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Merge pull request #2106 from erwincoumans/master

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fast createMultiBody batch creation, more deep_mimic work
This commit is contained in:
erwincoumans
2019-02-12 12:10:10 -08:00
committed by GitHub
parent b5a707de1d 85ee4c2934
commit e7e46154bb
30 changed files with 393 additions and 63 deletions
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72
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2621,7 +2621,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
#endif
//Workaround: in a VR application, where we avoid synchronizing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(32768);
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(128 * 1024);
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
@@ -4401,7 +4401,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
btVector3 v2(vertexUpload[i2*3+0],
vertexUpload[i2*3+1],
vertexUpload[i2*3+2]);
meshInterface->addTriangle(v0, v1, v2);
meshInterface->addTriangle(v0*meshScale, v1*meshScale, v2*meshScale);
}
}
@@ -4434,7 +4434,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
btVector3 pt(vertexUpload[v*3+0],
vertexUpload[v*3+1],
vertexUpload[v*3+2]);
convexHull->addPoint(pt, false);
convexHull->addPoint(pt*meshScale, false);
}
convexHull->recalcLocalAabb();
@@ -7058,6 +7058,36 @@ bool PhysicsServerCommandProcessor::processLoadSDFCommand(const struct SharedMem
bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
if (clientCmd.m_createMultiBodyArgs.m_numBatchObjects > 0)
{
//batch of objects, to speed up creation time
bool result = false;
SharedMemoryCommand clientCmd2 = clientCmd;
int baseLinkIndex = clientCmd.m_createMultiBodyArgs.m_baseLinkIndex;
double* basePositionAndOrientations = (double*)bufferServerToClient;
for (int i = 0; i < clientCmd2.m_createMultiBodyArgs.m_numBatchObjects; i++)
{
clientCmd2.m_createMultiBodyArgs.m_linkPositions[baseLinkIndex * 3 + 0] = basePositionAndOrientations[0 + i * 3];
clientCmd2.m_createMultiBodyArgs.m_linkPositions[baseLinkIndex * 3 + 1] = basePositionAndOrientations[1 + i * 3];
clientCmd2.m_createMultiBodyArgs.m_linkPositions[baseLinkIndex * 3 + 2] = basePositionAndOrientations[2 + i * 3];
if (i == (clientCmd2.m_createMultiBodyArgs.m_numBatchObjects - 1))
{
result = processCreateMultiBodyCommandSingle(clientCmd2, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
}
else
{
result = processCreateMultiBodyCommandSingle(clientCmd2, serverStatusOut, 0, 0);
}
}
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
return result;
}
return processCreateMultiBodyCommandSingle(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
}
bool PhysicsServerCommandProcessor::processCreateMultiBodyCommandSingle(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
BT_PROFILE("processCreateMultiBodyCommand2");
bool hasStatus = true;
serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_FAILED;
@@ -7082,10 +7112,16 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
bool ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
bool ok = 0;
{
BT_PROFILE("processImportedObjects");
ok = processImportedObjects("memory", bufferServerToClient, bufferSizeInBytes, useMultiBody, flags, u2b);
}
if (ok)
{
BT_PROFILE("post process");
int bodyUniqueId = -1;
if (m_data->m_sdfRecentLoadedBodies.size() == 1)
@@ -7095,15 +7131,23 @@ bool PhysicsServerCommandProcessor::processCreateMultiBodyCommand(const struct S
m_data->m_sdfRecentLoadedBodies.clear();
if (bodyUniqueId >= 0)
{
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
serverStatusOut.m_type = CMD_CREATE_MULTI_BODY_COMPLETED;
if (bufferSizeInBytes>0 && serverStatusOut.m_numDataStreamBytes==0)
{
{
BT_PROFILE("autogenerateGraphicsObjects");
m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
}
BT_PROFILE("createBodyInfoStream");
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
}
}
}
@@ -8209,6 +8253,11 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
}
}
if (clientCmd.m_updateFlags & SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE)
{
m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = clientCmd.m_physSimParamArgs.m_minimumSolverIslandSize;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;
@@ -10977,6 +11026,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = processCreateVisualShapeCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_MULTI_BODY:
{
hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);