Merge pull request #3042 from erwincoumans/master

fix shadowmap /mipmap issue in previous commit, caused Mac OSX (and integrated GPUs) to become very slow

examples/OpenGLWindow/GLInstancingRenderer.cpp

@@ -1624,10 +1624,6 @@ void GLInstancingRenderer::renderScene()
 		{
 			renderSceneInternal(B3_CREATE_SHADOWMAP_RENDERMODE);
 
-			glActiveTexture(GL_TEXTURE1);
-			glBindTexture(GL_TEXTURE_2D, m_data->m_shadowTexture);
-			glGenerateMipmap(GL_TEXTURE_2D);
-
 			if (m_planeReflectionShapeIndex >= 0)
 			{
 				/* Don't update color or depth. */
@@ -2361,12 +2357,21 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 				if (gfxObj->m_flags & B3_INSTANCE_TEXTURE)
 				{
 					curBindTexture = m_data->m_textureHandles[gfxObj->m_textureIndex].m_glTexture;
-
-					glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_BASE_LEVEL, 0);
+					glBindTexture(GL_TEXTURE_2D, curBindTexture);
 
 					if (m_data->m_textureHandles[gfxObj->m_textureIndex].m_enableFiltering)
 					{
-						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
+						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_BASE_LEVEL, 0);
+						if (renderMode == B3_CREATE_SHADOWMAP_RENDERMODE)
+						{
+							glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
+						}
+						else
+						{
+							glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR_MIPMAP_LINEAR);
+							
+						}
+						
 						glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
 					}
 					else
@@ -2378,13 +2383,12 @@ void GLInstancingRenderer::renderSceneInternal(int orgRenderMode)
 				else
 				{
 					curBindTexture = m_data->m_defaultTexturehandle;
+					glBindTexture(GL_TEXTURE_2D, curBindTexture);
 				}
 
 				//disable lazy evaluation, it just leads to bugs
 				//if (lastBindTexture != curBindTexture)
-				{
-					glBindTexture(GL_TEXTURE_2D, curBindTexture);
-				}
+				
 				//lastBindTexture = curBindTexture;
 
 				b3Assert(glGetError() == GL_NO_ERROR);

examples/SharedMemory/PhysicsServerExample.cpp

@@ -13,6 +13,7 @@
 #include "../MultiThreading/b3ThreadSupportInterface.h"
 #include "SharedMemoryPublic.h"
 //#define BT_ENABLE_VR
+#define SYNC_CAMERA_USING_GUI_CS
 #ifdef BT_ENABLE_VR
 #include "../RenderingExamples/TinyVRGui.h"
 #endif  //BT_ENABLE_VR
@@ -740,18 +741,19 @@ public:
 
 	MultiThreadedOpenGLGuiHelper(CommonGraphicsApp* app, GUIHelperInterface* guiHelper, int skipGraphicsUpdate)
 		:  //m_app(app),
-		  m_cs(0),
-		  m_cs2(0),
-		  m_cs3(0),
-		  m_csGUI(0),
-		  m_debugDraw(0),
-		  m_uidGenerator(0),
-		  m_texels(0),
-		  m_shapeIndex(-1),
-		  m_textureId(-1),
-		  m_instanceId(-1),
-		  m_skipGraphicsUpdate(skipGraphicsUpdate)
+		m_cs(0),
+		m_cs2(0),
+		m_cs3(0),
+		m_csGUI(0),
+		m_debugDraw(0),
+		m_uidGenerator(0),
+		m_texels(0),
+		m_shapeIndex(-1),
+		m_textureId(-1),
+		m_instanceId(-1),
+		m_skipGraphicsUpdate(skipGraphicsUpdate)
 	{
+		m_cameraUpdated = 0;
 		m_childGuiHelper = guiHelper;
 	}
 
@@ -805,6 +807,12 @@ public:
 	{
 		return m_cs3;
 	}
+	
+	b3CriticalSection* getCriticalSectionGUI()
+	{
+		return m_csGUI;
+	}
+	
 	btRigidBody* m_body;
 	btVector3 m_color3;
 	virtual void createRigidBodyGraphicsObject(btRigidBody* body, const btVector3& color)
@@ -1087,6 +1095,8 @@ public:
 	{
 		m_childGuiHelper->setUpAxis(axis);
 	}
+	
+	bool  m_cameraUpdated;
 	float m_resetCameraCamDist;
 	float m_resetCameraYaw;
 	float m_resetCameraPitch;
@@ -1096,16 +1106,22 @@ public:
 
 	virtual void resetCamera(float camDist, float yaw, float pitch, float camPosX, float camPosY, float camPosZ)
 	{
-		m_cs->lock();
+		m_csGUI->lock();
+		m_cameraUpdated = true;
 		m_resetCameraCamDist = camDist;
 		m_resetCameraYaw = yaw;
 		m_resetCameraPitch = pitch;
 		m_resetCameraCamPosX = camPosX;
 		m_resetCameraCamPosY = camPosY;
 		m_resetCameraCamPosZ = camPosZ;
+
+#ifdef SYNC_CAMERA_USING_GUI_CS
+		m_csGUI->unlock();
+#else
 		m_cs->setSharedParam(1, eGUIHelperResetCamera);
 		workerThreadWait();
-		//m_childGuiHelper->resetCamera(camDist, yaw, pitch, camPosX, camPosY, camPosZ);
+		m_childGuiHelper->resetCamera(camDist, yaw, pitch, camPosX, camPosY, camPosZ);
+#endif //SYNC_CAMERA_USING_GUI_CS
 	}
 
 	virtual bool getCameraInfo(int* width, int* height, float viewMatrix[16], float projectionMatrix[16], float camUp[3], float camForward[3], float hor[3], float vert[3], float* yaw, float* pitch, float* camDist, float camTarget[3]) const
@@ -1948,6 +1964,21 @@ void PhysicsServerExample::updateGraphics()
 {
 	//check if any graphics related tasks are requested
 
+#ifdef SYNC_CAMERA_USING_GUI_CS
+	m_multiThreadedHelper->getCriticalSectionGUI()->lock();
+	if (m_multiThreadedHelper->m_cameraUpdated)
+	{
+		m_multiThreadedHelper->m_cameraUpdated = false;
+		m_multiThreadedHelper->m_childGuiHelper->resetCamera(
+			m_multiThreadedHelper->m_resetCameraCamDist,
+			m_multiThreadedHelper->m_resetCameraYaw,
+			m_multiThreadedHelper->m_resetCameraPitch,
+			m_multiThreadedHelper->m_resetCameraCamPosX,
+			m_multiThreadedHelper->m_resetCameraCamPosY,
+			m_multiThreadedHelper->m_resetCameraCamPosZ);
+	}
+	m_multiThreadedHelper->getCriticalSectionGUI()->unlock();
+#endif
 	switch (m_multiThreadedHelper->getCriticalSection()->getSharedParam(1))
 	{
 		case eGUIHelperCreateCollisionShapeGraphicsObject:
@@ -2587,6 +2618,7 @@ void PhysicsServerExample::stepSimulation(float deltaTime)
 	}
 	updateGraphics();
 
+
 	{
 		if (m_multiThreadedHelper->m_childGuiHelper->getRenderInterface())
 		{

setup.py

@@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
     name='pybullet',
-    version='2.9.4',
+    version='2.9.5',
     description=
     'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
     long_description=