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fix shadowmap crash on some Intel GPUs, see https://github.com/bulletphysics/bullet3/issues/4

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remove targetdir from all libraries in premake, so it is much easier to create a separate folder for all binary+lib
transmit the serialized btMultiBody data back from server to client, after the server loads a URDF file. This includes base+link+joint names
tweak the serialization routines, so it is easier to skip pointers and to serialize directly to a shared memory buffer
also tweak the serialization code to allow to process data without 'DNA' schema data (assuming file-DNA = memory DNA)
This commit is contained in:
erwincoumans
2015-07-10 22:20:06 -07:00
parent f6f76901fd
commit 6c9ce344ea
35 changed files with 340 additions and 120 deletions
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26
examples/OpenGLWindow/GLInstancingRenderer.cpp
View File

@@ -1325,7 +1325,33 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
glBindTexture(GL_TEXTURE_2D,m_data->m_shadowTexture);
//glTexImage2D(GL_TEXTURE_2D,0,GL_DEPTH_COMPONENT16,m_screenWidth,m_screenHeight,0,GL_DEPTH_COMPONENT,GL_FLOAT,0);
//glTexImage2D(GL_TEXTURE_2D,0,GL_DEPTH_COMPONENT32,m_screenWidth,m_screenHeight,0,GL_DEPTH_COMPONENT,GL_FLOAT,0);
#ifdef OLD_SHADOWMAP_INIT
glTexImage2D(GL_TEXTURE_2D, 0,GL_DEPTH_COMPONENT16, shadowMapWidth, shadowMapHeight, 0,GL_DEPTH_COMPONENT, GL_FLOAT, 0);
#else//OLD_SHADOWMAP_INIT
//Reduce size of shadowMap if glTexImage2D call fails as may happen in some cases
//https://github.com/bulletphysics/bullet3/issues/40
int size;
glGetIntegerv(GL_MAX_TEXTURE_SIZE, &size);
if (size < shadowMapWidth){
shadowMapWidth = size;
}
if (size < shadowMapHeight){
shadowMapHeight = size;
}
GLuint err;
do {
glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT16,
shadowMapWidth, shadowMapHeight,
0, GL_DEPTH_COMPONENT, GL_FLOAT, 0);
err = glGetError();
if (err!=GL_NO_ERROR){
shadowMapHeight >>= 1;
shadowMapWidth >>= 1;
}
} while (err != GL_NO_ERROR && shadowMapWidth > 0);
#endif//OLD_SHADOWMAP_INIT
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);

59
examples/SharedMemory/PhysicsClient.cpp
View File

@@ -7,6 +7,7 @@
#include "SharedMemoryCommon.h"
#include "../CommonInterfaces/CommonParameterInterface.h"
#include "../Utils/b3ResourcePath.h"
#include "../Extras/Serialize/BulletFileLoader/btBulletFile.h"
class PhysicsClient : public SharedMemoryCommon
{
@@ -181,6 +182,57 @@ void PhysicsClient::processServerCommands()
{
m_serverLoadUrdfOK = true;
b3Printf("Server loading the URDF OK\n");
if (serverCmd.m_dataStreamArguments.m_streamChunkLength>0)
{
bParse::btBulletFile* bf = new bParse::btBulletFile(this->m_testBlock1->m_bulletStreamDataServerToClient,serverCmd.m_dataStreamArguments.m_streamChunkLength);
bf->setFileDNAisMemoryDNA();
bf->parse(false);
for (int i=0;i<bf->m_multiBodies.size();i++)
{
int flag = bf->getFlags();
if ((flag&bParse::FD_DOUBLE_PRECISION)!=0)
{
btMultiBodyDoubleData* mb = (btMultiBodyDoubleData*)bf->m_multiBodies[i];
if (mb->m_baseName)
{
b3Printf("mb->m_baseName = %s\n",mb->m_baseName);
}
for (int link=0;link<mb->m_numLinks;link++)
{
if (mb->m_links[link].m_linkName)
{
b3Printf("mb->m_links[%d].m_linkName = %s\n",link,mb->m_links[link].m_linkName);
}
if (mb->m_links[link].m_jointName)
{
b3Printf("mb->m_links[%d].m_jointName = %s\n",link,mb->m_links[link].m_jointName);
}
}
} else
{
btMultiBodyFloatData* mb = (btMultiBodyFloatData*) bf->m_multiBodies[i];
if (mb->m_baseName)
{
b3Printf("mb->m_baseName = %s\n",mb->m_baseName);
}
for (int link=0;link<mb->m_numLinks;link++)
{
if (mb->m_links[link].m_linkName)
{
b3Printf("mb->m_links[%d].m_linkName = %s\n",link,mb->m_links[link].m_linkName);
}
b3Printf("link [%d] type = %d",link, mb->m_links[link].m_jointType);
if (mb->m_links[link].m_jointName)
{
b3Printf("mb->m_links[%d].m_jointName = %s\n",link,mb->m_links[link].m_jointName);
}
}
}
}
printf("ok!\n");
}
break;
}
case CMD_STEP_FORWARD_SIMULATION_COMPLETED:
@@ -196,10 +248,17 @@ void PhysicsClient::processServerCommands()
case CMD_BULLET_DATA_STREAM_RECEIVED_COMPLETED:
{
b3Printf("Server received bullet data stream OK\n");
break;
}
case CMD_BULLET_DATA_STREAM_RECEIVED_FAILED:
{
b3Printf("Server failed receiving bullet data stream\n");
break;
}

59
examples/SharedMemory/PhysicsServer.cpp
View File

@@ -1,4 +1,6 @@
#include "PhysicsServer.h"
#include "PosixSharedMemory.h"
@@ -10,7 +12,16 @@
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
#include "SharedMemoryCommon.h"
const char* blaatnaam = "basename";
struct UrdfLinkNameMapUtil
{
btMultiBody* m_mb;
btDefaultSerializer* m_memSerializer;
UrdfLinkNameMapUtil():m_mb(0),m_memSerializer(0)
{
}
};
class PhysicsServer : public SharedMemoryCommon
{
@@ -19,7 +30,8 @@ class PhysicsServer : public SharedMemoryCommon
btAlignedObjectArray<btJointFeedback*> m_jointFeedbacks;
btAlignedObjectArray<btBulletWorldImporter*> m_worldImporters;
btAlignedObjectArray<UrdfLinkNameMapUtil*> m_urdfLinkNameMapper;
btAlignedObjectArray<std::string*> m_strings;
bool m_wantsShutdown;
public:
@@ -155,6 +167,44 @@ bool PhysicsServer::loadUrdf(const char* fileName, const btVector3& pos, const b
{
if (mb)
{
UrdfLinkNameMapUtil* util = new UrdfLinkNameMapUtil;
m_urdfLinkNameMapper.push_back(util);
util->m_mb = mb;
util->m_memSerializer = new btDefaultSerializer(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE,(unsigned char*)m_testBlock1->m_bulletStreamDataServerToClient);
//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
util->m_memSerializer->m_skipPointers.insert(mb->getBaseCollider(),0);
for (int i=0;i<mb->getNumLinks();i++)
{
//disable serialization of the collision objects
util->m_memSerializer->m_skipPointers.insert(mb->getLink(i).m_collider,0);
int urdfLinkIndex = creation.m_mb2urdfLink[i];
std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());
m_strings.push_back(linkName);
util->m_memSerializer->registerNameForPointer(linkName->c_str(),linkName->c_str());
mb->getLink(i).m_linkName = linkName->c_str();
std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str());
m_strings.push_back(jointName);
util->m_memSerializer->registerNameForPointer(jointName->c_str(),jointName->c_str());
mb->getLink(i).m_jointName = jointName->c_str();
}
std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
m_strings.push_back(baseName);
util->m_memSerializer->registerNameForPointer(baseName->c_str(),baseName->c_str());
mb->setBaseName(baseName->c_str());
util->m_memSerializer->insertHeader();
int len = mb->calculateSerializeBufferSize();
btChunk* chunk = util->m_memSerializer->allocate(len,1);
const char* structType = mb->serialize(chunk->m_oldPtr, util->m_memSerializer);
util->m_memSerializer->finalizeChunk(chunk,structType,BT_MULTIBODY_CODE,mb);
return true;
} else
{
@@ -236,6 +286,10 @@ void PhysicsServer::stepSimulation(float deltaTime)
if (completedOk)
{
if (this->m_urdfLinkNameMapper.size())
{
serverCmd.m_dataStreamArguments.m_streamChunkLength = m_urdfLinkNameMapper.at(m_urdfLinkNameMapper.size()-1)->m_memSerializer->getCurrentBufferSize();
}
serverCmd.m_type =CMD_URDF_LOADING_COMPLETED;
} else
{
@@ -243,6 +297,9 @@ void PhysicsServer::stepSimulation(float deltaTime)
}
m_testBlock1->m_numServerCommands++;
break;
}
case CMD_REQUEST_ACTUAL_STATE: