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

192
examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
View File

@@ -72,7 +72,7 @@ struct MyTexture3
struct EGLRendererObjectArray
{
btAlignedObjectArray<TinyRenderObjectData*> m_renderObjects;
btAlignedObjectArray<int> m_graphicsInstanceIds;
int m_objectUniqueId;
int m_linkIndex;
@@ -92,6 +92,33 @@ struct EGLRendererObjectArray
#define START_WIDTH 1024
#define START_HEIGHT 768
struct btHashVisual
{
UrdfShape m_vis;
btTransform m_tr;
int getHash() const
{
if (m_vis.m_geometry.m_meshFileName.length())
{
btHashString s = m_vis.m_geometry.m_meshFileName.c_str();
return s.getHash();
}
return 0;
}
bool equals(const btHashVisual& other) const
{
if ((m_vis.m_geometry.m_type == URDF_GEOM_MESH) &&
(other.m_vis.m_geometry.m_type == URDF_GEOM_MESH))
{
bool sameTr = m_tr == other.m_tr;
bool sameVis = m_vis.m_geometry.m_meshFileName == other.m_vis.m_geometry.m_meshFileName;
bool sameLocalFrame = m_vis.m_linkLocalFrame == other.m_vis.m_linkLocalFrame;
return sameTr&&sameVis&&sameLocalFrame;
}
return false;
}
};
struct EGLRendererVisualShapeConverterInternalData
{
@@ -105,6 +132,8 @@ struct EGLRendererVisualShapeConverterInternalData
btAlignedObjectArray<int> m_graphicsIndexToSegmentationMask;
btHashMap<btHashInt, EGLRendererObjectArray*> m_swRenderInstances;
btHashMap<btHashPtr, int> m_cachedTextureIds;
btHashMap<btHashVisual, int> m_cachedVisualShapes;
btAlignedObjectArray<b3VisualShapeData> m_visualShapes;
@@ -942,7 +971,7 @@ int EGLRendererVisualShapeConverter::convertVisualShapes(
colorIndex &= 3;
btVector4 color;
color = sColors[colorIndex];
float rgbaColor[4] = {(float)color[0], (float)color[1], (float)color[2], (float)color[3]};
float rgbaColor[4] = { (float)color[0], (float)color[1], (float)color[2], (float)color[3] };
//if (colObj->getCollisionShape()->getShapeType()==STATIC_PLANE_PROXYTYPE)
//{
// color.setValue(1,1,1,1);
@@ -1012,64 +1041,91 @@ int EGLRendererVisualShapeConverter::convertVisualShapes(
visualShape.m_rgbaColor[1] = rgbaColor[1];
visualShape.m_rgbaColor[2] = rgbaColor[2];
visualShape.m_rgbaColor[3] = rgbaColor[3];
int shapeIndex = -1;
btHashVisual tmp;
{
B3_PROFILE("convertURDFToVisualShape2");
convertURDFToVisualShape2(vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures, visualShape, fileIO, m_data->m_flags);
btTransform tr = localInertiaFrame.inverse() * childTrans;
tmp.m_vis = *vis;
tmp.m_tr = tr;
int* bla = m_data->m_cachedVisualShapes[tmp];
if (bla)
{
shapeIndex = *bla;
}
else
{
convertURDFToVisualShape2(vis, pathPrefix, tr, vertices, indices, textures, visualShape, fileIO, m_data->m_flags);
}
}
m_data->m_visualShapes.push_back(visualShape);
if (vertices.size() && indices.size())
int textureIndex = -1;
if (shapeIndex < 0)
{
TinyRenderObjectData* tinyObj = new TinyRenderObjectData(m_data->m_rgbColorBuffer, m_data->m_depthBuffer, &m_data->m_shadowBuffer, &m_data->m_segmentationMaskBuffer, bodyUniqueId, linkIndex);
unsigned char* textureImage1 = 0;
int textureWidth = 0;
int textureHeight = 0;
bool isCached = false;
int textureIndex = -1;
if (textures.size())
if (vertices.size() && indices.size())
{
textureImage1 = textures[0].textureData1;
textureWidth = textures[0].m_width;
textureHeight = textures[0].m_height;
isCached = textures[0].m_isCached;
textureIndex = m_data->m_instancingRenderer->registerTexture(textureImage1, textureWidth, textureHeight);
}
unsigned char* textureImage1 = 0;
int textureWidth = 0;
int textureHeight = 0;
bool isCached = false;
{
B3_PROFILE("registerMeshShape");
tinyObj->registerMeshShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), rgbaColor,
textureImage1, textureWidth, textureHeight);
}
visuals->m_renderObjects.push_back(tinyObj);
{
B3_PROFILE("m_instancingRenderer register");
// register mesh to m_instancingRenderer too.
int shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
double scaling[3] = {1, 1, 1};
int graphicsIndex = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0], scaling);
int segmentationMask = bodyUniqueId + ((linkIndex + 1) << 24);
if (textures.size())
{
if (graphicsIndex >= 0)
textureImage1 = textures[0].textureData1;
textureWidth = textures[0].m_width;
textureHeight = textures[0].m_height;
isCached = textures[0].m_isCached;
int* bla = m_data->m_cachedTextureIds[textureImage1];
if (bla)
{
visuals->m_graphicsInstanceIds.push_back(graphicsIndex);
if (m_data->m_graphicsIndexToSegmentationMask.size() < (graphicsIndex + 1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex + 1);
}
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex] = segmentationMask;
textureIndex = *bla;
}
else
{
textureIndex = m_data->m_instancingRenderer->registerTexture(textureImage1, textureWidth, textureHeight);
m_data->m_cachedTextureIds.insert(textureImage1, textureIndex);
}
}
m_data->m_instancingRenderer->writeTransforms();
}
}
{
B3_PROFILE("m_instancingRenderer register");
// register mesh to m_instancingRenderer too.
if (shapeIndex < 0)
{
shapeIndex = m_data->m_instancingRenderer->registerShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size(), B3_GL_TRIANGLES, textureIndex);
m_data->m_cachedVisualShapes.insert(tmp, shapeIndex);
}
double scaling[3] = { 1, 1, 1 };
int graphicsIndex = m_data->m_instancingRenderer->registerGraphicsInstance(shapeIndex, &visualShape.m_localVisualFrame[0], &visualShape.m_localVisualFrame[3], &visualShape.m_rgbaColor[0], scaling);
int segmentationMask = bodyUniqueId + ((linkIndex + 1) << 24);
{
if (graphicsIndex >= 0)
{
visuals->m_graphicsInstanceIds.push_back(graphicsIndex);
if (m_data->m_graphicsIndexToSegmentationMask.size() < (graphicsIndex + 1))
{
m_data->m_graphicsIndexToSegmentationMask.resize(graphicsIndex + 1);
}
m_data->m_graphicsIndexToSegmentationMask[graphicsIndex] = segmentationMask;
}
}
m_data->m_instancingRenderer->writeTransforms();
}
for (int i = 0; i < textures.size(); i++)
{
if (!textures[i].m_isCached)
@@ -1078,6 +1134,7 @@ int EGLRendererVisualShapeConverter::convertVisualShapes(
}
}
}
}
return orgGraphicsUniqueId;
}
@@ -1163,13 +1220,7 @@ void EGLRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int link
EGLRendererObjectArray* visuals = *ptrptr;
if ((bodyUniqueId == visuals->m_objectUniqueId) && (linkIndex == visuals->m_linkIndex))
{
for (int q = 0; q < visuals->m_renderObjects.size(); q++)
{
if (shapeIndex < 0 || q == shapeIndex)
{
visuals->m_renderObjects[q]->m_model->setColorRGBA(rgba);
}
}
}
}
}
@@ -1503,15 +1554,11 @@ void EGLRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqu
EGLRendererObjectArray* ptr = *ptrptr;
if (ptr)
{
for (int o = 0; o < ptr->m_renderObjects.size(); o++)
for (int i = 0; i < ptr->m_graphicsInstanceIds.size(); i++)
{
for (int i = 0; i < ptr->m_graphicsInstanceIds.size(); i++)
{
m_data->m_instancingRenderer->removeGraphicsInstance(ptr->m_graphicsInstanceIds[i]);
}
delete ptr->m_renderObjects[o];
m_data->m_instancingRenderer->removeGraphicsInstance(ptr->m_graphicsInstanceIds[i]);
}
}
delete ptr;
m_data->m_swRenderInstances.remove(collisionObjectUniqueId);
@@ -1520,6 +1567,8 @@ void EGLRendererVisualShapeConverter::removeVisualShape(int collisionObjectUniqu
void EGLRendererVisualShapeConverter::resetAll()
{
m_data->m_cachedTextureIds.clear();
for (int i = 0; i < m_data->m_swRenderInstances.size(); i++)
{
EGLRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(i);
@@ -1528,10 +1577,7 @@ void EGLRendererVisualShapeConverter::resetAll()
EGLRendererObjectArray* ptr = *ptrptr;
if (ptr)
{
for (int o = 0; o < ptr->m_renderObjects.size(); o++)
{
delete ptr->m_renderObjects[o];
}
}
delete ptr;
}
@@ -1556,25 +1602,7 @@ void EGLRendererVisualShapeConverter::changeShapeTexture(int objectUniqueId, int
btAssert(textureUniqueId < m_data->m_textures.size());
if (textureUniqueId >= 0 && textureUniqueId < m_data->m_textures.size())
{
for (int n = 0; n < m_data->m_swRenderInstances.size(); n++)
{
EGLRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(n);
if (0 == visualArrayPtr)
continue; //can this ever happen?
EGLRendererObjectArray* visualArray = *visualArrayPtr;
if (visualArray->m_objectUniqueId == objectUniqueId && visualArray->m_linkIndex == jointIndex)
{
for (int v = 0; v < visualArray->m_renderObjects.size(); v++)
{
TinyRenderObjectData* renderObj = visualArray->m_renderObjects[v];
if ((shapeIndex < 0) || (shapeIndex == v))
{
renderObj->m_model->setDiffuseTextureFromData(m_data->m_textures[textureUniqueId].textureData1, m_data->m_textures[textureUniqueId].m_width, m_data->m_textures[textureUniqueId].m_height);
}
}
}
}
}
}