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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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18
examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
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@@ -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