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Add profile markers for BenchmarkDemo raytest.

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Implement pybullet enableJointForceTorqueSensor, add forcetorquesensor.py example.
This commit is contained in:
erwincoumans
2017-01-31 10:14:00 -08:00
parent 690bd4f265
commit 3a42b356e2
4 changed files with 104 additions and 7 deletions
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8
examples/Benchmarks/BenchmarkDemo.cpp
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@@ -210,9 +210,13 @@ public:
{
for ( int i = iBegin; i < iEnd; ++i )
{
btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
cw->rayTest (source[i], dest[i], cb);
{
BT_PROFILE("cw->rayTest");
cw->rayTest(source[i], dest[i], cb);
}
if (cb.hasHit ())
{
hit[i] = cb.m_hitPointWorld;
@@ -241,6 +245,8 @@ public:
void cast (btCollisionWorld* cw, bool multiThreading = false)
{
BT_PROFILE("cast");
#ifdef USE_BT_CLOCK
frame_timer.reset ();
#endif //USE_BT_CLOCK