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

Improve rendering performance. OpenVR experience is smooth now.
commit needs a bit more testing before pushing in main repo.

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -108,7 +108,8 @@ struct BulletErrorLogger : public ErrorLogger
 bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 {
 
-	
+	if (strlen(fileName)==0)
+        return false;
 
 //int argc=0;
 	char relativeFileName[1024];
@@ -132,7 +133,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 
 
         std::fstream xml_file(relativeFileName, std::fstream::in);
-        while ( xml_file.good() )
+        while ( xml_file.good())
         {
             std::string line;
             std::getline( xml_file, line);
@@ -969,16 +970,17 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
 //		graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
 		//graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
 		
-		CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
+		//CommonRenderInterface* renderer = m_data->m_guiHelper->getRenderInterface();
 		
-		if (renderer)
+		if (1)
 		{
 			int textureIndex = -1;
 			if (textures.size())
 			{
-				textureIndex = renderer->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
+				
+				textureIndex = m_data->m_guiHelper->registerTexture(textures[0].textureData,textures[0].m_width,textures[0].m_height);
 			}
-			graphicsIndex = renderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
+			graphicsIndex = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(),B3_GL_TRIANGLES,textureIndex);
 			
 		}
 	}

examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp

@@ -65,7 +65,8 @@ btAlignedObjectArray<std::string> gFileNameArray;
 struct ImportUrdfInternalData
 {
     ImportUrdfInternalData()
-    :m_numMotors(0)
+    :m_numMotors(0),
+    m_mb(0)
     {
 		for (int i=0;i<MAX_NUM_MOTORS;i++)
 		{
@@ -74,10 +75,13 @@ struct ImportUrdfInternalData
 		}
     }
 
+    
     btScalar m_motorTargetVelocities[MAX_NUM_MOTORS];
     btMultiBodyJointMotor* m_jointMotors [MAX_NUM_MOTORS];
 	btGeneric6DofSpring2Constraint* m_generic6DofJointMotors [MAX_NUM_MOTORS];
     int m_numMotors;
+    btMultiBody* m_mb;
+    btRigidBody* m_rb;
 
 };
 
@@ -223,7 +227,6 @@ void ImportUrdfSetup::initPhysics()
 		{
 
 
-			btMultiBody* mb = 0;
 
 
 			//todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
@@ -232,8 +235,10 @@ void ImportUrdfSetup::initPhysics()
 			MyMultiBodyCreator creation(m_guiHelper);
 
 			ConvertURDF2Bullet(u2b,creation, identityTrans,m_dynamicsWorld,m_useMultiBody,u2b.getPathPrefix());
-			mb = creation.getBulletMultiBody();
-
+			m_data->m_rb = creation.getRigidBody();
+			m_data->m_mb = creation.getBulletMultiBody();
+			btMultiBody* mb = m_data->m_mb;
+            
 			if (m_useMultiBody && mb )
 			{
 				std::string*   name = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
@@ -337,7 +342,7 @@ void ImportUrdfSetup::initPhysics()
 
 
 
-		bool createGround=true;
+		bool createGround=false;
 		if (createGround)
 		{
 			btVector3 groundHalfExtents(20,20,20);
@@ -357,8 +362,7 @@ void ImportUrdfSetup::initPhysics()
 			m_guiHelper->createRigidBodyGraphicsObject(body,color);
 		}
 
-		///this extra stepSimulation call makes sure that all the btMultibody transforms are properly propagates.
-		m_dynamicsWorld->stepSimulation(1. / 240., 0);// 1., 10, 1. / 240.);
+		
 	}
 
 #ifdef TEST_MULTIBODY_SERIALIZATION

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp

@@ -13,6 +13,7 @@
 
 MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
 	:m_bulletMultiBody(0),
+	m_rigidBody(0),
 m_guiHelper(guiHelper)
 {
 }
@@ -31,10 +32,10 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
 {
     btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
     rbci.m_startWorldTransform = initialWorldTrans;
-    btRigidBody* body = new btRigidBody(rbci);
-	body->forceActivationState(DISABLE_DEACTIVATION);
+    m_rigidBody = new btRigidBody(rbci);
+	m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
 	
-    return body;
+    return m_rigidBody;
 }
     
 class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider(int /*urdfLinkIndex*/, int mbLinkIndex, btMultiBody* multiBody) 

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h

@@ -24,6 +24,7 @@ class MyMultiBodyCreator : public MultiBodyCreationInterface
 protected:
 
 	btMultiBody* m_bulletMultiBody;
+	btRigidBody* m_rigidBody;
     
 	struct GUIHelperInterface* m_guiHelper;
 
@@ -62,6 +63,10 @@ public:
     virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
 
 	btMultiBody* getBulletMultiBody();
+	btRigidBody* getRigidBody()
+	{
+	    return m_rigidBody;
+    }
 	
 	int	getNum6DofConstraints() const
 	{