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Merge pull request #1093 from erwincoumans/master

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expose profileTiming to pybullet/b3RobotSimulatorClientAPI.h
This commit is contained in:
erwincoumans
2017-05-05 01:29:26 +00:00
committed by GitHub
parent d6c3a76bf2 cb1f5c74ea
commit f76f3e2ba7
21 changed files with 263 additions and 29 deletions
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2
examples/ExampleBrowser/OpenGLExampleBrowser.cpp
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@@ -260,7 +260,7 @@ void MyKeyboardCallback(int key, int state)
} else
{
b3ChromeUtilsStopTimingsAndWriteJsonFile();
b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
}
#endif //BT_NO_PROFILE
}

33
examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -912,6 +912,11 @@ void b3RobotSimulatorClientAPI::getKeyboardEvents(b3KeyboardEventsData* keyboard
int b3RobotSimulatorClientAPI::startStateLogging(b3StateLoggingType loggingType, const std::string& fileName, const b3AlignedObjectArray<int>& objectUniqueIds, int maxLogDof)
{
if (!isConnected())
{
b3Warning("Not connected");
return -1;
}
int loggingUniqueId = -1;
b3SharedMemoryCommandHandle commandHandle;
commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
@@ -942,6 +947,12 @@ int b3RobotSimulatorClientAPI::startStateLogging(b3StateLoggingType loggingType,
void b3RobotSimulatorClientAPI::stopStateLogging(int stateLoggerUniqueId)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle;
b3SharedMemoryStatusHandle statusHandle;
commandHandle = b3StateLoggingCommandInit(m_data->m_physicsClientHandle);
@@ -951,6 +962,12 @@ void b3RobotSimulatorClientAPI::stopStateLogging(int stateLoggerUniqueId)
void b3RobotSimulatorClientAPI::resetDebugVisualizerCamera(double cameraDistance, double cameraPitch, double cameraYaw, const b3Vector3& targetPos)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(m_data->m_physicsClientHandle);
if (commandHandle)
{
@@ -963,3 +980,19 @@ void b3RobotSimulatorClientAPI::resetDebugVisualizerCamera(double cameraDistance
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}
}
void b3RobotSimulatorClientAPI::submitProfileTiming(const std::string& profileName, int durationInMicroSeconds)
{
if (!isConnected())
{
b3Warning("Not connected");
return;
}
b3SharedMemoryCommandHandle commandHandle = b3ProfileTimingCommandInit(m_data->m_physicsClientHandle, profileName.c_str());
if (durationInMicroSeconds>=0)
{
b3SetProfileTimingDuractionInMicroSeconds(commandHandle, durationInMicroSeconds);
}
b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
}

3
examples/RobotSimulator/b3RobotSimulatorClientAPI.h
View File

@@ -210,6 +210,9 @@ public:
void getVREvents(b3VREventsData* vrEventsData, int deviceTypeFilter);
void getKeyboardEvents(b3KeyboardEventsData* keyboardEventsData);
void submitProfileTiming(const std::string& profileName, int durationInMicroSeconds=1);
};
#endif //B3_ROBOT_SIMULATOR_CLIENT_API_H

36
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -2695,6 +2695,41 @@ void b3GetKeyboardEventsData(b3PhysicsClientHandle physClient, struct b3Keyboard
}
b3SharedMemoryCommandHandle b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
int len = strlen(name);
if (len>=0 && len < (MAX_FILENAME_LENGTH+1))
{
command->m_type = CMD_PROFILE_TIMING;
strcpy(command->m_profile.m_name,name);
command->m_profile.m_name[len]=0;
} else
{
const char* invalid = "InvalidProfileTimingName";
int len = strlen(invalid);
strcpy(command->m_profile.m_name,invalid);
command->m_profile.m_name[len] = 0;
}
command->m_profile.m_durationInMicroSeconds = 0;
return (b3SharedMemoryCommandHandle)command;
}
void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle commandHandle, int duration)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_PROFILE_TIMING);
if (command->m_type == CMD_PROFILE_TIMING)
{
command->m_profile.m_durationInMicroSeconds = duration;
}
}
b3SharedMemoryCommandHandle b3StateLoggingCommandInit(b3PhysicsClientHandle physClient)
{
@@ -2841,7 +2876,6 @@ int b3StateLoggingSetDeviceTypeFilter(b3SharedMemoryCommandHandle commandHandle,
return 0;
}
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUid)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;

2
examples/SharedMemory/PhysicsClientC_API.h
View File

@@ -392,6 +392,8 @@ int b3GetStatusLoggingUniqueId(b3SharedMemoryStatusHandle statusHandle);
int b3StateLoggingStop(b3SharedMemoryCommandHandle commandHandle, int loggingUniqueId);
b3SharedMemoryCommandHandle b3ProfileTimingCommandInit(b3PhysicsClientHandle physClient, const char* name);
void b3SetProfileTimingDuractionInMicroSeconds(b3SharedMemoryCommandHandle commandHandle, int duration);
void b3SetTimeOut(b3PhysicsClientHandle physClient, double timeOutInSeconds);
double b3GetTimeOut(b3PhysicsClientHandle physClient);

114
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -13,7 +13,9 @@
#include "BulletDynamics/Featherstone/btMultiBodySliderConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
#include "LinearMath/btHashMap.h"
#include "Bullet3Common/b3HashMap.h"
#include "../Utils/ChromeTraceUtil.h"
#include "BulletInverseDynamics/MultiBodyTree.hpp"
#include "IKTrajectoryHelper.h"
#include "btBulletDynamicsCommon.h"
@@ -28,7 +30,7 @@
#include "SharedMemoryCommands.h"
#include "LinearMath/btRandom.h"
#include "Bullet3Common/b3ResizablePool.h"
#include "../Utils/b3Clock.h"
#ifdef B3_ENABLE_TINY_AUDIO
#include "../TinyAudio/b3SoundEngine.h"
#endif
@@ -132,7 +134,7 @@ struct InteralBodyData
btTransform m_rootLocalInertialFrame;
btAlignedObjectArray<btTransform> m_linkLocalInertialFrames;
#ifdef B3_ENABLE_TINY_AUDIO
btHashMap<btHashInt, SDFAudioSource> m_audioSources;
b3HashMap<btHashInt, SDFAudioSource> m_audioSources;
#endif //B3_ENABLE_TINY_AUDIO
InteralBodyData()
@@ -1158,11 +1160,11 @@ struct PhysicsServerCommandProcessorInternalData
btScalar m_physicsDeltaTime;
btScalar m_numSimulationSubSteps;
btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
btHashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
b3HashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
b3HashMap<btHashPtr, IKTrajectoryHelper*> m_inverseKinematicsHelpers;
int m_userConstraintUIDGenerator;
btHashMap<btHashInt, InteralUserConstraintData> m_userConstraints;
b3HashMap<btHashInt, InteralUserConstraintData> m_userConstraints;
b3AlignedObjectArray<SaveWorldObjectData> m_saveWorldBodyData;
@@ -1198,6 +1200,8 @@ struct PhysicsServerCommandProcessorInternalData
btAlignedObjectArray<InternalStateLogger*> m_stateLoggers;
int m_stateLoggersUniqueId;
int m_profileTimingLoggingUid;
std::string m_profileTimingFileName;
struct GUIHelperInterface* m_guiHelper;
int m_sharedMemoryKey;
@@ -1219,6 +1223,8 @@ struct PhysicsServerCommandProcessorInternalData
b3SoundEngine m_soundEngine;
#endif
b3HashMap<b3HashString, char*> m_profileEvents;
PhysicsServerCommandProcessorInternalData()
:
m_allowRealTimeSimulation(false),
@@ -1247,6 +1253,7 @@ struct PhysicsServerCommandProcessorInternalData
m_dynamicsWorld(0),
m_remoteDebugDrawer(0),
m_stateLoggersUniqueId(0),
m_profileTimingLoggingUid(-1),
m_guiHelper(0),
m_sharedMemoryKey(SHARED_MEMORY_KEY),
m_verboseOutput(false),
@@ -1372,7 +1379,11 @@ PhysicsServerCommandProcessor::~PhysicsServerCommandProcessor()
delete m_data->m_commandLogger;
m_data->m_commandLogger = 0;
}
for (int i=0;i<m_data->m_profileEvents.size();i++)
{
char* event = *m_data->m_profileEvents.getAtIndex(i);
delete[] event;
}
delete m_data;
}
@@ -2210,7 +2221,7 @@ int PhysicsServerCommandProcessor::createBodyInfoStream(int bodyUniqueId, char*
bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes )
{
BT_PROFILE("processCommand");
// BT_PROFILE("processCommand");
bool hasStatus = false;
@@ -2278,7 +2289,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
if (clientCmd.m_updateFlags & STATE_LOGGING_START_LOG)
{
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_PROFILE_TIMINGS)
{
if (m_data->m_profileTimingLoggingUid<0)
{
b3ChromeUtilsStartTimings();
m_data->m_profileTimingFileName = clientCmd.m_stateLoggingArguments.m_fileName;
int loggerUid = m_data->m_stateLoggersUniqueId++;
serverStatusOut.m_type = CMD_STATE_LOGGING_START_COMPLETED;
serverStatusOut.m_stateLoggingResultArgs.m_loggingUniqueId = loggerUid;
m_data->m_profileTimingLoggingUid = loggerUid;
}
}
if (clientCmd.m_stateLoggingArguments.m_logType == STATE_LOGGING_VIDEO_MP4)
{
//if (clientCmd.m_stateLoggingArguments.m_fileName)
@@ -2416,14 +2438,22 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if ((clientCmd.m_updateFlags & STATE_LOGGING_STOP_LOG) && clientCmd.m_stateLoggingArguments.m_loggingUniqueId>=0)
{
serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
for (int i=0;i<m_data->m_stateLoggers.size();i++)
if (clientCmd.m_stateLoggingArguments.m_loggingUniqueId == m_data->m_profileTimingLoggingUid)
{
if (m_data->m_stateLoggers[i]->m_loggingUniqueId==clientCmd.m_stateLoggingArguments.m_loggingUniqueId)
b3ChromeUtilsStopTimingsAndWriteJsonFile(m_data->m_profileTimingFileName.c_str());
m_data->m_profileTimingLoggingUid = -1;
}
else
{
serverStatusOut.m_type = CMD_STATE_LOGGING_COMPLETED;
for (int i=0;i<m_data->m_stateLoggers.size();i++)
{
m_data->m_stateLoggers[i]->stop();
delete m_data->m_stateLoggers[i];
m_data->m_stateLoggers.removeAtIndex(i);
if (m_data->m_stateLoggers[i]->m_loggingUniqueId==clientCmd.m_stateLoggingArguments.m_loggingUniqueId)
{
m_data->m_stateLoggers[i]->stop();
delete m_data->m_stateLoggers[i];
m_data->m_stateLoggers.removeAtIndex(i);
}
}
}
}
@@ -2458,7 +2488,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
case CMD_REQUEST_VR_EVENTS_DATA:
{
BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
//BT_PROFILE("CMD_REQUEST_VR_EVENTS_DATA");
serverStatusOut.m_sendVREvents.m_numVRControllerEvents = 0;
for (int i=0;i<MAX_VR_CONTROLLERS;i++)
@@ -2486,7 +2516,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
case CMD_REQUEST_KEYBOARD_EVENTS_DATA:
{
BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
//BT_PROFILE("CMD_REQUEST_KEYBOARD_EVENTS_DATA");
serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents = m_data->m_keyboardEvents.size();
if (serverStatusOut.m_sendKeyboardEvents.m_numKeyboardEvents>MAX_KEYBOARD_EVENTS)
@@ -3320,6 +3350,56 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_PROFILE_TIMING:
{
{
B3_PROFILE("custom");//clientCmd.m_profile.m_name);
{
B3_PROFILE("event");//clientCmd.m_profile.m_name);
char** eventNamePtr = m_data->m_profileEvents[clientCmd.m_profile.m_name];
char* eventName = 0;
if (eventNamePtr)
{
B3_PROFILE("reuse");
eventName = *eventNamePtr;
} else
{
B3_PROFILE("alloc");
int len = strlen(clientCmd.m_profile.m_name);
eventName = new char[len+1];
strcpy(eventName,clientCmd.m_profile.m_name);
eventName[len] = 0;
m_data->m_profileEvents.insert(eventName,eventName);
}
{
{
B3_PROFILE("with");//clientCmd.m_profile.m_name);
{
B3_PROFILE("some");//clientCmd.m_profile.m_name);
{
B3_PROFILE("deep");//clientCmd.m_profile.m_name);
{
B3_PROFILE("level");//clientCmd.m_profile.m_name);
{
B3_PROFILE(eventName);
b3Clock::usleep(clientCmd.m_profile.m_durationInMicroSeconds);
}
}
}
}
}
}
}
}
serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
hasStatus = true;
break;
}
case CMD_SEND_DESIRED_STATE:
{
BT_PROFILE("CMD_SEND_DESIRED_STATE");

2
examples/SharedMemory/PhysicsServerSharedMemory.cpp
View File

@@ -252,7 +252,7 @@ void PhysicsServerSharedMemory::processClientCommands()
if (m_data->m_testBlocks[block]->m_numClientCommands> m_data->m_testBlocks[block]->m_numProcessedClientCommands)
{
BT_PROFILE("processClientCommand");
//BT_PROFILE("processClientCommand");
//until we implement a proper ring buffer, we assume always maximum of 1 outstanding commands
btAssert(m_data->m_testBlocks[block]->m_numClientCommands==m_data->m_testBlocks[block]->m_numProcessedClientCommands+1);

9
examples/SharedMemory/SharedMemoryCommands.h
View File

@@ -459,6 +459,14 @@ struct b3ObjectArgs
int m_userConstraintUniqueIds[MAX_SDF_BODIES];
};
struct b3Profile
{
char m_name[MAX_FILENAME_LENGTH];
int m_durationInMicroSeconds;
};
struct SdfLoadedArgs
{
int m_numBodies;
@@ -758,6 +766,7 @@ struct SharedMemoryCommand
struct StateLoggingRequest m_stateLoggingArguments;
struct ConfigureOpenGLVisualizerRequest m_configureOpenGLVisualizerArguments;
struct b3ObjectArgs m_removeObjectArgs;
struct b3Profile m_profile;
};
};

2
examples/SharedMemory/SharedMemoryPublic.h
View File

@@ -57,6 +57,7 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_OPENGL_VISUALIZER_CAMERA,
CMD_REMOVE_BODY,
CMD_RESET_DYNAMIC_INFO,
CMD_PROFILE_TIMING,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -388,6 +389,7 @@ enum b3StateLoggingType
STATE_LOGGING_VIDEO_MP4 = 3,
STATE_LOGGING_COMMANDS = 4,
STATE_LOGGING_CONTACT_POINTS = 5,
STATE_LOGGING_PROFILE_TIMINGS = 6,
};

2
examples/SharedMemory/tcp/premake4.lua
View File

@@ -113,6 +113,8 @@ myfiles =
"../../Importers/ImportURDFDemo/URDF2Bullet.h",
"../../Utils/b3ResourcePath.cpp",
"../../Utils/b3Clock.cpp",
"../../Utils/ChromeTraceUtil.cpp",
"../../Utils/ChromeTraceUtil.h",
"../../Utils/RobotLoggingUtil.cpp",
"../../Utils/RobotLoggingUtil.h",
"../../../Extras/Serialize/BulletWorldImporter/*",

2
examples/SharedMemory/udp/premake4.lua
View File

@@ -104,6 +104,8 @@ myfiles =
"../../Importers/ImportURDFDemo/URDF2Bullet.h",
"../../Utils/b3ResourcePath.cpp",
"../../Utils/b3Clock.cpp",
"../../Utils/ChromeTraceUtil.cpp",
"../../Utils/ChromeTraceUtil.h",
"../../Utils/RobotLoggingUtil.cpp",
"../../Utils/RobotLoggingUtil.h",
"../../../Extras/Serialize/BulletWorldImporter/*",

4
examples/StandaloneMain/hellovr_opengl_main.cpp
View File

@@ -355,7 +355,7 @@ void MyKeyboardCallback(int key, int state)
}
else
{
b3ChromeUtilsStopTimingsAndWriteJsonFile();
b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
}
}
if (sExample)
@@ -2342,7 +2342,7 @@ int main(int argc, char *argv[])
if (args.CheckCmdLineFlag("tracing"))
{
b3ChromeUtilsStopTimingsAndWriteJsonFile();
b3ChromeUtilsStopTimingsAndWriteJsonFile("timings");
}

4
examples/Utils/ChromeTraceUtil.cpp
View File

@@ -239,7 +239,7 @@ void b3ChromeUtilsStartTimings()
btSetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
}
void b3ChromeUtilsStopTimingsAndWriteJsonFile()
void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix)
{
b3SetCustomEnterProfileZoneFunc(MyDummyEnterProfileZoneFunc);
b3SetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
@@ -248,7 +248,7 @@ void b3ChromeUtilsStopTimingsAndWriteJsonFile()
btSetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
char fileName[1024];
static int fileCounter = 0;
sprintf(fileName,"timings_%d.json",fileCounter++);
sprintf(fileName,"%s_%d.json",fileNamePrefix, fileCounter++);
gTimingFile = fopen(fileName,"w");
fprintf(gTimingFile,"{\"traceEvents\":[\n");
//dump the content to file

2
examples/Utils/ChromeTraceUtil.h
View File

@@ -3,7 +3,7 @@
#define B3_CHROME_TRACE_UTIL_H
void b3ChromeUtilsStartTimings();
void b3ChromeUtilsStopTimingsAndWriteJsonFile();
void b3ChromeUtilsStopTimingsAndWriteJsonFile(const char* fileNamePrefix);
void b3ChromeUtilsEnableProfiling();
#endif//B3_CHROME_TRACE_UTIL_H

12
examples/pybullet/examples/profileTiming.py Normal file
View File

@@ -0,0 +1,12 @@
import pybullet as p
import time
p.connect(p.GUI)
t = time.time()+0.1
logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "haha")
while (time.time()<t):
p.submitProfileTiming("pythontest")
p.stopStateLogging(logId)

41
examples/pybullet/pybullet.c
View File

@@ -2879,6 +2879,42 @@ static PyObject* pybullet_startStateLogging(PyObject* self, PyObject* args, PyOb
return Py_None;
}
static PyObject* pybullet_submitProfileTiming(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryStatusHandle statusHandle;
int statusType;
char* eventName = 0;
int duractionInMicroSeconds=-1;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"eventName ", "duraction", "physicsClientId", NULL};
int physicsClientId = 0;
if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist,
&eventName, &duractionInMicroSeconds, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
if (eventName)
{
b3SharedMemoryCommandHandle commandHandle;
commandHandle = b3ProfileTimingCommandInit(sm, eventName);
if (duractionInMicroSeconds>=0)
{
b3SetProfileTimingDuractionInMicroSeconds(commandHandle, duractionInMicroSeconds);
}
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}
Py_INCREF(Py_None);
return Py_None;
}
static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObject* keywds)
{
b3SharedMemoryStatusHandle statusHandle;
@@ -5691,6 +5727,10 @@ static PyMethodDef SpamMethods[] = {
"Cast a batch of rays and return the result for each of the rays (first object hit, if any. or -1) "
"Takes two arguments (list of from_positions [x,y,z] and a list of to_positions [x,y,z] in Cartesian world coordinates"},
{"submitProfileTiming", (PyCFunction)pybullet_submitProfileTiming, METH_VARARGS | METH_KEYWORDS,
"Add a custom profile timing that will be visible in performance profile recordings on the physics server."
"On the physics server (in GUI and VR mode) you can press 'p' to start and/or stop profile recordings" },
{"setTimeOut", (PyCFunction)pybullet_setTimeOut, METH_VARARGS | METH_KEYWORDS,
"Set the timeOut in seconds, used for most of the API calls."},
// todo(erwincoumans)
@@ -5821,6 +5861,7 @@ initpybullet(void)
PyModule_AddIntConstant(m, "STATE_LOGGING_VR_CONTROLLERS", STATE_LOGGING_VR_CONTROLLERS);
PyModule_AddIntConstant(m, "STATE_LOGGING_VIDEO_MP4", STATE_LOGGING_VIDEO_MP4);
PyModule_AddIntConstant(m, "STATE_LOGGING_CONTACT_POINTS", STATE_LOGGING_CONTACT_POINTS);
PyModule_AddIntConstant(m, "STATE_LOGGING_PROFILE_TIMINGS", STATE_LOGGING_PROFILE_TIMINGS);
PyModule_AddIntConstant(m, "COV_ENABLE_GUI", COV_ENABLE_GUI);
PyModule_AddIntConstant(m, "COV_ENABLE_SHADOWS", COV_ENABLE_SHADOWS);

12
src/Bullet3Common/b3HashMap.h
View File

@@ -399,6 +399,18 @@ protected:
return &m_valueArray[index];
}
Key getKeyAtIndex(int index)
{
b3Assert(index < m_keyArray.size());
return m_keyArray[index];
}
const Key getKeyAtIndex(int index) const
{
b3Assert(index < m_keyArray.size());
return m_keyArray[index];
}
Value* operator[](const Key& key) {
return find(key);
}

3
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -374,7 +374,7 @@ void btDiscreteDynamicsWorld::synchronizeSingleMotionState(btRigidBody* body)
void btDiscreteDynamicsWorld::synchronizeMotionStates()
{
BT_PROFILE("synchronizeMotionStates");
// BT_PROFILE("synchronizeMotionStates");
if (m_synchronizeAllMotionStates)
{
//iterate over all collision objects
@@ -402,7 +402,6 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
{
startProfiling(timeStep);
BT_PROFILE("stepSimulation");
int numSimulationSubSteps = 0;

2
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
View File

@@ -917,7 +917,7 @@ void btMultiBodyDynamicsWorld::clearMultiBodyConstraintForces()
void btMultiBodyDynamicsWorld::clearMultiBodyForces()
{
{
BT_PROFILE("clearMultiBodyForces");
// BT_PROFILE("clearMultiBodyForces");
for (int i=0;i<this->m_multiBodies.size();i++)
{
btMultiBody* bod = m_multiBodies[i];

2
test/SharedMemory/CMakeLists.txt
View File

@@ -58,6 +58,8 @@ ENDIF()
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/b3Clock.cpp
../../examples/Utils/b3Clock.h
../../examples/Utils/ChromeTraceUtil.cpp
../../examples/Utils/ChromeTraceUtil.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

3
test/SharedMemory/premake4.lua
View File

@@ -281,7 +281,8 @@ project ("Test_PhysicsServerLoopBack")
"../../examples/Utils/RobotLoggingUtil.cpp",
"../../examples/Utils/RobotLoggingUtil.h",
"../../examples/Utils/b3Clock.cpp",
"../../examples/Utils/b3Clock.h",
"../../examples/Utils/ChromeTraceUtil.cpp",
"../../examples/Utils/ChromeTraceUtil.h",
"../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp",
"../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",