This directory contains examples for profiling with valgrind+callgrind and kcachegrind.

Profiling instructions.

Install valgrind, kcachegrind, and graphviz. For example on Ubuntu:

sudo apt-get install valgrind kcachegrind graphviz

Compile examples as release with debug info. For example:

bazel build --compilation_mode=opt --copt=-g //geometry/profiling:contact_surface_rigid_bowl_soft_ball

Run valgrind with callgrind to get profiling data in the file callgrind.out.*. For example:

valgrind --tool=callgrind bazel-bin/geometry/profiling/contact_surface_rigid_bowl_soft_ball

Run kcachegrind to analyze profiling data. For example:

kcachegrind callgrind.out.19482

Available Examples.

contact_surface_rigid_bowl_soft_ball.cc:

Compute contact surface between an anchored rigid bowl and a moving soft ball. The rigid bowl is a realistic non-convex object, and the soft ball uses a coarse tetrahedral mesh, which is typical in hydroelastic contact model.

To visualize the contact surface and pressure, run drake_visualizer and configure Hydroelastic Contact Visualization plugin as follows:

1. From the top menu, click on: Plugins > Contacts > Configure Hydroelastic Contact Visualization.
2. Change "Maximum pressure" to a reasonably large number (for example, 4e7).
3. Check or uncheck "Render contact surface with pressure" as you prefer.
4. Check or uncheck "Render contact surface wireframe" as you prefer.
5. Click "OK".
6. Run this profiling example.

Instead of the default rigid bowl, it can optionally use a rigid ball, a rigid box, or a rigid cylinder. Instead of the default soft ball, it can use a soft box or a soft cylinder.

• default rigid bowl and default soft ball,

bazel-bin/geometry/profiling/contact_surface_rigid_bowl_soft_ball

• default rigid bowl with a soft box option,

bazel-bin/geometry/profiling/contact_surface_rigid_bowl_soft_ball --soft=box

• rigid box option and default soft ball,

bazel-bin/geometry/profiling/contact_surface_rigid_bowl_soft_ball --rigid=box

• general syntax with all options.

bazel-bin/geometry/profiling/contact_surface_rigid_bowl_soft_ball \
--rigid=[ball, bowl, box, cylinder] --soft=[ball, box, cylinder]