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Allow batches of debug lines. The PhysicsClientExample rendering is still slow (one line at a time, instead of batches)

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Prepare for IMU sensor in Shared Memory Server
This commit is contained in:
erwin coumans
2015-09-03 14:18:22 -07:00
parent 5a0ca58436
commit f75df90d82
9 changed files with 203 additions and 61 deletions
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62
examples/SharedMemory/PhysicsClientExample.cpp
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@@ -74,11 +74,44 @@ public:
const btVector3* fromLines = m_physicsClient.getDebugLinesFrom();
const btVector3* toLines = m_physicsClient.getDebugLinesTo();
const btVector3* colorLines = m_physicsClient.getDebugLinesColor();
btScalar lineWidth = 2;
for (int i=0;i<numLines;i++)
int lineWidth = 1;
if (1)
{
this->m_guiHelper->getRenderInterface()->drawLine(fromLines[i],toLines[i],colorLines[i],lineWidth);
btAlignedObjectArray<btVector3FloatData> points;
points.resize(numLines*2);
btAlignedObjectArray<unsigned int> indices;
indices.resize(numLines*2);
for (int i=0;i<numLines;i++)
{
points[i*2].m_floats[0] = fromLines[i].x();
points[i*2].m_floats[1] = fromLines[i].y();
points[i*2].m_floats[2] = fromLines[i].z();
points[i*2+1].m_floats[0] = toLines[i].x();
points[i*2+1].m_floats[1] = toLines[i].y();
points[i*2+1].m_floats[2] = toLines[i].z();
indices[i*2] = i*2;
indices[i*2+1] = i*2+1;
}
float color[4] = {1,1,0,1};
if (points.size() && indices.size())
{
m_guiHelper->getRenderInterface()->drawLines(&points[0].m_floats[0],color,points.size(),sizeof(btVector3FloatData),&indices[0],indices.size(),lineWidth);
}
} else
{
for (int i=0;i<numLines;i++)
{
m_guiHelper->getRenderInterface()->drawLine(fromLines[i],toLines[i],colorLines[i],lineWidth);
}
}
}
virtual void physicsDebugDraw(int debugFlags){}
virtual bool mouseMoveCallback(float x,float y){return false;};
@@ -107,7 +140,7 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
case CMD_LOAD_URDF:
{
command.m_type =CMD_LOAD_URDF;
sprintf(command.m_urdfArguments.m_urdfFileName,"kuka_lwr/kuka.urdf");
sprintf(command.m_urdfArguments.m_urdfFileName,"r2d2.urdf");//kuka_lwr/kuka.urdf");
command.m_urdfArguments.m_initialPosition[0] = 0.0;
command.m_updateFlags =
URDF_ARGS_FILE_NAME| URDF_ARGS_INITIAL_POSITION|URDF_ARGS_INITIAL_ORIENTATION|URDF_ARGS_USE_MULTIBODY|URDF_ARGS_USE_FIXED_BASE;
@@ -145,6 +178,8 @@ void MyCallback(int buttonId, bool buttonState, void* userPtr)
command.m_type =CMD_STEP_FORWARD_SIMULATION;
cl->enqueueCommand(command);
command.m_type =CMD_REQUEST_DEBUG_LINES;
command.m_requestDebugLinesArguments.m_debugMode = btIDebugDraw::DBG_DrawWireframe;//:DBG_DrawConstraints;
command.m_requestDebugLinesArguments.m_startingLineIndex = 0;
cl->enqueueCommand(command);
break;
}
@@ -293,12 +328,7 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
b3Printf("Joint %s at q-index %d and u-index %d\n",info.m_jointName,info.m_qIndex,info.m_uIndex);
}
if (hasStatus && status.m_type ==CMD_DEBUG_LINES_COMPLETED)
{
//store the debug lines for drawing
}
if (hasStatus && status.m_type == CMD_URDF_LOADING_COMPLETED)
{
for (int i=0;i<m_physicsClient.getNumJoints();i++)
@@ -330,6 +360,18 @@ void PhysicsClientExample::stepSimulation(float deltaTime)
}
}
if (hasStatus && status.m_type ==CMD_DEBUG_LINES_COMPLETED)
{
SharedMemoryCommand command;
if (status.m_sendDebugLinesArgs.m_numRemainingDebugLines>0)
{
//continue requesting debug lines for drawing
command.m_type =CMD_REQUEST_DEBUG_LINES;
command.m_requestDebugLinesArguments.m_debugMode = btIDebugDraw::DBG_DrawWireframe;//DBG_DrawConstraints;
command.m_requestDebugLinesArguments.m_startingLineIndex = status.m_sendDebugLinesArgs.m_numDebugLines+status.m_sendDebugLinesArgs.m_startingLineIndex;
enqueueCommand(command);
}
}
if (m_physicsClient.canSubmitCommand())
{
if (m_userCommandRequests.size())