diff --git a/data/cube_small.urdf b/data/cube_small.urdf
index 0bf03f5aa..299ded801 100644
--- a/data/cube_small.urdf
+++ b/data/cube_small.urdf
@@ -3,7 +3,6 @@
-
diff --git a/data/gripper/meshes/l_gripper_tip_scaled.stl b/data/gripper/meshes/l_gripper_tip_scaled.stl
index 94fb02462..e38df0ad9 100644
Binary files a/data/gripper/meshes/l_gripper_tip_scaled.stl and b/data/gripper/meshes/l_gripper_tip_scaled.stl differ
diff --git a/data/plane.urdf b/data/plane.urdf
index 57b746104..b2c2d7659 100644
--- a/data/plane.urdf
+++ b/data/plane.urdf
@@ -1,6 +1,6 @@
-
+
diff --git a/data/pr2_gripper.urdf b/data/pr2_gripper.urdf
index 6f9a5b496..47f8c8a39 100644
--- a/data/pr2_gripper.urdf
+++ b/data/pr2_gripper.urdf
@@ -17,7 +17,7 @@
-
+
@@ -41,12 +41,6 @@
-
-
-
-
-
-
@@ -61,6 +55,7 @@
+
@@ -70,9 +65,9 @@
-
+
-
+
@@ -91,6 +86,7 @@
+
@@ -98,12 +94,6 @@
-
-
-
-
-
-
@@ -118,6 +108,7 @@
+
@@ -127,9 +118,9 @@
-
+
-
+
diff --git a/data/samurai.urdf b/data/samurai.urdf
index f15d47fb6..0a01099cd 100644
--- a/data/samurai.urdf
+++ b/data/samurai.urdf
@@ -1,9 +1,6 @@
-
-
-
diff --git a/data/samurai_monastry.obj b/data/samurai_monastry.obj
index 75b2a7833..435aa18da 100644
--- a/data/samurai_monastry.obj
+++ b/data/samurai_monastry.obj
@@ -331416,11 +331416,3 @@ f 30335 30336
f 1329 1330
f 77715 77717
f 20619 20622
-o Cube
-v -0.500000 -0.200000 -1.000000
-v 1.000000 -0.000000 0.000000
-v -0.500000 0.200000 1.000000
-usemtl Material
-s off
-f 86188 86189 86190
-f 86189 86188 86190
diff --git a/data/sphere2.urdf b/data/sphere2.urdf
index cf7618d93..f00423887 100644
--- a/data/sphere2.urdf
+++ b/data/sphere2.urdf
@@ -1,6 +1,11 @@
+
+
+
+
+
diff --git a/data/teddy_vhacd.urdf b/data/teddy_vhacd.urdf
new file mode 100644
index 000000000..7df9e7919
--- /dev/null
+++ b/data/teddy_vhacd.urdf
@@ -0,0 +1,32 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index ecd1ed45d..ff499f0be 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -505,6 +505,8 @@ void OpenGLGuiHelper::autogenerateGraphicsObjects(btDiscreteDynamicsWorld* rbWor
void OpenGLGuiHelper::drawText3D( const char* txt, float posX, float posY, float posZ, float size)
{
+ B3_PROFILE("OpenGLGuiHelper::drawText3D");
+
btAssert(m_data->m_glApp);
m_data->m_glApp->drawText3D(txt,posX,posY,posZ,size);
}
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index b2e528677..f61926486 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -14,7 +14,7 @@ subject to the following restrictions:
#include "BulletUrdfImporter.h"
#include "../../CommonInterfaces/CommonRenderInterface.h"
-
+#include"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.h"
#include "URDFImporterInterface.h"
#include "btBulletCollisionCommon.h"
#include "../ImportObjDemo/LoadMeshFromObj.h"
@@ -360,7 +360,45 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
return true;
}
+static btCollisionShape* createConvexHullFromShapes(std::vector& shapes)
+{
+ btCompoundShape* compound = new btCompoundShape();
+ btTransform identity;
+ identity.setIdentity();
+ for (int s = 0; s<(int)shapes.size(); s++)
+ {
+ btConvexHullShape* convexHull = new btConvexHullShape();
+ tinyobj::shape_t& shape = shapes[s];
+ int faceCount = shape.mesh.indices.size();
+
+ for (int f = 0; faddPoint(pt,false);
+
+ pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 0],
+ shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 1],
+ shape.mesh.positions[shape.mesh.indices[f + 1] * 3 + 2]);
+ convexHull->addPoint(pt, false);
+
+ pt.setValue(shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 0],
+ shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 1],
+ shape.mesh.positions[shape.mesh.indices[f + 2] * 3 + 2]);
+ convexHull->addPoint(pt, false);
+ }
+
+ convexHull->recalcLocalAabb();
+ convexHull->optimizeConvexHull();
+ compound->addChildShape(identity,convexHull);
+ }
+
+ return compound;
+}
btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
{
@@ -467,7 +505,18 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
{
case FILE_OBJ:
{
- glmesh = LoadMeshFromObj(fullPath,collisionPathPrefix);
+ if (collision->m_flags & URDF_FORCE_CONCAVE_TRIMESH)
+ {
+ glmesh = LoadMeshFromObj(fullPath, collisionPathPrefix);
+ }
+ else
+ {
+ std::vector shapes;
+ std::string err = tinyobj::LoadObj(shapes, fullPath, collisionPathPrefix);
+ //create a convex hull for each shape, and store it in a btCompoundShape
+ shape = createConvexHullFromShapes(shapes);
+ return shape;
+ }
break;
}
case FILE_STL:
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 8833dd15b..5478b5b7d 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -162,8 +162,6 @@ void ConvertURDF2BulletInternal(
int mbParentIndex = cache.getMbIndexFromUrdfIndex(urdfParentIndex);
btRigidBody* parentRigidBody = 0;
- //std::string name = u2b.getLinkName(urdfLinkIndex);
- //b3Printf("link name=%s urdf link index=%d\n",name.c_str(),urdfLinkIndex);
//b3Printf("mb link index = %d\n",mbLinkIndex);
btTransform parentLocalInertialFrame;
@@ -322,6 +320,14 @@ void ConvertURDF2BulletInternal(
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointDamping = jointDamping;
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_jointFriction= jointFriction;
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
+ if (jointLowerLimit <= jointUpperLimit)
+ {
+ //std::string name = u2b.getLinkName(urdfLinkIndex);
+ //printf("create btMultiBodyJointLimitConstraint for revolute link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit, jointUpperLimit);
+
+ btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
+ world1->addMultiBodyConstraint(con);
+ }
} else
{
@@ -343,8 +349,14 @@ void ConvertURDF2BulletInternal(
-offsetInB.getOrigin(),
disableParentCollision);
creation.addLinkMapping(urdfLinkIndex,mbLinkIndex);
- btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody,mbLinkIndex,jointLowerLimit, jointUpperLimit);
- world1->addMultiBodyConstraint(con);
+ if (jointLowerLimit <= jointUpperLimit)
+ {
+ //std::string name = u2b.getLinkName(urdfLinkIndex);
+ //printf("create btMultiBodyJointLimitConstraint for prismatic link name=%s urdf link index=%d (low=%f, up=%f)\n", name.c_str(), urdfLinkIndex, jointLowerLimit,jointUpperLimit);
+
+ btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(cache.m_bulletMultiBody, mbLinkIndex, jointLowerLimit, jointUpperLimit);
+ world1->addMultiBodyConstraint(con);
+ }
//printf("joint lower limit=%d, upper limit = %f\n", jointLowerLimit, jointUpperLimit);
} else
@@ -386,8 +398,9 @@ void ConvertURDF2BulletInternal(
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
col->setWorldTransform(tr);
-
- bool isDynamic = true;
+
+ //base and fixed? -> static, otherwise flag as dynamic
+ bool isDynamic = (mbLinkIndex<0 && cache.m_bulletMultiBody->hasFixedBase())? false : true;
short collisionFilterGroup = isDynamic? short(btBroadphaseProxy::DefaultFilter) : short(btBroadphaseProxy::StaticFilter);
short collisionFilterMask = isDynamic? short(btBroadphaseProxy::AllFilter) : short(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index e1d9629a0..3abc77fa2 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -816,7 +816,7 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
bool UrdfParser::parseJointLimits(UrdfJoint& joint, TiXmlElement* config, ErrorLogger* logger)
{
joint.m_lowerLimit = 0.f;
- joint.m_upperLimit = 0.f;
+ joint.m_upperLimit = -1.f;
joint.m_effortLimit = 0.f;
joint.m_velocityLimit = 0.f;
joint.m_jointDamping = 0.f;
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 0ed995f33..9640f3666 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -138,7 +138,7 @@ struct UrdfJoint
double m_jointFriction;
UrdfJoint()
:m_lowerLimit(0),
- m_upperLimit(0),
+ m_upperLimit(-1),
m_effortLimit(0),
m_velocityLimit(0),
m_jointDamping(0),
diff --git a/examples/OpenGLWindow/GLPrimitiveRenderer.cpp b/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
index 60328514e..1acfeb940 100644
--- a/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
+++ b/examples/OpenGLWindow/GLPrimitiveRenderer.cpp
@@ -1,7 +1,7 @@
#ifndef NO_OPENGL3
#include "GLPrimitiveRenderer.h"
#include "GLPrimInternalData.h"
-
+#include "Bullet3Common/b3Logging.h"
#include "LoadShader.h"
#include
@@ -205,7 +205,8 @@ void GLPrimitiveRenderer::drawRect(float x0, float y0, float x1, float y1, float
void GLPrimitiveRenderer::drawTexturedRect3D(const PrimVertex& v0,const PrimVertex& v1,const PrimVertex& v2,const PrimVertex& v3,float viewMat[16],float projMat[16], bool useRGBA)
{
-
+ B3_PROFILE("GLPrimitiveRenderer::drawTexturedRect3D");
+
assert(glGetError()==GL_NO_ERROR);
diff --git a/examples/OpenGLWindow/SimpleOpenGL3App.cpp b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
index 25d283119..a7254f889 100644
--- a/examples/OpenGLWindow/SimpleOpenGL3App.cpp
+++ b/examples/OpenGLWindow/SimpleOpenGL3App.cpp
@@ -230,7 +230,7 @@ struct sth_stash* SimpleOpenGL3App::getFontStash()
void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float worldPosY, float worldPosZ, float size1)
{
-
+ B3_PROFILE("SimpleOpenGL3App::drawText3D");
float viewMat[16];
float projMat[16];
CommonCameraInterface* cam = m_instancingRenderer->getActiveCamera();
@@ -273,6 +273,7 @@ void SimpleOpenGL3App::drawText3D( const char* txt, float worldPosX, float world
bool measureOnly = false;
float fontSize= 32;//64;//512;//128;
+
sth_draw_text(m_data->m_fontStash,
m_data->m_droidRegular,fontSize,posX,posY,
txt,&dx, this->m_instancingRenderer->getScreenWidth(),this->m_instancingRenderer->getScreenHeight(),measureOnly,m_window->getRetinaScale());
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 0639eea64..332d737ed 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -28,6 +28,7 @@
#include "SharedMemoryCommands.h"
btVector3 gLastPickPos(0, 0, 0);
+bool gEnableRealTimeSimVR=false;
struct UrdfLinkNameMapUtil
{
@@ -596,7 +597,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0));
- m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.05;
+ m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
}
void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()
@@ -2850,10 +2851,11 @@ double gDtInSec = 0.f;
double gSubStep = 0.f;
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
- if (m_data->m_allowRealTimeSimulation && m_data->m_guiHelper)
+ if ((gEnableRealTimeSimVR || m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
{
static btAlignedObjectArray gBufferServerToClient;
- gBufferServerToClient.resize(32768);
+ gBufferServerToClient.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
+
if (!m_data->m_hasGround)
@@ -2864,7 +2866,8 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-
+ loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+
if (m_data->m_gripperRigidbodyFixed == 0)
{
int bodyId = 0;
@@ -2874,11 +2877,11 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody)
{
- parentBody->m_multiBody->setHasSelfCollision(1);
- btVector3 pivotInParent(0, 0, 0);
+ parentBody->m_multiBody->setHasSelfCollision(0);
+ btVector3 pivotInParent(0.2, 0, 0);
btMatrix3x3 frameInParent;
- frameInParent.setRotation(btQuaternion(0, 0, 0, 1));
-
+ //frameInParent.setRotation(btQuaternion(0, 0, 0, 1));
+ frameInParent.setIdentity();
btVector3 pivotInChild(0, 0, 0);
btMatrix3x3 frameInChild;
frameInChild.setIdentity();
@@ -2890,62 +2893,109 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
m_data->m_gripperMultiBody->setJointPos(0, 0);
m_data->m_gripperMultiBody->setJointPos(2, 0);
}
- m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(1.);
+ m_data->m_gripperRigidbodyFixed->setMaxAppliedImpulse(10000);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*)m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(m_data->m_gripperRigidbodyFixed);
}
}
-
+#if 1
+ for (int i = 0; i < 10; i++)
+ {
+ loadUrdf("cube.urdf", btVector3(3, -2, 0.5+i), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+ }
+
loadUrdf("sphere2.urdf", btVector3(-2, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-2, 0, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("sphere2.urdf", btVector3(-2, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+ loadUrdf("r2d2.urdf", btVector3(2, -2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
- loadUrdf("samurai.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+
loadUrdf("kuka_iiwa/model.urdf", btVector3(3, 0, 0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
- loadUrdf("cube_small.urdf", btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
- loadUrdf("husky/husky.urdf", btVector3(1, 1, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+ loadUrdf("cube_small.urdf", btVector3(0.2, 0.2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+
+
+ // loadUrdf("cube_small.urdf", btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+#endif
+//#define JENGA 1
+#ifdef JENGA
+ int jengaHeight = 17;
+ for (int j = 0; j < jengaHeight; j++)
+ {
+ for (int i = 0; i < 3; i++)
+ {
+ if (j & 1)
+ {
+ loadUrdf("jenga/jenga.urdf", btVector3(-0.5+0, 0.025*i, .0151*0.5 + .015*j), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+ }
+ else
+ {
+ btQuaternion orn(btVector3(0, 0, 1), SIMD_HALF_PI);
+ loadUrdf("jenga/jenga.urdf", btVector3(-0.5 -1 / 3.*0.075 + 0.025*i, +1 / 3.*0.075,0.0151*0.5 + .015*j), orn, true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+ }
+ }
+ }
+#endif
+
+ //loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+ loadUrdf("husky/husky.urdf", btVector3(5, 2, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId;
}
+ loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
+ loadUrdf("teddy_vhacd.urdf", btVector3(1, 1, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+
}
if (m_data->m_gripperRigidbodyFixed && m_data->m_gripperMultiBody)
{
m_data->m_gripperRigidbodyFixed->setFrameInB(btMatrix3x3(gVRGripperOrn));
m_data->m_gripperRigidbodyFixed->setPivotInB(gVRGripperPos);
- if (m_data->m_gripperMultiBody->getNumLinks() > 2)
+ for (int i = 0; i < m_data->m_gripperMultiBody->getNumLinks(); i++)
{
- for (int i = 0; i < 2; i++)
+ if (supportsJointMotor(m_data->m_gripperMultiBody, i))
{
- if (supportsJointMotor(m_data->m_gripperMultiBody, i * 2))
+ btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i ).m_userPtr;
+ if (motor)
{
- btMultiBodyJointMotor* motor = (btMultiBodyJointMotor*)m_data->m_gripperMultiBody->getLink(i * 2).m_userPtr;
- if (motor)
+ motor->setErp(0.1);
+ btScalar posTarget = 0.1 + (1 - btMin(0.75,gVRGripperAnalog)*1.5)*SIMD_HALF_PI*0.29;
+ btScalar maxPosTarget = 0.55;
+
+ if (m_data->m_gripperMultiBody->getJointPos(i) < 0)
{
- motor->setErp(0.01);
-
- motor->setPositionTarget(0.1+(1-gVRGripperAnalog)*SIMD_HALF_PI*0.5, 1);
-
-
- motor->setVelocityTarget(0, 0.1);
- btScalar maxImp = 1550.*m_data->m_physicsDeltaTime;
- motor->setMaxAppliedImpulse(maxImp);
+ m_data->m_gripperMultiBody->setJointPos(i,0);
}
+ if (m_data->m_gripperMultiBody->getJointPos(i) > maxPosTarget)
+ {
+ m_data->m_gripperMultiBody->setJointPos(i, maxPosTarget);
+ }
+
+ motor->setPositionTarget(posTarget, 1);
+ motor->setVelocityTarget(0, 0.5);
+ btScalar maxImp = 500*m_data->m_physicsDeltaTime;
+ motor->setMaxAppliedImpulse(maxImp);
}
}
}
}
- int maxSteps = 3;
-
- int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec,maxSteps,m_data->m_physicsDeltaTime);
+ int maxSteps = m_data->m_numSimulationSubSteps+3;
+ if (m_data->m_numSimulationSubSteps)
+ {
+ gSubStep = m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps;
+ }
+ else
+ {
+ gSubStep = m_data->m_physicsDeltaTime;
+ }
+
+ int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec,maxSteps, gSubStep);
gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
if (numSteps)
{
gNumSteps = numSteps;
gDtInSec = dtInSec;
- gSubStep = m_data->m_physicsDeltaTime;
}
}
}
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 837bb5c21..1ff054a0f 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -893,6 +893,8 @@ extern double gSubStep;
void PhysicsServerExample::renderScene()
{
+ B3_PROFILE("PhysicsServerExample::RenderScene");
+
///debug rendering
//m_args[0].m_cs->lock();
@@ -934,6 +936,7 @@ void PhysicsServerExample::renderScene()
if (gDebugRenderToggle)
if (m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->isVRCamera())
{
+ B3_PROFILE("Draw Debug HUD");
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
static int frameCount=0;
@@ -1157,13 +1160,13 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
extern btVector3 gVRGripperPos;
extern btQuaternion gVRGripperOrn;
extern btScalar gVRGripperAnalog;
-
+extern bool gEnableRealTimeSimVR;
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4], float analogAxis)
{
-
+ gEnableRealTimeSimVR = true;
if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS)
{
diff --git a/examples/StandaloneMain/hellovr_opengl_main.cpp b/examples/StandaloneMain/hellovr_opengl_main.cpp
index 32941de76..b0fd21d1a 100644
--- a/examples/StandaloneMain/hellovr_opengl_main.cpp
+++ b/examples/StandaloneMain/hellovr_opengl_main.cpp
@@ -1,4 +1,5 @@
#ifdef BT_ENABLE_VR
+//#define BT_USE_CUSTOM_PROFILER
//========= Copyright Valve Corporation ============//
#include "../OpenGLWindow/SimpleOpenGL3App.h"
@@ -701,11 +702,12 @@ bool CMainApplication::HandleInput()
{
glPolygonMode( GL_FRONT_AND_BACK, GL_LINE );
///todo(erwincoumans) can't use reguar debug drawer, because physics/graphics are not in sync
+ //so it can (and likely will) cause crashes
//add a special debug drawer that deals with this
- //gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe;// :DBG_DrawContactPoints
- //btIDebugDraw::DBG_DrawConstraintLimits+
- //btIDebugDraw::DBG_DrawConstraints
- ;
+ // gDebugDrawFlags = btIDebugDraw::DBG_DrawWireframe+btIDebugDraw::DBG_DrawContactPoints+
+ // btIDebugDraw::DBG_DrawConstraintLimits+
+ // btIDebugDraw::DBG_DrawConstraints
+ // ;
}
sExample->vrControllerButtonCallback(unDevice, button, 1, pos, orn);
@@ -751,7 +753,7 @@ bool CMainApplication::HandleInput()
}
}
- m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0;
+// m_rbShowTrackedDevice[ unDevice ] = state.ulButtonPressed == 0;
}
sPrevStates[unDevice] = state;
}
@@ -769,6 +771,8 @@ void CMainApplication::RunMainLoop()
while ( !bQuit && !m_app->m_window->requestedExit())
{
+ B3_PROFILE("main");
+
bQuit = HandleInput();
RenderFrame();
@@ -812,9 +816,15 @@ void CMainApplication::RenderFrame()
// for now as fast as possible
if ( m_pHMD )
{
- DrawControllers();
+ {
+ B3_PROFILE("DrawControllers");
+ DrawControllers();
+ }
RenderStereoTargets();
- RenderDistortion();
+ {
+ B3_PROFILE("RenderDistortion");
+ RenderDistortion();
+ }
vr::Texture_t leftEyeTexture = {(void*)leftEyeDesc.m_nResolveTextureId, vr::API_OpenGL, vr::ColorSpace_Gamma };
vr::VRCompositor()->Submit(vr::Eye_Left, &leftEyeTexture );
@@ -824,6 +834,7 @@ void CMainApplication::RenderFrame()
if ( m_bVblank && m_bGlFinishHack )
{
+ B3_PROFILE("bGlFinishHack");
//$ HACKHACK. From gpuview profiling, it looks like there is a bug where two renders and a present
// happen right before and after the vsync causing all kinds of jittering issues. This glFinish()
// appears to clear that up. Temporary fix while I try to get nvidia to investigate this problem.
@@ -833,6 +844,7 @@ void CMainApplication::RenderFrame()
// SwapWindow
{
+ B3_PROFILE("m_app->swapBuffer");
m_app->swapBuffer();
//SDL_GL_SwapWindow( m_pWindow );
@@ -840,6 +852,7 @@ void CMainApplication::RenderFrame()
// Clear
{
+ B3_PROFILE("glClearColor");
// We want to make sure the glFinish waits for the entire present to complete, not just the submission
// of the command. So, we do a clear here right here so the glFinish will wait fully for the swap.
glClearColor( 0, 0, 0, 1 );
@@ -849,6 +862,8 @@ void CMainApplication::RenderFrame()
// Flush and wait for swap.
if ( m_bVblank )
{
+ B3_PROFILE("glFlushglFinish");
+
glFlush();
glFinish();
}
@@ -856,13 +871,18 @@ void CMainApplication::RenderFrame()
// Spew out the controller and pose count whenever they change.
if ( m_iTrackedControllerCount != m_iTrackedControllerCount_Last || m_iValidPoseCount != m_iValidPoseCount_Last )
{
+ B3_PROFILE("debug pose");
+
m_iValidPoseCount_Last = m_iValidPoseCount;
m_iTrackedControllerCount_Last = m_iTrackedControllerCount;
b3Printf( "PoseCount:%d(%s) Controllers:%d\n", m_iValidPoseCount, m_strPoseClasses.c_str(), m_iTrackedControllerCount );
}
- UpdateHMDMatrixPose();
+ {
+ B3_PROFILE("UpdateHMDMatrixPose");
+ UpdateHMDMatrixPose();
+ }
}
@@ -1565,6 +1585,8 @@ void CMainApplication::SetupDistortion()
//-----------------------------------------------------------------------------
void CMainApplication::RenderStereoTargets()
{
+ B3_PROFILE("CMainApplication::RenderStereoTargets");
+
sExample->stepSimulation(1./60.);
glClearColor( 0.15f, 0.15f, 0.18f, 1.0f ); // nice background color, but not black
@@ -1641,7 +1663,7 @@ void CMainApplication::RenderStereoTargets()
{
sExample->physicsDebugDraw(gDebugDrawFlags);
}
-
+ else
{
sExample->renderScene();
}
@@ -1692,7 +1714,7 @@ void CMainApplication::RenderStereoTargets()
{
sExample->physicsDebugDraw(gDebugDrawFlags);
}
-
+ else
{
sExample->renderScene();
}
@@ -1720,6 +1742,8 @@ void CMainApplication::RenderStereoTargets()
//-----------------------------------------------------------------------------
void CMainApplication::RenderScene( vr::Hmd_Eye nEye )
{
+ B3_PROFILE("RenderScene");
+
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
@@ -1866,38 +1890,47 @@ Matrix4 CMainApplication::GetCurrentViewProjectionMatrix( vr::Hmd_Eye nEye )
//-----------------------------------------------------------------------------
void CMainApplication::UpdateHMDMatrixPose()
{
- if ( !m_pHMD )
+ if (!m_pHMD)
return;
-
- vr::VRCompositor()->WaitGetPoses(m_rTrackedDevicePose, vr::k_unMaxTrackedDeviceCount, NULL, 0 );
+ {
+ B3_PROFILE("WaitGetPoses");
+ vr::VRCompositor()->WaitGetPoses(m_rTrackedDevicePose, vr::k_unMaxTrackedDeviceCount, NULL, 0);
+ }
m_iValidPoseCount = 0;
m_strPoseClasses = "";
- for ( int nDevice = 0; nDevice < vr::k_unMaxTrackedDeviceCount; ++nDevice )
{
- if ( m_rTrackedDevicePose[nDevice].bPoseIsValid )
+ B3_PROFILE("for loop");
+
+ for (int nDevice = 0; nDevice < vr::k_unMaxTrackedDeviceCount; ++nDevice)
{
- m_iValidPoseCount++;
- m_rmat4DevicePose[nDevice] = ConvertSteamVRMatrixToMatrix4( m_rTrackedDevicePose[nDevice].mDeviceToAbsoluteTracking );
- if (m_rDevClassChar[nDevice]==0)
+ if (m_rTrackedDevicePose[nDevice].bPoseIsValid)
{
- switch (m_pHMD->GetTrackedDeviceClass(nDevice))
+ m_iValidPoseCount++;
+ m_rmat4DevicePose[nDevice] = ConvertSteamVRMatrixToMatrix4(m_rTrackedDevicePose[nDevice].mDeviceToAbsoluteTracking);
+ if (m_rDevClassChar[nDevice] == 0)
{
- case vr::TrackedDeviceClass_Controller: m_rDevClassChar[nDevice] = 'C'; break;
- case vr::TrackedDeviceClass_HMD: m_rDevClassChar[nDevice] = 'H'; break;
- case vr::TrackedDeviceClass_Invalid: m_rDevClassChar[nDevice] = 'I'; break;
- case vr::TrackedDeviceClass_Other: m_rDevClassChar[nDevice] = 'O'; break;
- case vr::TrackedDeviceClass_TrackingReference: m_rDevClassChar[nDevice] = 'T'; break;
- default: m_rDevClassChar[nDevice] = '?'; break;
+ switch (m_pHMD->GetTrackedDeviceClass(nDevice))
+ {
+ case vr::TrackedDeviceClass_Controller: m_rDevClassChar[nDevice] = 'C'; break;
+ case vr::TrackedDeviceClass_HMD: m_rDevClassChar[nDevice] = 'H'; break;
+ case vr::TrackedDeviceClass_Invalid: m_rDevClassChar[nDevice] = 'I'; break;
+ case vr::TrackedDeviceClass_Other: m_rDevClassChar[nDevice] = 'O'; break;
+ case vr::TrackedDeviceClass_TrackingReference: m_rDevClassChar[nDevice] = 'T'; break;
+ default: m_rDevClassChar[nDevice] = '?'; break;
+ }
}
+ m_strPoseClasses += m_rDevClassChar[nDevice];
}
- m_strPoseClasses += m_rDevClassChar[nDevice];
}
}
-
- if ( m_rTrackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid )
{
- m_mat4HMDPose = m_rmat4DevicePose[vr::k_unTrackedDeviceIndex_Hmd].invert();
+ B3_PROFILE("m_mat4HMDPose invert");
+
+ if (m_rTrackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid)
+ {
+ m_mat4HMDPose = m_rmat4DevicePose[vr::k_unTrackedDeviceIndex_Hmd].invert();
+ }
}
}
@@ -2145,6 +2178,11 @@ void CGLRenderModel::Draw()
//-----------------------------------------------------------------------------
int main(int argc, char *argv[])
{
+#ifdef BT_USE_CUSTOM_PROFILER
+ //b3SetCustomEnterProfileZoneFunc(...);
+ //b3SetCustomLeaveProfileZoneFunc(...);
+#endif
+
CMainApplication *pMainApplication = new CMainApplication( argc, argv );
if (!pMainApplication->BInit())
@@ -2157,6 +2195,10 @@ int main(int argc, char *argv[])
pMainApplication->Shutdown();
+#ifdef BT_USE_CUSTOM_PROFILER
+//...
+#endif
+
return 0;
}
#endif //BT_ENABLE_VR
\ No newline at end of file
diff --git a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
index ad69fcbd7..55ebf06f1 100644
--- a/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
+++ b/src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.cpp
@@ -372,10 +372,10 @@ void* btHashedOverlappingPairCache::removeOverlappingPair(btBroadphaseProxy* pro
return userData;
}
//#include
-
+#include "LinearMath/btQuickprof.h"
void btHashedOverlappingPairCache::processAllOverlappingPairs(btOverlapCallback* callback,btDispatcher* dispatcher)
{
-
+ BT_PROFILE("btHashedOverlappingPairCache::processAllOverlappingPairs");
int i;
// printf("m_overlappingPairArray.size()=%d\n",m_overlappingPairArray.size());
diff --git a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
index 3b6913c0e..d41e98c32 100644
--- a/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp
@@ -16,7 +16,7 @@ subject to the following restrictions:
#include "btCollisionDispatcher.h"
-
+#include "LinearMath/btQuickprof.h"
#include "BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h"
@@ -227,6 +227,8 @@ public:
virtual bool processOverlap(btBroadphasePair& pair)
{
+ BT_PROFILE("btCollisionDispatcher::processOverlap");
+
(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
return false;
@@ -249,7 +251,6 @@ void btCollisionDispatcher::dispatchAllCollisionPairs(btOverlappingPairCache* pa
-
//by default, Bullet will use this near callback
void btCollisionDispatcher::defaultNearCallback(btBroadphasePair& collisionPair, btCollisionDispatcher& dispatcher, const btDispatcherInfo& dispatchInfo)
{
diff --git a/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
index 1d64d84b8..ab2632ee3 100644
--- a/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btCompoundCompoundCollisionAlgorithm.cpp
@@ -15,6 +15,7 @@ subject to the following restrictions:
*/
#include "btCompoundCompoundCollisionAlgorithm.h"
+#include "LinearMath/btQuickprof.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btCompoundShape.h"
#include "BulletCollision/BroadphaseCollision/btDbvt.h"
@@ -124,6 +125,7 @@ struct btCompoundCompoundLeafCallback : btDbvt::ICollide
void Process(const btDbvtNode* leaf0,const btDbvtNode* leaf1)
{
+ BT_PROFILE("btCompoundCompoundLeafCallback::Process");
m_numOverlapPairs++;
diff --git a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
index 912a52855..322b1288d 100644
--- a/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
+++ b/src/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.cpp
@@ -15,6 +15,7 @@ subject to the following restrictions:
#include "btConvexConcaveCollisionAlgorithm.h"
+#include "LinearMath/btQuickprof.h"
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
#include "BulletCollision/CollisionShapes/btMultiSphereShape.h"
#include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
@@ -79,6 +80,7 @@ void btConvexTriangleCallback::clearCache()
void btConvexTriangleCallback::processTriangle(btVector3* triangle,int
partId, int triangleIndex)
{
+ BT_PROFILE("btConvexTriangleCallback::processTriangle");
if (!TestTriangleAgainstAabb2(triangle, m_aabbMin, m_aabbMax))
{
@@ -184,7 +186,7 @@ void btConvexConcaveCollisionAlgorithm::clearCache()
void btConvexConcaveCollisionAlgorithm::processCollision (const btCollisionObjectWrapper* body0Wrap,const btCollisionObjectWrapper* body1Wrap,const btDispatcherInfo& dispatchInfo,btManifoldResult* resultOut)
{
-
+ BT_PROFILE("btConvexConcaveCollisionAlgorithm::processCollision");
const btCollisionObjectWrapper* convexBodyWrap = m_isSwapped ? body1Wrap : body0Wrap;
const btCollisionObjectWrapper* triBodyWrap = m_isSwapped ? body0Wrap : body1Wrap;
@@ -265,6 +267,7 @@ btScalar btConvexConcaveCollisionAlgorithm::calculateTimeOfImpact(btCollisionObj
virtual void processTriangle(btVector3* triangle, int partId, int triangleIndex)
{
+ BT_PROFILE("processTriangle");
(void)partId;
(void)triangleIndex;
//do a swept sphere for now
diff --git a/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp b/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
index ace4cfa26..0940da1a4 100644
--- a/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
+++ b/src/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.cpp
@@ -245,16 +245,18 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
btStridingMeshInterface* m_meshInterface;
btTriangleCallback* m_callback;
btVector3 m_triangle[3];
-
+ int m_numOverlap;
MyNodeOverlapCallback(btTriangleCallback* callback,btStridingMeshInterface* meshInterface)
:m_meshInterface(meshInterface),
- m_callback(callback)
+ m_callback(callback),
+ m_numOverlap(0)
{
}
virtual void processNode(int nodeSubPart, int nodeTriangleIndex)
{
+ m_numOverlap++;
const unsigned char *vertexbase;
int numverts;
PHY_ScalarType type;
@@ -321,8 +323,7 @@ void btBvhTriangleMeshShape::processAllTriangles(btTriangleCallback* callback,co
MyNodeOverlapCallback myNodeCallback(callback,m_meshInterface);
m_bvh->reportAabbOverlappingNodex(&myNodeCallback,aabbMin,aabbMax);
-
-
+
#endif//DISABLE_BVH