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Physics runs in a separate thread from rendering in PhysicsServerExample (preliminary)

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Improve rendering performance. OpenVR experience is smooth now.
commit needs a bit more testing before pushing in main repo.
This commit is contained in:
erwin coumans
2016-07-07 19:24:44 -07:00
parent bc5a756c36
commit 60d2b99151
28 changed files with 978 additions and 188 deletions
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52
data/sphere2.urdf
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@@ -9,7 +9,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
</geometry>
</visual>
<collision>
@@ -19,55 +19,5 @@
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="fixed">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 1.0"/>
</joint>
<link name="childB">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<geometry>
<sphere radius="0.5"/>
</geometry>
</collision>
</link>
<joint name="joint_childA_childB" type="continuous">
<parent link="childA"/>
<child link="childB"/>
<axis xyz="0 1 0"/>
<origin xyz="0 0 0.5"/>
</joint>
</robot>