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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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7
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -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)