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pybullet, more robust multi-server connections

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Windows shared memory: allow to use custom key.
Improve GUI performance on Windows, submit letters in text as a batch (fewer draw-calls)
quadruped.py: first try to connect to SHARED_MEMORY, if it fails (<0) use GUI
increase Chrome about://tracing json export capacity (press 'p' in Example Browser)
UDP physics server: add --port and --sharedMemoryKey command-line arguments
PhysicsServerExample: add --sharedMemoryKey command-line option (for VR example too)
ExampleBrowser: sleep a few milliseconds if rendering is too fast, use --minUpdateTimeMicroSecs=0 to disable
This commit is contained in:
Erwin Coumans
2016-12-28 21:51:54 -08:00
parent da2cc483b4
commit 82995a8343
19 changed files with 723 additions and 328 deletions
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10
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@@ -447,6 +447,8 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
{
BT_PROFILE("convertURDFToCollisionShape");
btCollisionShape* shape = 0;
switch (collision->m_geometry.m_type)
@@ -677,6 +679,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
{
BT_PROFILE("convert trimesh");
btTriangleMesh* meshInterface = new btTriangleMesh();
for (int i=0;i<glmesh->m_numIndices/3;i++)
{
@@ -692,6 +695,8 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
shape = trimesh;
} else
{
BT_PROFILE("convert btConvexHullShape");
btConvexHullShape* convexHull = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
convexHull->optimizeConvexHull();
//convexHull->initializePolyhedralFeatures();
@@ -727,6 +732,7 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut, btAlignedObjectArray<MyTexture>& texturesOut)
{
BT_PROFILE("convertURDFToVisualShapeInternal");
GLInstanceGraphicsShape* glmesh = 0;
@@ -981,6 +987,8 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
//if we have a convex, tesselate into localVertices/localIndices
if ((glmesh==0) && convexColShape)
{
BT_PROFILE("convexColShape");
btShapeHull* hull = new btShapeHull(convexColShape);
hull->buildHull(0.0);
{
@@ -1029,7 +1037,7 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
{
BT_PROFILE("glmesh");
int baseIndex = verticesOut.size();