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Expose pushProfileTimer / pop ProfileTimer in PhysicsClient API to benchmark Python parts of PyBullet.

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reduce 'm_cooldownTime' from 1000 microseconds to 100 microseconds (overhead in raycast is too large)
If needed, we can expose this cooldown time.
Replace malloc by btAlignedObjectArray (going through Bullet's memory allocator)
This commit is contained in:
erwincoumans
2018-06-16 06:19:49 -07:00
parent bb8cbcdaae
commit f517b03534
13 changed files with 118 additions and 16 deletions
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32
examples/SharedMemory/PhysicsClientSharedMemory.cpp
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@@ -12,7 +12,7 @@
#include "SharedMemoryBlock.h"
#include "BodyJointInfoUtility.h"
#include "SharedMemoryUserData.h"
#include "LinearMath/btQuickprof.h"
struct UserDataCache
@@ -41,11 +41,16 @@ struct BodyJointInfoCache
}
};
struct PhysicsClientSharedMemoryInternalData {
SharedMemoryInterface* m_sharedMemory;
bool m_ownsSharedMemory;
SharedMemoryBlock* m_testBlock1;
btAlignedObjectArray<CProfileSample* > m_profileTimings;
btAlignedObjectArray<std::string* > m_profileTimingStrings;
btHashMap<btHashInt,BodyJointInfoCache*> m_bodyJointMap;
btHashMap<btHashInt,b3UserConstraint> m_userConstraintInfoMap;
@@ -950,6 +955,7 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
case CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED:
{
B3_PROFILE("m_raycastHits");
if (m_data->m_verboseOutput)
{
b3Printf("Raycast completed");
@@ -1882,3 +1888,27 @@ void PhysicsClientSharedMemory::getUserDataInfo(int bodyUniqueId, int linkIndex,
SharedMemoryUserData *userDataPtr = (userDataCachePtr)->m_userDataMap.getAtIndex(userDataIndex);
*keyOut = (userDataPtr)->m_key.c_str();
}
void PhysicsClientSharedMemory::pushProfileTiming(const char* timingName)
{
std::string* str = new std::string(timingName);
m_data->m_profileTimingStrings.push_back(str);
m_data->m_profileTimings.push_back(new CProfileSample(str->c_str()));
}
void PhysicsClientSharedMemory::popProfileTiming()
{
if (m_data->m_profileTimings.size())
{
CProfileSample* sample = m_data->m_profileTimings[m_data->m_profileTimings.size()-1];
m_data->m_profileTimings.pop_back();
delete sample;
}
}