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improve pybullet performance of loadURDF/SDF/MJCF and 'createCollisionShape'/'createMultiBody' for GUI/VR/SHARED_MEMORY,

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use p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0) before loading and
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1) afterwards
This commit is contained in:
Erwin Coumans
2017-07-14 23:12:16 +01:00
parent b63023c692
commit 0df8887990
7 changed files with 58 additions and 27 deletions
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23
examples/Utils/ChromeTraceUtil.cpp
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@@ -250,18 +250,25 @@ void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix)
static int fileCounter = 0;
sprintf(fileName,"%s_%d.json",fileNamePrefix, fileCounter++);
gTimingFile = fopen(fileName,"w");
fprintf(gTimingFile,"{\"traceEvents\":[\n");
//dump the content to file
for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
if (gTimingFile)
{
if (gTimings[i].m_numTimings)
fprintf(gTimingFile,"{\"traceEvents\":[\n");
//dump the content to file
for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
{
printf("Writing %d timings for thread %d\n", gTimings[i].m_numTimings, i);
gTimings[i].flush();
if (gTimings[i].m_numTimings)
{
printf("Writing %d timings for thread %d\n", gTimings[i].m_numTimings, i);
gTimings[i].flush();
}
}
fprintf(gTimingFile,"\n],\n\"displayTimeUnit\": \"ns\"}");
fclose(gTimingFile);
} else
{
b3Printf("Error opening file");
b3Printf(fileName);
}
fprintf(gTimingFile,"\n],\n\"displayTimeUnit\": \"ns\"}");
fclose(gTimingFile);
gTimingFile = 0;
}