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texture caching and geometry caching (PhysX) for much faster loading of many same objects, helps benchmarking/comparison.

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add command-line args for PhysX (numCores=..., solver=tgs, )
This commit is contained in:
erwincoumans
2019-02-21 19:24:18 -08:00
parent 3bf27cf8f2
commit 71b1191947
10 changed files with 220 additions and 117 deletions
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4
examples/SharedMemory/physx/PhysXC_API.cpp
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@@ -4,9 +4,9 @@
#include "PhysXServerCommandProcessor.h"
B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysX()
B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysX(int argc, char* argv[])
{
PhysXServerCommandProcessor* sdk = new PhysXServerCommandProcessor;
PhysXServerCommandProcessor* sdk = new PhysXServerCommandProcessor(argc,argv);
PhysicsDirect* direct = new PhysicsDirect(sdk, true);
bool connected;

2
examples/SharedMemory/physx/PhysXC_API.h
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@@ -10,7 +10,7 @@ extern "C"
{
#endif
B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysX();
B3_SHARED_API b3PhysicsClientHandle b3ConnectPhysX(int argc, char* argv[]);
#ifdef __cplusplus
}

78
examples/SharedMemory/physx/PhysXServerCommandProcessor.cpp
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@@ -9,6 +9,7 @@
#include "Bullet3Common/b3AlignedObjectArray.h"
#include "LinearMath/btMinMax.h"
#include "Bullet3Common/b3FileUtils.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "../../Utils/b3ResourcePath.h"
#include "Bullet3Common/b3ResizablePool.h"
#include "PxPhysicsAPI.h"
@@ -216,16 +217,19 @@ struct PhysXServerCommandProcessorInternalData : public physx::PxSimulationEvent
int m_profileTimingLoggingUid;
int m_stateLoggersUniqueId;
std::string m_profileTimingFileName;
b3CommandLineArgs m_commandLineArgs;
PhysXServerCommandProcessorInternalData(PhysXServerCommandProcessor* sdk)
PhysXServerCommandProcessorInternalData(PhysXServerCommandProcessor* sdk, int argc, char* argv[])
: m_isConnected(false),
m_verboseOutput(false),
m_physicsDeltaTime(1. / 240.),
m_numSimulationSubSteps(0),
m_pluginManager(sdk),
m_profileTimingLoggingUid(-1),
m_stateLoggersUniqueId(1)
m_stateLoggersUniqueId(1),
m_commandLineArgs(argc,argv)
{
m_foundation = NULL;
m_physics = NULL;
m_cooking = NULL;
@@ -246,9 +250,10 @@ struct PhysXServerCommandProcessorInternalData : public physx::PxSimulationEvent
}
};
PhysXServerCommandProcessor::PhysXServerCommandProcessor()
PhysXServerCommandProcessor::PhysXServerCommandProcessor(int argc, char* argv[])
{
m_data = new PhysXServerCommandProcessorInternalData(this);
m_data = new PhysXServerCommandProcessorInternalData(this, argc, argv);
}
PhysXServerCommandProcessor::~PhysXServerCommandProcessor()
@@ -290,25 +295,42 @@ bool PhysXServerCommandProcessor::connect()
m_data->m_physics = PxCreatePhysics(PX_PHYSICS_VERSION, *m_data->m_foundation, physx::PxTolerancesScale(), true, 0);
m_data->m_cooking = PxCreateCooking(PX_PHYSICS_VERSION, *m_data->m_foundation, physx::PxCookingParams(physx::PxTolerancesScale()));
physx::PxU32 numCores = 1;//
physx::PxU32 numCores = 1;
m_data->m_commandLineArgs.GetCmdLineArgument("numCores", numCores);
printf("PhysX numCores=%d\n", numCores);
m_data->m_dispatcher = physx::PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
physx::PxSceneDesc sceneDesc(m_data->m_physics->getTolerancesScale());
sceneDesc.gravity = physx::PxVec3(0.0f, -9.81f, 0.0f);
//todo: add some boolean, to pick solver
sceneDesc.solverType = physx::PxSolverType::eTGS;
//sceneDesc.solverType = physx::PxSolverType::ePGS;
sceneDesc.solverType = physx::PxSolverType::ePGS;
std::string solver;
m_data->m_commandLineArgs.GetCmdLineArgument("solver", solver);
if (solver=="tgs")
{
sceneDesc.solverType = physx::PxSolverType::eTGS;
printf("PhysX using TGS\n");
}
else
{
printf("PhysX using PGS\n");
}
sceneDesc.cpuDispatcher = m_data->m_dispatcher;
//todo: add some boolean, to allow enable/disable of this contact filtering
bool enableContactCallback = false;
m_data->m_commandLineArgs.GetCmdLineArgument("enableContactCallback", enableContactCallback);
if (enableContactCallback)
{
sceneDesc.filterShader = MyPhysXFilter;
sceneDesc.simulationEventCallback = this->m_data;
sceneDesc.contactModifyCallback = this->m_data;
printf("PhysX enableContactCallback\n");
}
else
{
@@ -1203,6 +1225,23 @@ bool PhysXServerCommandProcessor::processRequestContactpointInformationCommand(c
return true;
}
bool PhysXServerCommandProcessor::processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
return false;
}
bool PhysXServerCommandProcessor::processSetAdditionalSearchPathCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_SET_ADDITIONAL_SEARCH_PATH");
b3ResourcePath::setAdditionalSearchPath(clientCmd.m_searchPathArgs.m_path);
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
return hasStatus;
}
bool PhysXServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
// BT_PROFILE("processCommand");
@@ -1310,6 +1349,17 @@ bool PhysXServerCommandProcessor::processCommand(const struct SharedMemoryComman
break;
}
case CMD_CREATE_COLLISION_SHAPE:
{
hasStatus = processCreateCollisionShapeCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_SET_ADDITIONAL_SEARCH_PATH:
{
hasStatus = processSetAdditionalSearchPathCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
#if 0
case CMD_SET_VR_CAMERA_STATE:
{
@@ -1365,11 +1415,7 @@ bool PhysXServerCommandProcessor::processCommand(const struct SharedMemoryComman
hasStatus = processLoadSDFCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_COLLISION_SHAPE:
{
hasStatus = processCreateCollisionShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_VISUAL_SHAPE:
{
hasStatus = processCreateVisualShapeCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
@@ -1380,11 +1426,7 @@ bool PhysXServerCommandProcessor::processCommand(const struct SharedMemoryComman
hasStatus = processCreateMultiBodyCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_SET_ADDITIONAL_SEARCH_PATH:
{
hasStatus = processSetAdditionalSearchPathCommand(clientCmd,serverStatusOut,bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_LOAD_MJCF:
{

4
examples/SharedMemory/physx/PhysXServerCommandProcessor.h
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@@ -21,13 +21,15 @@ class PhysXServerCommandProcessor : public PhysicsCommandProcessorInterface
bool processChangeDynamicsInfoCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestPhysicsSimulationParametersCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestContactpointInformationCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSetAdditionalSearchPathCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
void resetSimulation();
bool processStateLoggingCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
public:
PhysXServerCommandProcessor();
PhysXServerCommandProcessor(int argc, char* argv[]);
virtual ~PhysXServerCommandProcessor();

17
examples/SharedMemory/physx/URDF2PhysX.cpp
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@@ -294,6 +294,13 @@ int convertLinkPhysXShapes(const URDFImporterInterface& u2b, URDF2PhysXCachedDat
btScalar radius = collision->m_geometry.m_capsuleRadius;
btScalar height = collision->m_geometry.m_capsuleHeight;
//static PxShape* createExclusiveShape(PxRigidActor& actor, const PxGeometry& geometry, PxMaterial*const* materials, PxU16 materialCount,
// PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
//{
physx::PxShapeFlags shapeFlags = physx::PxShapeFlag::eVISUALIZATION | physx::PxShapeFlag::eSCENE_QUERY_SHAPE | physx::PxShapeFlag::eSIMULATION_SHAPE;
//shape = PxGetPhysics().createShape(physx::PxCapsuleGeometry(radius, 0.5*height), &material, 1, false, shapeFlags);
shape = physx::PxRigidActorExt::createExclusiveShape(*linkPtr, physx::PxCapsuleGeometry(radius, 0.5*height), *material);
btTransform childTrans = col.m_linkLocalFrame;
@@ -691,7 +698,8 @@ btTransform ConvertURDF2PhysXInternal(
//Now create the slider and fixed joints...
cache.m_articulation->setSolverIterationCounts(32);//todo: API?
cache.m_articulation->setSolverIterationCounts(4);//todo: API?
//cache.m_articulation->setSolverIterationCounts(32);//todo: API?
cache.m_jointTypes.push_back(physx::PxArticulationJointType::eUNDEFINED);
cache.m_parentLocalPoses.push_back(physx::PxTransform());
@@ -807,8 +815,10 @@ btTransform ConvertURDF2PhysXInternal(
convertLinkPhysXShapes(u2b, cache, creation, urdfLinkIndex, pathPrefix, localInertialFrame, cache.m_articulation, mbLinkIndex, linkPtr);
physx::PxRigidBodyExt::updateMassAndInertia(*rbLinkPtr, mass);
if (rbLinkPtr)
{
physx::PxRigidBodyExt::updateMassAndInertia(*rbLinkPtr, mass);
}
//base->setMass(massOut);
//base->setMassSpaceInertiaTensor(diagTensor);
@@ -1005,6 +1015,7 @@ physx::PxBase* URDF2PhysX(physx::PxFoundation* foundation, physx::PxPhysics* phy
if (cache.m_rigidStatic)
{
scene->addActor(*cache.m_rigidStatic);
return cache.m_rigidStatic;
}