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remove that odd triangle in the origin of samurai castle (VR)

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add rolling/spinning friction to cube, remove it from plane/samurai.urdf
URDF2Bullet: support joint limits for revolute and prismatic, only if defined (if upper < lower, disable limit)
add some profiling markers to improve performance
This commit is contained in:
erwin coumans
2016-09-19 07:02:43 -07:00
parent 48d42c7c6e
commit db3122233f
23 changed files with 297 additions and 113 deletions
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100
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -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