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Implement CustomProfilerCallback, hooking up to Bullet profiling

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test dominoes
This commit is contained in:
erwincoumans
2019-02-22 09:17:55 -08:00
parent 71b1191947
commit 9ecc1cc485
2 changed files with 67 additions and 11 deletions
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57
examples/pybullet/examples/otherPhysicsEngine.py
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@@ -4,27 +4,61 @@ import time
import math
usePhysX = True
useMaximalCoordinates = True
if usePhysX:
p.connect(p.PhysX,options="--numCores=1 --solver=pgs")
p.connect(p.PhysX,options="--numCores=8 --solver=pgs")
p.loadPlugin("eglRendererPlugin")
else:
p.connect(p.GUI)
useMaximalCoordinates = False
p.setPhysicsEngineParameter(fixedTimeStep=1./240.,numSolverIterations=4, minimumSolverIslandSize=1024)
p.setPhysicsEngineParameter(contactBreakingThreshold=0.01)
p.setAdditionalSearchPath(pd.getDataPath())
p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates)
#Always make ground plane maximal coordinates, to avoid performance drop in PhysX
#See https://github.com/NVIDIAGameWorks/PhysX/issues/71
p.loadURDF("plane.urdf", useMaximalCoordinates=True)#useMaximalCoordinates)
p.configureDebugVisualizer(p.COV_ENABLE_TINY_RENDERER,0)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS,"physx_create_dominoes.json")
for j in range (50):
for i in range (100):
sphere = p.loadURDF("domino/domino.urdf",[i*0.04,1+j*.25,0.03], useMaximalCoordinates=useMaximalCoordinates)
jran = 50
iran = 100
num=64
radius=0.1
numDominoes=0
for i in range (int(num*50)):
num=(radius*2*math.pi)/0.08
radius += 0.05/float(num)
orn = p.getQuaternionFromEuler([0,0,0.5*math.pi+math.pi*2*i/float(num)])
pos = [radius*math.cos(2*math.pi*(i/float(num))),radius*math.sin(2*math.pi*(i/float(num))), 0.03]
sphere = p.loadURDF("domino/domino.urdf",pos, orn, useMaximalCoordinates=useMaximalCoordinates)
numDominoes+=1
pos=[pos[0],pos[1],pos[2]+0.3]
orn = p.getQuaternionFromEuler([0,0,-math.pi/4.])
sphere = p.loadURDF("domino/domino.urdf",pos, orn, useMaximalCoordinates=useMaximalCoordinates)
print("numDominoes=",numDominoes)
#for j in range (20):
# for i in range (100):
# if (i<99):
# sphere = p.loadURDF("domino/domino.urdf",[i*0.04,1+j*.25,0.03], useMaximalCoordinates=useMaximalCoordinates)
# else:
# orn = p.getQuaternionFromEuler([0,-3.14*0.24,0])
# sphere = p.loadURDF("domino/domino.urdf",[(i-1)*0.04,1+j*.25,0.03], orn, useMaximalCoordinates=useMaximalCoordinates)
print("loaded!")
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
p.changeDynamics(sphere ,-1, mass=1000)
door = p.loadURDF("door.urdf",[0,0,1])
#p.changeDynamics(sphere ,-1, mass=1000)
door = p.loadURDF("door.urdf",[0,0,-11])
p.changeDynamics(door ,1, linearDamping=0, angularDamping=0, jointDamping=0, mass=1)
print("numJoints = ", p.getNumJoints(door))
@@ -43,8 +77,9 @@ angle = math.pi*0.5
count=0
while (1):
count+=1
if (count==10):
if (count==12):
p.stopStateLogging(logId)
p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
curTime = time.time()
@@ -61,4 +96,4 @@ while (1):
#contacts = p.getContactPoints()
#print("contacts=",contacts)
p.stepSimulation()
time.sleep(1./240.)
#time.sleep(1./240.)