Merge pull request #938 from erwincoumans/master

Move ChromeTracing in its own file, and add tracing support for VR se…

examples/BasicDemo/premake4.lua

@@ -192,7 +192,8 @@ files {
 				"../ThirdPartyLibs/openvr/samples/shared/Vectors.h",
 				"../Utils/b3Clock.cpp",
 				"../Utils/b3Clock.h",
-				
+				"../Utils/ChromeTraceUtil.cpp",
+				"../Utils/ChromeTraceUtil.h",
 }
 
 if os.is("Windows") then 

examples/ExampleBrowser/CMakeLists.txt

@@ -34,6 +34,8 @@ ADD_LIBRARY(BulletExampleBrowserLib
 	CollisionShape2TriangleMesh.h
 	../Utils/b3Clock.cpp
 	../Utils/b3Clock.h
+	../Utils/ChromeTraceUtil.cpp
+	../Utils/ChromeTraceUtil.h
 	../Utils/b3ResourcePath.cpp
 	../Utils/b3ResourcePath.h
 	../Utils/b3ERPCFMHelper.hpp

examples/ExampleBrowser/OpenGLExampleBrowser.cpp

@@ -24,6 +24,7 @@
 #include "GwenGUISupport/gwenInternalData.h"
 #include "GwenGUISupport/gwenUserInterface.h"
 #include "../Utils/b3Clock.h"
+#include "../Utils/ChromeTraceUtil.h"
 #include "GwenGUISupport/GwenParameterInterface.h"
 #ifndef BT_NO_PROFILE
 #include "GwenGUISupport/GwenProfileWindow.h"
@@ -148,227 +149,6 @@ int gGpuArraySizeZ=45;
 
 
 
-
-struct btTiming
-{
-	const char* m_name;
-	int m_threadId;
-	unsigned long long int m_usStartTime;
-	unsigned long long int m_usEndTime;
-};
-
-FILE* gTimingFile = 0;
-#ifndef __STDC_FORMAT_MACROS
-#define __STDC_FORMAT_MACROS
-#endif //__STDC_FORMAT_MACROS
-
-//see http://stackoverflow.com/questions/18107426/printf-format-for-unsigned-int64-on-windows
-#ifndef _WIN32
-#include <inttypes.h>
-#endif
-
-#define BT_TIMING_CAPACITY 16*65536
-static bool m_firstTiming = true;
-
-
-struct btTimings
-{
-	btTimings()
-		:m_numTimings(0),
-		m_activeBuffer(0)
-	{
-		
-	}
-	void flush()
-	{
-		for (int i=0;i<m_numTimings;i++)
-		{
-			const char* name = m_timings[m_activeBuffer][i].m_name;
-			int threadId = m_timings[m_activeBuffer][i].m_threadId;
-			unsigned long long int startTime = m_timings[m_activeBuffer][i].m_usStartTime;
-			unsigned long long int endTime = m_timings[m_activeBuffer][i].m_usEndTime;
-
-			if (!m_firstTiming)
-			{
-				fprintf(gTimingFile,",\n");
-			}
-
-			m_firstTiming = false;
-
-            unsigned long long int startTimeDiv1000 = startTime/1000;
-            unsigned long long int endTimeDiv1000 = endTime/1000;
-
-#if 0
-
-            fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".123 ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
-                    threadId, startTimeDiv1000, name);
-            fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".234 ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
-                    threadId, endTimeDiv1000,name);
-
-#else
-         
-			
-			if (startTime>endTime)
-			{
-				endTime = startTime;
-			}
-            unsigned int startTimeRem1000 = startTime%1000;
-            unsigned int endTimeRem1000 = endTime%1000;
-
-            char startTimeRem1000Str[16];
-            char endTimeRem1000Str[16];
-            
-            if (startTimeRem1000<10)
-            {
-                sprintf(startTimeRem1000Str,"00%d",startTimeRem1000);
-            }
-            else
-            {
-                if (startTimeRem1000<100)
-                {
-                    sprintf(startTimeRem1000Str,"0%d",startTimeRem1000);
-                } else
-                {
-                    sprintf(startTimeRem1000Str,"%d",startTimeRem1000);
-                }
-            }
-            
-            if (endTimeRem1000<10)
-            {
-                sprintf(endTimeRem1000Str,"00%d",endTimeRem1000);
-            }
-            else
-            {
-                if (endTimeRem1000<100)
-                {
-                    sprintf(endTimeRem1000Str,"0%d",endTimeRem1000);
-                } else
-                {
-                    sprintf(endTimeRem1000Str,"%d",endTimeRem1000);
-                }
-            }
-            
-            char newname[1024];
-			static int counter2=0;
-            sprintf(newname,"%s%d",name,counter2++);
-         
-#ifdef _WIN32
-			
-			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%I64d.%s ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
-				threadId, startTimeDiv1000,startTimeRem1000Str, newname);
-			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%I64d.%s ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
-				threadId, endTimeDiv1000,endTimeRem1000Str,newname);
-
-#else
-			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".%s ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
-				threadId, startTimeDiv1000,startTimeRem1000Str, newname);
-			fprintf(gTimingFile,"{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".%s ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
-				threadId, endTimeDiv1000,endTimeRem1000Str,newname);
-#endif
-#endif
-
-		}
-		m_numTimings = 0;
-
-	}
-
-	void addTiming(const char* name, int threadId, unsigned long long int startTime,  unsigned long long int endTime)
-	{
-		if (m_numTimings>=BT_TIMING_CAPACITY)
-		{
-			return;
-		}
-
-		if (m_timings[0].size()==0)
-		{
-			m_timings[0].resize(BT_TIMING_CAPACITY);
-		}
-
-		int slot = m_numTimings++;
-
-		m_timings[m_activeBuffer][slot].m_name = name;
-		m_timings[m_activeBuffer][slot].m_threadId = threadId;
-		m_timings[m_activeBuffer][slot].m_usStartTime = startTime;
-		m_timings[m_activeBuffer][slot].m_usEndTime = endTime;
-	}
-
-
-	int m_numTimings;
-	int m_activeBuffer;
-	btAlignedObjectArray<btTiming> m_timings[1];
-};
-#ifndef BT_NO_PROFILE
-btTimings gTimings[BT_QUICKPROF_MAX_THREAD_COUNT];
-#define MAX_NESTING 1024
-int gStackDepths[BT_QUICKPROF_MAX_THREAD_COUNT] = {0};
-const char* gFuncNames[BT_QUICKPROF_MAX_THREAD_COUNT][MAX_NESTING];
-unsigned long long int gStartTimes[BT_QUICKPROF_MAX_THREAD_COUNT][MAX_NESTING];
-#endif
-
-btClock clk;
-
-
-
-bool gProfileDisabled = true;
-
-
-void MyDummyEnterProfileZoneFunc(const char* msg)
-{
-}
-
-void MyDummyLeaveProfileZoneFunc()
-{
-}
-
-void MyEnterProfileZoneFunc(const char* msg)
-{
-	if (gProfileDisabled)
-		return;
-#ifndef BT_NO_PROFILE
-	int threadId = btQuickprofGetCurrentThreadIndex2();
-	if (threadId<0)
-		return;
-	
-	if (gStackDepths[threadId]>=MAX_NESTING)
-	{
-		btAssert(0);
-		return;
-	}
-	gFuncNames[threadId][gStackDepths[threadId]] = msg;
-	gStartTimes[threadId][gStackDepths[threadId]] = clk.getTimeNanoseconds();
-	if (gStartTimes[threadId][gStackDepths[threadId]]<=gStartTimes[threadId][gStackDepths[threadId]-1])
-	{
-		gStartTimes[threadId][gStackDepths[threadId]]=1+gStartTimes[threadId][gStackDepths[threadId]-1];
-	}
-	gStackDepths[threadId]++;
-#endif
-
-}
-void MyLeaveProfileZoneFunc()
-{
-	if (gProfileDisabled)
-		return;
-#ifndef BT_NO_PROFILE
-	int threadId = btQuickprofGetCurrentThreadIndex2();
-	if (threadId<0)
-		return;
-	
-	if (gStackDepths[threadId]<=0)
-	{
-		return;
-	}
-
-	gStackDepths[threadId]--;
-
-	const char* name = gFuncNames[threadId][gStackDepths[threadId]];
-	unsigned long long int startTime = gStartTimes[threadId][gStackDepths[threadId]];
-	
-	unsigned long long int endTime = clk.getTimeNanoseconds();
-	gTimings[threadId].addTiming(name,threadId,startTime,endTime);
-#endif //BT_NO_PROFILE
-}
-
-
 void deleteDemo()
 {
     if (sCurrentDemo)
@@ -469,40 +249,12 @@ void MyKeyboardCallback(int key, int state)
 #ifndef BT_NO_PROFILE
 		if (state)
 		{
-			m_firstTiming = true;
+			b3ChromeUtilsStartTimings();
-			gProfileDisabled = false;//true;
-			b3SetCustomEnterProfileZoneFunc(MyEnterProfileZoneFunc);
-			b3SetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
 
-			//also for Bullet 2.x API
-			btSetCustomEnterProfileZoneFunc(MyEnterProfileZoneFunc);
-			btSetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
 		} else
 		{
 
-			b3SetCustomEnterProfileZoneFunc(MyDummyEnterProfileZoneFunc);
+			b3ChromeUtilsStopTimingsAndWriteJsonFile();
-			b3SetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
-			//also for Bullet 2.x API
-			btSetCustomEnterProfileZoneFunc(MyDummyEnterProfileZoneFunc);
-			btSetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
-			char fileName[1024];
-			static int fileCounter = 0;
-			sprintf(fileName,"timings_%d.json",fileCounter++);
-			gTimingFile = fopen(fileName,"w");
-			fprintf(gTimingFile,"{\"traceEvents\":[\n");
-			//dump the content to file
-			for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
-			{
-				if (gTimings[i].m_numTimings)
-				{
-					printf("Writing %d timings for thread %d\n", gTimings[i].m_numTimings, i);
-					gTimings[i].flush();
-				}
-			}
-			fprintf(gTimingFile,"\n],\n\"displayTimeUnit\": \"ns\"}");
-			fclose(gTimingFile);
-			gTimingFile = 0;
-
 		}
 #endif //BT_NO_PROFILE
 	}
@@ -1063,14 +815,7 @@ bool OpenGLExampleBrowser::init(int argc, char* argv[])
 	}
 	if (args.CheckCmdLineFlag("tracing"))
 	{
-		m_firstTiming = true;
+		b3ChromeUtilsStartTimings();
-		gProfileDisabled = false;//true;
-		b3SetCustomEnterProfileZoneFunc(MyEnterProfileZoneFunc);
-		b3SetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
-
-		//also for Bullet 2.x API
-		btSetCustomEnterProfileZoneFunc(MyEnterProfileZoneFunc);
-		btSetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
 	}
 	args.GetCmdLineArgument("fixed_timestep",gFixedTimeStep);
 	args.GetCmdLineArgument("png_skip_frames", gPngSkipFrames);	
@@ -1378,8 +1123,8 @@ bool OpenGLExampleBrowser::requestedExit()
 
 void OpenGLExampleBrowser::update(float deltaTime)
 {
-	gProfileDisabled = false;
+	b3ChromeUtilsEnableProfiling();
-
+	
 		B3_PROFILE("OpenGLExampleBrowser::update");
 		assert(glGetError()==GL_NO_ERROR);
 		s_instancingRenderer->init();

examples/ExampleBrowser/premake4.lua

@@ -193,6 +193,8 @@ project "BulletExampleBrowserLib"
 		"OpenGLGuiHelper.cpp",
 		"OpenGLExampleBrowser.cpp",
 		"../Utils/b3Clock.cpp",
+		"../Utils/ChromeTraceUtil.cpp",
+		"../Utils/ChromeTraceUtil.h",
 		"*.h",
 		"GwenGUISupport/*.cpp",
 		"GwenGUISupport/*.h",

examples/SharedMemory/CMakeLists.txt

@@ -61,6 +61,8 @@ SET(SharedMemory_SRCS
 	../Importers/ImportMJCFDemo/BulletMJCFImporter.h
 	../Utils/b3ResourcePath.cpp
 	../Utils/b3Clock.cpp	
+	../Utils/ChromeTraceUtil.cpp
+	../Utils/ChromeTraceUtil.h
 	../Importers/ImportURDFDemo/URDFImporterInterface.h
 	../Importers/ImportURDFDemo/URDFJointTypes.h
 	../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp

examples/SharedMemory/PhysicsServerExample.cpp

@@ -300,7 +300,6 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 
 		double deltaTimeInSeconds = 0;
 		double sleepCounter = 0;
-
 		do
 		{
 			BT_PROFILE("loop");
@@ -310,6 +309,8 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 				b3Clock::usleep(0);
 			}
 			double dt = double(clock.getTimeMicroseconds())/1000000.;
+			clock.reset();
+
 			sleepCounter+=dt;
 
 			if (sleepCounter > sleepTimeThreshold)
@@ -317,10 +318,18 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 				BT_PROFILE("usleep(100)");
 				sleepCounter = 0;
 				b3Clock::usleep(100);
+
+			}
+
+			{
+				if (gEnableRealTimeSimVR)
+				{
+					BT_PROFILE("usleep(1000)");
+					b3Clock::usleep(1000);
+				}
 			}
 			deltaTimeInSeconds+= dt;
 		
-			clock.reset();
 
 			
 			{

examples/SharedMemory/premake4.lua

@@ -77,6 +77,8 @@ myfiles =
 	"../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
 	"../Utils/b3ResourcePath.cpp",
 	"../Utils/b3Clock.cpp",	
+	"../Utils/ChromeTraceUtil.cpp",
+	"../Utils/ChromeTraceUtil.h",
 	"../../Extras/Serialize/BulletWorldImporter/*",
 	"../../Extras/Serialize/BulletFileLoader/*",	
 	"../Importers/ImportURDFDemo/URDFImporterInterface.h",

examples/StandaloneMain/hellovr_opengl_main.cpp

@@ -11,6 +11,7 @@
 #include "Bullet3Common/b3CommandLineArgs.h"
 
 #include "../Utils/b3Clock.h"
+#include "../Utils/ChromeTraceUtil.h"
 #include "../ExampleBrowser/OpenGLGuiHelper.h"
 #include "../CommonInterfaces/CommonExampleInterface.h"
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
@@ -344,6 +345,17 @@ b3KeyboardCallback prevKeyboardCallback = 0;
 
 void MyKeyboardCallback(int key, int state)
 {
+	if (key == 'p')
+	{
+		if (state)
+		{
+			b3ChromeUtilsStartTimings();
+		}
+		else
+		{
+			b3ChromeUtilsStopTimingsAndWriteJsonFile();
+		}
+	}
 	if (sExample)
 	{
 		sExample->keyboardCallback(key,state);
@@ -794,6 +806,7 @@ void CMainApplication::RunMainLoop()
 
 	while ( !bQuit && !m_app->m_window->requestedExit())
 	{
+		b3ChromeUtilsEnableProfiling();
 		{
 		B3_PROFILE("main");
 
@@ -2241,6 +2254,12 @@ int main(int argc, char *argv[])
 	{
 		gDisableDesktopGL = true;
 	}
+	if (args.CheckCmdLineFlag("tracing"))
+	{
+		b3ChromeUtilsStartTimings();
+		b3ChromeUtilsEnableProfiling();
+	}
+
 
 #ifdef BT_USE_CUSTOM_PROFILER
 	b3SetCustomEnterProfileZoneFunc(dcEnter);
@@ -2280,8 +2299,11 @@ int main(int argc, char *argv[])
 
 	pMainApplication->Shutdown();
 
-#ifdef BT_USE_CUSTOM_PROFILER
+	if (args.CheckCmdLineFlag("tracing"))
-#endif
+	{
+		b3ChromeUtilsStopTimingsAndWriteJsonFile();
+	}
+
 
 	return 0;
 }

examples/Utils/ChromeTraceUtil.cpp

@@ -0,0 +1,272 @@
+
+#include "ChromeTraceUtil.h"
+#include "b3Clock.h"
+#include "LinearMath/btQuickprof.h"
+#include "LinearMath/btAlignedObjectArray.h"
+#include "Bullet3Common/b3Logging.h"
+
+struct btTiming
+{
+	const char* m_name;
+	int m_threadId;
+	unsigned long long int m_usStartTime;
+	unsigned long long int m_usEndTime;
+};
+
+FILE* gTimingFile = 0;
+#ifndef __STDC_FORMAT_MACROS
+#define __STDC_FORMAT_MACROS
+#endif //__STDC_FORMAT_MACROS
+
+//see http://stackoverflow.com/questions/18107426/printf-format-for-unsigned-int64-on-windows
+#ifndef _WIN32
+#include <inttypes.h>
+#endif
+
+#define BT_TIMING_CAPACITY 16*65536
+static bool m_firstTiming = true;
+
+
+struct btTimings
+{
+	btTimings()
+		:m_numTimings(0),
+		m_activeBuffer(0)
+	{
+
+	}
+	void flush()
+	{
+		for (int i = 0; i<m_numTimings; i++)
+		{
+			const char* name = m_timings[m_activeBuffer][i].m_name;
+			int threadId = m_timings[m_activeBuffer][i].m_threadId;
+			unsigned long long int startTime = m_timings[m_activeBuffer][i].m_usStartTime;
+			unsigned long long int endTime = m_timings[m_activeBuffer][i].m_usEndTime;
+
+			if (!m_firstTiming)
+			{
+				fprintf(gTimingFile, ",\n");
+			}
+
+			m_firstTiming = false;
+
+			unsigned long long int startTimeDiv1000 = startTime / 1000;
+			unsigned long long int endTimeDiv1000 = endTime / 1000;
+
+#if 0
+
+			fprintf(gTimingFile, "{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".123 ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
+				threadId, startTimeDiv1000, name);
+			fprintf(gTimingFile, "{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".234 ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
+				threadId, endTimeDiv1000, name);
+
+#else
+
+
+			if (startTime>endTime)
+			{
+				endTime = startTime;
+			}
+			unsigned int startTimeRem1000 = startTime % 1000;
+			unsigned int endTimeRem1000 = endTime % 1000;
+
+			char startTimeRem1000Str[16];
+			char endTimeRem1000Str[16];
+
+			if (startTimeRem1000<10)
+			{
+				sprintf(startTimeRem1000Str, "00%d", startTimeRem1000);
+			}
+			else
+			{
+				if (startTimeRem1000<100)
+				{
+					sprintf(startTimeRem1000Str, "0%d", startTimeRem1000);
+				}
+				else
+				{
+					sprintf(startTimeRem1000Str, "%d", startTimeRem1000);
+				}
+			}
+
+			if (endTimeRem1000<10)
+			{
+				sprintf(endTimeRem1000Str, "00%d", endTimeRem1000);
+			}
+			else
+			{
+				if (endTimeRem1000<100)
+				{
+					sprintf(endTimeRem1000Str, "0%d", endTimeRem1000);
+				}
+				else
+				{
+					sprintf(endTimeRem1000Str, "%d", endTimeRem1000);
+				}
+			}
+
+			char newname[1024];
+			static int counter2 = 0;
+			sprintf(newname, "%s%d", name, counter2++);
+
+#ifdef _WIN32
+
+			fprintf(gTimingFile, "{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%I64d.%s ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
+				threadId, startTimeDiv1000, startTimeRem1000Str, newname);
+			fprintf(gTimingFile, "{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%I64d.%s ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
+				threadId, endTimeDiv1000, endTimeRem1000Str, newname);
+
+#else
+			fprintf(gTimingFile, "{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".%s ,\"ph\":\"B\",\"name\":\"%s\",\"args\":{}},\n",
+				threadId, startTimeDiv1000, startTimeRem1000Str, newname);
+			fprintf(gTimingFile, "{\"cat\":\"timing\",\"pid\":1,\"tid\":%d,\"ts\":%" PRIu64 ".%s ,\"ph\":\"E\",\"name\":\"%s\",\"args\":{}}",
+				threadId, endTimeDiv1000, endTimeRem1000Str, newname);
+#endif
+#endif
+
+		}
+		m_numTimings = 0;
+
+	}
+
+	void addTiming(const char* name, int threadId, unsigned long long int startTime, unsigned long long int endTime)
+	{
+		if (m_numTimings >= BT_TIMING_CAPACITY)
+		{
+			return;
+		}
+
+		if (m_timings[0].size() == 0)
+		{
+			m_timings[0].resize(BT_TIMING_CAPACITY);
+		}
+
+		int slot = m_numTimings++;
+
+		m_timings[m_activeBuffer][slot].m_name = name;
+		m_timings[m_activeBuffer][slot].m_threadId = threadId;
+		m_timings[m_activeBuffer][slot].m_usStartTime = startTime;
+		m_timings[m_activeBuffer][slot].m_usEndTime = endTime;
+	}
+
+
+	int m_numTimings;
+	int m_activeBuffer;
+	btAlignedObjectArray<btTiming> m_timings[1];
+};
+#ifndef BT_NO_PROFILE
+btTimings gTimings[BT_QUICKPROF_MAX_THREAD_COUNT];
+#define MAX_NESTING 1024
+int gStackDepths[BT_QUICKPROF_MAX_THREAD_COUNT] = { 0 };
+const char* gFuncNames[BT_QUICKPROF_MAX_THREAD_COUNT][MAX_NESTING];
+unsigned long long int gStartTimes[BT_QUICKPROF_MAX_THREAD_COUNT][MAX_NESTING];
+#endif
+
+btClock clk;
+
+
+
+bool gProfileDisabled = true;
+
+
+void MyDummyEnterProfileZoneFunc(const char* msg)
+{
+}
+
+void MyDummyLeaveProfileZoneFunc()
+{
+}
+
+void MyEnterProfileZoneFunc(const char* msg)
+{
+	if (gProfileDisabled)
+		return;
+#ifndef BT_NO_PROFILE
+	int threadId = btQuickprofGetCurrentThreadIndex2();
+	if (threadId<0)
+		return;
+
+	if (gStackDepths[threadId] >= MAX_NESTING)
+	{
+		btAssert(0);
+		return;
+	}
+	gFuncNames[threadId][gStackDepths[threadId]] = msg;
+	gStartTimes[threadId][gStackDepths[threadId]] = clk.getTimeNanoseconds();
+	if (gStartTimes[threadId][gStackDepths[threadId]] <= gStartTimes[threadId][gStackDepths[threadId] - 1])
+	{
+		gStartTimes[threadId][gStackDepths[threadId]] = 1 + gStartTimes[threadId][gStackDepths[threadId] - 1];
+	}
+	gStackDepths[threadId]++;
+#endif
+
+}
+void MyLeaveProfileZoneFunc()
+{
+	if (gProfileDisabled)
+		return;
+#ifndef BT_NO_PROFILE
+	int threadId = btQuickprofGetCurrentThreadIndex2();
+	if (threadId<0)
+		return;
+
+	if (gStackDepths[threadId] <= 0)
+	{
+		return;
+	}
+
+	gStackDepths[threadId]--;
+
+	const char* name = gFuncNames[threadId][gStackDepths[threadId]];
+	unsigned long long int startTime = gStartTimes[threadId][gStackDepths[threadId]];
+
+	unsigned long long int endTime = clk.getTimeNanoseconds();
+	gTimings[threadId].addTiming(name, threadId, startTime, endTime);
+#endif //BT_NO_PROFILE
+}
+
+
+void b3ChromeUtilsStartTimings()
+{
+		m_firstTiming = true;
+		gProfileDisabled = false;//true;
+		b3SetCustomEnterProfileZoneFunc(MyEnterProfileZoneFunc);
+		b3SetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
+
+		//also for Bullet 2.x API
+		btSetCustomEnterProfileZoneFunc(MyEnterProfileZoneFunc);
+		btSetCustomLeaveProfileZoneFunc(MyLeaveProfileZoneFunc);
+}
+
+void b3ChromeUtilsStopTimingsAndWriteJsonFile()
+{
+		b3SetCustomEnterProfileZoneFunc(MyDummyEnterProfileZoneFunc);
+			b3SetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
+			//also for Bullet 2.x API
+			btSetCustomEnterProfileZoneFunc(MyDummyEnterProfileZoneFunc);
+			btSetCustomLeaveProfileZoneFunc(MyDummyLeaveProfileZoneFunc);
+			char fileName[1024];
+			static int fileCounter = 0;
+			sprintf(fileName,"timings_%d.json",fileCounter++);
+			gTimingFile = fopen(fileName,"w");
+			fprintf(gTimingFile,"{\"traceEvents\":[\n");
+			//dump the content to file
+			for (int i=0;i<BT_QUICKPROF_MAX_THREAD_COUNT;i++)
+			{
+				if (gTimings[i].m_numTimings)
+				{
+					printf("Writing %d timings for thread %d\n", gTimings[i].m_numTimings, i);
+					gTimings[i].flush();
+				}
+			}
+			fprintf(gTimingFile,"\n],\n\"displayTimeUnit\": \"ns\"}");
+			fclose(gTimingFile);
+			gTimingFile = 0;
+}
+
+
+void b3ChromeUtilsEnableProfiling()
+{
+	gProfileDisabled = false;
+}

examples/Utils/ChromeTraceUtil.h

@@ -0,0 +1,9 @@
+
+#ifndef B3_CHROME_TRACE_UTIL_H
+#define B3_CHROME_TRACE_UTIL_H
+
+void b3ChromeUtilsStartTimings();
+void b3ChromeUtilsStopTimingsAndWriteJsonFile();
+void b3ChromeUtilsEnableProfiling();
+
+#endif//B3_CHROME_TRACE_UTIL_H

examples/pybullet/vr_kuka_setup.py

@@ -1,4 +1,5 @@
 import pybullet as p
+#p.connect(p.UDP,"192.168.86.100")
 p.connect(p.SHARED_MEMORY)
 p.resetSimulation()