Revision: 8878
http://playerstage.svn.sourceforge.net/playerstage/?rev=8878&view=rev
Author: hsujohnhsu
Date: 2010-09-02 02:56:29 +0000 (Thu, 02 Sep 2010)
Log Message:
-----------
add timer macro test, update experimental ode stuff
Modified Paths:
--------------
code/gazebo/branches/wg/server/Timer.hh
code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc
code/gazebo/branches/wg/server/physics/ode/ODEPhysics.hh
Modified: code/gazebo/branches/wg/server/Timer.hh
===================================================================
--- code/gazebo/branches/wg/server/Timer.hh 2010-09-02 02:55:54 UTC (rev
8877)
+++ code/gazebo/branches/wg/server/Timer.hh 2010-09-02 02:56:29 UTC (rev
8878)
@@ -26,11 +26,18 @@
#ifndef TIMER_HH
#define TIMER_HH
+#include "gazebo_config.h"
#include "GazeboMessage.hh"
#include "Time.hh"
#include <iostream>
#include <iomanip>
+#ifdef ENABLE_TIMERS
+#define DIAGNOSTICTIMER(x) DiagnosticTimer x
+#else
+#define DIAGNOSTICTIMER(x) ((void)0)
+#endif
+
namespace gazebo
{
/// \brief A timer class
Modified: code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc 2010-09-02
02:55:54 UTC (rev 8877)
+++ code/gazebo/branches/wg/server/physics/ode/ODEPhysics.cc 2010-09-02
02:56:29 UTC (rev 8878)
@@ -88,6 +88,16 @@
dWorldSetAutoDisableSteps(this->worldId, 50);
Param::Begin(&this->parameters);
+
+#ifdef QUICKSTEP_EXPERIMENTAL
+ /// experimental ode stuff
+ this->islandThreadsP = new ParamT<int>("islandThreads",0,0); // number of
thread pool threads for islands
+ this->quickStepThreadsP = new ParamT<int>("quickStepThreads",0,0); // number
of thread pool threads for quickstep
+ this->quickStepChunksP = new ParamT<int>("quickStepChunks",1,0); // number
of thread pool threads for islands
+ this->quickStepOverlapP = new ParamT<int>("quickStepOverlap",0,0); // number
of thread pool threads for islands
+ this->quickStepToleranceP = new ParamT<double>("quickStepTolerance",0,0); //
number of thread pool threads for islands
+#endif
+
this->globalCFMP = new ParamT<double>("cfm", 10e-5, 0);
this->globalERPP = new ParamT<double>("erp", 0.2, 0);
this->stepTypeP = new ParamT<std::string>("stepType", "quick", 0);
@@ -110,7 +120,6 @@
}
-
////////////////////////////////////////////////////////////////////////////////
// Destructor
ODEPhysics::~ODEPhysics()
@@ -126,6 +135,15 @@
this->spaceId = NULL;
this->worldId = NULL;
+#ifdef QUICKSTEP_EXPERIMENTAL
+ /// experimental ode stuff
+ delete this->islandThreadsP;
+ delete this->quickStepThreadsP;
+ delete this->quickStepChunksP;
+ delete this->quickStepOverlapP;
+ delete this->quickStepToleranceP;
+#endif
+
delete this->globalCFMP;
delete this->globalERPP;
delete this->stepTypeP;
@@ -153,6 +171,20 @@
if (node)
cnode = node->GetChild("ode", "physics");
+#ifdef QUICKSTEP_EXPERIMENTAL
+ /// experimental ode stuff
+ this->islandThreadsP->Load(cnode);
+ this->quickStepThreadsP->Load(cnode);
+ this->quickStepChunksP->Load(cnode);
+ this->quickStepOverlapP->Load(cnode);
+ this->quickStepToleranceP->Load(cnode);
+ dWorldSetIslandThreads(this->worldId, this->islandThreadsP->GetValue() );
+ dWorldSetQuickStepThreads(this->worldId, this->quickStepThreadsP->GetValue()
);
+ dWorldSetQuickStepNumChunks(this->worldId,
this->quickStepChunksP->GetValue() );
+ dWorldSetQuickStepNumOverlap(this->worldId,
this->quickStepOverlapP->GetValue() );
+ dWorldSetQuickStepTolerance(this->worldId,
this->quickStepToleranceP->GetValue() );
+#endif
+
this->gravityP->Load(cnode);
this->stepTimeP->Load(cnode);
this->updateRateP->Load(cnode);
@@ -218,6 +250,14 @@
void ODEPhysics::Save(std::string &prefix, std::ostream &stream)
{
stream << prefix << "<physics:ode>\n";
+ // experimental ode stuff
+#ifdef QUICKSTEP_EXPERIMENTAL
+ stream << prefix << " " << *(this->islandThreadsP) << "\n";
+ stream << prefix << " " << *(this->quickStepThreadsP) << "\n";
+ stream << prefix << " " << *(this->quickStepChunksP) << "\n";
+ stream << prefix << " " << *(this->quickStepOverlapP) << "\n";
+ stream << prefix << " " << *(this->quickStepToleranceP) << "\n";
+#endif
stream << prefix << " " << *(this->stepTimeP) << "\n";
stream << prefix << " " << *(this->gravityP) << "\n";
stream << prefix << " " << *(this->updateRateP) << "\n";
@@ -338,7 +378,7 @@
// Do collision detection; this will add contacts to the contact group
this->LockMutex();
{
- //DiagnosticTimer timer("ODEPhysics Collision Update");
+ DIAGNOSTICTIMER(timer("ODEPhysics Collision dSpaceCollide",1));
dSpaceCollide( this->spaceId, this, CollisionCallback );
}
this->UnlockMutex();
@@ -385,25 +425,33 @@
{
PhysicsEngine::UpdatePhysics();
- this->UpdateCollision();
+ {
+ DIAGNOSTICTIMER(timer("ODEPhysics: UpdateCollision",1));
+ this->UpdateCollision();
+ }
- this->LockMutex();
+ {
+ DIAGNOSTICTIMER(timer("ODEPhysics: LockMutex",1));
+ this->LockMutex();
+ }
- //DiagnosticTimer timer("ODEPhysics Step Update");
-
// Update the dynamical model
/// \brief @todo: quickStepP used here for backwards compatibility,
/// should tick tock deprecation as we switch to nested tags
- if (**this->stepTypeP == "quick" || **this->quickStepP == true)
- dWorldQuickStep(this->worldId, (**this->stepTimeP).Double());
- else if (**this->stepTypeP == "world")
- dWorldStep( this->worldId, (**this->stepTimeP).Double() );
- else
- gzthrow(std::string("Invalid step type[") + **this->stepTypeP);
+ {
+ DIAGNOSTICTIMER(timer("ODEPhysics: Constraint Solver",1));
- // Very important to clear out the contact group
- dJointGroupEmpty( this->contactGroup );
+ if (**this->stepTypeP == "quick" || **this->quickStepP == true)
+ dWorldQuickStep(this->worldId, (**this->stepTimeP).Double());
+ else if (**this->stepTypeP == "world")
+ dWorldStep( this->worldId, (**this->stepTimeP).Double() );
+ else
+ gzthrow(std::string("Invalid step type[") + **this->stepTypeP);
+ // Very important to clear out the contact group
+ dJointGroupEmpty( this->contactGroup );
+ }
+
this->UnlockMutex();
}
Modified: code/gazebo/branches/wg/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/branches/wg/server/physics/ode/ODEPhysics.hh 2010-09-02
02:55:54 UTC (rev 8877)
+++ code/gazebo/branches/wg/server/physics/ode/ODEPhysics.hh 2010-09-02
02:56:29 UTC (rev 8878)
@@ -29,6 +29,8 @@
#include <ode/ode.h>
+#include "gazebo_config.h"
+
#include "Param.hh"
#include "PhysicsEngine.hh"
#include "Shape.hh"
@@ -218,6 +220,16 @@
private: std::map<std::string, dSpaceID> spaces;
private: std::vector<dContactGeom> contactGeoms;
+
+#ifdef QUICKSTEP_EXPERIMENTAL
+ /// experimental ode stuff
+ private: ParamT<int> *islandThreadsP; // number of thread pool threads
for islands
+ private: ParamT<int> *quickStepThreadsP; // number of thread pool threads
for quickstep
+ private: ParamT<int> *quickStepChunksP; // number of thread pool threads
for islands
+ private: ParamT<int> *quickStepOverlapP; // number of thread pool threads
for islands
+ private: ParamT<double> *quickStepToleranceP; // number of thread pool
threads for islands
+#endif
+
};
/** \}*/
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