Introduce support to profile Physics system

robotology · Apr 6, 2021 · d0e1449 · d0e1449
1 parent 9030007
commit d0e1449
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diff --git a/cpp/scenario/CMakeLists.txt b/cpp/scenario/CMakeLists.txt
@@ -9,6 +9,9 @@ set(SCENARIO_PRIVATE_DEPENDENCIES "")
 
 if(SCENARIO_USE_IGNITION)
 
+    option(ENABLE_PROFILER "Enable Ignition Profiler" OFF)
+    mark_as_advanced(ENABLE_PROFILER)
+
     add_subdirectory(gazebo)
     add_subdirectory(plugins)
     add_subdirectory(controllers)

diff --git a/cpp/scenario/plugins/Physics/CMakeLists.txt b/cpp/scenario/plugins/Physics/CMakeLists.txt
@@ -41,6 +41,10 @@ target_link_libraries(PhysicsSystem
 target_include_directories(PhysicsSystem PRIVATE
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>)
 
+if(ENABLE_PROFILER)
+    target_compile_definitions(PhysicsSystem PRIVATE "IGN_PROFILER_ENABLE=1")
+endif()
+
 # ===================
 # Install the targets
 # ===================