Add implementation of gettimeofday for windows

src/utils/timer.hpp

@@ -5,7 +5,33 @@
 #ifndef __pinocchio_utils_timer_hpp__
 #define __pinocchio_utils_timer_hpp__
 
+#ifdef WIN32
+#include <Windows.h>
+#include <stdint.h> // portable: uint64_t   MSVC: __int64
+
+int gettimeofday(struct timeval* tp, struct timezone* tzp)
+{
+  // Note: some broken versions only have 8 trailing zero's, the correct epoch has 9 trailing zero's
+  // This magic number is the number of 100 nanosecond intervals since January 1, 1601 (UTC)
+  // until 00:00:00 January 1, 1970
+  static const uint64_t EPOCH = ((uint64_t)116444736000000000ULL);
+
+  SYSTEMTIME  system_time;
+  FILETIME    file_time;
+  uint64_t    time;
+
+  GetSystemTime(&system_time);
+  SystemTimeToFileTime(&system_time, &file_time);
+  time = ((uint64_t)file_time.dwLowDateTime);
+  time += ((uint64_t)file_time.dwHighDateTime) << 32;
+
+  tp->tv_sec = (long)((time - EPOCH) / 10000000L);
+  tp->tv_usec = (long)(system_time.wMilliseconds * 1000);
+  return 0;
+}
+#else
 #include <sys/time.h>
+#endif
 #include <iostream>
 #include <stack>