用Vulkan打造轻量渲染引擎，让机器人仿真画面更逼真且不卡顿。
FIRE-3DV: Framework-Independent Rendering Engine for 3D Graphics using Vulkan
- 基于现代Vulkan API构建，兼容旧版仿真框架。
- 支持物理渲染等高级特效，700万三角形场景仍保持2毫秒帧时。
- 适合需要高画质仿真的机器人研发与训练场景。
交互式动态模拟器是开发新型机器人控制算法和人机复杂系统的重要加速工具。在用户培训和合成数据生成应用中，模拟产生的高保真视觉效果至关重要。然而，现有机器人模拟器通常受限于渲染算法以保证实时交互。随着图形处理器（GPU）的进步，可视化质量得以提升而无需牺牲性能。但采用传统图形编程接口（API）的模拟框架难以充分利用这些进步。本文提出一个面向性能、轻量级的渲染引擎，支持现代Vulkan图形API，可轻松集成至其他模拟框架以增强视觉效果。为验证该方法，我们将其应用于广泛用于交互式机器人模拟开发的异步多体框架（AMBF），改造其老旧渲染管线。新引擎实现了基于物理的渲染（PBR）、抗锯齿和光线追踪阴影等图形特性，显著提升了AMBF的图像保真度。计算实验表明，该引擎可在保持GPU计算时间不超过2毫秒的前提下，渲染包含超过七百万三角形的模拟场景。
原文摘要 · Abstract (English)
Interactive dynamic simulators are an accelerator for developing novel robotic control algorithms and complex systems involving humans and robots. In user training and synthetic data generation applications, high-fidelity visualizations from the simulation are essential. Yet, robotic simulators often limit their rendering algorithms to preserve real-time interaction with the simulation. Advancements in Graphics Processing Units (GPU) enable improved visualization without compromising performance. However, these advancements cannot be fully leveraged in simulation frameworks that use legacy graphics application programming interfaces (API) to interface with the GPU. This paper presents a performance-focused and lightweight rendering engine supporting the modern Vulkan graphics API that can be easily integrated with other simulation frameworks to enhance visualizations. To illustrate the proposed method, our engine is used to modernize the legacy rendering pipeline of the Asynchronous Multi-Body Framework (AMBF), a dynamic simulation framework used extensively for interactive robotics simulation development. This new rendering engine implements graphical features such as physically based rendering (PBR), anti-aliasing, and ray-traced shadows, significantly improving the image fidelity of AMBF. Computational experiments show that the engine can render a simulated scene with over seven million triangles while maintaining GPU computation times within two milliseconds.
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