only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1)

8 files changed, 61 insertions, 35 deletions

diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 93b84bf60..920a463b7 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -689,6 +689,17 @@ B3_SHARED_API int b3PhysicsParameterSetMinimumSolverIslandSize(b3SharedMemoryCom
 	return 0;
 }
 
+B3_SHARED_API int b3PhysicsParamSetSolverAnalytics(b3SharedMemoryCommandHandle commandHandle, int reportSolverAnalytics)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_physSimParamArgs.m_reportSolverAnalytics = reportSolverAnalytics;
+	command->m_updateFlags |= SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS;
+	return 0;
+}
+
+
+
 B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 680e48ad4..290c8b36b 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -349,7 +349,8 @@ extern "C"
 	B3_SHARED_API int b3PhysicsParameterSetEnableSAT(b3SharedMemoryCommandHandle commandHandle, int enableSAT);
 	B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle commandHandle, int constraintSolverType);
 	B3_SHARED_API int b3PhysicsParameterSetMinimumSolverIslandSize(b3SharedMemoryCommandHandle commandHandle, int minimumSolverIslandSize);
-
+	B3_SHARED_API int b3PhysicsParamSetSolverAnalytics(b3SharedMemoryCommandHandle commandHandle, int reportSolverAnalytics);
+	
 	B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);
 	B3_SHARED_API int b3GetStatusPhysicsSimulationParameters(b3SharedMemoryStatusHandle statusHandle, struct b3PhysicsSimulationParameters* params);
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 7beb0982d..b0c6697ec 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -7605,7 +7605,7 @@ bool PhysicsServerCommandProcessor::processForwardDynamicsCommand(const struct S
 	}
 
 	btScalar deltaTimeScaled = m_data->m_physicsDeltaTime * simTimeScalingFactor;
-	m_data->m_dynamicsWorld->getSolverInfo().m_reportSolverAnalytics = true;
+	
 	int numSteps = 0;
 	if (m_data->m_numSimulationSubSteps > 0)
 	{
@@ -8426,6 +8426,11 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
 		m_data->m_pluginManager.getFileIOInterface()->enableFileCaching(clientCmd.m_physSimParamArgs.m_enableFileCaching!=0);
 	}
 
+	if (clientCmd.m_updateFlags & SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS)
+	{
+		m_data->m_dynamicsWorld->getSolverInfo().m_reportSolverAnalytics = clientCmd.m_physSimParamArgs.m_reportSolverAnalytics;
+	}
+	
 	SharedMemoryStatus& serverCmd = serverStatusOut;
 	serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
 	return hasStatus;
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 443c4672e..1d70a9df0 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -456,31 +456,32 @@ enum EnumSimDesiredStateUpdateFlags
 enum EnumSimParamUpdateFlags
 {
 	SIM_PARAM_UPDATE_DELTA_TIME = 1,
-	SIM_PARAM_UPDATE_GRAVITY = 2,
-	SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS = 4,
-	SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS = 8,
-	SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
-	SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP = 32,
-	SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS = 64,
-	SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE = 128,
-	SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
-	SIM_PARAM_UPDATE_COLLISION_FILTER_MODE = 512,
-	SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
-	SIM_PARAM_ENABLE_CONE_FRICTION = 2048,
-	SIM_PARAM_ENABLE_FILE_CACHING = 4096,
-	SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192,
-	SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP = 16384,
-	SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
-	SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
-	SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 131072,
-	SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 262144,
-	SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM = 524288,
-	SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM = 1048576,
-	SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD = 2097152,
-	SIM_PARAM_UPDATE_CONTACT_SLOP = 4194304,
-	SIM_PARAM_ENABLE_SAT = 8388608,
-	SIM_PARAM_CONSTRAINT_SOLVER_TYPE = 16777216,
-	SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 33554432,
+	SIM_PARAM_UPDATE_GRAVITY = 1<<1,
+	SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS = 1<<2,
+	SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS = 1<<3,
+	SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 1<<4,
+	SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP = 1<<5,
+	SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS = 1<<6,
+	SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE = 1<<7,
+	SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 1<<8,
+	SIM_PARAM_UPDATE_COLLISION_FILTER_MODE = 1 << 9,
+	SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1 << 10,
+	SIM_PARAM_ENABLE_CONE_FRICTION = 1 << 11,
+	SIM_PARAM_ENABLE_FILE_CACHING = 1 << 12,
+	SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 1 << 13,
+	SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP = 1 << 14,
+	SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 1 << 15,
+	SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 1 << 16,
+	SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 1 << 17,
+	SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 1 << 18,
+	SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM = 1 << 19,
+	SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM = 1 << 20,
+	SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD = 1 << 21,
+	SIM_PARAM_UPDATE_CONTACT_SLOP = 1 << 22,
+	SIM_PARAM_ENABLE_SAT = 1 << 23,
+	SIM_PARAM_CONSTRAINT_SOLVER_TYPE = 1 << 24,
+	SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25,
+	SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
 
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index d0ede5768..b2c2f6c68 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -903,7 +903,7 @@ struct b3PluginArguments
 struct b3PhysicsSimulationParameters
 {
 	double m_deltaTime;
-        double m_simulationTimestamp;  // Output only timestamp of simulation.
+	double m_simulationTimestamp;  // user logging timestamp of simulation.
 	double m_gravityAcceleration[3];
 	int m_numSimulationSubSteps;
 	int m_numSolverIterations;
@@ -929,6 +929,7 @@ struct b3PhysicsSimulationParameters
 	int m_enableSAT;
 	int m_constraintSolverType;
 	int m_minimumSolverIslandSize;
+	int m_reportSolverAnalytics;
 };
 
 
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 9f59c79d8..b570e69bc 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1567,8 +1567,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	double globalCFM = -1;
 
 	int minimumSolverIslandSize = -1;
-
+	int reportSolverAnalytics = -1;
 	int physicsClientId = 0;
+
 	static char* kwlist[] = {"fixedTimeStep",
 							 "numSolverIterations",
 							 "useSplitImpulse",
@@ -1592,10 +1593,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 							 "constraintSolverType",
 							 "globalCFM",
 							 "minimumSolverIslandSize",
+							 "reportSolverAnalytics",
 							 "physicsClientId", NULL};
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
-									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
+									 &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, 
+									&reportSolverAnalytics, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -1712,6 +1715,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 		{
 			b3PhysicsParamSetDefaultGlobalCFM(command, globalCFM);
 		}
+		if (reportSolverAnalytics >= 0)
+		{
+			b3PhysicsParamSetSolverAnalytics(command, reportSolverAnalytics);
+		}
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	}
 
diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index 0b6ac54c8..63d7c98e1 100644
--- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -64,7 +64,7 @@ struct btContactSolverInfoData
 	btScalar m_restitutionVelocityThreshold;
 	bool m_jointFeedbackInWorldSpace;
 	bool m_jointFeedbackInJointFrame;
-	bool m_reportSolverAnalytics;
+	int m_reportSolverAnalytics;
 };
 
 struct btContactSolverInfo : public btContactSolverInfoData
@@ -99,7 +99,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_restitutionVelocityThreshold = 0.2f;  //if the relative velocity is below this threshold, there is zero restitution
 		m_jointFeedbackInWorldSpace = false;
 		m_jointFeedbackInJointFrame = false;
-		m_reportSolverAnalytics = false;
+		m_reportSolverAnalytics = 0;
 	}
 };
 
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 28b569935..3bb056fbf 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -274,7 +274,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 		{
 			///we don't split islands, so all constraints/contact manifolds/bodies are passed into the solver regardless the island id
 			m_solver->solveMultiBodyGroup(bodies, numBodies, manifolds, numManifolds, m_sortedConstraints, m_numConstraints, &m_multiBodySortedConstraints[0], m_numConstraints, *m_solverInfo, m_debugDrawer, m_dispatcher);
-			if (m_solverInfo->m_reportSolverAnalytics)
+			if (m_solverInfo->m_reportSolverAnalytics&1)
 			{
 				m_solver->m_analyticsData.m_islandId = islandId;
 				m_islandAnalyticsData.push_back(m_solver->m_analyticsData);
@@ -363,7 +363,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
 		//printf("mb contacts = %d, mb constraints = %d\n", mbContacts, m_multiBodyConstraints.size());
 
 		m_solver->solveMultiBodyGroup(bodies, m_bodies.size(), manifold, m_manifolds.size(), constraints, m_constraints.size(), multiBodyConstraints, m_multiBodyConstraints.size(), *m_solverInfo, m_debugDrawer, m_dispatcher);
-		if (m_bodies.size() && m_solverInfo->m_reportSolverAnalytics)
+		if (m_bodies.size() && (m_solverInfo->m_reportSolverAnalytics&1))
 		{
 			m_solver->m_analyticsData.m_islandId = islandId;
 			m_islandAnalyticsData.push_back(m_solver->m_analyticsData);