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Fix timing plots issue in simulate.

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Before this change timing plots would report zeros if the render thread was faster than the physics thread, making them unreadable when slowdown was used.

PiperOrigin-RevId: 557432042
Change-Id: Ie9a18fb84cab788d11dfbede4e3052f24441b4c4
This commit is contained in:
Yuval Tassa
2023-08-16 04:02:59 -07:00
committed by Copybara-Service
parent 8ea690ed70
commit ac3ac0d28f
1 changed files with 23 additions and 21 deletions
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simulate/simulate.cc
+23 -21
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@@ -326,28 +326,30 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
total = d->timer[mjTIMER_FORWARD].duration; total = d->timer[mjTIMER_FORWARD].duration;
number = d->timer[mjTIMER_FORWARD].number; number = d->timer[mjTIMER_FORWARD].number;
} }
number = mjMAX(1, number);
float tdata[5] = {
static_cast<float>(total/number),
static_cast<float>(d->timer[mjTIMER_POS_COLLISION].duration/number),
static_cast<float>(d->timer[mjTIMER_POS_MAKE].duration/number) +
static_cast<float>(d->timer[mjTIMER_POS_PROJECT].duration/number),
static_cast<float>(d->timer[mjTIMER_CONSTRAINT].duration/number),
0
};
tdata[4] = tdata[0] - tdata[1] - tdata[2] - tdata[3];
// update figtimer if (number) { // skip update if no measurements
int pnt = mjMIN(201, sim->figtimer.linepnt[0]+1); float tdata[5] = {
for (int n=0; n<5; n++) { static_cast<float>(total/number),
// shift data static_cast<float>(d->timer[mjTIMER_POS_COLLISION].duration/number),
for (int i=pnt-1; i>0; i--) { static_cast<float>(d->timer[mjTIMER_POS_MAKE].duration/number) +
sim->figtimer.linedata[n][2*i+1] = sim->figtimer.linedata[n][2*i-1]; static_cast<float>(d->timer[mjTIMER_POS_PROJECT].duration/number),
static_cast<float>(d->timer[mjTIMER_CONSTRAINT].duration/number),
0
};
tdata[4] = tdata[0] - tdata[1] - tdata[2] - tdata[3];
// update figtimer
int pnt = mjMIN(201, sim->figtimer.linepnt[0]+1);
for (int n=0; n<5; n++) {
// shift data
for (int i=pnt-1; i>0; i--) {
sim->figtimer.linedata[n][2*i+1] = sim->figtimer.linedata[n][2*i-1];
}
// assign new
sim->figtimer.linepnt[n] = pnt;
sim->figtimer.linedata[n][1] = tdata[n];
} }
// assign new
sim->figtimer.linepnt[n] = pnt;
sim->figtimer.linedata[n][1] = tdata[n];
} }
// get sizes: nv, nbody, nefc, sqrt(nnz), ncont, iter // get sizes: nv, nbody, nefc, sqrt(nnz), ncont, iter
@@ -361,7 +363,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
}; };
// update figsize // update figsize
pnt = mjMIN(201, sim->figsize.linepnt[0]+1); int pnt = mjMIN(201, sim->figsize.linepnt[0]+1);
for (int n=0; n<6; n++) { for (int n=0; n<6; n++) {
// shift data // shift data
for (int i=pnt-1; i>0; i--) { for (int i=pnt-1; i>0; i--) {