Example Browser: add option (keypress 'p') to dump json timing profile trace, that you can open using Chrome about://tracing

Make btQuickprof thread safe
Add option in btQuickprof to override custom timing profile (btSetCustomEnterProfileZoneFunc, btSetCustomLeaveProfileZoneFunc)
remove b3Printf in a user/physics thread (those added added, while drawing the GUI running in the main thread)

examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.cpp

@@ -44,7 +44,7 @@ public:
 	
 	
 	CProfileIterator* profIter;
-	
+
 	class MyMenuItems* m_menuItems;
 	MyProfileWindow (	Gwen::Controls::Base* pParent)
     : Gwen::Controls::WindowControl( pParent ),
@@ -192,7 +192,8 @@ public:
 			
 			
          //   Gwen::Controls::TreeNode* curParent = m_node;
-			
+
+
             double accumulated_time = dumpRecursive(profileIterator,m_node);
 			
             const char* name = profileIterator->Get_Current_Parent_Name();
@@ -278,7 +279,7 @@ MyProfileWindow* setupProfileWindow(GwenInternalData* data)
 	//profWindow->SetHidden(true);	
 	
 	profWindow->m_menuItems = menuItems;
-	//profWindow->profIter = CProfileManager::Get_Iterator();
+	profWindow->profIter = CProfileManager::Get_Iterator();
 	data->m_viewMenu->GetMenu()->AddItem( L"Profiler", menuItems,(Gwen::Event::Handler::Function)&MyMenuItems::MenuItemSelect);
 	
 	menuItems->m_profWindow = profWindow;
@@ -296,6 +297,11 @@ void	processProfileData( MyProfileWindow* profWindow, bool idle)
 	}	
 }
 
+bool isProfileWindowVisible(MyProfileWindow* window)
+{
+	return !window->Hidden();
+}
+
 void profileWindowSetVisible(MyProfileWindow* window, bool visible)
 {
 	window->SetHidden(!visible);

examples/ExampleBrowser/GwenGUISupport/GwenProfileWindow.h

@@ -4,6 +4,8 @@
 class MyProfileWindow* setupProfileWindow(struct GwenInternalData* data);
 void processProfileData(MyProfileWindow* window, bool idle);
 void profileWindowSetVisible(MyProfileWindow* window, bool visible);
+bool isProfileWindowVisible(MyProfileWindow* window);
+
 void destroyProfileWindow(MyProfileWindow* window);
 
 #endif//GWEN_PROFILE_WINDOW_H

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -17,7 +17,7 @@
 #endif //_WIN32
 #endif//__APPLE__
 #include "../ThirdPartyLibs/Gwen/Renderers/OpenGL_DebugFont.h"
-
+#include "LinearMath/btThreads.h"
 #include "Bullet3Common/b3Vector3.h"
 #include "assert.h"
 #include <stdio.h>
@@ -25,7 +25,9 @@
 #include "GwenGUISupport/gwenUserInterface.h"
 #include "../Utils/b3Clock.h"
 #include "GwenGUISupport/GwenParameterInterface.h"
+#ifndef BT_NO_PROFILE
 #include "GwenGUISupport/GwenProfileWindow.h"
+#endif
 #include "GwenGUISupport/GwenTextureWindow.h"
 #include "GwenGUISupport/GraphingTexture.h"
 #include "../CommonInterfaces/Common2dCanvasInterface.h"
@@ -68,7 +70,9 @@ struct OpenGLExampleBrowserInternalData
 {
 	Gwen::Renderer::Base* m_gwenRenderer;
 	CommonGraphicsApp* m_app;
-//	MyProfileWindow* m_profWindow;
+#ifndef BT_NO_PROFILE
+	MyProfileWindow* m_profWindow;
+#endif //BT_NO_PROFILE
 	btAlignedObjectArray<Gwen::Controls::TreeNode*> m_nodes;
 	GwenUserInterface* m_gui;
 	GL3TexLoader* m_myTexLoader;
@@ -93,7 +97,9 @@ static CommonWindowInterface* s_window = 0;
 static CommonParameterInterface*	s_parameterInterface=0;
 static CommonRenderInterface*	s_instancingRenderer=0;
 static OpenGLGuiHelper*	s_guiHelper=0;
-//static MyProfileWindow* s_profWindow =0;
+#ifndef BT_NO_PROFILE
+static MyProfileWindow* s_profWindow =0;
+#endif //BT_NO_PROFILE
 static SharedMemoryInterface* sSharedMem = 0;
 
 #define DEMO_SELECTION_COMBOBOX 13
@@ -144,6 +150,140 @@ int gGpuArraySizeZ=45;
 
 
 
+struct btTiming
+{
+	const char* m_name;
+	int m_threadId;
+	unsigned long long int m_usStartTime;
+	unsigned long long int m_usEndTime;
+};
+
+FILE* gTimingFile = 0;
+#include <inttypes.h>
+#define BT_TIMING_CAPACITY 65536
+static bool m_firstTiming = true;
+
+
+struct btTimings
+{
+	btTimings()
+		:m_numTimings(0),
+		m_activeBuffer(0)
+	{
+		
+	}
+	void flush()
+	{
+		for (int i=0;i<m_numTimings;i++)
+		{
+			const char* name = m_timings[m_activeBuffer][i].m_name;
+			int threadId = m_timings[m_activeBuffer][i].m_threadId;
+			unsigned long long int startTime = m_timings[m_activeBuffer][i].m_usStartTime;
+			unsigned long long int endTime = m_timings[m_activeBuffer][i].m_usEndTime;
+
+			if (!m_firstTiming)
+			{
+				fprintf(gTimingFile,",\n");
+			}
+
+			m_firstTiming = false;
+
+			unsigned long long int startTimeDiv1000 = startTime/1000;
+			unsigned long long int endTimeDiv1000 = endTime/1000;
+
+			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 " ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
+				threadId, startTimeDiv1000,name);
+			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 " ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
+				threadId, endTimeDiv1000,name);
+
+		}
+		m_numTimings = 0;
+
+	}
+
+	void addTiming(const char* name, int threadId, unsigned long long int startTime,  unsigned long long int endTime)
+	{
+		if (m_numTimings>=BT_TIMING_CAPACITY)
+		{
+			return;
+		}
+
+		
+
+		int slot = m_numTimings++;
+
+		m_timings[m_activeBuffer][slot].m_name = name;
+		m_timings[m_activeBuffer][slot].m_threadId = threadId;
+		m_timings[m_activeBuffer][slot].m_usStartTime = startTime;
+		m_timings[m_activeBuffer][slot].m_usEndTime = endTime;
+	}
+
+
+	int m_numTimings;
+	int m_activeBuffer;
+	btTiming m_timings[2][BT_TIMING_CAPACITY];
+};
+
+btTimings gTimings[BT_MAX_THREAD_COUNT];
+
+btClock clk;
+
+#define MAX_NESTING 1024
+
+bool gProfileDisabled = true;
+int gStackDepths[BT_MAX_THREAD_COUNT] = {0};
+const char* gFuncNames[BT_MAX_THREAD_COUNT][MAX_NESTING];
+unsigned long long int gStartTimes[BT_MAX_THREAD_COUNT][MAX_NESTING];
+
+void MyDummyEnterProfileZoneFunc(const char* msg)
+{
+}
+
+void MyDummyLeaveProfileZoneFunc()
+{
+}
+
+void MyEnterProfileZoneFunc(const char* msg)
+{
+	if (gProfileDisabled)
+		return;
+	int threadId = btGetCurrentThreadIndex();
+
+	if (gStackDepths[threadId]>=MAX_NESTING)
+	{
+		btAssert(0);
+		return;
+	}
+	gFuncNames[threadId][gStackDepths[threadId]] = msg;
+	gStartTimes[threadId][gStackDepths[threadId]] = clk.getTimeNanoseconds();
+	if (gStartTimes[threadId][gStackDepths[threadId]]<=gStartTimes[threadId][gStackDepths[threadId]-1])
+	{
+		gStartTimes[threadId][gStackDepths[threadId]]=1+gStartTimes[threadId][gStackDepths[threadId]-1];
+	}
+	gStackDepths[threadId]++;
+}
+void MyLeaveProfileZoneFunc()
+{
+	if (gProfileDisabled)
+		return;
+
+	int threadId = btGetCurrentThreadIndex();
+
+	if (gStackDepths[threadId]<=0)
+	{
+		return;
+	}
+
+	gStackDepths[threadId]--;
+
+	const char* name = gFuncNames[threadId][gStackDepths[threadId]];
+	unsigned long long int startTime = gStartTimes[threadId][gStackDepths[threadId]];
+	
+	unsigned long long int endTime = clk.getTimeNanoseconds();
+	gTimings[threadId].addTiming(name,threadId,startTime,endTime);
+}
+
+
 void deleteDemo()
 {
     if (sCurrentDemo)
@@ -154,6 +294,7 @@ void deleteDemo()
 		sCurrentDemo=0;
 		delete s_guiHelper;
 		s_guiHelper = 0;
+//		CProfileManager::CleanupMemory();
 	}
 }
 
@@ -237,6 +378,46 @@ void MyKeyboardCallback(int key, int state)
 		singleStepSimulation = true;
 	}
 
+	if (key=='p')
+	{
+		if (state)
+		{
+			m_firstTiming = true;
+			gProfileDisabled = false;//true;
+			b3SetCustomEnterProfileZoneFunc(MyEnterProfileZoneFunc);
+			b3SetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
+
+			//also for Bullet 2.x API
+			btSetCustomEnterProfileZoneFunc(MyEnterProfileZoneFunc);
+			btSetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
+		} else
+		{
+
+			b3SetCustomEnterProfileZoneFunc(MyDummyEnterProfileZoneFunc);
+			b3SetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
+			//also for Bullet 2.x API
+			btSetCustomEnterProfileZoneFunc(MyDummyEnterProfileZoneFunc);
+			btSetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
+			char fileName[1024];
+			static int fileCounter = 0;
+			sprintf(fileName,"d:/timings_%d.json",fileCounter++);
+			gTimingFile = fopen(fileName,"w");
+			fprintf(gTimingFile,"{\"traceEvents\":[\n");
+			//dump the content to file
+			for (int i=0;i<BT_MAX_THREAD_COUNT;i++)
+			{
+				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);
+			gTimingFile = 0;
+
+		}
+	}
 
 #ifndef NO_OPENGL3
 	if (key=='s' && state)
@@ -333,15 +514,7 @@ void OpenGLExampleBrowser::registerFileImporter(const char* extension, CommonExa
 void openFileDemo(const char* filename)
 {
 
-    if (sCurrentDemo)
-    {
-		sCurrentDemo->exitPhysics();
-		s_instancingRenderer->removeAllInstances();
-		delete sCurrentDemo;
-		sCurrentDemo=0;
-		delete s_guiHelper;
-		s_guiHelper = 0;
-    }
+	deleteDemo();
    
 	s_guiHelper= new OpenGLGuiHelper(s_app, sUseOpenGL2);
     s_parameterInterface->removeAllParameters();
@@ -387,6 +560,7 @@ void selectDemo(int demoIndex)
 		demoIndex = 0;
 	}
 	deleteDemo();
+
     
 	CommonExampleInterface::CreateFunc* func = gAllExamples->getExampleCreateFunc(demoIndex);
 	if (func)
@@ -775,6 +949,8 @@ OpenGLExampleBrowser::~OpenGLExampleBrowser()
 	gAllExamples = 0;
 }
 
+
+
 #include "EmptyExample.h"
 
 bool OpenGLExampleBrowser::init(int argc, char* argv[])
@@ -886,6 +1062,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	b3SetCustomPrintfFunc(MyGuiPrintf);
 	b3SetCustomErrorMessageFunc(MyStatusBarError);
 	
+	
 
     assert(glGetError()==GL_NO_ERROR);
 	
@@ -940,10 +1117,11 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 
 		//gui->getInternalData()->pRenderer->setTextureLoader(myTexLoader);
 
-
-//		s_profWindow= setupProfileWindow(gui2->getInternalData());
-		//m_internalData->m_profWindow = s_profWindow;
-	//	profileWindowSetVisible(s_profWindow,false);
+#ifndef BT_NO_PROFILE
+		s_profWindow= setupProfileWindow(gui2->getInternalData());
+		m_internalData->m_profWindow = s_profWindow;
+		profileWindowSetVisible(s_profWindow,false);
+#endif //BT_NO_PROFILE
 		gui2->setFocus();
 
 		s_parameterInterface = s_app->m_parameterInterface = new GwenParameterInterface(gui2->getInternalData());
@@ -1073,7 +1251,6 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 }
 
 
-
 CommonExampleInterface* OpenGLExampleBrowser::getCurrentExample()
 {
 	btAssert(sCurrentDemo);
@@ -1087,6 +1264,8 @@ bool OpenGLExampleBrowser::requestedExit()
 
 void OpenGLExampleBrowser::update(float deltaTime)
 {
+	gProfileDisabled = false;
+
 		B3_PROFILE("OpenGLExampleBrowser::update");
 		assert(glGetError()==GL_NO_ERROR);
 		s_instancingRenderer->init();
@@ -1136,7 +1315,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		{
 			if (!pauseSimulation || singleStepSimulation)
 			{
-				singleStepSimulation = false;
+				
 				//printf("---------------------------------------------------\n");
 				//printf("Framecount = %d\n",frameCount);
 				B3_PROFILE("sCurrentDemo->stepSimulation");
@@ -1167,7 +1346,8 @@ void OpenGLExampleBrowser::update(float deltaTime)
 				}
                 BT_PROFILE("Render Scene");
                 sCurrentDemo->renderScene();
-            } else
+            }
+			//else
             {
 				B3_PROFILE("physicsDebugDraw");
 				glPolygonMode( GL_FRONT_AND_BACK, GL_FILL );
@@ -1198,9 +1378,18 @@ void OpenGLExampleBrowser::update(float deltaTime)
 		if (renderGui)
 		{
 			B3_PROFILE("renderGui");
-			//            if (!pauseSimulation)
-			//                processProfileData(s_profWindow,false);
+#ifndef BT_NO_PROFILE
 
+			if (!pauseSimulation || singleStepSimulation)
+			{
+				if (isProfileWindowVisible(s_profWindow))
+				{
+				    processProfileData(s_profWindow,false);
+				}
+			}
+#endif //#ifndef BT_NO_PROFILE
+
+			
 			if (sUseOpenGL2)
 			{
 
@@ -1219,7 +1408,7 @@ void OpenGLExampleBrowser::update(float deltaTime)
 
 		}
 	
-	
+	singleStepSimulation = false;
 	
 				
 		toggle=1-toggle;

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -718,7 +718,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
 	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
 	m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
 	m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
-	
+//	m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;
+	//todo: islands/constraints are buggy in btMultiBodyDynamicsWorld! (performance + see slipping grasp)
+
 }
 
 void PhysicsServerCommandProcessor::deleteCachedInverseKinematicsBodies()
@@ -4208,39 +4210,46 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 
 		loadUrdf("kuka_iiwa/model_vr_limits.urdf", btVector3(1.4, -0.2, 0.6), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		m_data->m_KukaId = bodyId;
-		InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
-		if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs() == 7)
+		if (m_data->m_KukaId>=0)
 		{
-			btScalar q[7];
-			q[0] = 0;// -SIMD_HALF_PI;
-			q[1] = 0;
-			q[2] = 0;
-			q[3] = SIMD_HALF_PI;
-			q[4] = 0;
-			q[5] = -SIMD_HALF_PI*0.66;
-			q[6] = 0;
-
-			for (int i = 0; i < 7; i++)
+			InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
+			if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs() == 7)
 			{
-				kukaBody->m_multiBody->setJointPos(i, q[i]);
+				btScalar q[7];
+				q[0] = 0;// -SIMD_HALF_PI;
+				q[1] = 0;
+				q[2] = 0;
+				q[3] = SIMD_HALF_PI;
+				q[4] = 0;
+				q[5] = -SIMD_HALF_PI*0.66;
+				q[6] = 0;
+
+				for (int i = 0; i < 7; i++)
+				{
+					kukaBody->m_multiBody->setJointPos(i, q[i]);
+				}
+				btAlignedObjectArray<btQuaternion> scratch_q;
+				btAlignedObjectArray<btVector3> scratch_m;
+				kukaBody->m_multiBody->forwardKinematics(scratch_q, scratch_m);
+				int nLinks = kukaBody->m_multiBody->getNumLinks();
+				scratch_q.resize(nLinks + 1);
+				scratch_m.resize(nLinks + 1);
+				kukaBody->m_multiBody->updateCollisionObjectWorldTransforms(scratch_q, scratch_m);
 			}
-			btAlignedObjectArray<btQuaternion> scratch_q;
-			btAlignedObjectArray<btVector3> scratch_m;
-			kukaBody->m_multiBody->forwardKinematics(scratch_q, scratch_m);
-			int nLinks = kukaBody->m_multiBody->getNumLinks();
-			scratch_q.resize(nLinks + 1);
-			scratch_m.resize(nLinks + 1);
-			kukaBody->m_multiBody->updateCollisionObjectWorldTransforms(scratch_q, scratch_m);
 		}
+#if 1
 		loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .7), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .8), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		loadUrdf("lego/lego.urdf", btVector3(1.0, -0.2, .9), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-		loadUrdf("r2d2.urdf", btVector3(-2, -4, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+#endif
 
+		//		loadUrdf("r2d2.urdf", btVector3(-2, -4, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+
+#if 1
 		// Load one motor gripper for kuka
 		loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
 		m_data->m_gripperId = bodyId + 1;
-		
+		{
 		InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
 
 		// Reset the default gripper motor maximum torque for damping to 0
@@ -4255,12 +4264,14 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 				}
 			}
 		}
-				
+		}
+#endif
+#if 1
 		for (int i = 0; i < 6; i++)
 		{
 			loadUrdf("jenga/jenga.urdf", btVector3(1.3-0.1*i,-0.7,  .75), btQuaternion(btVector3(0,1,0),SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		}
-
+#endif
 		//loadUrdf("nao/nao.urdf", btVector3(2,5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 
 		// Add slider joint for fingers
@@ -4274,6 +4285,10 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		btMatrix3x3 frameInParent2(btQuaternion(0, 0, 0, 1.0));
 		btMatrix3x3 frameInChild2(btQuaternion(0, 0, 1.0, 0));
 		btVector3 jointAxis2(1.0, 0, 0);
+
+		if (m_data->m_gripperId>=0)
+		{
+		InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
 		m_data->m_kukaGripperRevolute1 = new btMultiBodyPoint2Point(gripperBody->m_multiBody, 2, gripperBody->m_multiBody, 4, pivotInParent1, pivotInChild1);
 		m_data->m_kukaGripperRevolute1->setMaxAppliedImpulse(5.0);
 		m_data->m_kukaGripperRevolute2 = new btMultiBodyPoint2Point(gripperBody->m_multiBody, 3, gripperBody->m_multiBody, 6, pivotInParent2, pivotInChild2);
@@ -4282,9 +4297,17 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute1);
 		m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperRevolute2);
 
-		kukaBody = m_data->getHandle(m_data->m_KukaId);
+		}
+
+		if (m_data->m_KukaId>=0)
+		{
+		InteralBodyData* kukaBody = m_data->getHandle(m_data->m_KukaId);
 		if (kukaBody->m_multiBody && kukaBody->m_multiBody->getNumDofs()==7)
 		{
+			if (m_data->m_gripperId>=0)
+			{
+			InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
+
 			gripperBody->m_multiBody->setHasSelfCollision(0);
 			btVector3 pivotInParent(0, 0, 0.05);
 			btMatrix3x3 frameInParent;
@@ -4297,16 +4320,20 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 			m_data->m_kukaGripperMultiBody = gripperBody->m_multiBody;
 			m_data->m_kukaGripperFixed->setMaxAppliedImpulse(500);
 			m_data->m_dynamicsWorld->addMultiBodyConstraint(m_data->m_kukaGripperFixed);
+			}
 		}
+		}
+#if 0
 
 		for (int i = 0; i < 10; i++)
 		{
 			loadUrdf("cube.urdf", btVector3(-4, -2, 0.5 + i), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		}
+
 		loadUrdf("sphere2.urdf", btVector3(-5, 0, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		loadUrdf("sphere2.urdf", btVector3(-5, 0, 2), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		loadUrdf("sphere2.urdf", btVector3(-5, 0, 3), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
-			
+#endif		
 		btTransform objectLocalTr[] = {
 			btTransform(btQuaternion(0, 0, 0, 1), btVector3(0.0, 0.0, 0.0)),
 			btTransform(btQuaternion(btVector3(0,0,1),-SIMD_HALF_PI), btVector3(0.0, 0.15, 0.64)),
@@ -4340,6 +4367,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		//loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		//loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
+
 		loadUrdf("cube_small.urdf", objectWorldTr[5].getOrigin(), objectWorldTr[5].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		loadUrdf("sphere_small.urdf", objectWorldTr[6].getOrigin(), objectWorldTr[6].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		loadUrdf("duck_vhacd.urdf", objectWorldTr[7].getOrigin(), objectWorldTr[7].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());

examples/SharedMemory/PhysicsServerExample.cpp

@@ -111,7 +111,7 @@ void midiCallback(double deltatime, std::vector< unsigned char > *message, void
 				gVRTeleportRotZ= getParamf(-3.1415, 3.1415, message->at(2));
 				gVRTeleportOrn = btQuaternion(btVector3(0, 0, 1), gVRTeleportRotZ);
 				saveCurrentSettingsVR();
-				b3Printf("gVRTeleportOrn rotZ = %f\n", gVRTeleportRotZ);
+//				b3Printf("gVRTeleportOrn rotZ = %f\n", gVRTeleportRotZ);
 			}
 
 			if (message->at(1) == 32)
@@ -125,7 +125,7 @@ void midiCallback(double deltatime, std::vector< unsigned char > *message, void
 				{
 					gVRTeleportPos1[i] = getParamf(-2, 2, message->at(2));
 					saveCurrentSettingsVR();
-					b3Printf("gVRTeleportPos[%d] =  %f\n", i,gVRTeleportPos1[i]);
+//					b3Printf("gVRTeleportPos[%d] =  %f\n", i,gVRTeleportPos1[i]);
 
 				}
 			}
@@ -344,7 +344,7 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 				if (deltaTimeInSeconds>clampedDeltaTime)
 				{
 					deltaTimeInSeconds = clampedDeltaTime;
-					b3Warning("Clamp deltaTime from %f to %f",deltaTimeInSeconds, clampedDeltaTime);
+					//b3Warning("Clamp deltaTime from %f to %f",deltaTimeInSeconds, clampedDeltaTime);
 				}
 				
 				clock.reset();
@@ -1060,7 +1060,7 @@ m_options(options)
 
 #endif
 	m_multiThreadedHelper = helper;
-	b3Printf("Started PhysicsServer\n");
+//	b3Printf("Started PhysicsServer\n");
 }
 
 

examples/Utils/b3Clock.cpp

@@ -47,7 +47,6 @@ struct b3ClockData
 #ifdef B3_USE_WINDOWS_TIMERS
 	LARGE_INTEGER mClockFrequency;
 	DWORD mStartTick;
-	LONGLONG mPrevElapsedTime;
 	LARGE_INTEGER mStartTime;
 #else
 #ifdef __CELLOS_LV2__
@@ -94,7 +93,6 @@ void b3Clock::reset()
 #ifdef B3_USE_WINDOWS_TIMERS
 	QueryPerformanceCounter(&m_data->mStartTime);
 	m_data->mStartTick = GetTickCount();
-	m_data->mPrevElapsedTime = 0;
 #else
 #ifdef __CELLOS_LV2__
 
@@ -121,27 +119,7 @@ unsigned long int b3Clock::getTimeMilliseconds()
 		// Compute the number of millisecond ticks elapsed.
 	unsigned long msecTicks = (unsigned long)(1000 * elapsedTime / 
 		m_data->mClockFrequency.QuadPart);
-		// Check for unexpected leaps in the Win32 performance counter.  
-	// (This is caused by unexpected data across the PCI to ISA 
-		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = GetTickCount() - m_data->mStartTick;
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
-		if (msecOff < -100 || msecOff > 100)
-		{
-			// Adjust the starting time forwards.
-			LONGLONG msecAdjustment = b3ClockMin(msecOff * 
-				m_data->mClockFrequency.QuadPart / 1000, elapsedTime - 
-				m_data->mPrevElapsedTime);
-			m_data->mStartTime.QuadPart += msecAdjustment;
-			elapsedTime -= msecAdjustment;
-
-			// Recompute the number of millisecond ticks elapsed.
-			msecTicks = (unsigned long)(1000 * elapsedTime / 
-				m_data->mClockFrequency.QuadPart);
-		}
-
-		// Store the current elapsed time for adjustments next time.
-		m_data->mPrevElapsedTime = elapsedTime;
+	
 
 		return msecTicks;
 #else
@@ -170,38 +148,16 @@ unsigned long int b3Clock::getTimeMilliseconds()
 unsigned long long int b3Clock::getTimeMicroseconds()
 {
 #ifdef B3_USE_WINDOWS_TIMERS
-		LARGE_INTEGER currentTime;
+	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
+		LARGE_INTEGER currentTime, elapsedTime;
+		
 		QueryPerformanceCounter(&currentTime);
-		LONGLONG elapsedTime = currentTime.QuadPart - 
+		elapsedTime.QuadPart = currentTime.QuadPart - 
 			m_data->mStartTime.QuadPart;
+		elapsedTime.QuadPart *= 1000000;
+		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
 
-		// Compute the number of millisecond ticks elapsed.
-		unsigned long long msecTicks = (unsigned long long)(1000 * elapsedTime / 
-			m_data->mClockFrequency.QuadPart);
-
-		// Check for unexpected leaps in the Win32 performance counter.  
-		// (This is caused by unexpected data across the PCI to ISA 
-		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long long elapsedTicks = GetTickCount() - m_data->mStartTick;
-		signed long long msecOff = (signed long)(msecTicks - elapsedTicks);
-		if (msecOff < -100 || msecOff > 100)
-		{
-			// Adjust the starting time forwards.
-			LONGLONG msecAdjustment = b3ClockMin(msecOff * 
-				m_data->mClockFrequency.QuadPart / 1000, elapsedTime - 
-				m_data->mPrevElapsedTime);
-			m_data->mStartTime.QuadPart += msecAdjustment;
-			elapsedTime -= msecAdjustment;
-		}
-
-		// Store the current elapsed time for adjustments next time.
-		m_data->mPrevElapsedTime = elapsedTime;
-
-		// Convert to microseconds.
-		unsigned long long usecTicks = (unsigned long)(1000000 * elapsedTime / 
-			m_data->mClockFrequency.QuadPart);
-
-		return usecTicks;
+		return (unsigned long long) elapsedTime.QuadPart;
 #else
 
 #ifdef __CELLOS_LV2__

src/BulletCollision/CollisionDispatch/btCollisionDispatcher.cpp

@@ -239,10 +239,7 @@ public:
 
 	virtual bool	processOverlap(btBroadphasePair& pair)
 	{
-		BT_PROFILE("btCollisionDispatcher::processOverlap");
-
 		(*m_dispatcher->getNearCallback())(pair,*m_dispatcher,m_dispatchInfo);
-
 		return false;
 	}
 };

src/BulletCollision/CollisionDispatch/btCollisionWorld.cpp

@@ -257,7 +257,7 @@ void	btCollisionWorld::removeCollisionObject(btCollisionObject* collisionObject)
 
 
     int iObj = collisionObject->getWorldArrayIndex();
-    btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
+//    btAssert(iObj >= 0 && iObj < m_collisionObjects.size()); // trying to remove an object that was never added or already removed previously?
     if (iObj >= 0 && iObj < m_collisionObjects.size())
     {
         btAssert(collisionObject == m_collisionObjects[iObj]);

src/LinearMath/btQuickprof.cpp

@@ -16,9 +16,7 @@
 #include "btQuickprof.h"
 
 
-#if BT_THREADSAFE
-#include "btThreads.h"
-#endif //#if BT_THREADSAFE
+
 
 
 #ifdef __CELLOS_LV2__
@@ -65,7 +63,6 @@ struct btClockData
 #ifdef BT_USE_WINDOWS_TIMERS
 	LARGE_INTEGER mClockFrequency;
 	LONGLONG mStartTick;
-	LONGLONG mPrevElapsedTime;
 	LARGE_INTEGER mStartTime;
 #else
 #ifdef __CELLOS_LV2__
@@ -111,7 +108,6 @@ void btClock::reset()
 #ifdef BT_USE_WINDOWS_TIMERS
 	QueryPerformanceCounter(&m_data->mStartTime);
 	m_data->mStartTick = GetTickCount64();
-	m_data->mPrevElapsedTime = 0;
 #else
 #ifdef __CELLOS_LV2__
 
@@ -128,7 +124,7 @@ void btClock::reset()
 
 /// Returns the time in ms since the last call to reset or since
 /// the btClock was created.
-unsigned long int btClock::getTimeMilliseconds()
+unsigned long long int btClock::getTimeMilliseconds()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
 	LARGE_INTEGER currentTime;
@@ -138,27 +134,6 @@ unsigned long int btClock::getTimeMilliseconds()
 		// Compute the number of millisecond ticks elapsed.
 	unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
 		m_data->mClockFrequency.QuadPart);
-		// Check for unexpected leaps in the Win32 performance counter.
-		// (This is caused by unexpected data across the PCI to ISA
-		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = (unsigned long)(GetTickCount64() - m_data->mStartTick);
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
-		if (msecOff < -100 || msecOff > 100)
-		{
-			// Adjust the starting time forwards.
-			LONGLONG msecAdjustment = mymin(msecOff *
-				m_data->mClockFrequency.QuadPart / 1000, elapsedTime -
-				m_data->mPrevElapsedTime);
-			m_data->mStartTime.QuadPart += msecAdjustment;
-			elapsedTime -= msecAdjustment;
-
-			// Recompute the number of millisecond ticks elapsed.
-			msecTicks = (unsigned long)(1000 * elapsedTime /
-				m_data->mClockFrequency.QuadPart);
-		}
-
-		// Store the current elapsed time for adjustments next time.
-		m_data->mPrevElapsedTime = elapsedTime;
 
 		return msecTicks;
 #else
@@ -184,41 +159,19 @@ unsigned long int btClock::getTimeMilliseconds()
 
 	/// Returns the time in us since the last call to reset or since
 	/// the Clock was created.
-unsigned long int btClock::getTimeMicroseconds()
+unsigned long long int btClock::getTimeMicroseconds()
 {
 #ifdef BT_USE_WINDOWS_TIMERS
-		LARGE_INTEGER currentTime;
+	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx	
+		LARGE_INTEGER currentTime, elapsedTime;
+		
 		QueryPerformanceCounter(&currentTime);
-		LONGLONG elapsedTime = currentTime.QuadPart -
+		elapsedTime.QuadPart = currentTime.QuadPart - 
 			m_data->mStartTime.QuadPart;
+		elapsedTime.QuadPart *= 1000000;
+		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
 
-		// Compute the number of millisecond ticks elapsed.
-		unsigned long msecTicks = (unsigned long)(1000 * elapsedTime /
-			m_data->mClockFrequency.QuadPart);
-
-		// Check for unexpected leaps in the Win32 performance counter.
-		// (This is caused by unexpected data across the PCI to ISA
-		// bridge, aka south bridge.  See Microsoft KB274323.)
-		unsigned long elapsedTicks = (unsigned long)(GetTickCount64() - m_data->mStartTick);
-		signed long msecOff = (signed long)(msecTicks - elapsedTicks);
-		if (msecOff < -100 || msecOff > 100)
-		{
-			// Adjust the starting time forwards.
-			LONGLONG msecAdjustment = mymin(msecOff *
-				m_data->mClockFrequency.QuadPart / 1000, elapsedTime -
-				m_data->mPrevElapsedTime);
-			m_data->mStartTime.QuadPart += msecAdjustment;
-			elapsedTime -= msecAdjustment;
-		}
-
-		// Store the current elapsed time for adjustments next time.
-		m_data->mPrevElapsedTime = elapsedTime;
-
-		// Convert to microseconds.
-		unsigned long usecTicks = (unsigned long)(1000000 * elapsedTime /
-			m_data->mClockFrequency.QuadPart);
-
-		return usecTicks;
+		return (unsigned long long) elapsedTime.QuadPart;
 #else
 
 #ifdef __CELLOS_LV2__
@@ -240,6 +193,39 @@ unsigned long int btClock::getTimeMicroseconds()
 #endif
 }
 
+unsigned long long int btClock::getTimeNanoseconds()
+{
+#ifdef BT_USE_WINDOWS_TIMERS
+	//see https://msdn.microsoft.com/en-us/library/windows/desktop/dn553408(v=vs.85).aspx
+		LARGE_INTEGER currentTime, elapsedTime;
+		
+		QueryPerformanceCounter(&currentTime);
+		elapsedTime.QuadPart = currentTime.QuadPart - 
+			m_data->mStartTime.QuadPart;
+		elapsedTime.QuadPart *= 1e9;
+		elapsedTime.QuadPart /= m_data->mClockFrequency.QuadPart;
+
+		return (unsigned long long) elapsedTime.QuadPart;
+#else
+
+#ifdef __CELLOS_LV2__
+		uint64_t freq=sys_time_get_timebase_frequency();
+		double dFreq=((double) freq)/ 1e9;
+		typedef uint64_t  ClockSize;
+		ClockSize newTime;
+		//__asm __volatile__( "mftb %0" : "=r" (newTime) : : "memory");
+		SYS_TIMEBASE_GET( newTime );
+
+		return (unsigned long int)((double(newTime-m_data->mStartTime)) / dFreq);
+#else
+
+		struct timeval currentTime;
+		gettimeofday(&currentTime, 0);
+		return (currentTime.tv_sec - m_data->mStartTime.tv_sec) * 1e9 + 
+			(currentTime.tv_usec - m_data->mStartTime.tv_usec);
+#endif//__CELLOS_LV2__
+#endif 
+}
 
 
 /// Returns the time in s since the last call to reset or since 
@@ -370,6 +356,7 @@ bool	CProfileNode::Return( void )
 	if ( --RecursionCounter == 0 && TotalCalls != 0 ) {
 		unsigned long int time;
 		Profile_Get_Ticks(&time);
+
 		time-=StartTime;
 		TotalTime += (float)time / Profile_Get_Tick_Rate();
 	}
@@ -437,11 +424,69 @@ void	CProfileIterator::Enter_Parent( void )
 **
 ***************************************************************************************************/
 
-CProfileNode	CProfileManager::Root( "Root", NULL );
-CProfileNode *	CProfileManager::CurrentNode = &CProfileManager::Root;
+#include "btThreads.h"
+
+
+
+CProfileNode	gRoots[BT_MAX_THREAD_COUNT]={
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),
+	CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL),CProfileNode("Root",NULL)
+};
+
+
+CProfileNode* gCurrentNodes[BT_MAX_THREAD_COUNT]=
+{
+	&gRoots[ 0],	&gRoots[ 1],	&gRoots[ 2],	&gRoots[ 3],
+	&gRoots[ 4],	&gRoots[ 5],	&gRoots[ 6],	&gRoots[ 7],
+	&gRoots[ 8],	&gRoots[ 9],	&gRoots[10],	&gRoots[11],
+	&gRoots[12],	&gRoots[13],	&gRoots[14],	&gRoots[15],
+	&gRoots[16],	&gRoots[17],	&gRoots[18],	&gRoots[19],
+	&gRoots[20],	&gRoots[21],	&gRoots[22],	&gRoots[23],
+	&gRoots[24],	&gRoots[25],	&gRoots[26],	&gRoots[27],
+	&gRoots[28],	&gRoots[29],	&gRoots[30],	&gRoots[31],
+	&gRoots[32],	&gRoots[33],	&gRoots[34],	&gRoots[35],
+	&gRoots[36],	&gRoots[37],	&gRoots[38],	&gRoots[39],
+	&gRoots[40],	&gRoots[41],	&gRoots[42],	&gRoots[43],
+	&gRoots[44],	&gRoots[45],	&gRoots[46],	&gRoots[47],
+	&gRoots[48],	&gRoots[49],	&gRoots[50],	&gRoots[51],
+	&gRoots[52],	&gRoots[53],	&gRoots[54],	&gRoots[55],
+	&gRoots[56],	&gRoots[57],	&gRoots[58],	&gRoots[59],
+	&gRoots[60],	&gRoots[61],	&gRoots[62],	&gRoots[63],
+};
+
+
 int				CProfileManager::FrameCounter = 0;
 unsigned long int			CProfileManager::ResetTime = 0;
 
+CProfileIterator *	CProfileManager::Get_Iterator( void )
+{ 
+
+		int threadIndex = btGetCurrentThreadIndex();
+		return new CProfileIterator( &gRoots[threadIndex]); 
+}
+
+void						CProfileManager::CleanupMemory(void)
+{
+	for (int i=0;i<BT_MAX_THREAD_COUNT;i++)
+	{
+		gRoots[i].CleanupMemory();
+	}
+}
+
 
 /***********************************************************************************************
  * CProfileManager::Start_Profile -- Begin a named profile                                    *
@@ -458,19 +503,12 @@ unsigned long int			CProfileManager::ResetTime = 0;
  *=============================================================================================*/
 void	CProfileManager::Start_Profile( const char * name )
 {
-#if BT_THREADSAFE
-    // profile system is not designed for profiling multiple threads
-    // disable collection on all but the main thread
-    if ( !btIsMainThread() )
-    {
-        return;
-    }
-#endif //#if BT_THREADSAFE
-	if (name != CurrentNode->Get_Name()) {
-		CurrentNode = CurrentNode->Get_Sub_Node( name );
+	int threadIndex = btGetCurrentThreadIndex();
+	if (name != gCurrentNodes[threadIndex]->Get_Name()) {
+		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Sub_Node( name );
 	}
 
-	CurrentNode->Call();
+	gCurrentNodes[threadIndex]->Call();
 }
 
 
@@ -479,22 +517,26 @@ void	CProfileManager::Start_Profile( const char * name )
  *=============================================================================================*/
 void	CProfileManager::Stop_Profile( void )
 {
-#if BT_THREADSAFE
-    // profile system is not designed for profiling multiple threads
-    // disable collection on all but the main thread
-    if ( !btIsMainThread() )
-    {
-        return;
-    }
-#endif //#if BT_THREADSAFE
+	int threadIndex = btGetCurrentThreadIndex();
 	// Return will indicate whether we should back up to our parent (we may
 	// be profiling a recursive function)
-	if (CurrentNode->Return()) {
-		CurrentNode = CurrentNode->Get_Parent();
+	if (gCurrentNodes[threadIndex]->Return()) {
+		gCurrentNodes[threadIndex] = gCurrentNodes[threadIndex]->Get_Parent();
 	}
 }
 
 
+void	btEnterProfileZoneDefault(const char* name)
+{
+	CProfileManager::Start_Profile( name ); 
+}
+void	btLeaveProfileZoneDefault()
+{
+	CProfileManager::Stop_Profile(); 
+}
+
+
+
 /***********************************************************************************************
  * CProfileManager::Reset -- Reset the contents of the profiling system                       *
  *                                                                                             *
@@ -503,8 +545,8 @@ void	CProfileManager::Stop_Profile( void )
 void	CProfileManager::Reset( void )
 {
 	gProfileClock.reset();
-	Root.Reset();
-    Root.Call();
+	gRoots[btGetCurrentThreadIndex()].Reset();
+	gRoots[btGetCurrentThreadIndex()].Call();
 	FrameCounter = 0;
 	Profile_Get_Ticks(&ResetTime);
 }
@@ -592,6 +634,56 @@ void	CProfileManager::dumpAll()
 }
 
 
+#else
 
+void	btEnterProfileZoneDefault(const char* name)
+{
+}
+void	btLeaveProfileZoneDefault()
+{
+}
 
 #endif //BT_NO_PROFILE
+
+
+static btEnterProfileZoneFunc* bts_enterFunc = btEnterProfileZoneDefault;
+static btLeaveProfileZoneFunc* bts_leaveFunc = btLeaveProfileZoneDefault;
+
+void btEnterProfileZone(const char* name)
+{
+	(bts_enterFunc)(name);
+}
+void btLeaveProfileZone()
+{
+	(bts_leaveFunc)();
+}
+
+btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc()
+{
+	return bts_enterFunc ;
+}
+btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc()
+{
+	return bts_leaveFunc;
+}
+
+
+void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc)
+{
+	bts_enterFunc = enterFunc;
+}
+void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc)
+{
+	bts_leaveFunc = leaveFunc;
+}
+
+CProfileSample::CProfileSample( const char * name )
+{ 
+	btEnterProfileZone(name);
+}
+
+CProfileSample::~CProfileSample( void )					
+{ 
+	btLeaveProfileZone();
+}
+

src/LinearMath/btQuickprof.h

@@ -36,12 +36,14 @@ public:
 
 	/// Returns the time in ms since the last call to reset or since 
 	/// the btClock was created.
-	unsigned long int getTimeMilliseconds();
+	unsigned long long int getTimeMilliseconds();
 
 	/// Returns the time in us since the last call to reset or since 
 	/// the Clock was created.
-	unsigned long int getTimeMicroseconds();
+	unsigned long long int getTimeMicroseconds();
 	
+	unsigned long long int getTimeNanoseconds();
+
 	/// Returns the time in s since the last call to reset or since 
 	/// the Clock was created.
 	btScalar getTimeSeconds();
@@ -52,9 +54,18 @@ private:
 
 #endif //USE_BT_CLOCK
 
+typedef void (btEnterProfileZoneFunc)(const char* msg);
+typedef void (btLeaveProfileZoneFunc)();
+
+btEnterProfileZoneFunc* btGetCurrentEnterProfileZoneFunc();
+btLeaveProfileZoneFunc* btGetCurrentLeaveProfileZoneFunc();
+
+void btSetCustomEnterProfileZoneFunc(btEnterProfileZoneFunc* enterFunc);
+void btSetCustomLeaveProfileZoneFunc(btLeaveProfileZoneFunc* leaveFunc);
+
 
 //To disable built-in profiling, please comment out next line
-#define BT_NO_PROFILE 1
+//#define BT_NO_PROFILE 1
 #ifndef BT_NO_PROFILE
 #include <stdio.h>//@todo remove this, backwards compatibility
 
@@ -151,21 +162,21 @@ public:
 	static	void						Start_Profile( const char * name );
 	static	void						Stop_Profile( void );
 
-	static	void						CleanupMemory(void)
-	{
-		Root.CleanupMemory();
-	}
+	static	void						CleanupMemory(void);
+//	{
+//		Root.CleanupMemory();
+//	}
 
 	static	void						Reset( void );
 	static	void						Increment_Frame_Counter( void );
 	static	int						Get_Frame_Count_Since_Reset( void )		{ return FrameCounter; }
 	static	float						Get_Time_Since_Reset( void );
 
-	static	CProfileIterator *	Get_Iterator( void )	
-	{ 
-		
-		return new CProfileIterator( &Root ); 
-	}
+	static	CProfileIterator *	Get_Iterator( void );	
+//	{ 
+//		
+//		return new CProfileIterator( &Root ); 
+//	}
 	static	void						Release_Iterator( CProfileIterator * iterator ) { delete ( iterator); }
 
 	static void	dumpRecursive(CProfileIterator* profileIterator, int spacing);
@@ -173,37 +184,27 @@ public:
 	static void	dumpAll();
 
 private:
-	static	CProfileNode			Root;
-	static	CProfileNode *			CurrentNode;
+
 	static	int						FrameCounter;
 	static	unsigned long int					ResetTime;
 };
 
 
+
+
+#endif //#ifndef BT_NO_PROFILE
+
 ///ProfileSampleClass is a simple way to profile a function's scope
 ///Use the BT_PROFILE macro at the start of scope to time
 class	CProfileSample {
 public:
-	CProfileSample( const char * name )
-	{ 
-		CProfileManager::Start_Profile( name ); 
-	}
+	CProfileSample( const char * name );
 
-	~CProfileSample( void )					
-	{ 
-		CProfileManager::Stop_Profile(); 
-	}
+	~CProfileSample( void );
 };
 
-
 #define	BT_PROFILE( name )			CProfileSample __profile( name )
 
-#else
-
-#define	BT_PROFILE( name )
-
-#endif //#ifndef BT_NO_PROFILE
-
 
 
 #endif //BT_QUICK_PROF_H

src/LinearMath/btThreads.cpp

@@ -226,5 +226,23 @@ bool btSpinMutex::tryLock()
     return true;
 }
 
-#endif // #else // #if BT_THREADSAFE
+unsigned int btGetCurrentThreadIndex()
+{
+	const unsigned int kNullIndex = ~0U;
+#ifdef _WIN32
+	__declspec( thread ) static unsigned int sThreadIndex = kNullIndex;
+
+#else
+	static __thread unsigned int sThreadIndex = kNullIndex;
+#endif
+	static int gThreadCounter=0;
+
+	if ( sThreadIndex == kNullIndex )
+	{
+		sThreadIndex = gThreadCounter++;
+	}
+	return sThreadIndex;
+}
+
+#endif // #if BT_THREADSAFE
 

src/LinearMath/btThreads.h

@@ -69,7 +69,8 @@ const unsigned int BT_MAX_THREAD_COUNT = 64;
 SIMD_FORCE_INLINE void btMutexLock( btSpinMutex* ) {}
 SIMD_FORCE_INLINE void btMutexUnlock( btSpinMutex* ) {}
 SIMD_FORCE_INLINE bool btMutexTryLock( btSpinMutex* ) {return true;}
-
+unsigned int btGetCurrentThreadIndex();
+const unsigned int BT_MAX_THREAD_COUNT = 64;
 #endif