chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add option to only sync the state to improve sync performance in passive mode.

Browse Source 
By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.

PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
This commit is contained in:
Matija Kecman
2025-06-27 02:48:58 -07:00
committed by Copybara-Service
parent 8f6a13aa8f
commit 09f7154e57
6 changed files with 50 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
simulate/simulate.cc
+12 -3
View File
@@ -1912,7 +1912,7 @@ Simulate::Simulate(std::unique_ptr<PlatformUIAdapter> platform_ui,
//------------------------- Synchronize render and physics threads ---------------------------------
// operations which require holding the mutex, prevents racing with physics thread
void Simulate::Sync() {
void Simulate::Sync(bool state_only) {
MutexLock lock(this->mtx);
if (!m_) {
@@ -2159,8 +2159,17 @@ void Simulate::Sync() {
if (!is_passive_) {
mjv_updateScene(m_, d_, &this->opt, &this->pert, &this->cam, mjCAT_ALL, &this->scn);
} else {
mjv_copyModel(m_passive_, m_);
mjv_copyData(d_passive_, m_passive_, d_);
if (state_only) {
int state_size = mj_stateSize(m_, mjSTATE_INTEGRATION);
mjtNum* state = new mjtNum[state_size];
mj_getState(m_, d_, state, mjSTATE_INTEGRATION);
mj_setState(m_passive_, d_passive_, state, mjSTATE_INTEGRATION);
mj_forward(m_passive_, d_passive_);
delete[] state;
} else {
mjv_copyModel(m_passive_, m_);
mjv_copyData(d_passive_, m_passive_, d_);
}
// append geoms from user_scn to scratch space
if (user_scn) {