[profile] Initial profiling setup with Tracy

.github/workflows/ci_windows.yml

@@ -38,7 +38,22 @@ jobs:
       - uses: johnwason/vcpkg-action@v6
         with:
           # TODO: Add ode and coin-or-ipopt
-          pkgs: assimp eigen3 fcl fmt spdlog bullet3 freeglut glfw3 nlopt opengl osg pagmo2 tinyxml2 urdfdom
+          pkgs: >
+            assimp
+            eigen3
+            fcl
+            fmt
+            spdlog
+            bullet3
+            freeglut
+            glfw3
+            nlopt
+            opengl
+            osg
+            pagmo2
+            tinyxml2
+            tracy
+            urdfdom
           triplet: x64-windows
           revision: "2024.02.14"
           github-binarycache: true

.github/workflows/publish_dartpy.yml

@@ -99,7 +99,25 @@ jobs:
         if: ${{ matrix.os == 'windows-latest' && (matrix.release_only == false || github.ref == 'refs/heads/main') }}
         uses: johnwason/vcpkg-action@v6
         with:
-          pkgs: assimp ccd eigen3 fcl fmt spdlog bullet3 coin-or-ipopt freeglut glfw3 imgui nlopt ode opengl osg pagmo2 tinyxml2 urdfdom
+          pkgs: >
+            assimp
+            ccd
+            eigen3
+            fcl
+            fmt
+            spdlog
+            bullet3
+            coin-or-ipopt
+            freeglut
+            glfw3
+            imgui
+            nlopt
+            ode
+            opengl
+            osg
+            pagmo2
+            tinyxml2
+            urdfdom
           triplet: x64-windows
           revision: "2024.02.14"
           github-binarycache: true

Brewfile

@@ -1,6 +1,7 @@
 # Build dependencies
 brew 'cmake'
 brew 'pkg-config'
+brew 'tracy'
 
 brew 'assimp'
 brew 'bullet'

CMakeLists.txt

@@ -88,6 +88,7 @@ dart_option(DART_ENABLE_SIMD
   "Build DART with all SIMD instructions on the current local machine" OFF)
 dart_option(DART_BUILD_GUI_OSG "Build osgDart library" ON)
 dart_option(DART_BUILD_DARTPY "Build dartpy" ON)
+dart_option(DART_BUILD_PROFILE "Build DART with profiling options" OFF)
 dart_option(DART_CODECOV "Turn on codecov support" OFF)
 dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 # GCC and Clang add ANSI-formatted colors when they detect the output medium is a

cmake/DARTFindDependencies.cmake

@@ -110,6 +110,22 @@ endif()
 # Optional dependencies
 #=======================
 
+if(DART_BUILD_PROFILE)
+  include(FetchContent)
+  FetchContent_Declare(tracy
+    GIT_REPOSITORY https://github.com/wolfpld/tracy.git
+    GIT_TAG v0.10
+    GIT_SHALLOW TRUE
+    GIT_PROGRESS TRUE
+  )
+  FetchContent_MakeAvailable(tracy)
+  if(MSVC)
+    target_compile_options(external_lib_target PRIVATE /W0)
+  else()
+    target_compile_options(TracyClient PRIVATE -w)
+  endif()
+endif()
+
 find_package(Python3 COMPONENTS Interpreter Development)
 
 option(DART_SKIP_spdlog "If ON, do not use spdlog even if it is found." OFF)

dart/CMakeLists.txt

@@ -234,6 +234,10 @@ if(DART_CODECOV)
   target_link_libraries(dart PUBLIC coverage_config)
 endif()
 
+if(DART_BUILD_PROFILE)
+  target_link_libraries(dart PUBLIC TracyClient)
+endif()
+
 install(FILES dart.hpp DESTINATION include/dart/ COMPONENT headers)
 
 dart_format_add(${dart_core_headers} ${dart_core_sources})

dart/common/Profile.hpp

@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#pragma once
+
+#include <dart/config.hpp>
+
+#if DART_BUILD_PROFILE
+  #include <tracy/Tracy.hpp>
+#endif
+
+#if DART_BUILD_PROFILE
+
+  #define DART_PROFILE_FRAME FrameMark
+  #define DART_PROFILE_SCOPED ZoneScoped
+  #define DART_PROFILE_SCOPED_N(name) ZoneScopedN(name)
+
+#else // no-op
+
+  #define DART_PROFILE_FRAME
+  #define DART_PROFILE_SCOPED
+  #define DART_PROFILE_SCOPED_N(name)
+
+#endif
+
+namespace dart::common {
+
+//
+
+} // namespace dart::common

dart/config.hpp.in

@@ -96,3 +96,5 @@
 #cmakedefine BT_USE_DOUBLE_PRECISION
 
 #cmakedefine01 DART_USE_SYSTEM_IMGUI
+
+#cmakedefine01 DART_BUILD_PROFILE

dart/constraint/ConstraintSolver.cpp

@@ -52,6 +52,7 @@
 #include "dart/dynamics/Joint.hpp"
 #include "dart/dynamics/Skeleton.hpp"
 #include "dart/dynamics/SoftBodyNode.hpp"
+#include "dart/common/Profile.hpp"
 
 #include <algorithm>
 
@@ -361,6 +362,8 @@ LCPSolver* ConstraintSolver::getLCPSolver() const
 //==============================================================================
 void ConstraintSolver::solve()
 {
+  DART_PROFILE_SCOPED_N("ConstraintSolver::solve");
+
   for (auto& skeleton : mSkeletons) {
     skeleton->clearConstraintImpulses();
     DART_SUPPRESS_DEPRECATED_BEGIN

dart/simulation/World.cpp

@@ -40,6 +40,7 @@
 
 #include "dart/collision/CollisionGroup.hpp"
 #include "dart/common/Console.hpp"
+#include "dart/common/Profile.hpp"
 #include "dart/constraint/BoxedLcpConstraintSolver.hpp"
 #include "dart/constraint/ConstrainedGroup.hpp"
 #include "dart/dynamics/Skeleton.hpp"
@@ -163,16 +164,22 @@ void World::reset()
 void World::step(bool _resetCommand)
 {
   // Integrate velocity for unconstrained skeletons
-  for (auto& skel : mSkeletons) {
-    if (!skel->isMobile())
-      continue;
-
-    skel->computeForwardDynamics();
-    skel->integrateVelocities(mTimeStep);
+  {
+    DART_PROFILE_SCOPED_N("World::step - Integrate velocity");
+    for (auto& skel : mSkeletons) {
+      if (!skel->isMobile())
+        continue;
+
+      skel->computeForwardDynamics();
+      skel->integrateVelocities(mTimeStep);
+    }
   }
 
   // Detect activated constraints and compute constraint impulses
-  mConstraintSolver->solve();
+  {
+    DART_PROFILE_SCOPED_N("World::step - Solve constraints");
+    mConstraintSolver->solve();
+  }
 
   // Compute velocity changes given constraint impulses
   for (auto& skel : mSkeletons) {
@@ -195,6 +202,7 @@ void World::step(bool _resetCommand)
 
   mTime += mTimeStep;
   mFrame++;
+  DART_PROFILE_FRAME;
 }
 
 //==============================================================================

docker/dev/v6.14/Dockerfile.tracy

@@ -0,0 +1,34 @@
+# Use an Ubuntu base image
+FROM ubuntu:22.04
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install build dependencies, X11 libraries, CA certificates, and Wayland protocols
+RUN apt-get update && apt-get install -y \
+    build-essential \
+    cmake \
+    git \
+    libx11-dev \
+    libgl1-mesa-dev \
+    libgtk-3-dev \
+    xorg-dev \
+    ca-certificates \
+    wayland-protocols \
+    --no-install-recommends \
+    && rm -rf /var/lib/apt/lists/*
+
+# Clone the Tracy Profiler repository
+RUN git clone --depth 1 https://github.com/wolfpld/tracy.git
+
+# Build Tracy Profiler
+WORKDIR /tracy/profiler/build/unix
+RUN cmake ../.. && make
+
+# Use the `entrypoint.sh` to start the profiler
+COPY entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+
+# Reset the frontend to its default value
+ENV DEBIAN_FRONTEND=

docker/dev/v6.14/Dockerfile.tracy.archlinux

@@ -0,0 +1,33 @@
+# Use an Arch Linux base image
+FROM archlinux:latest
+
+# Initialize the keyring, populate the Arch Linux keyring, and update the system
+RUN pacman-key --init \
+    && pacman-key --populate archlinux \
+    && pacman -Sy archlinux-keyring --noconfirm \
+    && pacman -Su --noconfirm
+
+# Install build dependencies
+RUN pacman -S --noconfirm base-devel \
+    cmake \
+    git \
+    freetype2 \
+    tbb \
+    debuginfod \
+    wayland \
+    dbus \
+    libxkbcommon \
+    libglvnd \
+    meson \
+    wayland-protocols \
+    --needed \
+    && pacman -Scc --noconfirm
+
+# Clone the Tracy Profiler repository
+RUN git clone --depth 1 https://github.com/wolfpld/tracy.git -b master
+
+# Build Tracy Profiler GUI
+WORKDIR /tracy/profiler/build
+RUN cmake -S ../ -B . && cmake --build . --config Release --parallel
+
+ENTRYPOINT [ "/tracy/profiler/build/tracy-profiler" ]

docker/dev/v6.14/entrypoint.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+# entrypoint.sh
+
+# Use the host's display server for the GUI
+export DISPLAY=host.docker.internal:0
+
+# Start Tracy Profiler
+./tracy/profiler/build/unix/Tracy-release

examples/speed_test/CMakeLists.txt

@@ -4,8 +4,8 @@ get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
 
 project(${example_name})
 
-set(required_components utils-urdf gui)
-set(required_libraries dart dart-utils-urdf dart-gui)
+set(required_components utils-urdf)
+set(required_libraries dart dart-utils-urdf)
 
 if(DART_IN_SOURCE_BUILD)
   dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})