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more refactoring, restored some profiling and some debugging

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This commit is contained in:
ejcoumans
2006-09-30 02:26:51 +00:00
parent d38549aa54
commit 01a6290cf7
7 changed files with 114 additions and 37 deletions
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85
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -34,13 +34,17 @@ subject to the following restrictions:
#include "BulletDynamics/Vehicle/btVehicleRaycaster.h"
#include "BulletDynamics/Vehicle/btWheelInfo.h"
#include "LinearMath/btIDebugDraw.h"
#include "LinearMath/btQuickprof.h"
#include <algorithm>
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld()
:btDynamicsWorld(),
m_constraintSolver(new btSequentialImpulseConstraintSolver),
m_debugDrawer(0)
m_debugDrawer(0),
m_profileTimings(0)
{
m_islandManager = new btSimulationIslandManager();
m_ownsIslandManager = true;
@@ -51,7 +55,8 @@ m_debugDrawer(0)
btDiscreteDynamicsWorld::btDiscreteDynamicsWorld(btDispatcher* dispatcher,btOverlappingPairCache* pairCache,btConstraintSolver* constraintSolver)
:btDynamicsWorld(dispatcher,pairCache),
m_constraintSolver(constraintSolver? constraintSolver: new btSequentialImpulseConstraintSolver),
m_debugDrawer(0)
m_debugDrawer(0),
m_profileTimings(0)
{
m_islandManager = new btSimulationIslandManager();
m_ownsIslandManager = true;
@@ -70,6 +75,9 @@ btDiscreteDynamicsWorld::~btDiscreteDynamicsWorld()
void btDiscreteDynamicsWorld::stepSimulation(float timeStep)
{
startProfiling(timeStep);
///update aabbs information
updateAabbs();
@@ -106,15 +114,20 @@ void btDiscreteDynamicsWorld::stepSimulation(float timeStep)
void btDiscreteDynamicsWorld::updateVehicles(float timeStep)
{
BEGIN_PROFILE("updateVehicles");
for (int i=0;i<m_vehicles.size();i++)
{
btRaycastVehicle* vehicle = m_vehicles[i];
vehicle->updateVehicle( timeStep);
}
END_PROFILE("updateVehicles");
}
void btDiscreteDynamicsWorld::updateActivationState(float timeStep)
{
BEGIN_PROFILE("updateActivationState");
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
@@ -134,6 +147,7 @@ void btDiscreteDynamicsWorld::updateActivationState(float timeStep)
}
}
}
END_PROFILE("updateActivationState");
}
void btDiscreteDynamicsWorld::addConstraint(btTypedConstraint* constraint)
@@ -168,6 +182,8 @@ void btDiscreteDynamicsWorld::removeVehicle(btRaycastVehicle* vehicle)
void btDiscreteDynamicsWorld::solveContactConstraints(btContactSolverInfo& solverInfo)
{
BEGIN_PROFILE("solveContactConstraints");
struct InplaceSolverIslandCallback : public btSimulationIslandManager::IslandCallback
{
@@ -200,17 +216,14 @@ void btDiscreteDynamicsWorld::solveContactConstraints(btContactSolverInfo& solve
/// solve all the contact points and contact friction
m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(),getCollisionWorld()->getCollisionObjectArray(),&solverCallback);
END_PROFILE("solveContactConstraints");
}
void btDiscreteDynamicsWorld::solveNoncontactConstraints(btContactSolverInfo& solverInfo)
{
#ifdef USE_QUICKPROF
Profiler::beginBlock("solveConstraint");
#endif //USE_QUICKPROF
BEGIN_PROFILE("solveNoncontactConstraints");
int i;
int numConstraints = m_constraints.size();
@@ -235,18 +248,13 @@ void btDiscreteDynamicsWorld::solveNoncontactConstraints(btContactSolverInfo& so
}
}
#ifdef USE_QUICKPROF
Profiler::endBlock("solveConstraint");
#endif //USE_QUICKPROF
END_PROFILE("solveNoncontactConstraints");
}
void btDiscreteDynamicsWorld::calculateSimulationIslands()
{
#ifdef USE_QUICKPROF
Profiler::beginBlock("IslandUnionFind");
#endif //USE_QUICKPROF
BEGIN_PROFILE("calculateSimulationIslands");
getSimulationIslandManager()->updateActivationState(getCollisionWorld(),getCollisionWorld()->getDispatcher());
@@ -276,14 +284,13 @@ void btDiscreteDynamicsWorld::calculateSimulationIslands()
//Store the island id in each body
getSimulationIslandManager()->storeIslandActivationState(getCollisionWorld());
#ifdef USE_QUICKPROF
Profiler::endBlock("IslandUnionFind");
#endif //USE_QUICKPROF
END_PROFILE("calculateSimulationIslands");
}
static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVector3& to,const btVector3& color)
{
btVector3 halfExtents = (to-from)* 0.5f;
btVector3 center = (to+from) *0.5f;
int i,j;
@@ -315,6 +322,8 @@ static void DrawAabb(btIDebugDraw* debugDrawer,const btVector3& from,const btVec
void btDiscreteDynamicsWorld::updateAabbs()
{
BEGIN_PROFILE("updateAabbs");
btVector3 colorvec(1,0,0);
btTransform predictedTrans;
for (int i=0;i<m_collisionObjects.size();i++)
@@ -337,10 +346,13 @@ void btDiscreteDynamicsWorld::updateAabbs()
}
}
}
END_PROFILE("updateAabbs");
}
void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
{
BEGIN_PROFILE("integrateTransforms");
btTransform predictedTrans;
for (int i=0;i<m_collisionObjects.size();i++)
{
@@ -355,12 +367,14 @@ void btDiscreteDynamicsWorld::integrateTransforms(float timeStep)
}
}
}
END_PROFILE("integrateTransforms");
}
void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
{
BEGIN_PROFILE("predictUnconstraintMotion");
for (int i=0;i<m_collisionObjects.size();i++)
{
btCollisionObject* colObj = m_collisionObjects[i];
@@ -376,4 +390,41 @@ void btDiscreteDynamicsWorld::predictUnconstraintMotion(float timeStep)
}
}
}
END_PROFILE("predictUnconstraintMotion");
}
void btDiscreteDynamicsWorld::startProfiling(float timeStep)
{
#ifdef USE_QUICKPROF
//toggle btProfiler
if ( m_debugDrawer && m_debugDrawer->getDebugMode() & btIDebugDraw::DBG_ProfileTimings)
{
if (!m_profileTimings)
{
m_profileTimings = 1;
// To disable profiling, simply comment out the following line.
static int counter = 0;
char filename[128];
sprintf(filename,"quickprof_bullet_timings%i.csv",counter++);
btProfiler::init(filename, btProfiler::BLOCK_CYCLE_SECONDS);//BLOCK_TOTAL_MICROSECONDS
} else
{
btProfiler::endProfilingCycle();
}
} else
{
if (m_profileTimings)
{
btProfiler::endProfilingCycle();
m_profileTimings = 0;
btProfiler::destroy();
}
}
#endif //USE_QUICKPROF
}