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performance update for direct and egl plugin #4421

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performance update for direct and egl plugin #4421

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10c3d4e
performance update for direct and egl plugin
orig74 Mar 4, 2023
b4aada1
Enable threads when wating for image
orig74 Mar 5, 2023
9d0a9cf
Update eglRendererVisualShapeConverter.cpp
orig74 Mar 13, 2023
bb6d5be
Update EGLOpenGLWindow.cpp
orig74 Apr 2, 2023
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6 changes: 5 additions & 1 deletion examples/OpenGLWindow/EGLOpenGLWindow.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,11 +93,14 @@ void EGLOpenGLWindow::createWindow(const b3gWindowConstructionInfo& ci)
8,
EGL_DEPTH_SIZE,
8,
EGL_SAMPLES,
4,
EGL_SURFACE_TYPE,
EGL_PBUFFER_BIT,
EGL_RENDERABLE_TYPE,
EGL_OPENGL_BIT,
EGL_NONE};
EGL_NONE,
};

EGLint egl_pbuffer_attribs[] = {
EGL_WIDTH,
Expand Down Expand Up @@ -319,6 +322,7 @@ void EGLOpenGLWindow::startRendering()
// printf("EGL window start rendering.\n");
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT | GL_STENCIL_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
glEnable(GL_MULTISAMPLE);
}

void EGLOpenGLWindow::endRendering()
Expand Down
7 changes: 6 additions & 1 deletion examples/SharedMemory/PhysicsDirect.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -569,6 +569,7 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)

// printf("pixel = %d\n", rgbaPixelsReceived[0]);

#if 0
for (int i = 0; i < serverCmd.m_sendPixelDataArguments.m_numPixelsCopied; i++)
{
m_data->m_cachedCameraDepthBuffer[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex] = depthBuffer[i];
Expand All @@ -581,7 +582,11 @@ bool PhysicsDirect::processCamera(const struct SharedMemoryCommand& orgCommand)
{
m_data->m_cachedCameraPixelsRGBA[i + serverCmd.m_sendPixelDataArguments.m_startingPixelIndex * numBytesPerPixel] = rgbaPixelsReceived[i];
}

#else
memcpy(&m_data->m_cachedCameraDepthBuffer[serverCmd.m_sendPixelDataArguments.m_startingPixelIndex],depthBuffer,serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*sizeof(float));
memcpy(&m_data->m_cachedSegmentationMask[serverCmd.m_sendPixelDataArguments.m_startingPixelIndex],segmentationMaskBuffer,serverCmd.m_sendPixelDataArguments.m_numPixelsCopied*sizeof(int));
memcpy(&m_data->m_cachedCameraPixelsRGBA[serverCmd.m_sendPixelDataArguments.m_startingPixelIndex * numBytesPerPixel],rgbaPixelsReceived,serverCmd.m_sendPixelDataArguments.m_numPixelsCopied * numBytesPerPixel);
#endif
if (serverCmd.m_sendPixelDataArguments.m_numRemainingPixels > 0 && serverCmd.m_sendPixelDataArguments.m_numPixelsCopied)
{
m_data->m_hasStatus = false;
Expand Down
12 changes: 6 additions & 6 deletions examples/SharedMemory/plugins/eglPlugin/eglRendererVisualShapeConverter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,8 +92,8 @@ struct EGLRendererObjectArray
//#define START_WIDTH 2560
//#define START_HEIGHT 2048

#define START_WIDTH 1024
#define START_HEIGHT 768
#define START_WIDTH (1024*4)
#define START_HEIGHT (1024*4)

struct btHashVisual
{
Expand Down Expand Up @@ -1617,12 +1617,12 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
BT_PROFILE("resize and flip");
for (int j = 0; j < *heightPtr; j++)
{
int yIndex = int(float(*heightPtr - 1 - j) * (float(sourceHeight) / float(*heightPtr)));
btClamp(yIndex, 0, sourceHeight);
for (int i = 0; i < *widthPtr; i++)
{
int xIndex = int(float(i) * (float(sourceWidth) / float(*widthPtr)));
int yIndex = int(float(*heightPtr - 1 - j) * (float(sourceHeight) / float(*heightPtr)));
btClamp(xIndex, 0, sourceWidth);
btClamp(yIndex, 0, sourceHeight);
int bytesPerPixel = 4; //RGBA

int sourcePixelIndex = (xIndex + yIndex * sourceWidth) * bytesPerPixel;
Expand Down Expand Up @@ -1686,12 +1686,12 @@ void EGLRendererVisualShapeConverter::copyCameraImageDataGL(
BT_PROFILE("resize and flip");
for (int j = 0; j < destinationHeight; j++)
{
int yIndex = int(float(destinationHeight - 1 - j) * (float(sourceHeight) / float(destinationHeight)));
btClamp(yIndex, 0, sourceHeight);
for (int i = 0; i < destinationWidth; i++)
{
int xIndex = int(float(i) * (float(sourceWidth) / float(destinationWidth)));
int yIndex = int(float(destinationHeight - 1 - j) * (float(sourceHeight) / float(destinationHeight)));
btClamp(xIndex, 0, sourceWidth);
btClamp(yIndex, 0, sourceHeight);
int bytesPerPixel = 4; //RGBA
int sourcePixelIndex = (xIndex + yIndex * sourceWidth) * bytesPerPixel;
int sourceDepthIndex = xIndex + yIndex * sourceWidth;
Expand Down
2 changes: 2 additions & 0 deletions examples/pybullet/pybullet.c
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Original file line number Diff line number Diff line change
Expand Up @@ -10226,8 +10226,10 @@ static PyObject* pybullet_getCameraImage(PyObject* self, PyObject* args, PyObjec
b3SharedMemoryStatusHandle statusHandle;
int statusType;

Py_BEGIN_ALLOW_THREADS
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
Py_END_ALLOW_THREADS
if (statusType == CMD_CAMERA_IMAGE_COMPLETED)
{
PyObject* pyResultList; // store 4 elements in this result: width,
Expand Down