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Improvements to timing.

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- Fixed bug in timing of kinematics, was under-reported.
- Moved timing of inertia and collision into respective functions, in preparation for multi-threading.
- Detailed profiling in `testspeed` is always on, removed command-line flag.
- Improved `testspeed` self-documentation.

PiperOrigin-RevId: 571989548
Change-Id: If0e3cc17f6f3511b98fc36339f406a19968a9361
This commit is contained in:
Yuval Tassa
2023-10-09 11:13:59 -07:00
committed by Copybara-Service
parent a1b39d5959
commit 18d9f1abb0
6 changed files with 86 additions and 71 deletions
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src/engine/engine_macro.h
+1
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@@ -35,6 +35,7 @@
#define TM_START mjtNum _tm = (mjcb_time ? mjcb_time() : 0);
#define TM_RESTART _tm = (mjcb_time ? mjcb_time() : 0);
#define TM_END(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm); d->timer[i].number++;}
#define TM_ADD(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm);}
#define TM_START1 mjtNum _tm1 = (mjcb_time ? mjcb_time() : 0);
#define TM_END1(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm1); d->timer[i].number++;}