Revision: 8703
http://playerstage.svn.sourceforge.net/playerstage/?rev=8703&view=rev
Author: natepak
Date: 2010-05-21 16:24:35 +0000 (Fri, 21 May 2010)
Log Message:
-----------
Rendering performance improvements
Modified Paths:
--------------
code/gazebo/branches/tbb/server/Simulator.cc
code/gazebo/branches/tbb/server/gui/Gui.cc
code/gazebo/branches/tbb/server/rendering/OgreAdaptor.cc
code/gazebo/branches/tbb/server/rendering/OgreAdaptor.hh
code/gazebo/branches/tbb/server/rendering/OgreCamera.cc
code/gazebo/branches/tbb/server/rendering/OgreCreator.cc
code/gazebo/branches/tbb/server/rendering/OgreCreator.hh
code/gazebo/branches/tbb/server/rendering/UserCamera.cc
Modified: code/gazebo/branches/tbb/server/Simulator.cc
===================================================================
--- code/gazebo/branches/tbb/server/Simulator.cc 2010-05-21 13:42:52 UTC
(rev 8702)
+++ code/gazebo/branches/tbb/server/Simulator.cc 2010-05-21 16:24:35 UTC
(rev 8703)
@@ -30,6 +30,8 @@
#include <boost/bind.hpp>
#include <boost/thread/recursive_mutex.hpp>
+#include "OgreCamera.hh"
+#include "CameraManager.hh"
#include "Timer.hh"
#include "Body.hh"
#include "Geom.hh"
@@ -70,10 +72,10 @@
</rendering:gui>\
<rendering:ogre>\
<ambient>1 1 1 1</ambient>\
- <shadowTechnique>stencilModulative</shadowTechnique>\
+ <shadows>false</shadows>\
<grid>false</grid>\
</rendering:ogre>\
- <model:physical name=\"plane1_model\">\
+ <model:physical name=\"plane1_model\">\
<xyz>0 0 0</xyz>\
<rpy>0 0 0</rpy>\
<static>true</static>\
@@ -81,7 +83,7 @@
<geom:plane name=\"plane1_geom\">\
<normal>0 0 1</normal>\
<size>100 100</size>\
- <segments>10 10</segments>\
+ <segments>1 1</segments>\
<uvTile>100 100</uvTile>\
<material>Gazebo/GrayGrid</material>\
<mu1>109999.0</mu1>\
@@ -454,6 +456,8 @@
return this->gazeboConfig;
}
+////////////////////////////////////////////////////////////////////////////////
+// Get rendering engine
OgreAdaptor *Simulator::GetRenderEngine() const
{
if (this->renderEngineEnabled)
Modified: code/gazebo/branches/tbb/server/gui/Gui.cc
===================================================================
--- code/gazebo/branches/tbb/server/gui/Gui.cc 2010-05-21 13:42:52 UTC (rev
8702)
+++ code/gazebo/branches/tbb/server/gui/Gui.cc 2010-05-21 16:24:35 UTC (rev
8703)
@@ -195,8 +195,6 @@
this->timeSlider->value(1.0);
Fl::check();
-
- //Fl::wait(0.3);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/tbb/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/branches/tbb/server/rendering/OgreAdaptor.cc 2010-05-21
13:42:52 UTC (rev 8702)
+++ code/gazebo/branches/tbb/server/rendering/OgreAdaptor.cc 2010-05-21
16:24:35 UTC (rev 8703)
@@ -75,7 +75,6 @@
Param::Begin(&this->parameters);
this->ambientP = new ParamT<Vector4>("ambient",Vector4(.1,.1,.1,.1),0);
this->shadowsP = new ParamT<bool>("shadows", true, 0);
- this->drawGridP = new ParamT<bool>("grid", true, 0);
this->skyMaterialP = new ParamT<std::string>("material","",1);
this->backgroundColorP = new
ParamT<Vector3>("backgroundColor",Vector3(0.5,0.5,0.5), 0);
@@ -96,7 +95,6 @@
delete this->ambientP;
delete this->shadowsP;
delete this->backgroundColorP;
- delete this->drawGridP;
delete this->skyMaterialP;
}
@@ -188,8 +186,8 @@
else
{
this->sceneType= SCENE_EXT;
- //this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_FAR);
- this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
+ this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_FAR);
+ //this->sceneMgr = this->root->createSceneManager(Ogre::ST_EXTERIOR_CLOSE);
//this->sceneMgr = this->root->createSceneManager(Ogre::ST_GENERIC);
}
@@ -199,7 +197,6 @@
this->ambientP->Load(node);
this->shadowsP->Load(node);
this->backgroundColorP->Load(node);
- this->drawGridP->Load(node);
ambient.r = (**(this->ambientP)).x;
ambient.g = (**(this->ambientP)).y;
@@ -240,8 +237,6 @@
if (node)
OgreCreator::CreateFog(node->GetChild("fog"));
- if (**(this->drawGridP))
- OgreCreator::DrawGrid();
// Set up the world geometry link
if (this->sceneType==SCENE_BSP)
@@ -286,7 +281,6 @@
{
stream << prefix << "<rendering:ogre>\n";
stream << prefix << " " << *(this->ambientP) << "\n";
- stream << prefix << " " << *(this->drawGridP) << "\n";
if ((**this->skyMaterialP).size())
{
@@ -444,7 +438,6 @@
/// size of the first window created.
/// FBO seem to be the only good option
renderSys->setConfigOption("RTT Preferred Mode", "FBO");
-
renderSys->setConfigOption("FSAA", "2");
/* Print out the list of options
@@ -471,7 +464,6 @@
std::vector<OgreCamera*>::iterator iter;
OgreCreator::Instance()->Update();
-
this->root->_fireFrameStarted();
// Draw all the non-user cameras
@@ -644,6 +636,3 @@
this->PrintSceneGraphHelper( prefix, node->getChild(i) );
}
}
-
-
-
Modified: code/gazebo/branches/tbb/server/rendering/OgreAdaptor.hh
===================================================================
--- code/gazebo/branches/tbb/server/rendering/OgreAdaptor.hh 2010-05-21
13:42:52 UTC (rev 8702)
+++ code/gazebo/branches/tbb/server/rendering/OgreAdaptor.hh 2010-05-21
16:24:35 UTC (rev 8703)
@@ -176,6 +176,7 @@
private: friend class DestroyerT<OgreAdaptor>;
private: friend class SingletonT<OgreAdaptor>;
+
};
Modified: code/gazebo/branches/tbb/server/rendering/OgreCamera.cc
===================================================================
--- code/gazebo/branches/tbb/server/rendering/OgreCamera.cc 2010-05-21
13:42:52 UTC (rev 8702)
+++ code/gazebo/branches/tbb/server/rendering/OgreCamera.cc 2010-05-21
16:24:35 UTC (rev 8703)
@@ -73,7 +73,7 @@
this->userMovable = true;
Param::Begin(&this->camParameters);
- this->nearClipP = new ParamT<double>("nearClip",0.1,0);
+ this->nearClipP = new ParamT<double>("nearClip",0.01,0);
this->farClipP = new ParamT<double>("farClip",50,0);
this->saveFramesP = new ParamT<bool>("saveFrames",false,0);
this->savePathnameP = new ParamT<std::string>("saveFramePath","",0);
@@ -230,7 +230,7 @@
this->camera = OgreCreator::CreateCamera(this->cameraName,
**this->nearClipP, **this->farClipP, *(**this->hfovP),
this->renderTarget );
-
+
// Create a scene node to control pitch motion
this->pitchNode = this->sceneNode->createChildSceneNode( this->cameraName +
"PitchNode");
this->pitchNode->pitch(Ogre::Degree(0));
@@ -366,7 +366,6 @@
this->lastUpdate = Simulator::Instance()->GetSimTime();
}
-
}
@@ -610,9 +609,7 @@
/// Get the viewport up vector
Vector3 OgreCamera::GetUp()
{
- //std::cout << "ogre cam position " << this->camera->getRealPosition() <<
std::endl;
Ogre::Vector3 up = this->camera->getRealUp();
- //std::cout << "ogre up " << up << std::endl;
return Vector3(up.x,up.y,up.z);
}
@@ -621,7 +618,6 @@
Vector3 OgreCamera::GetRight()
{
Ogre::Vector3 right = this->camera->getRealRight();
- //std::cout << "ogre right " << right << std::endl;
return Vector3(right.x,right.y,right.z);
}
@@ -1027,10 +1023,9 @@
/// Set the direction of the camera
void OgreCamera::SetDirection(Vector3 vec)
{
- /*this->pitchNode->setDirection(Ogre::Vector3(vec.x, vec.y, vec.z),
Ogre::Node::TS_WORLD, Ogre::Vector3::NEGATIVE_UNIT_X);
+ this->pitchNode->setDirection(Ogre::Vector3(vec.x, vec.y, vec.z),
Ogre::Node::TS_WORLD, Ogre::Vector3::NEGATIVE_UNIT_X);
this->camera->setDirection(Ogre::Vector3(vec.x, vec.y, vec.z));
Ogre::Quaternion q = this->camera->getOrientation();
- */
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/branches/tbb/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/branches/tbb/server/rendering/OgreCreator.cc 2010-05-21
13:42:52 UTC (rev 8702)
+++ code/gazebo/branches/tbb/server/rendering/OgreCreator.cc 2010-05-21
16:24:35 UTC (rev 8703)
@@ -308,172 +308,6 @@
////////////////////////////////////////////////////////////////////////////////
-// Draw a grid on the ground
-void OgreCreator::DrawGrid()
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return;
-
- Ogre::ManualObject* gridObject =
OgreAdaptor::Instance()->sceneMgr->createManualObject("__OGRE_GRID__");
-
- gridObject->setCastShadows(false);
-
- Ogre::SceneNode* gridObjectNode =
OgreAdaptor::Instance()->sceneMgr->getRootSceneNode()->createChildSceneNode("__OGRE_GRID_NODE__");
-
- Ogre::MaterialPtr gridObjectMaterialX =
Ogre::MaterialManager::getSingleton().create("__OGRE_GRID_MATERIAL_X__","General");
- gridObjectMaterialX->getTechnique(0)->setLightingEnabled(true);
- gridObjectMaterialX->getTechnique(0)->getPass(0)->setDiffuse(0.2,0.2,0.2,1);
- gridObjectMaterialX->getTechnique(0)->getPass(0)->setAmbient(0.2,0.2,0.2);
-
//gridObjectMaterialX->getTechnique(0)->getPass(0)->setSelfIllumination(0.0,0.0,0.0);
- gridObjectMaterialX->setReceiveShadows(false);
-
- Ogre::MaterialPtr gridObjectMaterialY =
Ogre::MaterialManager::getSingleton().create("__OGRE_GRID_MATERIAL_Y__","General");
- gridObjectMaterialY->getTechnique(0)->setLightingEnabled(true);
- gridObjectMaterialY->getTechnique(0)->getPass(0)->setDiffuse(0.2,0.2,0.2,1);
- gridObjectMaterialY->getTechnique(0)->getPass(0)->setAmbient(0.2,0.2,0.2);
-
//gridObjectMaterialY->getTechnique(0)->getPass(0)->setSelfIllumination(0.0,0.0,0.0);
- gridObjectMaterialY->setReceiveShadows(false);
-
-
- float d = 0.01;
- int dim = 50;
-
- // Vertex Values for a square box
- float v[8][3] =
- {
- {-1, -1, -1}, {+1, -1, -1}, {+1, +1, -1}, {-1, +1, -1},
- {-1, -1, +1}, {+1, -1, +1}, {+1, +1, +1}, {-1, +1, +1}
- };
-
- // Indices
- int ind[36] =
- {
- // Bottom Face
- 0, 1, 2,
- 2, 3, 0,
-
- // Top Face
- 4, 5, 7,
- 7, 5, 6,
-
- // Front Face
- 0, 4, 7,
- 7, 3, 0,
-
- // Back face
- 5, 1, 6,
- 6, 1, 2,
-
- // Left face
- 0, 5, 4,
- 0, 1, 5,
-
- // Right face
- 3, 7, 6,
- 6, 2, 3
-
-
- };
-
- gridObject->begin("__OGRE_GRID_MATERIAL_Y__",
Ogre::RenderOperation::OT_TRIANGLE_LIST);
-
- for (int y=-dim; y<dim; y++)
- {
- if (y%10 == 0)
- d = 0.04;
- else
- d = 0.01;
-
- // For each face
- for (int i = 0; i < 36; i++)
- {
- gridObject->position( v[ind[i]][0] * dim,
- y+v[ind[i]][1] * 0.02,
- v[ind[i]][2] * 0.01 );
- }
- char *name=new char[20];
- char *text=new char[10];
-
- sprintf(name,"(%d %d)_yaxis",0,y);
- sprintf(text,"%d",y);
-
- OgreMovableText* msg = new OgreMovableText();
- try
- {
- msg->Load(name, text,"Arial",0.08);
- }
- catch (Ogre::Exception e)
- {
- std::ostringstream stream;
- stream << "Unable to create the text. " << e.getDescription()
<<std::endl;
- gzthrow(stream.str() );
- }
- msg->SetTextAlignment(OgreMovableText::H_CENTER, OgreMovableText::V_ABOVE);
-
- Ogre::SceneNode *textNode =
OgreAdaptor::Instance()->sceneMgr->getRootSceneNode()->createChildSceneNode(std::string(name)+"_node");
-
- textNode->attachObject(msg);
- textNode->translate(0, y, 0.02);
-
- delete [] name;
- delete [] text;
-
- }
-
- gridObject->end();
-
- gridObject->begin("__OGRE_GRID_MATERIAL_X__",
Ogre::RenderOperation::OT_TRIANGLE_LIST);
-
- for (int x=-dim; x<dim; x++)
- {
- if (x%10 == 0)
- d = 0.04;
- else
- d = 0.01;
-
- // For each face
- for (int i = 0; i < 36; i++)
- {
- gridObject->position(x+v[ind[i]][0] * 0.02,
- v[ind[i]][1] * dim,
- v[ind[i]][2] * 0.01 );
- }
-
- char *name=new char[20];
- char *text=new char[10];
-
- sprintf(name,"(%d %d)_xaxis",x,0);
- sprintf(text,"%d",x);
-
- OgreMovableText* msg = new OgreMovableText();
- try
- {
- msg->Load(name, text,"Arial",0.08);
- }
- catch (Ogre::Exception e)
- {
- std::ostringstream stream;
- stream << "Unable to create the text. " << e.getDescription()
<<std::endl;
- gzthrow(stream.str() );
- }
- msg->SetTextAlignment(OgreMovableText::H_CENTER, OgreMovableText::V_ABOVE);
-
- Ogre::SceneNode *textNode =
OgreAdaptor::Instance()->sceneMgr->getRootSceneNode()->createChildSceneNode(std::string(name)+"_node");
-
- textNode->attachObject(msg);
- textNode->translate(x, 0, 0.02);
-
- delete [] name;
- delete [] text;
- }
-
- // etc
- gridObject->end();
- gridObjectNode->attachObject(gridObject);
-
-}
-
-////////////////////////////////////////////////////////////////////////////////
/// Draw a named line
void OgreCreator::DrawLine(const Vector3 &start, const Vector3 &end,
const std::string &name)
@@ -584,9 +418,6 @@
params["parentWindowHandle"] = ogreHandle.str();
- //params["vsync"] = "true";
- params["FSAA"] = "2";
-
std::ostringstream stream;
stream << "OgreWindow(" << windowCounter++ << ")";
@@ -736,10 +567,9 @@
(*titer)->Update();
// Update the lines
- for (iter = this->lines.begin(); iter != this->lines.end(); iter++)
- (*iter)->Update();
+ //for (iter = this->lines.begin(); iter != this->lines.end(); iter++)
+ //(*iter)->Update();
-
// We only need this loop because we are using threads. The physics engine
// can't reliably set the pose of the visuals when it's running in a
// separate thread.
Modified: code/gazebo/branches/tbb/server/rendering/OgreCreator.hh
===================================================================
--- code/gazebo/branches/tbb/server/rendering/OgreCreator.hh 2010-05-21
13:42:52 UTC (rev 8702)
+++ code/gazebo/branches/tbb/server/rendering/OgreCreator.hh 2010-05-21
16:24:35 UTC (rev 8703)
@@ -116,9 +116,6 @@
/// \brief Insert a mesh into Ogre
public: static void InsertMesh( const Mesh *mesh);
- /// \brief Draw the uniform grid pattern
- public: static void DrawGrid();
-
/// \brief Draw a named line
public: static void DrawLine(const Vector3 &start, const Vector3 &end,
const std::string &name);
Modified: code/gazebo/branches/tbb/server/rendering/UserCamera.cc
===================================================================
--- code/gazebo/branches/tbb/server/rendering/UserCamera.cc 2010-05-21
13:42:52 UTC (rev 8702)
+++ code/gazebo/branches/tbb/server/rendering/UserCamera.cc 2010-05-21
16:24:35 UTC (rev 8703)
@@ -79,7 +79,7 @@
OgreCamera::LoadCam(node);
this->SetFOV( DTOR(60) );
- this->SetClipDist(0.02, 50);
+ this->SetClipDist(.01, 40);
}
////////////////////////////////////////////////////////////////////////////////
@@ -172,7 +172,6 @@
this->viewport = this->window->addViewport(cam->GetOgreCamera());
this->SetAspectRatio( Ogre::Real(this->viewport->getActualWidth()) /
Ogre::Real(this->viewport->getActualHeight()) );
-
}
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