Merge pull request #835 from erwincoumans/master

don't use GL_LINEAR_MIPMAP_LINEAR for shadow maps, compile issue, VR tiny UI work-in-progress

examples/BasicDemo/BasicExample.cpp

@@ -14,7 +14,6 @@ subject to the following restrictions:
 */
 
 
-
 #include "BasicExample.h"
 
 #include "btBulletDynamicsCommon.h"

examples/CommonInterfaces/CommonRigidBodyBase.h

@@ -446,9 +446,15 @@ struct CommonRigidBodyBase : public CommonExampleInterface
 
 	virtual void renderScene()
 	{
-		m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
+		{
+
+			m_guiHelper->syncPhysicsToGraphics(m_dynamicsWorld);
+		}
 
-		m_guiHelper->render(m_dynamicsWorld);
+		{
+
+			m_guiHelper->render(m_dynamicsWorld);
+		}
 	}
 };
 

examples/ExampleBrowser/CMakeLists.txt

@@ -131,7 +131,7 @@ SET(BulletExampleBrowser_SRCS
 	../SharedMemory/TinyRendererVisualShapeConverter.h
 	../SharedMemory/IKTrajectoryHelper.cpp
 	../SharedMemory/IKTrajectoryHelper.h
-	../RenderingExamples/TinyRendererSetup.cpp
+
 	../SharedMemory/PhysicsServer.cpp
 	../SharedMemory/PhysicsClientSharedMemory.cpp
 	../SharedMemory/PhysicsClient.cpp
@@ -208,10 +208,16 @@ SET(BulletExampleBrowser_SRCS
 	../MultiThreading/b3PosixThreadSupport.cpp
 	../MultiThreading/b3Win32ThreadSupport.cpp
 	../MultiThreading/b3ThreadSupportInterface.cpp
+	../RenderingExamples/TinyRendererSetup.cpp
 	../RenderingExamples/TimeSeriesCanvas.cpp
 	../RenderingExamples/TimeSeriesCanvas.h
 	../RenderingExamples/TimeSeriesFontData.cpp
 	../RenderingExamples/TimeSeriesFontData.h
+	../RenderingExamples/DynamicTexturedCubeDemo.cpp
+	../RenderingExamples/DynamicTexturedCubeDemo.h
+	../RenderingExamples/TinyVRGui.cpp
+	../RenderingExamples/TinyVRGui.h
+
 	../RoboticsLearning/GripperGraspExample.cpp
 	../RoboticsLearning/GripperGraspExample.h
 	../RoboticsLearning/b3RobotSimAPI.cpp

examples/ExampleBrowser/ExampleEntries.cpp

@@ -6,7 +6,7 @@
 #include "../RenderingExamples/CoordinateSystemDemo.h"
 #include "../RenderingExamples/RaytracerSetup.h"
 #include "../RenderingExamples/TinyRendererSetup.h"
-
+#include "../RenderingExamples/DynamicTexturedCubeDemo.h"
 #include "../ForkLift/ForkLiftDemo.h"
 #include "../BasicDemo/BasicExample.h"
 #include "../Planar2D/Planar2D.h"
@@ -290,6 +290,9 @@ static ExampleEntry gDefaultExamples[]=
 	ExampleEntry(1,"CoordinateSystemDemo","Show the axis and positive rotation direction around the axis.", CoordinateSystemCreateFunc),
 	ExampleEntry(1,"Time Series", "Render some value(s) in a 2D graph window, shifting to the left", TimeSeriesCreateFunc),
 	ExampleEntry(1,"TinyRenderer", "Very small software renderer.", TinyRendererCreateFunc),
+	ExampleEntry(1,"Dynamic Texture", "Dynamic updated textured applied to a cube.", DynamicTexturedCubeDemoCreateFunc),
+
+
 
 	//Extended Tutorials Added by Mobeen
 	ExampleEntry(0,"Extended Tutorials"),

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -1087,7 +1087,7 @@ bool OpenGLExampleBrowser::requestedExit()
 
 void OpenGLExampleBrowser::update(float deltaTime)
 {
-
+		B3_PROFILE("OpenGLExampleBrowser::update");
 		assert(glGetError()==GL_NO_ERROR);
 		s_instancingRenderer->init();
         DrawGridData dg;
@@ -1139,9 +1139,11 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				singleStepSimulation = false;
 				//printf("---------------------------------------------------\n");
 				//printf("Framecount = %d\n",frameCount);
-
+				B3_PROFILE("sCurrentDemo->stepSimulation");
+
 				if (gFixedTimeStep>0)
 				{
+
 					sCurrentDemo->stepSimulation(gFixedTimeStep);
 				} else
 				{
@@ -1167,7 +1169,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
                 sCurrentDemo->renderScene();
             }
             {
-
+				B3_PROFILE("physicsDebugDraw");
 				glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
                 sCurrentDemo->physicsDebugDraw(gDebugDrawFlags);
             }
@@ -1179,6 +1181,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 
 			if (gui2 && s_guiHelper && s_guiHelper->getRenderInterface() && s_guiHelper->getRenderInterface()->getActiveCamera())
 			{
+				B3_PROFILE("setStatusBarMessage");
 				char msg[1024];
 				float camDist = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraDistance();
 				float pitch = s_guiHelper->getRenderInterface()->getActiveCamera()->getCameraPitch();
@@ -1194,6 +1197,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		static int toggle = 1;
 		if (renderGui)
 		{
+			B3_PROFILE("renderGui");
 			//            if (!pauseSimulation)
 			//                processProfileData(s_profWindow,false);
 
@@ -1202,7 +1206,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 
 				saveOpenGLState(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
 			}
-			BT_PROFILE("Draw Gwen GUI");
+
 			if (m_internalData->m_gui)
 			{
 				m_internalData->m_gui->draw(s_instancingRenderer->getScreenWidth(), s_instancingRenderer->getScreenHeight());
@@ -1237,6 +1241,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 
 		if (gui2)
 		{
+			B3_PROFILE("forceUpdateScrollBars");
 			gui2->forceUpdateScrollBars();
 		}
 

examples/ExampleBrowser/OpenGLGuiHelper.cpp

@@ -289,18 +289,25 @@ void OpenGLGuiHelper::syncPhysicsToGraphics(const btDiscreteDynamicsWorld* rbWor
 		return;
 
 	int numCollisionObjects = rbWorld->getNumCollisionObjects();
-	for (int i = 0; i<numCollisionObjects; i++)
 	{
-		btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
-		btVector3 pos = colObj->getWorldTransform().getOrigin();
-		btQuaternion orn = colObj->getWorldTransform().getRotation();
-		int index = colObj->getUserIndex();
-		if (index >= 0)
+		B3_PROFILE("write all InstanceTransformToCPU");
+		for (int i = 0; i<numCollisionObjects; i++)
 		{
-			m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
+			B3_PROFILE("writeSingleInstanceTransformToCPU");
+			btCollisionObject* colObj = rbWorld->getCollisionObjectArray()[i];
+			btVector3 pos = colObj->getWorldTransform().getOrigin();
+			btQuaternion orn = colObj->getWorldTransform().getRotation();
+			int index = colObj->getUserIndex();
+			if (index >= 0)
+			{
+				m_data->m_glApp->m_renderer->writeSingleInstanceTransformToCPU(pos, orn, index);
+			}
 		}
 	}
-	m_data->m_glApp->m_renderer->writeTransforms();
+	{
+		B3_PROFILE("writeTransforms");
+		m_data->m_glApp->m_renderer->writeTransforms();
+	}
 }
 
 

examples/ExampleBrowser/premake4.lua

@@ -54,7 +54,6 @@ project "App_BulletExampleBrowser"
 		"../TinyRenderer/tgaimage.cpp",
 		"../TinyRenderer/our_gl.cpp",
 		"../TinyRenderer/TinyRenderer.cpp",
-		"../RenderingExamples/TinyRendererSetup.cpp",
 		"../SharedMemory/IKTrajectoryHelper.cpp",
 		"../SharedMemory/IKTrajectoryHelper.h",
 		"../SharedMemory/PhysicsClientC_API.cpp",

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -413,17 +413,32 @@ void GLInstancingRenderer::writeSingleInstanceTransformToGPU(float* position, fl
 void GLInstancingRenderer::writeTransforms()
 {
 
-	b3Assert(glGetError() ==GL_NO_ERROR);
-
+	{
+		B3_PROFILE("b3Assert(glGetError() 1");
+		b3Assert(glGetError() ==GL_NO_ERROR);
+	}
+	{
+		B3_PROFILE("glBindBuffer");
+		glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
+	}
 
-	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	//glFlush();
+	{
+		B3_PROFILE("glFlush()");
+		//without the flush, the glBufferSubData can spike to really slow (seconds slow)
+		glFlush();
+	}
 
-	b3Assert(glGetError() ==GL_NO_ERROR);
+	{
+		B3_PROFILE("b3Assert(glGetError() 2");
+		b3Assert(glGetError() ==GL_NO_ERROR);
+	}
 
 
 #ifdef B3_DEBUG
 	{
+
+		//B3_PROFILE("m_data->m_totalNumInstances == totalNumInstances");
+
 		int totalNumInstances= 0;
 		for (int k=0;k<m_graphicsInstances.size();k++)
 		{
@@ -440,14 +455,29 @@ void GLInstancingRenderer::writeTransforms()
 //	int SCALE_BUFFER_SIZE = (totalNumInstances*sizeof(float)*3);
 
 #if 1
+	{
+	//	printf("m_data->m_totalNumInstances = %d\n", m_data->m_totalNumInstances);
+		{
+		B3_PROFILE("glBufferSubData pos");
 	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes,m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_positions_ptr[0]);
+		}
+		{
+			B3_PROFILE("glBufferSubData orn");
 	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_quaternion_ptr[0]);
+		}
+		{
+			B3_PROFILE("glBufferSubData color");
 	glBufferSubData(	GL_ARRAY_BUFFER,m_data->m_maxShapeCapacityInBytes+ POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE, m_data->m_totalNumInstances*sizeof(float)*4,
  						&m_data->m_instance_colors_ptr[0]);
+		}
+		{
+			B3_PROFILE("glBufferSubData scale");
 	glBufferSubData(	GL_ARRAY_BUFFER, m_data->m_maxShapeCapacityInBytes+POSITION_BUFFER_SIZE+ORIENTATION_BUFFER_SIZE+COLOR_BUFFER_SIZE,m_data->m_totalNumInstances*sizeof(float)*3,
 					 	&m_data->m_instance_scale_ptr[0]);
+		}
+	}
 #else
 
 	char* orgBase =  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_READ_WRITE);
@@ -517,9 +547,15 @@ void GLInstancingRenderer::writeTransforms()
 
 #endif
 
-	glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
+	{
+		B3_PROFILE("glBindBuffer 2");
+		glBindBuffer(GL_ARRAY_BUFFER, 0);//m_data->m_vbo);
+	}
 
-    b3Assert(glGetError() ==GL_NO_ERROR);
+	{
+			B3_PROFILE("b3Assert(glGetError() 4");
+		b3Assert(glGetError() ==GL_NO_ERROR);
+	}
 
 }
 
@@ -686,16 +722,24 @@ int GLInstancingRenderer::registerShape(const float* vertices, int numvertices,
 
 
 	glBindBuffer(GL_ARRAY_BUFFER, m_data->m_vbo);
-	char* dest=  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
 	int vertexStrideInBytes = 9*sizeof(float);
 	int sz = numvertices*vertexStrideInBytes;
+#if 0
+
+	char* dest=  (char*)glMapBuffer( GL_ARRAY_BUFFER,GL_WRITE_ONLY);//GL_WRITE_ONLY
+
+
 #ifdef B3_DEBUG
 	int totalUsed = vertexStrideInBytes*gfxObj->m_vertexArrayOffset+sz;
 	b3Assert(totalUsed<m_data->m_maxShapeCapacityInBytes);
 #endif//B3_DEBUG
 
 	memcpy(dest+vertexStrideInBytes*gfxObj->m_vertexArrayOffset,vertices,sz);
 	glUnmapBuffer( GL_ARRAY_BUFFER);
+#else
+	glBufferSubData(	GL_ARRAY_BUFFER,vertexStrideInBytes*gfxObj->m_vertexArrayOffset,sz,
+ 						vertices);
+#endif
 
 	glGenBuffers(1, &gfxObj->m_index_vbo);
 
@@ -1465,7 +1509,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 #endif//OLD_SHADOWMAP_INIT
 
 			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
-			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
+			glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
 
 
 

examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.glsl

@@ -36,11 +36,9 @@ void main(void)
 
 	//float bias = 0.005f;
 
-	float bias = 0.0001*tan(acos(intensity));
-	bias = clamp(bias, 0,0.01);
-
+
 
-	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));
+	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));
 
 	intensity = 0.7*intensity  + 0.3*intensity*visibility;
 

examples/OpenGLWindow/Shaders/useShadowMapInstancingPS.h

@@ -30,9 +30,8 @@ static const char* useShadowMapInstancingFragmentShader= \
 "		\n"
 "	//float bias = 0.005f;\n"
 "	\n"
-"	float bias = 0.0001*tan(acos(intensity));\n"
-"	bias = clamp(bias, 0,0.01);\n"
-"	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z-bias)/ShadowCoord.w));\n"
+"	\n"
+"	float visibility = texture(shadowMap, vec3(ShadowCoord.xy,(ShadowCoord.z)/ShadowCoord.w));\n"
 "	\n"
 "	intensity = 0.7*intensity  + 0.3*intensity*visibility;\n"
 "	\n"

examples/OpenGLWindow/SimpleOpenGL3App.cpp

@@ -173,6 +173,7 @@ SimpleOpenGL3App::SimpleOpenGL3App(	const char* title, int width,int height, boo
     b3Assert(glGetError() ==GL_NO_ERROR);
 
 	m_instancingRenderer = new GLInstancingRenderer(128*1024,128*1024*1024);
+
     m_primRenderer = new GLPrimitiveRenderer(width,height);
 
     m_renderer = m_instancingRenderer ;