added hierarchical profiling (needs more cleanup)

avoid dynamic allocations in btRaycastVehicle

Demos/AllBulletDemos/Main.cpp

@@ -29,6 +29,9 @@
 #include "GLDebugDrawer.h"
 
 static GLDebugDrawer gDebugDrawer;
+#include "LinearMath/btQuickProf.h"
+
+CProfileIterator * gProfileIterator=0;
 
 
 namespace
@@ -80,6 +83,9 @@ DemoApplication* CreatDemo(btDemoEntry* entry)
 	{
 		demo->getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
 	}
+	
+	CProfileManager::Reset();
+
 	return demo;
 
 }
@@ -107,6 +113,9 @@ void Timer(int)
 
 void SimulationLoop()
 {
+
+	
+
 	if (gDrawAabb)
 	{ 
 		demo->setDebugMode(demo->getDebugMode() |btIDebugDraw::DBG_DrawAabb);
@@ -146,10 +155,15 @@ void SimulationLoop()
 
 
 	if (!demo->isIdle())
+	{
 		demo->clientMoveAndDisplay();
-	else
-		demo->displayCallback();
+		
 
+	}
+	else
+	{
+		demo->displayCallback();
+	}
 	if (testSelection != testIndex)
 	{
 		testIndex = testSelection;
@@ -161,11 +175,24 @@ void SimulationLoop()
 		viewY = 0.0f;
 		Resize(width, height);
 	}
-}
+}	
 
 void Keyboard(unsigned char key, int x, int y)
 {
 
+	if (key >= 0x31 && key < 0x37)
+	{
+		int child = key-0x31;
+		gProfileIterator->Enter_Child(child);
+	}
+	if (key==0x30)
+	{
+		gProfileIterator->Enter_Parent();
+		return;
+	}
+
+
+
 	switch (key)
 	{
 	case 27:
@@ -211,7 +238,10 @@ void MouseMotion(int x, int y)
 
 int main(int argc, char** argv)
 {
+	
+	gProfileIterator = CProfileManager::Get_Iterator();
 
+	
 	int bulletVersion = btGetVersion();
 	printf("Bullet version %d\n",bulletVersion);
 

Demos/BasicDemo/BasicDemo.cpp

@@ -104,9 +104,6 @@ void BasicDemo::clientMoveAndDisplay()
 void BasicDemo::displayCallback(void) {
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
-
-	if (m_dynamicsWorld)
-		m_dynamicsWorld->updateAabbs();
 	
 	renderme();
 

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -300,8 +300,6 @@ void CcdPhysicsDemo::displayCallback(void) {
 
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	m_dynamicsWorld->updateAabbs();
-
 	
 	renderme();
 
@@ -431,11 +429,13 @@ int maxNumOutstandingTasks = 4;
 								createSolverLocalStoreMemory,
 								maxNumOutstandingTasks));
 
-	m_solver = new btParallelSequentialImpulseSolver(threadSupportSolver,maxNumOutstandingTasks);
+	m_solver = new btParallelSequentialImpulseSolver(m_threadSupportSolver,maxNumOutstandingTasks);
 #else
-	m_solver = new btSequentialImpulseConstraintSolver;
+	btSequentialImpulseConstraintSolver* solver = new btSequentialImpulseConstraintSolver();
+
+	m_solver = solver;
 	//default solverMode is SOLVER_RANDMIZE_ORDER. Warmstarting seems not to improve convergence, see 
-	//m_solver->setSolverMode(btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
+	//solver->setSolverMode(0);//btSequentialImpulseConstraintSolver::SOLVER_USE_WARMSTARTING | btSequentialImpulseConstraintSolver::SOLVER_RANDMIZE_ORDER);
 	
 #endif //USE_PARALLEL_SOLVER
 

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -90,7 +90,7 @@ void ConvexDecompositionDemo::initPhysics(const char* filename)
 ///you can hook it up to your custom task scheduler by deriving from btThreadSupportInterface
 #endif
 
-	m_dispatcher = new	SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,collisionConfiguration);
+	m_dispatcher = new	SpuGatheringCollisionDispatcher(threadSupport,maxNumOutstandingTasks,m_collisionConfiguration);
 #else
 	m_dispatcher = new	btCollisionDispatcher(m_collisionConfiguration);
 #endif//USE_PARALLEL_DISPATCHER

Demos/OpenGL/DemoApplication.cpp

@@ -29,6 +29,7 @@ subject to the following restrictions:
 #include "LinearMath/btQuickprof.h"
 #include "LinearMath/btDefaultMotionState.h"
 
+
 #include "BMF_Api.h"
 
 extern bool gDisableDeactivation;
@@ -77,6 +78,7 @@ m_shootBoxShape(0),
 
 DemoApplication::~DemoApplication()
 {
+
 	if (m_shootBoxShape)
 		delete m_shootBoxShape;
 
@@ -756,6 +758,88 @@ void DemoApplication::resetPerspectiveProjection()
 }
 
 
+
+
+extern CProfileIterator * gProfileIterator;
+
+void DemoApplication::displayProfileString(int xOffset,int yStart,char* message)
+{
+	glRasterPos3f(xOffset,yStart,0);
+	BMF_DrawString(BMF_GetFont(BMF_kHelvetica10),message);
+}
+
+
+void DemoApplication::showProfileInfo(float& xOffset,float& yStart, float yIncr)
+{
+
+	static double time_since_reset = 0.f;
+	if (!m_idle)
+	{
+			time_since_reset = CProfileManager::Get_Time_Since_Reset();
+	}
+
+
+	{
+		//recompute profiling data, and store profile strings
+
+		char blockTime[128];
+
+		double totalTime = 0;
+		
+		int frames_since_reset = CProfileManager::Get_Frame_Count_Since_Reset();
+
+		gProfileIterator->First();
+
+		double parent_time = gProfileIterator->Is_Root() ? time_since_reset : gProfileIterator->Get_Current_Parent_Total_Time();
+
+		{
+			sprintf(blockTime,"--- Profiling: %s (total running time: %.3f m) ---",	gProfileIterator->Get_Current_Parent_Name(), parent_time );
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+			sprintf(blockTime,"press number (1,2...) to display child timings, or 0 to go up to parent" );
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+
+		}
+
+
+		double accumulated_time = 0.f;
+
+		for (int i = 0; !gProfileIterator->Is_Done(); gProfileIterator->Next())
+		{
+			double current_total_time = gProfileIterator->Get_Current_Total_Time();
+			accumulated_time += current_total_time;
+			double fraction = parent_time > SIMD_EPSILON ? (current_total_time / parent_time) * 100 : 0.f;
+
+			sprintf(blockTime,"%d -- %s (%.2f %%) :: %.3f ms / frame (%d calls)",
+				++i, gProfileIterator->Get_Current_Name(), fraction,
+				(current_total_time / (double)frames_since_reset),gProfileIterator->Get_Current_Total_Calls());
+			displayProfileString(xOffset,yStart,blockTime);
+			yStart += yIncr;
+			totalTime += current_total_time;
+		}
+
+		sprintf(blockTime,"%s (%.3f %%) :: %.3f ms", "Unaccounted",
+			// (min(0, time_since_reset - totalTime) / time_since_reset) * 100);
+			parent_time > SIMD_EPSILON ? ((parent_time - accumulated_time) / parent_time) * 100 : 0.f, parent_time - accumulated_time);
+
+		displayProfileString(xOffset,yStart,blockTime);
+		yStart += yIncr;
+
+
+
+		sprintf(blockTime,"-------------------------------------------------");
+		displayProfileString(xOffset,yStart,blockTime);
+		yStart += yIncr;
+
+	}
+
+
+
+
+}
+
+
 void DemoApplication::renderme()
 {
 	updateCamera();
@@ -823,6 +907,8 @@ void DemoApplication::renderme()
 				{
 				setOrthographicProjection();
 
+				showProfileInfo(xOffset,yStart,yIncr);
+
 	#ifdef USE_QUICKPROF
 
 

Demos/OpenGL/DemoApplication.h

@@ -39,15 +39,20 @@ subject to the following restrictions:
 #include "LinearMath/btMatrix3x3.h"
 #include "LinearMath/btTransform.h"
 #include "LinearMath/btQuickprof.h"
+#include "LinearMath/btAlignedObjectArray.h"
 
 class	btCollisionShape;
 class	btDynamicsWorld;
 class	btRigidBody;
 class	btTypedConstraint;
 
+
+
+
 class DemoApplication
 {
-	
+	void	displayProfileString(int xOffset,int yStart,char* message);
+
 	protected:
 
 	btClock m_clock;
@@ -82,7 +87,10 @@ class DemoApplication
 	bool m_singleStep;
 	bool m_idle;
 	int m_lastKey;
-	
+
+	void showProfileInfo(float& xOffset,float& yStart, float yIncr);
+
+
 public:
 		
 	DemoApplication();

Demos/RagdollDemo/RagdollDemo.cpp

@@ -372,9 +372,6 @@ void RagdollDemo::displayCallback()
 {
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-	if (m_dynamicsWorld)
-		m_dynamicsWorld->updateAabbs();
-
 	renderme();
 
 	glFlush();

Demos/VehicleDemo/VehicleDemo.cpp

@@ -449,21 +449,9 @@ void VehicleDemo::clientMoveAndDisplay()
 
 void VehicleDemo::displayCallback(void) 
 {
-
-	clientMoveAndDisplay();
-	return;
-
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
-
-	
-	//m_dynamicsWorld->updateAabbs();
-	
-	//draw contactpoints
-	//m_physicsEnvironmentPtr->CallbackTriggers();
-
-
-	//renderme();
+	renderme();
 
 
 	glFlush();