[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/BoxedLcpConstraintSolver.cpp

@@ -39,6 +39,7 @@
 #endif
 
 #include "dart/common/Console.hpp"
+#include "dart/common/Profile.hpp"
 #include "dart/constraint/ConstraintBase.hpp"
 #include "dart/constraint/DantzigBoxedLcpSolver.hpp"
 #include "dart/constraint/PgsBoxedLcpSolver.hpp"
@@ -140,6 +141,8 @@ ConstBoxedLcpSolverPtr BoxedLcpConstraintSolver::getSecondaryBoxedLcpSolver()
 //==============================================================================
 void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
 {
+  DART_PROFILE_SCOPED;
+
   // Build LCP terms by aggregating them from constraints
   const std::size_t numConstraints = group.getNumConstraints();
   const std::size_t n = group.getTotalDimension();
@@ -171,54 +174,80 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
   }
 
   // For each constraint
-  ConstraintInfo constInfo;
-  constInfo.invTimeStep = 1.0 / mTimeStep;
-  for (std::size_t i = 0; i < numConstraints; ++i) {
-    const ConstraintBasePtr& constraint = group.getConstraint(i);
-
-    constInfo.x = mX.data() + mOffset[i];
-    constInfo.lo = mLo.data() + mOffset[i];
-    constInfo.hi = mHi.data() + mOffset[i];
-    constInfo.b = mB.data() + mOffset[i];
-    constInfo.findex = mFIndex.data() + mOffset[i];
-    constInfo.w = mW.data() + mOffset[i];
-
-    // Fill vectors: lo, hi, b, w
-    constraint->getInformation(&constInfo);
-
-    // Fill a matrix by impulse tests: A
-    constraint->excite();
-    for (std::size_t j = 0; j < constraint->getDimension(); ++j) {
-      // Adjust findex for global index
-      if (mFIndex[mOffset[i] + j] >= 0)
-        mFIndex[mOffset[i] + j] += mOffset[i];
-
-      // Apply impulse for mipulse test
-      constraint->applyUnitImpulse(j);
-
-      // Fill upper triangle blocks of A matrix
-      int index = nSkip * (mOffset[i] + j) + mOffset[i];
-      constraint->getVelocityChange(mA.data() + index, true);
-      for (std::size_t k = i + 1; k < numConstraints; ++k) {
-        index = nSkip * (mOffset[i] + j) + mOffset[k];
-        group.getConstraint(k)->getVelocityChange(mA.data() + index, false);
+  {
+    DART_PROFILE_SCOPED_N("Construct LCP");
+    ConstraintInfo constInfo;
+    constInfo.invTimeStep = 1.0 / mTimeStep;
+    for (std::size_t i = 0; i < numConstraints; ++i) {
+      const ConstraintBasePtr& constraint = group.getConstraint(i);
+
+      constInfo.x = mX.data() + mOffset[i];
+      constInfo.lo = mLo.data() + mOffset[i];
+      constInfo.hi = mHi.data() + mOffset[i];
+      constInfo.b = mB.data() + mOffset[i];
+      constInfo.findex = mFIndex.data() + mOffset[i];
+      constInfo.w = mW.data() + mOffset[i];
+
+      // Fill vectors: lo, hi, b, w
+      {
+        DART_PROFILE_SCOPED_N("Fill lo, hi, b, w");
+        constraint->getInformation(&constInfo);
       }
 
-      // Filling symmetric part of A matrix
-      for (std::size_t k = 0; k < i; ++k) {
-        const int indexI = mOffset[i] + j;
-        for (std::size_t l = 0; l < group.getConstraint(k)->getDimension();
-             ++l) {
-          const int indexJ = mOffset[k] + l;
-          mA(indexI, indexJ) = mA(indexJ, indexI);
+      // Fill a matrix by impulse tests: A
+      {
+        DART_PROFILE_SCOPED_N("Fill A");
+        constraint->excite();
+        for (std::size_t j = 0; j < constraint->getDimension(); ++j) {
+          // Adjust findex for global index
+          if (mFIndex[mOffset[i] + j] >= 0)
+            mFIndex[mOffset[i] + j] += mOffset[i];
+
+          // Apply impulse for mipulse test
+          {
+            DART_PROFILE_SCOPED_N("Unit impulse test");
+            constraint->applyUnitImpulse(j);
+          }
+
+          // Fill upper triangle blocks of A matrix
+          {
+            DART_PROFILE_SCOPED_N("Fill upper triangle of A");
+            int index = nSkip * (mOffset[i] + j) + mOffset[i];
+            constraint->getVelocityChange(mA.data() + index, true);
+            for (std::size_t k = i + 1; k < numConstraints; ++k) {
+              index = nSkip * (mOffset[i] + j) + mOffset[k];
+              group.getConstraint(k)->getVelocityChange(
+                  mA.data() + index, false);
+            }
+          }
+
+          // Filling symmetric part of A matrix
+          {
+            DART_PROFILE_SCOPED_N("Fill lower triangle of A");
+            for (std::size_t k = 0; k < i; ++k) {
+              const int indexI = mOffset[i] + j;
+              for (std::size_t l = 0;
+                   l < group.getConstraint(k)->getDimension();
+                   ++l) {
+                const int indexJ = mOffset[k] + l;
+                mA(indexI, indexJ) = mA(indexJ, indexI);
+              }
+            }
+          }
         }
       }
-    }
 
-    assert(isSymmetric(
-        n, mA.data(), mOffset[i], mOffset[i] + constraint->getDimension() - 1));
+      assert(isSymmetric(
+          n,
+          mA.data(),
+          mOffset[i],
+          mOffset[i] + constraint->getDimension() - 1));
 
-    constraint->unexcite();
+      {
+        DART_PROFILE_SCOPED_N("Unexcite");
+        constraint->unexcite();
+      }
+    }
   }
 
   assert(isSymmetric(n, mA.data()));
@@ -259,6 +288,7 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
     success = false;
 
   if (!success && mSecondaryBoxedLcpSolver) {
+    DART_PROFILE_SCOPED_N("Secondary LCP");
     mSecondaryBoxedLcpSolver->solve(
         n,
         mABackup.data(),
@@ -287,10 +317,13 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group)
   //  std::cout << std::endl;
 
   // Apply constraint impulses
-  for (std::size_t i = 0; i < numConstraints; ++i) {
-    const ConstraintBasePtr& constraint = group.getConstraint(i);
-    constraint->applyImpulse(mX.data() + mOffset[i]);
-    constraint->excite();
+  {
+    DART_PROFILE_SCOPED_N("Apply constraint impulses");
+    for (std::size_t i = 0; i < numConstraints; ++i) {
+      const ConstraintBasePtr& constraint = group.getConstraint(i);
+      constraint->applyImpulse(mX.data() + mOffset[i]);
+      constraint->excite();
+    }
   }
 }
 

dart/constraint/ConstraintSolver.cpp

@@ -40,6 +40,7 @@
 #include "dart/collision/fcl/FCLCollisionDetector.hpp"
 #include "dart/common/Console.hpp"
 #include "dart/common/Macros.hpp"
+#include "dart/common/Profile.hpp"
 #include "dart/constraint/ConstrainedGroup.hpp"
 #include "dart/constraint/ContactConstraint.hpp"
 #include "dart/constraint/ContactSurface.hpp"
@@ -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
@@ -454,6 +457,8 @@ bool ConstraintSolver::checkAndAddConstraint(
 //==============================================================================
 void ConstraintSolver::updateConstraints()
 {
+  DART_PROFILE_SCOPED;
+
   // Clear previous active constraint list
   mActiveConstraints.clear();
 
@@ -635,6 +640,8 @@ void ConstraintSolver::updateConstraints()
 //==============================================================================
 void ConstraintSolver::buildConstrainedGroups()
 {
+  DART_PROFILE_SCOPED;
+
   // Clear constrained groups
   mConstrainedGroups.clear();
 
@@ -687,8 +694,11 @@ void ConstraintSolver::buildConstrainedGroups()
 //==============================================================================
 void ConstraintSolver::solveConstrainedGroups()
 {
-  for (auto& constraintGroup : mConstrainedGroups)
+  DART_PROFILE_SCOPED;
+
+  for (auto& constraintGroup : mConstrainedGroups) {
     solveConstrainedGroup(constraintGroup);
+  }
 }
 
 //==============================================================================

dart/constraint/DantzigBoxedLcpSolver.cpp

@@ -32,6 +32,7 @@
 
 #include "dart/constraint/DantzigBoxedLcpSolver.hpp"
 
+#include "dart/common/Profile.hpp"
 #include "dart/external/odelcpsolver/lcp.h"
 
 namespace dart {
@@ -62,6 +63,7 @@ bool DantzigBoxedLcpSolver::solve(
     int* findex,
     bool earlyTermination)
 {
+  DART_PROFILE_SCOPED;
   return external::ode::dSolveLCP(
       n, A, x, b, nullptr, 0, lo, hi, findex, earlyTermination);
 }