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remove debug stats

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This commit is contained in:
Erwin Coumans
2018-10-31 21:24:44 -07:00
parent a48b6b9ca0
commit 131535a99f
2 changed files with 1 additions and 6 deletions
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2
examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py
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@@ -14,7 +14,7 @@ p.setAdditionalSearchPath(pd.getDataPath())
objs = p.loadMJCF(args.mjcf, flags=p.URDF_USE_IMPLICIT_CYLINDER) objs = p.loadMJCF(args.mjcf, flags=p.URDF_USE_IMPLICIT_CYLINDER)
for o in objs: for o in objs:
print("o=",o, p.getBodyInfo(o), p.getNumJoints(o)) #print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
humanoid = objs[o] humanoid = objs[o]
ed0 = ed.UrdfEditor() ed0 = ed.UrdfEditor()
ed0.initializeFromBulletBody(humanoid, p._client) ed0.initializeFromBulletBody(humanoid, p._client)

5
src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
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@@ -36,9 +36,6 @@ btScalar gGjkEpaPenetrationTolerance = 1.0e-12;
btScalar gGjkEpaPenetrationTolerance = 0.001; btScalar gGjkEpaPenetrationTolerance = 0.001;
#endif #endif
//temp globals, to improve GJK/EPA/penetration calculations
int gNumDeepPenetrationChecks = 0;
int gNumGjkChecks = 0;
btGjkPairDetector::btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver) btGjkPairDetector::btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
: m_cachedSeparatingAxis(btScalar(0.), btScalar(1.), btScalar(0.)), : m_cachedSeparatingAxis(btScalar(0.), btScalar(1.), btScalar(0.)),
@@ -708,7 +705,6 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
btScalar marginA = m_marginA; btScalar marginA = m_marginA;
btScalar marginB = m_marginB; btScalar marginB = m_marginB;
gNumGjkChecks++;
//for CCD we don't use margins //for CCD we don't use margins
if (m_ignoreMargin) if (m_ignoreMargin)
@@ -1021,7 +1017,6 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
// Penetration depth case. // Penetration depth case.
btVector3 tmpPointOnA, tmpPointOnB; btVector3 tmpPointOnA, tmpPointOnB;
gNumDeepPenetrationChecks++;
m_cachedSeparatingAxis.setZero(); m_cachedSeparatingAxis.setZero();
bool isValid2 = m_penetrationDepthSolver->calcPenDepth( bool isValid2 = m_penetrationDepthSolver->calcPenDepth(