Add execution time measurement

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scenes/CollisionTestScene_2Spheres_PrimitiveSphere_UnityVariant.unity

@@ -264,6 +264,10 @@ PrefabInstance:
       propertyPath: doCollisionTestTwo
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 3901088838006394844, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
+      propertyPath: doCollisionTestFour
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 3901088838006394844, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
       propertyPath: doCollisionTestThree
       value: 1
@@ -322,7 +326,7 @@ PrefabInstance:
       objectReference: {fileID: 0}
     - target: {fileID: 4233146888435007091, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
       propertyPath: constraintSolverSteps
-      value: 1000
+      value: 100
       objectReference: {fileID: 0}
     - target: {fileID: 4233146888435007091, guid: 0e128b35dc3ea6746b6de609560d672d, type: 3}
       propertyPath: spheres.Array.data[0]

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scenes/CollisionTestScene_50Spheres_Aorta_Example_3.unity

@@ -334,6 +334,10 @@ PrefabInstance:
       propertyPath: m_Layer
       value: 6
       objectReference: {fileID: 0}
+    - target: {fileID: 5473619483809765880, guid: 805cc1f2f40a41e4e9f4704ac26dd5d7, type: 3}
+      propertyPath: m_IsActive
+      value: 1
+      objectReference: {fileID: 0}
     - target: {fileID: 5834078635128846381, guid: 805cc1f2f40a41e4e9f4704ac26dd5d7, type: 3}
       propertyPath: m_Materials.Array.data[0]
       value: 

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/CollisionHandler.cs

@@ -17,6 +17,7 @@ namespace GuidewireSim
                                                       */
 
         float sphereRadius = 5f; //!< The radius of the sphere elements of the guidewire.
+        public bool collided = false;
 
         private void Start()
         {
@@ -27,6 +28,7 @@ namespace GuidewireSim
         {
             CollisionPair registeredCollision = new CollisionPair(sphere, vesselCollider, sphereID);
             registeredCollisions.Add(registeredCollision);
+            collided = true;
         }
 
         public void ResetRegisteredCollisions()

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/CollisionSolvingStep_UnityVariant.cs

@@ -25,6 +25,10 @@ namespace GuidewireSim
             }
 
             deltaPosition = CalculateDeltaPosition(spherePositionPrediction, closestSurfacePoint, normalVector);
+
+            // Vector3 correction = spherePositionPrediction + 0.001f * deltaPosition;
+            // float difference = Vector3.Distance(spherePositionPrediction, correction);
+            // Debug.Log(difference.ToString("e3"));
         }
     }
 }
\ No newline at end of file

GuidewireSimulation/GuidewireSimulation/Assets/Guidewire_Assets/Scripts/SimulationLoop.cs

@@ -101,6 +101,17 @@ public class SimulationLoop : MonoBehaviour
     public int SpheresCount { get; private set; } //!< The count of all #spheres of the guidewire.
     public int CylinderCount { get; private set; } //!< The count of all #cylinders of the guidewire.
 
+    float elapsedTime = 0;
+    float timeConstraintSolving = 0;
+    float timeUpdateStep = 0;
+    float timePredictionStep = 0;
+    float timeAdaptCalculationsStep = 0;
+    float timeSetCollidersStep = 0;
+    float timeCompleteFrame = 0;
+    float timeCompleteFrameMeasure = 0;
+    float timeMeasure = 0;
+    float measurePoint = 5f;
+
     private void Awake()
     {
         Assert.IsFalse(spheres.Length == 0);
@@ -151,6 +162,8 @@ public class SimulationLoop : MonoBehaviour
         if (ExecuteSingleLoopTest) return;
 
         PerformSimulationLoop();
+
+        elapsedTime += Time.deltaTime;
     }
 
     /**
@@ -191,13 +204,49 @@ public class SimulationLoop : MonoBehaviour
      */
     public void PerformSimulationLoop()
     {
-        // CollisionDetection();
-        // GenerateCollisionConstraints();
+        if (collisionHandler.collided)
+        {
+            timeMeasure = Time.realtimeSinceStartup;
+            timeCompleteFrameMeasure = Time.realtimeSinceStartup;
+        }
         PerformConstraintSolvingStep();
+        if (collisionHandler.collided)
+        {
+            timeConstraintSolving = Time.realtimeSinceStartup - timeMeasure;
+            timeMeasure = Time.realtimeSinceStartup;
+        }
         PerformUpdateStep();
+        if (collisionHandler.collided)
+        {
+            timeUpdateStep = Time.realtimeSinceStartup - timeMeasure;
+            timeMeasure = Time.realtimeSinceStartup;
+        }
         PerformPredictionStep();
+        if (collisionHandler.collided)
+        {
+            timePredictionStep = Time.realtimeSinceStartup - timeMeasure;
+            timeMeasure = Time.realtimeSinceStartup;
+        }
         AdaptCalculations();
+        if (collisionHandler.collided)
+        {
+            timeAdaptCalculationsStep = Time.realtimeSinceStartup - timeMeasure;
+            timeMeasure = Time.realtimeSinceStartup;
+        }
         SetCollidersStep();
+        if (collisionHandler.collided)
+        {
+            timeSetCollidersStep = Time.realtimeSinceStartup - timeMeasure;
+            timeCompleteFrame = Time.realtimeSinceStartup - timeCompleteFrameMeasure;
+
+            Time.timeScale = 0f;
+            Debug.Log("execution time constraint solving: " + timeConstraintSolving.ToString("F7"));
+            Debug.Log("execution time update step: " + timeUpdateStep.ToString("F7"));
+            Debug.Log("execution time prediction step: " + timePredictionStep.ToString("F7"));
+            Debug.Log("execution time adapt calculations: " + timeAdaptCalculationsStep.ToString("F7"));
+            Debug.Log("execution time set colliders: " + timeSetCollidersStep.ToString("F7"));
+            Debug.Log("execution time whole frame: " + timeCompleteFrame.ToString("F7"));
+        }
     }
 
     /**

GuidewireSimulation/GuidewireSimulation/UserSettings/EditorUserSettings.asset

@@ -6,34 +6,34 @@ EditorUserSettings:
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