Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

17
examples/SharedMemory/physx/URDF2PhysX.cpp
View File

@@ -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;
}