Revision: 8384
http://playerstage.svn.sourceforge.net/playerstage/?rev=8384&view=rev
Author: natepak
Date: 2009-11-10 21:55:39 +0000 (Tue, 10 Nov 2009)
Log Message:
-----------
Slight performance improvement for trimeshes
Modified Paths:
--------------
code/gazebo/trunk/server/Mesh.cc
code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc
code/gazebo/trunk/server/rendering/OgreCreator.cc
code/gazebo/trunk/server/rendering/OgreVisual.cc
Modified: code/gazebo/trunk/server/Mesh.cc
===================================================================
--- code/gazebo/trunk/server/Mesh.cc 2009-11-10 19:17:03 UTC (rev 8383)
+++ code/gazebo/trunk/server/Mesh.cc 2009-11-10 21:55:39 UTC (rev 8384)
@@ -51,6 +51,9 @@
for (iter = this->submeshes.begin(); iter != this->submeshes.end(); iter++)
{
+ if ((*iter)->GetVertexCount() <= 2)
+ continue;
+
Vector3 smax = (*iter)->GetMax();
max.x = std::max(max.x, smax.x);
max.y = std::max(max.y, smax.y);
@@ -73,6 +76,9 @@
for (iter = this->submeshes.begin(); iter != this->submeshes.end(); iter++)
{
+ if ((*iter)->GetVertexCount() <= 2)
+ continue;
+
Vector3 smin = (*iter)->GetMin();
min.x = std::min(min.x, smin.x);
min.y = std::min(min.y, smin.y);
@@ -90,7 +96,11 @@
std::vector<SubMesh *>::const_iterator iter;
for (iter = this->submeshes.begin(); iter != this->submeshes.end(); iter++)
+ {
+ if ((*iter)->GetVertexCount() <= 2)
+ continue;
sum += (*iter)->GetVertexCount();
+ }
return sum;
}
@@ -103,7 +113,11 @@
std::vector<SubMesh *>::const_iterator iter;
for (iter = this->submeshes.begin(); iter != this->submeshes.end(); iter++)
+ {
+ if ((*iter)->GetVertexCount() <= 2)
+ continue;
sum += (*iter)->GetNormalCount();
+ }
return sum;
}
@@ -116,7 +130,11 @@
std::vector<SubMesh *>::const_iterator iter;
for (iter = this->submeshes.begin(); iter != this->submeshes.end(); iter++)
+ {
+ if ((*iter)->GetVertexCount() <= 2)
+ continue;
sum += (*iter)->GetIndexCount();
+ }
return sum;
}
@@ -129,7 +147,11 @@
std::vector<SubMesh *>::const_iterator iter;
for (iter = this->submeshes.begin(); iter != this->submeshes.end(); iter++)
+ {
+ if ((*iter)->GetVertexCount() <= 2)
+ continue;
sum += (*iter)->GetTexCoordCount();
+ }
return sum;
}
@@ -194,6 +216,8 @@
for (iter = this->submeshes.begin(); iter != this->submeshes.end(); iter++)
{
+ if ((*iter)->GetVertexCount() <= 2)
+ continue;
vertCount += (*iter)->GetVertexCount();
indCount += (*iter)->GetIndexCount();
}
@@ -213,6 +237,9 @@
for (iter = this->submeshes.begin(); iter != this->submeshes.end(); iter++)
{
+ if ((*iter)->GetVertexCount() <= 2)
+ continue;
+
float *vertTmp = NULL;
unsigned int *indTmp = NULL;
(*iter)->FillArrays(&vertTmp, &indTmp);
Modified: code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc 2009-11-10
19:17:03 UTC (rev 8383)
+++ code/gazebo/trunk/server/physics/ode/ODETrimeshShape.cc 2009-11-10
21:55:39 UTC (rev 8384)
@@ -103,7 +103,7 @@
(float*)this->vertices, 3*sizeof(float), this->numVertices,
(int*)this->indices, this->numIndices, 3*sizeof(int));
- pgeom->SetGeom( dCreateTriMesh( 0, this->odeData,0,0,0 ), true );
+ pgeom->SetGeom( dCreateTriMesh( pgeom->GetSpaceId(), this->odeData,0,0,0 ),
true );
mass = this->parent->GetMass();
@@ -112,9 +112,6 @@
physics->ConvertMass(&mass, &odeMass);
this->parent->SetMass(mass);
- // Create the trimesh geometry
- //pgeom->SetGeom(this->geomId, true);
-
memset(this->matrix_dblbuff,0,32*sizeof(dReal));
this->last_matrix_index = 0;
}
Modified: code/gazebo/trunk/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-11-10 19:17:03 UTC
(rev 8383)
+++ code/gazebo/trunk/server/rendering/OgreCreator.cc 2009-11-10 21:55:39 UTC
(rev 8384)
@@ -881,6 +881,9 @@
{
Ogre::MeshPtr ogreMesh;
+ if (mesh->GetSubMeshCount() == 0)
+ return;
+
try
{
// Create a new mesh specifically for manual definition.
@@ -1003,12 +1006,15 @@
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");
if (!min.IsFinite())
gzthrow("Min bounding box is not finite[" << min << "]\n");
+
ogreMesh->_setBounds( Ogre::AxisAlignedBox(
Ogre::Vector3(min.x, min.y, min.z),
Ogre::Vector3(max.x, max.y, max.z)),
Modified: code/gazebo/trunk/server/rendering/OgreVisual.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-10 19:17:03 UTC
(rev 8383)
+++ code/gazebo/trunk/server/rendering/OgreVisual.cc 2009-11-10 21:55:39 UTC
(rev 8384)
@@ -175,6 +175,8 @@
if (!MeshManager::Instance()->HasMesh(meshName))
MeshManager::Instance()->Load(meshName);
+ std::cout << "Loading mesh[" << meshName << "]\n";
+
// Add the mesh into OGRE
OgreCreator::InsertMesh( MeshManager::Instance()->GetMesh(meshName) );
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