[Playerstage-commit] SF.net SVN: playerstage:[8909] code/gazebo/branches/mpi/server

[hsujohnhsu]

Revision: 8909
          http://playerstage.svn.sourceforge.net/playerstage/?rev=8909&view=rev
Author:   hsujohnhsu
Date:     2010-09-16 20:40:39 +0000 (Thu, 16 Sep 2010)

Log Message:
-----------
testing mpi

Modified Paths:
--------------
    code/gazebo/branches/mpi/server/World.cc
    code/gazebo/branches/mpi/server/physics/ode/ODEPhysics.cc

Modified: code/gazebo/branches/mpi/server/World.cc
===================================================================
--- code/gazebo/branches/mpi/server/World.cc    2010-09-16 17:34:27 UTC (rev 
8908)
+++ code/gazebo/branches/mpi/server/World.cc    2010-09-16 20:40:39 UTC (rev 
8909)
@@ -366,7 +366,7 @@
     {
       DIAGNOSTICTIMER(timer("World::Update Physics",6));
 #if INCLUDE_OMPI
-      fprintf(stderr,"MPI rank %d calling 
UpdatePhysics\n",MPI::COMM_WORLD.Get_rank());
+      //fprintf(stderr,"MPI rank %d calling 
UpdatePhysics\n",MPI::COMM_WORLD.Get_rank());
 #endif
       this->physicsEngine->UpdatePhysics();
     }

Modified: code/gazebo/branches/mpi/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/branches/mpi/server/physics/ode/ODEPhysics.cc   2010-09-16 
17:34:27 UTC (rev 8908)
+++ code/gazebo/branches/mpi/server/physics/ode/ODEPhysics.cc   2010-09-16 
20:40:39 UTC (rev 8909)
@@ -56,6 +56,11 @@
 
 #include "ODEPhysics.hh"
 
+#include "gazebo_config.h"
+#if INCLUDE_OMPI
+#include "mpi.h"
+#endif
+
 using namespace gazebo;
 
 GZ_REGISTER_PHYSICS_ENGINE("ode", ODEPhysics);
@@ -442,7 +447,12 @@
     DIAGNOSTICTIMER(timer("ODEPhysics: Constraint Solver",6));
 
     if (**this->stepTypeP == "quick" || **this->quickStepP == true)
+    {
+#if INCLUDE_OMPI
+      //fprintf(stderr,"MPI rank %d calling 
UpdatePhysics\n",MPI::COMM_WORLD.Get_rank());
+#endif
       dWorldQuickStep(this->worldId, (**this->stepTimeP).Double());
+    }
     else if (**this->stepTypeP == "world")
       dWorldStep( this->worldId, (**this->stepTimeP).Double() );
     else


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