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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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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;