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fix issues with VR physics server

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This commit is contained in:
erwin coumans
2016-09-09 11:28:38 -07:00
parent 016dc273c6
commit f72982306e
3 changed files with 69 additions and 37 deletions
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28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -556,6 +556,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
//Workaround: in a VR application, where we avoid synchronizaing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(8192);
m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer(); m_data->m_remoteDebugDrawer = new SharedMemoryDebugDrawer();
@@ -2694,13 +2697,16 @@ void PhysicsServerCommandProcessor::replayFromLogFile(const char* fileName)
btVector3 gVRGripperPos(0,0,0); btVector3 gVRGripperPos(0,0,0);
btQuaternion gVRGripperOrn(0,0,0,1); btQuaternion gVRGripperOrn(0,0,0,1);
int gDroppedSimulationSteps = 0;
int gNumSteps = 0;
double gDtInSec = 0.f;
double gSubStep = 0.f;
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec) void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{ {
if (m_data->m_allowRealTimeSimulation && m_data->m_guiHelper) if (m_data->m_allowRealTimeSimulation && m_data->m_guiHelper)
{ {
btAlignedObjectArray<char> bufferServerToClient; static btAlignedObjectArray<char> gBufferServerToClient;
bufferServerToClient.resize(32768); gBufferServerToClient.resize(32768);
if (!m_data->m_hasGround) if (!m_data->m_hasGround)
@@ -2710,14 +2716,14 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
int bodyId = 0; int bodyId = 0;
loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &bufferServerToClient[0], bufferServerToClient.size()); loadUrdf("plane.urdf", btVector3(0, 0, 0), btQuaternion(0, 0, 0, 1), true, true, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
} }
if (0)//m_data->m_gripperRigidbodyFixed==0) if (0)//m_data->m_gripperRigidbodyFixed==0)
{ {
int bodyId = 0; int bodyId = 0;
loadUrdf("pr2_gripper.urdf",btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &bufferServerToClient[0], bufferServerToClient.size()); loadUrdf("pr2_gripper.urdf",btVector3(0, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
InteralBodyData* parentBody = m_data->getHandle(bodyId); InteralBodyData* parentBody = m_data->getHandle(bodyId);
if (parentBody->m_multiBody) if (parentBody->m_multiBody)
@@ -2747,13 +2753,13 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
int maxSteps = 3; int maxSteps = 3;
int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec,maxSteps,m_data->m_physicsDeltaTime); int numSteps = m_data->m_dynamicsWorld->stepSimulation(dtInSec,maxSteps,m_data->m_physicsDeltaTime);
int droppedSteps = numSteps > maxSteps ? numSteps - maxSteps : 0; gDroppedSimulationSteps += numSteps > maxSteps ? numSteps - maxSteps : 0;
static int skipReport = 0;
skipReport++; if (numSteps)
if (skipReport>100)
{ {
skipReport = 0; gNumSteps = numSteps;
//printf("numSteps: %d (dropped %d), %f (internal step = %f)\n", numSteps, droppedSteps , dtInSec, m_data->m_physicsDeltaTime); gDtInSec = dtInSec;
gSubStep = m_data->m_physicsDeltaTime;
} }
} }
} }

70
examples/SharedMemory/PhysicsServerExample.cpp
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@@ -13,7 +13,8 @@
#include "../Utils/b3Clock.h" #include "../Utils/b3Clock.h"
#include "../MultiThreading/b3ThreadSupportInterface.h" #include "../MultiThreading/b3ThreadSupportInterface.h"
#define MAX_VR_CONTROLLERS 4 #define MAX_VR_CONTROLLERS 8
extern btVector3 gLastPickPos; extern btVector3 gLastPickPos;
btVector3 gVRTeleportPos(0,0,0); btVector3 gVRTeleportPos(0,0,0);
@@ -880,6 +881,12 @@ static float vrOffset[16]={1,0,0,0,
0,0,0,0}; 0,0,0,0};
extern int gDroppedSimulationSteps;
extern int gNumSteps;
extern double gDtInSec;
extern double gSubStep;
void PhysicsServerExample::renderScene() void PhysicsServerExample::renderScene()
{ {
///debug rendering ///debug rendering
@@ -925,24 +932,38 @@ void PhysicsServerExample::renderScene()
//some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift) //some little experiment to add text/HUD to a VR camera (HTC Vive/Oculus Rift)
static int frameCount=0; static int frameCount=0;
frameCount++;
char bla[1024];
static btScalar prevTime = m_clock.getTimeSeconds(); static btScalar prevTime = m_clock.getTimeSeconds();
btScalar curTime = m_clock.getTimeSeconds(); frameCount++;
static btScalar deltaTime = 0.f; static char line0[1024];
static int count = 10; static char line1[1024];
if (count-- < 0)
{ static btScalar worseFps = 1000000;
count = 10; int numFrames = 200;
deltaTime = curTime - prevTime; static int count = 0;
} count++;
if (deltaTime == 0)
deltaTime = 1000; if (0 == (count & 1))
{
btScalar curTime = m_clock.getTimeSeconds();
btScalar fps = 1. / (curTime - prevTime);
prevTime = curTime;
if (fps < worseFps)
{
worseFps = fps;
}
if (count > numFrames)
{
count = 0;
sprintf(line0, "Graphics FPS (worse) = %f, frame %d", worseFps, frameCount / 2);
sprintf(line1, "Physics Steps = %d, Dropped = %d, dt %f, Substep %f)", gNumSteps, gDroppedSimulationSteps, gDtInSec, gSubStep);
gDroppedSimulationSteps = 0;
worseFps = 1000000;
}
}
prevTime = curTime;
sprintf(bla,"VR sub-title text test,fps = %f, frame %d", 1./deltaTime, frameCount/2);
float pos[4]; float pos[4];
m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos); m_guiHelper->getAppInterface()->m_renderer->getActiveCamera()->getCameraTargetPosition(pos);
pos[0]+=gVRTeleportPos[0]; pos[0]+=gVRTeleportPos[0];
@@ -965,12 +986,12 @@ void PhysicsServerExample::renderScene()
float upMag = -.6; float upMag = -.6;
btVector3 side = viewTrInv.getBasis().getColumn(0); btVector3 side = viewTrInv.getBasis().getColumn(0);
btVector3 up = viewTrInv.getBasis().getColumn(1); btVector3 up = viewTrInv.getBasis().getColumn(1);
up+=0.35*side; up+=0.6*side;
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1); m_guiHelper->getAppInterface()->drawText3D(line0,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
//btVector3 fwd = viewTrInv.getBasis().getColumn(2); //btVector3 fwd = viewTrInv.getBasis().getColumn(2);
sprintf(bla,"VR line 2 sub-title text test, frame %d", frameCount/2);
upMag = -0.7; upMag = -0.7;
m_guiHelper->getAppInterface()->drawText3D(bla,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1); m_guiHelper->getAppInterface()->drawText3D(line1,pos[0]+upMag*up[0],pos[1]+upMag*up[1],pos[2]+upMag*up[2],1);
} }
//m_args[0].m_cs->unlock(); //m_args[0].m_cs->unlock();
@@ -1083,7 +1104,7 @@ void PhysicsServerExample::vrControllerButtonCallback(int controllerId, int butt
{ {
//printf("controllerId %d, button=%d\n",controllerId, button); //printf("controllerId %d, button=%d\n",controllerId, button);
if (controllerId<0 || controllerId>MAX_VR_CONTROLLERS) if (controllerId<0 || controllerId>=MAX_VR_CONTROLLERS)
return; return;
if (button==1 && state==0) if (button==1 && state==0)
@@ -1118,6 +1139,11 @@ extern btQuaternion gVRGripperOrn;
void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4]) void PhysicsServerExample::vrControllerMoveCallback(int controllerId, float pos[4], float orn[4])
{ {
if (controllerId <= 0 || controllerId >= MAX_VR_CONTROLLERS)
{
printf("Controller Id exceeds max: %d > %d", controllerId, MAX_VR_CONTROLLERS);
return;
}
m_args[0].m_vrControllerPos[controllerId].setValue(pos[0]+gVRTeleportPos[0],pos[1]+gVRTeleportPos[1],pos[2]+gVRTeleportPos[2]); m_args[0].m_vrControllerPos[controllerId].setValue(pos[0]+gVRTeleportPos[0],pos[1]+gVRTeleportPos[1],pos[2]+gVRTeleportPos[2]);
m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0],orn[1],orn[2],orn[3]); m_args[0].m_vrControllerOrn[controllerId].setValue(orn[0],orn[1],orn[2],orn[3]);

8
examples/StandaloneMain/hellovr_opengl_main.cpp
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@@ -625,6 +625,9 @@ void CMainApplication::Shutdown()
} }
} }
sExample->exitPhysics();
delete sExample;
delete m_app; delete m_app;
m_app=0; m_app=0;
@@ -752,13 +755,11 @@ bool CMainApplication::HandleInput()
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
// Purpose: // Purpose:
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
void CMainApplication::RunMainLoop() void CMainApplication::RunMainLoop()
{ {
bool bQuit = false; bool bQuit = false;
//SDL_StartTextInput();
//SDL_ShowCursor( SDL_DISABLE );
while ( !bQuit && !m_app->m_window->requestedExit()) while ( !bQuit && !m_app->m_window->requestedExit())
{ {
bQuit = HandleInput(); bQuit = HandleInput();
@@ -766,7 +767,6 @@ void CMainApplication::RunMainLoop()
RenderFrame(); RenderFrame();
} }
//SDL_StopTextInput();
} }