Revision: 8385
http://playerstage.svn.sourceforge.net/playerstage/?rev=8385&view=rev
Author: natepak
Date: 2009-11-10 22:37:51 +0000 (Tue, 10 Nov 2009)
Log Message:
-----------
Another performance improvement to trimeshes
Modified Paths:
--------------
code/gazebo/trunk/server/physics/TrimeshShape.cc
code/gazebo/trunk/server/physics/TrimeshShape.hh
code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc
code/gazebo/trunk/server/physics/ode/ODETrimeshShape.hh
code/gazebo/trunk/server/rendering/OgreCreator.cc
Modified: code/gazebo/trunk/server/physics/TrimeshShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshShape.cc 2009-11-10 21:55:39 UTC
(rev 8384)
+++ code/gazebo/trunk/server/physics/TrimeshShape.cc 2009-11-10 22:37:51 UTC
(rev 8385)
@@ -43,10 +43,11 @@
this->scaleP = new ParamT<Vector3>("scale",Vector3(1,1,1),0);
Param::End();
- this->numVertices = 0;
+ /*this->numVertices = 0;
this->numIndices = 0;
this->vertices = NULL;
this->indices = NULL;
+ */
}
@@ -67,8 +68,10 @@
this->meshNameP->Load(node);
this->scaleP->Load(node);
- const Mesh *mesh = meshManager->Load( **this->meshNameP );
+ this->mesh = meshManager->Load( **this->meshNameP );
+ /*const Mesh *mesh = meshManager->Load( **this->meshNameP );
+
if (!mesh)
gzthrow("Invalid mesh");
@@ -83,6 +86,7 @@
this->vertices[i*3+1] = this->vertices[i*3+1] * (**this->scaleP).y;
this->vertices[i*3+2] = this->vertices[i*3+2] * (**this->scaleP).z;
}
+ */
}
//////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/physics/TrimeshShape.hh
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshShape.hh 2009-11-10 21:55:39 UTC
(rev 8384)
+++ code/gazebo/trunk/server/physics/TrimeshShape.hh 2009-11-10 22:37:51 UTC
(rev 8385)
@@ -31,6 +31,8 @@
namespace gazebo
{
+ class Mesh;
+
/// \addtogroup gazebo_physics_geom
/// \{
/** \defgroup gazebo_trimesh_geom Triangle Mesh geom
@@ -87,11 +89,14 @@
protected: ParamT<std::string> *meshNameP;
protected: ParamT<Vector3> *scaleP;
-
+/*
protected: unsigned int numVertices;
protected: unsigned int numIndices;
protected: float *vertices;
protected: unsigned int *indices;
+ */
+
+ protected: const Mesh *mesh;
};
/// \}
Modified: code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc 2009-11-10
21:55:39 UTC (rev 8384)
+++ code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc 2009-11-10
22:37:51 UTC (rev 8385)
@@ -24,6 +24,7 @@
* SVN: $Id$
*/
+#include "Mesh.hh"
#include "GazeboError.hh"
#include "World.hh"
#include "ODEGeom.hh"
@@ -95,20 +96,50 @@
TrimeshShape::Load(node);
- /// This will hold the vertex data of the triangle mesh
- this->odeData = dGeomTriMeshDataCreate();
+ mass = this->parent->GetMass();
- // Build the ODE triangle mesh
- dGeomTriMeshDataBuildSingle( this->odeData,
- (float*)this->vertices, 3*sizeof(float), this->numVertices,
- (int*)this->indices, this->numIndices, 3*sizeof(int));
+ for (unsigned int i=0; i < this->mesh->GetSubMeshCount(); i++)
+ {
+ dTriMeshDataID odeData;
- pgeom->SetGeom( dCreateTriMesh( pgeom->GetSpaceId(), this->odeData,0,0,0 ),
true );
+ const SubMesh *subMesh = mesh->GetSubMesh(i);
+ if (subMesh->GetVertexCount() < 3)
+ continue;
- mass = this->parent->GetMass();
+ /// This will hold the vertex data of the triangle mesh
+ odeData = dGeomTriMeshDataCreate();
- dMassSetTrimeshTotal(&odeMass, mass.GetAsDouble(), pgeom->GetGeomId());
+ unsigned int numVertices = 0;
+ unsigned int numIndices = 0;
+ float *vertices = NULL;
+ unsigned int *indices = NULL;
+ subMesh->FillArrays(&vertices, &indices);
+
+ numIndices = subMesh->GetIndexCount();
+ numVertices = subMesh->GetVertexCount();
+
+ for (unsigned int j=0; j < numVertices; j++)
+ {
+ vertices[j*3+0] = vertices[j*3+0] * (**this->scaleP).x;
+ vertices[j*3+1] = vertices[j*3+1] * (**this->scaleP).y;
+ vertices[j*3+2] = vertices[j*3+2] * (**this->scaleP).z;
+ }
+
+ // Build the ODE triangle mesh
+ dGeomTriMeshDataBuildSingle( odeData,
+ (float*)vertices, 3*sizeof(float), numVertices,
+ (int*)indices, numIndices, 3*sizeof(int));
+
+ pgeom->SetGeom( dCreateTriMesh( pgeom->GetSpaceId(), odeData,0,0,0 ), true
);
+
+ if (!pgeom->IsStatic())
+ {
+ double massV = mass.GetAsDouble()/this->mesh->GetSubMeshCount();
+ dMassSetTrimeshTotal(&odeMass, massV , pgeom->GetGeomId());
+ }
+ }
+
physics->ConvertMass(&mass, &odeMass);
this->parent->SetMass(mass);
Modified: code/gazebo/trunk/server/physics/ode/ODETrimeshShape.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODETrimeshShape.hh 2009-11-10
21:55:39 UTC (rev 8384)
+++ code/gazebo/trunk/server/physics/ode/ODETrimeshShape.hh 2009-11-10
22:37:51 UTC (rev 8385)
@@ -80,7 +80,7 @@
/// \brief Load the trimesh
protected: virtual void Load(XMLConfigNode *node);
- private: dTriMeshDataID odeData;
+ //private: dTriMeshDataID odeData;
private: dReal matrix_dblbuff[16*2];
private: int last_matrix_index;
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-11-10 21:55:39 UTC
(rev 8384)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-11-10 22:37:51 UTC
(rev 8385)
@@ -1006,8 +1006,6 @@
Vector3 max = mesh->GetMax();
Vector3 min = mesh->GetMin();
- std::cout << "Max[" << max << "] Min[" << min << "]\n";
-
if (!max.IsFinite())
gzthrow("Max bounding box is not finite[" << max << "]\n");
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