add Bullet profiling hooks for physics simulation

libraries/physics/src/CharacterController.cpp

@@ -257,6 +257,7 @@ btPairCachingGhostObject* CharacterController::getGhostObject() {
 }
 
 bool CharacterController::recoverFromPenetration(btCollisionWorld* collisionWorld) {
+    BT_PROFILE("recoverFromPenetration");
     // Here we must refresh the overlapping paircache as the penetrating movement itself or the
     // previous recovery iteration might have used setWorldTransform and pushed us into an object
     // that is not in the previous cache contents from the last timestep, as will happen if we
@@ -355,6 +356,7 @@ bool CharacterController::recoverFromPenetration(btCollisionWorld* collisionWorl
 
 
 void CharacterController::scanDown(btCollisionWorld* world) {
+    BT_PROFILE("scanDown");
     // we test with downward raycast and if we don't find floor close enough then turn on "hover"
     btKinematicClosestNotMeRayResultCallback callback(_ghostObject);
     callback.m_collisionFilterGroup = getGhostObject()->getBroadphaseHandle()->m_collisionFilterGroup;
@@ -374,6 +376,7 @@ void CharacterController::scanDown(btCollisionWorld* world) {
 }
 
 void CharacterController::stepUp(btCollisionWorld* world) {
+    BT_PROFILE("stepUp");
     // phase 1: up
 
     // compute start and end
@@ -440,6 +443,7 @@ void CharacterController::updateTargetPositionBasedOnCollision(const btVector3&
 }
 
 void CharacterController::stepForward(btCollisionWorld* collisionWorld, const btVector3& movement) {
+    BT_PROFILE("stepForward");
     // phase 2: forward
     _targetPosition = _currentPosition + movement;
 
@@ -496,6 +500,7 @@ void CharacterController::stepForward(btCollisionWorld* collisionWorld, const bt
 }
 
 void CharacterController::stepDown(btCollisionWorld* collisionWorld, btScalar dt) {
+    BT_PROFILE("stepDown");
     // phase 3: down
     //
     // The "stepDown" phase first makes a normal sweep down that cancels the lift from the "stepUp" phase.
@@ -607,6 +612,7 @@ void CharacterController::warp(const btVector3& origin) {
 
 
 void CharacterController::preStep(btCollisionWorld* collisionWorld) {
+    BT_PROFILE("preStep");
     if (!_enabled) {
         return;
     }
@@ -627,6 +633,7 @@ void CharacterController::preStep(btCollisionWorld* collisionWorld) {
 }
 
 void CharacterController::playerStep(btCollisionWorld* collisionWorld, btScalar dt) {
+    BT_PROFILE("playerStep");
     if (!_enabled) {
         return; // no motion
     }
@@ -875,6 +882,7 @@ void CharacterController::updateShapeIfNecessary() {
 }
 
 void CharacterController::preSimulation(btScalar timeStep) {
+    BT_PROFILE("preSimulation");
     if (_enabled && _dynamicsWorld) {
         glm::quat rotation = _avatarData->getOrientation();
         _currentUp = quatRotate(glmToBullet(rotation), LOCAL_UP_AXIS);
@@ -897,6 +905,7 @@ void CharacterController::preSimulation(btScalar timeStep) {
 }
 
 void CharacterController::postSimulation() {
+    BT_PROFILE("postSimulation");
     if (_enabled && _ghostObject) {
         const btTransform& avatarTransform = _ghostObject->getWorldTransform();
         glm::quat rotation = bulletToGLM(avatarTransform.getRotation());

libraries/physics/src/PhysicsEngine.cpp

@@ -155,6 +155,7 @@ void PhysicsEngine::clearEntitiesInternal() {
 // end EntitySimulation overrides
 
 void PhysicsEngine::relayIncomingChangesToSimulation() {
+    BT_PROFILE("incomingChanges");
     // process incoming changes
     QSet<ObjectMotionState*>::iterator stateItr = _incomingChanges.begin();
     while (stateItr != _incomingChanges.end()) {
@@ -287,7 +288,10 @@ void PhysicsEngine::init(EntityEditPacketSender* packetSender) {
 }
 
 void PhysicsEngine::stepSimulation() {
+    {
         lock();
+        CProfileManager::Reset();
+        BT_PROFILE("stepSimulation");
         // NOTE: the grand order of operations is:
         // (1) pull incoming changes
         // (2) step simulation
@@ -323,6 +327,7 @@ void PhysicsEngine::stepSimulation() {
     
         // TODO: make all of this harvest stuff into one function: relayOutgoingChanges()
         if (numSubsteps > 0) {
+            BT_PROFILE("postSimulation");
             // This is step (3) which is done outside of stepSimulation() so we can lock _entityTree.
             //
             // Unfortunately we have to unlock the simulation (above) before we try to lock the _entityTree
@@ -345,8 +350,14 @@ void PhysicsEngine::stepSimulation() {
             computeCollisionEvents();
         }
     }
+    if (_dumpNextStats) {
+        _dumpNextStats = false;
+        CProfileManager::dumpAll();
+    }
+}
 
 void PhysicsEngine::stepNonPhysicalKinematics(const quint64& now) {
+    BT_PROFILE("nonPhysicalKinematics");
     QSet<ObjectMotionState*>::iterator stateItr = _nonPhysicalKinematicObjects.begin();
     while (stateItr != _nonPhysicalKinematicObjects.end()) {
         ObjectMotionState* motionState = *stateItr;
@@ -358,6 +369,7 @@ void PhysicsEngine::stepNonPhysicalKinematics(const quint64& now) {
 // TODO?: need to occasionally scan for stopped non-physical kinematics objects
 
 void PhysicsEngine::computeCollisionEvents() {
+    BT_PROFILE("computeCollisionEvents");
     // update all contacts every frame
     int numManifolds = _collisionDispatcher->getNumManifolds();
     for (int i = 0; i < numManifolds; ++i) {

libraries/physics/src/PhysicsEngine.h

@@ -86,6 +86,8 @@ public:
 
     void setCharacterController(CharacterController* character);
 
+    void dumpNextStats() { _dumpNextStats = true; }
+
 private:
     /// \param motionState pointer to Object's MotionState
     void removeObjectFromBullet(ObjectMotionState* motionState);
@@ -121,6 +123,8 @@ private:
 
     /// character collisions
     CharacterController* _characterController = NULL;
+
+    bool _dumpNextStats = false;
 };
 
 #endif // hifi_PhysicsEngine_h

libraries/physics/src/ThreadSafeDynamicsWorld.cpp

@@ -15,6 +15,8 @@
  * Copied and modified from btDiscreteDynamicsWorld.cpp by AndrewMeadows on 2014.11.12.
  * */
 
+#include <LinearMath/btQuickprof.h>
+
 #include "ThreadSafeDynamicsWorld.h"
 
 ThreadSafeDynamicsWorld::ThreadSafeDynamicsWorld(
@@ -26,6 +28,7 @@ ThreadSafeDynamicsWorld::ThreadSafeDynamicsWorld(
 }
 
 int	ThreadSafeDynamicsWorld::stepSimulation( btScalar timeStep, int maxSubSteps, btScalar fixedTimeStep) {
+    BT_PROFILE("stepSimulation");
 	int subSteps = 0;
 	if (maxSubSteps) {
 		//fixed timestep with interpolation