From d0e1449c2aea92c8d78d4e356c20535b3ef2fa06 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 5 Apr 2021 20:08:53 +0200
Subject: [PATCH] Introduce support to profile Physics system

---
 cpp/scenario/CMakeLists.txt                 | 3 +++
 cpp/scenario/plugins/Physics/CMakeLists.txt | 4 ++++
 2 files changed, 7 insertions(+)

diff --git a/cpp/scenario/CMakeLists.txt b/cpp/scenario/CMakeLists.txt
index 1f1cffe53..7721c9f77 100644
--- 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
index ce817beb3..0ca0be299 100644
--- 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
 # ===================