Merge pull request #1093 from erwincoumans/master

expose profileTiming to pybullet/b3RobotSimulatorClientAPI.h

src/Bullet3Common/b3HashMap.h

@@ -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);
 	}

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -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;
 

src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp

@@ -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];