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report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error.

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This commit is contained in:
erwincoumans
2019-04-11 22:19:02 -07:00
parent 3146f6276b
commit 5ff52e47d9
11 changed files with 144 additions and 9 deletions
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13
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2214,6 +2214,19 @@ B3_SHARED_API int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle)
return CMD_INVALID_STATUS;
}
B3_SHARED_API int b3GetStatusForwardDynamicsAnalyticsData(b3SharedMemoryStatusHandle statusHandle, struct b3ForwardDynamicsAnalyticsArgs* analyticsData)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus*)statusHandle;
//b3Assert(status);
if (status)
{
*analyticsData = status->m_forwardDynamicsAnalyticsArgs;
return status->m_forwardDynamicsAnalyticsArgs.m_numIslands;
}
return 0;
}
B3_SHARED_API int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyIndicesOut, int bodyIndicesCapacity)
{
int numBodies = 0;

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -360,6 +360,9 @@ extern "C"
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);
B3_SHARED_API int b3GetStatusForwardDynamicsAnalyticsData(b3SharedMemoryStatusHandle statusHandle, struct b3ForwardDynamicsAnalyticsArgs* analyticsData);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand(b3PhysicsClientHandle physClient);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitResetSimulationCommand2(b3SharedMemoryCommandHandle commandHandle);

24
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -7605,17 +7605,17 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
}
btScalar deltaTimeScaled = m_data->m_physicsDeltaTime * simTimeScalingFactor;
m_data->m_dynamicsWorld->getSolverInfo().m_reportSolverAnalytics = true;
int numSteps = 0;
if (m_data->m_numSimulationSubSteps > 0)
{
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, m_data->m_numSimulationSubSteps, m_data->m_physicsDeltaTime / m_data->m_numSimulationSubSteps);
m_data->m_simulationTimestamp += deltaTimeScaled;
m_data->m_simulationTimestamp += deltaTimeScaled;
}
else
{
numSteps = m_data->m_dynamicsWorld->stepSimulation(deltaTimeScaled, 0);
m_data->m_simulationTimestamp += deltaTimeScaled;
m_data->m_simulationTimestamp += deltaTimeScaled;
}
if (numSteps > 0)
@@ -7624,6 +7624,24 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
}
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_forwardDynamicsAnalyticsArgs.m_numSteps = numSteps;
btAlignedObjectArray<btSolverAnalyticsData> islandAnalyticsData;
m_data->m_dynamicsWorld->getAnalyticsData(islandAnalyticsData);
serverCmd.m_forwardDynamicsAnalyticsArgs.m_numIslands = islandAnalyticsData.size();
int numIslands = btMin(islandAnalyticsData.size(), MAX_ISLANDS_ANALYTICS);
for (int i=0;i<numIslands;i++)
{
serverCmd.m_forwardDynamicsAnalyticsArgs.m_numSolverCalls = islandAnalyticsData[i].m_numSolverCalls;
serverCmd.m_forwardDynamicsAnalyticsArgs.m_islandData[i].m_islandId = islandAnalyticsData[i].m_islandId;
serverCmd.m_forwardDynamicsAnalyticsArgs.m_islandData[i].m_numBodies = islandAnalyticsData[i].m_numBodies;
serverCmd.m_forwardDynamicsAnalyticsArgs.m_islandData[i].m_numIterationsUsed = islandAnalyticsData[i].m_numIterationsUsed;
serverCmd.m_forwardDynamicsAnalyticsArgs.m_islandData[i].m_remainingLeastSquaresResidual = islandAnalyticsData[i].m_remainingLeastSquaresResidual;
serverCmd.m_forwardDynamicsAnalyticsArgs.m_islandData[i].m_numContactManifolds = islandAnalyticsData[i].m_numContactManifolds;
}
serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
return hasStatus;

3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -957,6 +957,8 @@ struct b3CreateUserShapeArgs
b3CreateUserShapeData m_shapes[MAX_COMPOUND_COLLISION_SHAPES];
};
struct b3CreateUserShapeResultArgs
{
int m_userShapeUniqueId;
@@ -1180,6 +1182,7 @@ struct SharedMemoryStatus
struct SyncUserDataArgs m_syncUserDataArgs;
struct UserDataResponseArgs m_userDataResponseArgs;
struct UserDataRequestArgs m_removeUserDataResponseArgs;
struct b3ForwardDynamicsAnalyticsArgs m_forwardDynamicsAnalyticsArgs;
};
};

20
examples/SharedMemory/SharedMemoryPublic.h
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@@ -931,6 +931,7 @@ struct b3PhysicsSimulationParameters
int m_minimumSolverIslandSize;
};
enum eConstraintSolverTypes
{
eConstraintSolverLCP_SI = 1,
@@ -941,6 +942,25 @@ enum eConstraintSolverTypes
eConstraintSolverLCP_BLOCK_PGS,
};
struct b3ForwardDynamicsAnalyticsIslandData
{
int m_islandId;
int m_numBodies;
int m_numContactManifolds;
int m_numIterationsUsed;
double m_remainingLeastSquaresResidual;
};
#define MAX_ISLANDS_ANALYTICS 1024
struct b3ForwardDynamicsAnalyticsArgs
{
int m_numSteps;
int m_numIslands;
int m_numSolverCalls;
struct b3ForwardDynamicsAnalyticsIslandData m_islandData[MAX_ISLANDS_ANALYTICS];
};
enum eFileIOActions
{
eAddFileIOAction = 1024,//avoid collision with eFileIOTypes

22
examples/pybullet/pybullet.c
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@@ -330,6 +330,28 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec
statusHandle = b3SubmitClientCommandAndWaitStatus(
sm, b3InitStepSimulationCommand(sm));
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED)
{
struct b3ForwardDynamicsAnalyticsArgs analyticsData;
int numIslands = 0;
int i;
numIslands = b3GetStatusForwardDynamicsAnalyticsData(statusHandle, &analyticsData);
PyObject* pyAnalyticsData = PyTuple_New(numIslands);
for (i=0;i<numIslands;i++)
{
int numFields = 4;
PyObject* pyIslandData = PyTuple_New(numFields);
PyTuple_SetItem(pyIslandData, 0, PyLong_FromLong(analyticsData.m_islandData[i].m_islandId));
PyTuple_SetItem(pyIslandData, 1, PyLong_FromLong(analyticsData.m_islandData[i].m_numBodies));
PyTuple_SetItem(pyIslandData, 2, PyLong_FromLong(analyticsData.m_islandData[i].m_numIterationsUsed));
PyTuple_SetItem(pyIslandData, 3, PyFloat_FromDouble(analyticsData.m_islandData[i].m_remainingLeastSquaresResidual));
PyTuple_SetItem(pyAnalyticsData, i, pyIslandData);
}
return pyAnalyticsData;
}
}
}