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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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7
examples/OpenGLWindow/GLPrimInternalData.h
View File

@@ -13,8 +13,13 @@ struct PrimInternalData
GLint m_positionAttribute;
GLint m_textureAttribute;
GLuint m_vertexBuffer;
GLuint m_vertexArrayObject;
GLuint m_vertexBuffer2;
GLuint m_vertexArrayObject;
GLuint m_vertexArrayObject2;
GLuint m_indexBuffer;
GLuint m_indexBuffer2;
GLuint m_texturehandle;
};

217
examples/OpenGLWindow/GLPrimitiveRenderer.cpp
View File

@@ -48,10 +48,20 @@ static const char* fragmentShader3D= \
static unsigned int s_indexData[6] = {0,1,2,0,2,3};
#define MAX_VERTICES2 8192
struct PrimInternalData2
{
PrimInternalData2()
:m_numVerticesText(0),
m_numVerticesRect(0)
{
}
int m_numVerticesText;
int m_numVerticesRect;
PrimVertex m_verticesText[MAX_VERTICES2];
PrimVertex m_verticesRect[MAX_VERTICES2];
};
GLPrimitiveRenderer::GLPrimitiveRenderer(int screenWidth, int screenHeight)
:m_screenWidth(screenWidth),
@@ -59,6 +69,7 @@ m_screenHeight(screenHeight)
{
m_data = new PrimInternalData;
m_data2 = new PrimInternalData2;
m_data->m_shaderProg = gltLoadShaderPair(vertexShader3D,fragmentShader3D);
@@ -109,6 +120,13 @@ void GLPrimitiveRenderer::loadBufferData()
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer);
glBufferData(GL_ARRAY_BUFFER, 4 * sizeof(PrimVertex), vertexData, GL_DYNAMIC_DRAW);
glGenVertexArrays(1, &m_data->m_vertexArrayObject2);
glBindVertexArray(m_data->m_vertexArrayObject2);
glGenBuffers(1, &m_data->m_vertexBuffer2);
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer2);
glBufferData(GL_ARRAY_BUFFER, MAX_VERTICES2 * sizeof(PrimVertex), 0, GL_DYNAMIC_DRAW);
assert(glGetError()==GL_NO_ERROR);
@@ -116,7 +134,23 @@ void GLPrimitiveRenderer::loadBufferData()
glGenBuffers(1, &m_data->m_indexBuffer);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer);
glBufferData(GL_ELEMENT_ARRAY_BUFFER,6*sizeof(int), s_indexData,GL_STATIC_DRAW);
unsigned int indexData[MAX_VERTICES2*2];
int count=0;
for (int i=0;i<MAX_VERTICES2;i+=4)
{
indexData[count++]=i;
indexData[count++]=i+1;
indexData[count++]=i+2;
indexData[count++]=i;
indexData[count++]=i+2;
indexData[count++]=i+3;
}
glGenBuffers(1, &m_data->m_indexBuffer2);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer2);
glBufferData(GL_ELEMENT_ARRAY_BUFFER,count*sizeof(int), indexData,GL_STATIC_DRAW);
glEnableVertexAttribArray(m_data->m_positionAttribute);
glEnableVertexAttribArray(m_data->m_colourAttribute);
assert(glGetError()==GL_NO_ERROR);
@@ -182,6 +216,7 @@ GLPrimitiveRenderer::~GLPrimitiveRenderer()
glBindTexture(GL_TEXTURE_2D,0);
glDeleteProgram(m_data->m_shaderProg);
delete m_data;
delete m_data2;
}
void GLPrimitiveRenderer::drawLine()
@@ -299,6 +334,180 @@ void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVert
}
void GLPrimitiveRenderer::drawTexturedRect3D2Text( bool useRGBA)
{
drawTexturedRect3D2(&m_data2->m_verticesText[0],m_data2->m_numVerticesText,useRGBA);
m_data2->m_numVerticesText = 0;
}
void GLPrimitiveRenderer::drawTexturedRect3D2( PrimVertex* vertices, int numVertices, bool useRGBA)
{
//B3_PROFILE("drawTexturedRect3D2");
if (numVertices==0)
{
return;
}
//B3_PROFILE("GLPrimitiveRenderer::drawTexturedRect3D");
assert(glGetError()==GL_NO_ERROR);
float identity[16]={1,0,0,0,
0,1,0,0,
0,0,1,0,
0,0,0,1};
glUseProgram(m_data->m_shaderProg);
glUniformMatrix4fv(m_data->m_viewmatUniform, 1, false, identity);
glUniformMatrix4fv(m_data->m_projMatUniform, 1, false, identity);
assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vertexBuffer2);
glBindVertexArray(m_data->m_vertexArrayObject2);
bool useFiltering = false;
if (useFiltering)
{
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
} else
{
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
}
/* PrimVertex vertexData[4] = {
v0,v1,v2,v3
};
*/
glBufferSubData(GL_ARRAY_BUFFER, 0,numVertices * sizeof(PrimVertex), vertices);
assert(glGetError()==GL_NO_ERROR);
PrimVec2 p( 0.f,0.f);//?b?0.5f * sinf(timeValue), 0.5f * cosf(timeValue) );
if (useRGBA)
{
p.p[0] = 1.f;
p.p[1] = 1.f;
}
glUniform2fv(m_data->m_positionUniform, 1, (const GLfloat *)&p);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_positionAttribute);
assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_colourAttribute);
assert(glGetError()==GL_NO_ERROR);
glEnableVertexAttribArray(m_data->m_textureAttribute);
glVertexAttribPointer(m_data->m_positionAttribute, 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)0);
glVertexAttribPointer(m_data->m_colourAttribute , 4, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)sizeof(PrimVec4));
glVertexAttribPointer(m_data->m_textureAttribute , 2, GL_FLOAT, GL_FALSE, sizeof(PrimVertex), (const GLvoid *)(sizeof(PrimVec4)+sizeof(PrimVec4)));
assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, m_data->m_indexBuffer2);
//glDrawArrays(GL_TRIANGLE_FAN, 0, 4);
int indexCount = (numVertices/4)*6;
assert(glGetError()==GL_NO_ERROR);
glDrawElements(GL_TRIANGLES, indexCount, GL_UNSIGNED_INT, 0);
assert(glGetError()==GL_NO_ERROR);
glBindVertexArray(0);
assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ARRAY_BUFFER, 0);
assert(glGetError()==GL_NO_ERROR);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
assert(glGetError()==GL_NO_ERROR);
//glDisableVertexAttribArray(m_data->m_textureAttribute);
assert(glGetError()==GL_NO_ERROR);
glUseProgram(0);
assert(glGetError()==GL_NO_ERROR);
}
void GLPrimitiveRenderer::drawTexturedRect2a(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
{
PrimVertex vertexData[4] = {
{ PrimVec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)},
{ PrimVec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)},
{ PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)},
{ PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0)}
};
int sz = m_data2->m_numVerticesText;
m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[0];
m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[1];
m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[2];
m_data2->m_verticesRect[m_data2->m_numVerticesRect++]=vertexData[3];
if (m_data2->m_numVerticesRect>=MAX_VERTICES2)
{
flushBatchedRects();
}
}
void GLPrimitiveRenderer::flushBatchedRects()
{
if (m_data2->m_numVerticesRect==0)
return;
glActiveTexture(GL_TEXTURE0);
assert(glGetError()==GL_NO_ERROR);
glBindTexture(GL_TEXTURE_2D,m_data->m_texturehandle);
drawTexturedRect3D2(m_data2->m_verticesRect, m_data2->m_numVerticesRect,0);
m_data2->m_numVerticesRect=0;
}
void GLPrimitiveRenderer::drawTexturedRect2(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
{
PrimVertex vertexData[4] = {
{ PrimVec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v0)},
{ PrimVec4(-1.f+2.f*x0/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u0,v1)},
{ PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y1/float(m_screenHeight), 0.f, 1.f ), PrimVec4(color[0], color[1], color[2], color[3]) ,PrimVec2(u1,v1)},
{ PrimVec4( -1.f+2.f*x1/float(m_screenWidth), 1.f-2.f*y0/float(m_screenHeight), 0.f, 1.f ), PrimVec4( color[0], color[1], color[2], color[3] ) ,PrimVec2(u1,v0)}
};
int sz = m_data2->m_numVerticesText;
m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[0];
m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[1];
m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[2];
m_data2->m_verticesText[m_data2->m_numVerticesText++]=vertexData[3];
if (m_data2->m_numVerticesText>=MAX_VERTICES2)
{
drawTexturedRect3D2(m_data2->m_verticesText, m_data2->m_numVerticesText,useRGBA);
m_data2->m_numVerticesText=0;
}
}
void GLPrimitiveRenderer::drawTexturedRect(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA)
{

25
examples/OpenGLWindow/GLPrimitiveRenderer.h
View File

@@ -5,6 +5,8 @@
struct PrimVec2
{
PrimVec2()
{}
PrimVec2(float x, float y)
{
p[0] = x;
@@ -28,12 +30,21 @@ struct PrimVec4
float p[4];
};
typedef struct
struct PrimVertex
{
PrimVertex(const PrimVec4 & p, const PrimVec4 & c, const PrimVec2& u)
:position(p),
colour(c),
uv(u)
{
}
PrimVertex()
{}
PrimVec4 position;
PrimVec4 colour;
PrimVec2 uv;
} PrimVertex;
} ;
class GLPrimitiveRenderer
@@ -42,7 +53,7 @@ class GLPrimitiveRenderer
int m_screenHeight;
struct PrimInternalData* m_data;
struct PrimInternalData2* m_data2;
void loadBufferData();
public:
@@ -56,6 +67,14 @@ public:
void drawLine();//float from[4], float to[4], float color[4]);
void setScreenSize(int width, int height);
void drawTexturedRect2(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA=0);
void drawTexturedRect2a(float x0, float y0, float x1, float y1, float color[4], float u0,float v0, float u1, float v1, int useRGBA=0);
void flushBatchedRects();
void drawTexturedRect3D2Text(bool useRGBA = true);
void drawTexturedRect3D2(PrimVertex* vertices, int numVertices, bool useRGBA = true);
PrimInternalData* getData()
{
return m_data;

28
examples/OpenGLWindow/GwenOpenGL3CoreRenderer.h
View File

@@ -161,6 +161,7 @@ public:
virtual void StartClip()
{
if (m_useTrueTypeFont)
sth_flush_draw(m_font);
Gwen::Rect rect = ClipRegion();
@@ -181,6 +182,7 @@ public:
virtual void EndClip()
{
if (m_useTrueTypeFont)
sth_flush_draw(m_font);
glDisable( GL_SCISSOR_TEST );
@@ -196,16 +198,23 @@ public:
}
virtual void DrawFilledRect( Gwen::Rect rect )
{
// BT_PROFILE("GWEN_DrawFilledRect");
Translate( rect );
m_primitiveRenderer->drawRect(rect.x, rect.y+m_yOffset, rect.x+rect.w, rect.y+rect.h+m_yOffset, m_currentColor);
m_primitiveRenderer->drawRect(rect.x, rect.y+m_yOffset,
rect.x+rect.w, rect.y+rect.h+m_yOffset, m_currentColor);
// m_primitiveRenderer->drawTexturedRect2a(rect.x, rect.y+m_yOffset,
// rect.x+rect.w, rect.y+rect.h+m_yOffset, m_currentColor,0,0,1,1);
// m_yOffset+=rect.h+10;
}
void RenderText( Gwen::Font* pFont, Gwen::Point rasterPos, const Gwen::UnicodeString& text )
{
// BT_PROFILE("GWEN_RenderText");
Gwen::String str = Gwen::Utility::UnicodeToString(text);
const char* unicodeText = (const char*)str.c_str();
@@ -246,32 +255,33 @@ public:
glBindTexture(GL_TEXTURE_2D,m_fontTextureId);
float width = r.x;
while (unicodeText[pos])
{
int c = unicodeText[pos];
r.h = m_currentFont->m_CharHeight;
r.w = m_currentFont->m_CharWidth[c]+extraSpacing;
Gwen::Rect rect = r;
Translate( rect );
m_primitiveRenderer->drawTexturedRect(rect.x, rect.y+m_yOffset, rect.x+rect.w, rect.y+rect.h+m_yOffset, m_currentColor,m_currentFont->m_CharU0[c],m_currentFont->m_CharV0[c],m_currentFont->m_CharU1[c],m_currentFont->m_CharV1[c]);
m_primitiveRenderer->drawTexturedRect2(rect.x, rect.y+m_yOffset, rect.x+rect.w, rect.y+rect.h+m_yOffset, m_currentColor,m_currentFont->m_CharU0[c],m_currentFont->m_CharV0[c],m_currentFont->m_CharU1[c],m_currentFont->m_CharV1[c]);
//DrawTexturedRect(0,r,m_currentFont->m_CharU0[c],m_currentFont->m_CharV0[c],m_currentFont->m_CharU1[c],m_currentFont->m_CharV1[c]);
// DrawFilledRect(r);
width += r.w;
r.x = width;
pos++;
}
{
m_primitiveRenderer->drawTexturedRect3D2Text(false);
}
glBindTexture(GL_TEXTURE_2D,0);
}
}
Gwen::Point MeasureText( Gwen::Font* pFont, const Gwen::UnicodeString& text )
{
// BT_PROFILE("GWEN_MeasureText");
Gwen::String str = Gwen::Utility::UnicodeToString(text);
const char* unicodeText = (const char*)str.c_str();
@@ -341,7 +351,7 @@ public:
virtual void DrawTexturedRect( Gwen::Texture* pTexture, Gwen::Rect rect, float u1=0.0f, float v1=0.0f, float u2=1.0f, float v2=1.0f )
{
// BT_PROFILE("DrawTexturedRect");
Translate( rect );
//float eraseColor[4] = {0,0,0,0};