[algorithm] Add AdvancedTimer calls for profiling in hot stages of the algorithm (#99)

* [algorithm] Remove projection operation on tip in the InsertionAlgorithm- completely unnecessary

* [algorithm] Changed FindClosestProximityAlgorithm to find the closest proximity back on the from geometry

* [algorithm] Auto-format code

* [algorithm] Rewrite some comments

* [algorithm] Place shared operations at the top

* [algorithm] Add a bool to enable/disable the puncture sequence

* [algorithm] Add a bool to enable/disable insertion sequence

* [algorithm] Add a bool to enable/disable shaft collision sequence

* [algorithm] auto format code

* [algorithm] Absorb the FindClosestProximity for shaft collision

* [algorithm] Add an experimental component in the algorithm

* [algorithm] Remove FindClosestProximityAlgorithm

* [cmake] Remove FindClosestProximityAlgorithm from CMakeLists

* [algorithm] Make sanity checks happen only when appropriate for some data

* [algorithm] Place geometry checks in InsertionAlgorithm when they make sense

* [timer] Add the name of the AABBBroadPhase component during profiling

* [timer] Add a timer to the doDetection function

* [timer] Add a timer inside the doUpdate broadphase function

* [timer] Add advanced timers in the InsertionAlgorithm

---------

Co-authored-by: epernod <erik.pernod@gmail.com>

Author: th-skam

src/CollisionAlgorithm/BaseAABBBroadPhase.h

@@ -61,12 +61,12 @@ class SOFA_COLLISIONALGORITHM_API BaseAABBBroadPhase : public BaseGeometry::Broa
     }
 
     inline void doUpdate() {
-        sofa::helper::AdvancedTimer::stepBegin("========================= AABBBroadPhase do update =========================");
+        sofa::helper::AdvancedTimer::stepBegin("AABBBroadPhase::doUpdate - "+this->getName());
         m_Bmin = l_geometry->getPosition(0);
         m_Bmax = m_Bmin;
 
         //updates bounding box area
-//        sofa::helper::AdvancedTimer::stepBegin("========================= BBox area update in AABBBroadPhase do update =========================");
+        sofa::helper::AdvancedTimer::stepBegin("AABBBroadPhase BBox area update - "+this->getName());
         for (unsigned j=1;j<l_geometry->getSize();j++) {
             type::Vec3 pos = l_geometry->getPosition(j);
 
@@ -78,7 +78,7 @@ class SOFA_COLLISIONALGORITHM_API BaseAABBBroadPhase : public BaseGeometry::Broa
             }
 
         }
-//        sofa::helper::AdvancedTimer::stepEnd("========================= BBox area update in AABBBroadPhase do update =========================");
+        sofa::helper::AdvancedTimer::stepEnd("AABBBroadPhase BBox area update - "+this->getName());
 
         //fixes cell size
         for (int i = 0 ; i < 3 ; i++) {
@@ -98,9 +98,9 @@ class SOFA_COLLISIONALGORITHM_API BaseAABBBroadPhase : public BaseGeometry::Broa
             }
         }
 
-//        sofa::helper::AdvancedTimer::stepBegin("========================= CLEAR MAP =========================");
+        sofa::helper::AdvancedTimer::stepBegin("AABBBroadPhase clear map - "+this->getName());
         newContainer();
-//        sofa::helper::AdvancedTimer::stepEnd("========================= CLEAR MAP =========================");
+        sofa::helper::AdvancedTimer::stepEnd("AABBBroadPhase clear map - "+this->getName());
 
         // center in -0.5 cellwidth
         m_Bmin -= m_cellSize * 0.5;
@@ -112,11 +112,11 @@ class SOFA_COLLISIONALGORITHM_API BaseAABBBroadPhase : public BaseGeometry::Broa
             return;
         }
 
-//        sofa::helper::AdvancedTimer::stepBegin("========================= Elements rangés dans boites in AABB doUpdate =========================");
+        sofa::helper::AdvancedTimer::stepBegin("AABBBroadPhase updateElemInBoxes - " + this->getName());
         updateElemInBoxes();
+        sofa::helper::AdvancedTimer::stepEnd("AABBBroadPhase updateElemInBoxes - " + this->getName());
 
-//        sofa::helper::AdvancedTimer::stepEnd("========================= Elements rangés dans boites in AABB doUpdate =========================");
-        sofa::helper::AdvancedTimer::stepEnd("========================= AABBBroadPhase do update =========================");
+        sofa::helper::AdvancedTimer::stepEnd("AABBBroadPhase::doUpdate - "+this->getName());
     }
 
 

src/CollisionAlgorithm/CollisionPipeline.h

@@ -66,11 +66,9 @@ class SOFA_COLLISIONALGORITHM_API CollisionLoop : public core::objectmodel::Base
 
         void processObject(simulation::Node*, core::objectmodel::BaseObject* obj) {
             if (CollisionAlgorithm * component = dynamic_cast<CollisionAlgorithm *>(obj)) {
-//                std::string timerName = std::string("-- Do detection : ") + obj->getName();
-
-//                sofa::helper::AdvancedTimer::stepBegin(timerName.c_str());
+                sofa::helper::AdvancedTimer::stepBegin("doDetection - "+obj->getName());
                 component->doDetection();
-//                sofa::helper::AdvancedTimer::stepEnd(timerName.c_str());
+                sofa::helper::AdvancedTimer::stepEnd("doDetection - "+obj->getName());
             }
         }
 

src/CollisionAlgorithm/algorithm/InsertionAlgorithm.h

@@ -139,6 +139,8 @@ class SOFA_COLLISIONALGORITHM_API InsertionAlgorithm : public BaseAlgorithm
         if (m_couplingPts.empty() && l_surfGeom)
         {
             // Operations on surface geometry
+            sofa::helper::AdvancedTimer::stepBegin("Puncture detection - "+this->getName());
+
             auto findClosestProxOnSurf =
                 Operations::FindClosestProximity::Operation::get(l_surfGeom);
             auto projectOnSurf = Operations::Project::Operation::get(l_surfGeom);
@@ -185,8 +187,11 @@ class SOFA_COLLISIONALGORITHM_API InsertionAlgorithm : public BaseAlgorithm
                     }
                 }
             }
+            sofa::helper::AdvancedTimer::stepEnd("Puncture detection - "+this->getName());
 
             // Shaft collision sequence - Disable if coupling points have been added
+            sofa::helper::AdvancedTimer::stepBegin("Shaft collision - "+this->getName());
+
             if (d_enableShaftCollision.getValue() && m_couplingPts.empty() && l_shaftGeom)
             {
                 auto createShaftProximity =
@@ -220,10 +225,13 @@ class SOFA_COLLISIONALGORITHM_API InsertionAlgorithm : public BaseAlgorithm
                     }
                 }
             }
+            sofa::helper::AdvancedTimer::stepEnd("Shaft collision - "+this->getName());
         }
         else
         {
             // Insertion sequence
+            sofa::helper::AdvancedTimer::stepBegin("Needle insertion - " + this->getName());
+
             if (!d_enableInsertion.getValue() || !l_tipGeom || !l_volGeom || !l_shaftGeom) return;
 
             ElementIterator::SPtr itTip = l_tipGeom->begin();
@@ -322,8 +330,11 @@ class SOFA_COLLISIONALGORITHM_API InsertionAlgorithm : public BaseAlgorithm
                     Operations::Needle::PrunePointsAheadOfTip::get(itShaft->getTypeInfo());
                 prunePointsAheadOfTip(m_couplingPts, itShaft->element());
             }
+            sofa::helper::AdvancedTimer::stepEnd("Needle insertion - " + this->getName());
         }
 
+        sofa::helper::AdvancedTimer::stepBegin("Reproject coupling points - "+this->getName());
+
         if (d_enableInsertion.getValue() && !m_couplingPts.empty() && l_shaftGeom)
         {
             // Reprojection on shaft geometry sequence
@@ -343,6 +354,7 @@ class SOFA_COLLISIONALGORITHM_API InsertionAlgorithm : public BaseAlgorithm
             // because the needle has exited abruptly. Thus, we clear the coupling points.
             if (insertionOutput.size() == 0) m_couplingPts.clear();
         }
+        sofa::helper::AdvancedTimer::stepEnd("Reproject coupling points - "+this->getName());
 
         d_collisionOutput.endEdit();
         d_insertionOutput.endEdit();