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Improve ChromeTraceUtil logging, allow filename to be specified.

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Expose this ChromeTraceUtil  logging to C-API: start/statelogging and submitProfileTiming
pybullet.submitProfileTiming, and STATE_LOGGING_PROFILE_TIMINGS used in startStateLogging
added example for Python profileTiming.py and C++ b3RobotSimulatorClientAPI::submitProfileTiming
This commit is contained in:
Erwin Coumans
2017-05-04 17:51:40 -07:00
parent a8bf53b494
commit 1f64a87abe
17 changed files with 255 additions and 28 deletions
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3
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@@ -374,7 +374,7 @@ void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
BT_PROFILE("synchronizeMotionStates");
// BT_PROFILE("synchronizeMotionStates");
if (m_synchronizeAllMotionStates)
{
//iterate over all collision objects
@@ -402,7 +402,6 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
{
startProfiling(timeStep);
BT_PROFILE("stepSimulation");
int numSimulationSubSteps = 0;

2
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -917,7 +917,7 @@ void btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces()
void btMultiBodyDynamicsWorld::clearMultiBodyForces()
{
{
BT_PROFILE("clearMultiBodyForces");
// BT_PROFILE("clearMultiBodyForces");
for (int i=0;i<this->m_multiBodies.size();i++)
{
btMultiBody* bod = m_multiBodies[i];