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

Profiling instructions.

For installation instructions and an overview of profiling tools, refer to https://drake.mit.edu/profiling.html.

Available Examples.

contact_surface_rigid_bowl_soft_ball.cc:

Compute contact surface between an anchored rigid bowl and a moving compliant ball. The rigid bowl is a realistic non-convex object, and the compliant 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 edges (wireframe) as you prefer.
5. Click OK.
6. Run this profiling example.

Instead of using polygons to represent contact surfaces, it can use triangles.

• use triangles to represent contact surfaces,

bazel-bin/geometry/profiling/contact_surface_rigid_bowl_soft_ball --polygons=false

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

• default rigid bowl and default compliant ball,

bazel-bin/geometry/profiling/contact_surface_rigid_bowl_soft_ball

• default rigid bowl with a compliant box option,

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

• rigid box option and default compliant 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, capsule, cylinder] --compliant=[ball, box, capsule, cylinder] \
--polygons=[true, false]