFileInternal(const std::string&
btVector3 shift(0,0,0);
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
{
B3_PROFILE("tinyobj::LoadObj");
std::string err = tinyobj::LoadObj(shapes, relativeFileName, pathPrefix);
}
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);

15
examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
View File

@@ -9,9 +9,16 @@
GLInstanceGraphicsShape* LoadMeshFromObj(const char* relativeFileName, const char* materialPrefixPath)
{
B3_PROFILE("LoadMeshFromObj");
std::vector<tinyobj::shape_t> shapes;
std::string err = tinyobj::LoadObj(shapes, relativeFileName, materialPrefixPath);
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
return gfxShape;
{
B3_PROFILE("tinyobj::LoadObj2");
std::string err = tinyobj::LoadObj(shapes, relativeFileName, materialPrefixPath);
}
{
B3_PROFILE("btgCreateGraphicsShapeFromWavefrontObj");
GLInstanceGraphicsShape* gfxShape = btgCreateGraphicsShapeFromWavefrontObj(shapes);
return gfxShape;
}
}

25
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@@ -421,6 +421,7 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
{
B3_PROFILE("createConvexHullFromShapes");
btCompoundShape* compound = new btCompoundShape();
compound->setMargin(gUrdfDefaultCollisionMargin);
@@ -633,6 +634,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
case UrdfGeometry::FILE_OBJ:
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
glmesh = LoadMeshFromObj(collision->m_geometry.m_meshFileName.c_str(), 0);
}
else
@@ -744,16 +746,23 @@ upAxisMat.setIdentity();
{
BT_PROFILE("convert trimesh");
btTriangleMesh* meshInterface = new btTriangleMesh();
for (int i=0; i<glmesh->m_numIndices/3; i++)
{
const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
meshInterface->addTriangle(v0,v1,v2);
BT_PROFILE("convert vertices");
for (int i=0; i<glmesh->m_numIndices/3; i++)
{
const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
meshInterface->addTriangle(v0,v1,v2);
}
}
{
BT_PROFILE("create btBvhTriangleMeshShape");
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
shape = trimesh;
}
btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
shape = trimesh;
} else
{