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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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12
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1780,6 +1780,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
createEmptyDynamicsWorld();
#ifdef BT_THREADSAFE
if (btGetTaskScheduler() == 0) {
btITaskScheduler *scheduler = btCreateDefaultTaskScheduler();
if (scheduler == 0) {
@@ -1787,6 +1788,7 @@ PhysicsServerCommandProcessor::PhysicsServerCommandProcessor()
}
btSetTaskScheduler(scheduler);
}
#endif //BT_THREADSAFE
}
PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
@@ -4821,10 +4823,11 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
const int numRays = clientCmd.m_requestRaycastIntersections.m_numRays;
const int numThreads = clientCmd.m_requestRaycastIntersections.m_numThreads;
b3RayData *rayInputBuffer = (b3RayData *)malloc(sizeof(b3RayData) * numRays);
memcpy(rayInputBuffer, bufferServerToClient, sizeof(b3RayData) * numRays);
BatchRayCaster batchRayCaster(m_data->m_dynamicsWorld, rayInputBuffer, (b3RayHitInfo *)bufferServerToClient, numRays);
btAlignedObjectArray<b3RayData> rays;
rays.resize(numRays);
memcpy(&rays[0],bufferServerToClient,numRays*sizeof(b3RayData));
BatchRayCaster batchRayCaster(m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo *)bufferServerToClient, numRays);
if (numThreads == 0) {
// When 0 is specified, Bullet can decide how many threads to use.
// About 16 rays per thread seems to work reasonably well.
@@ -4840,7 +4843,6 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
batchRayCaster.castRays(numThreads);
}
free(rayInputBuffer);
serverStatusOut.m_raycastHits.m_numRaycastHits = numRays;
serverStatusOut.m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED;
return hasStatus;