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Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID.

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PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
This commit is contained in:
Yuval Tassa
2024-01-17 10:53:19 -08:00
committed by Copybara-Service
parent edc254b213
commit 2feefbc5d2
9 changed files with 17 additions and 44 deletions
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sample/testspeed.cc
+1 -1
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@@ -278,7 +278,7 @@ int main(int argc, char** argv) {
// components of mjTIMER_POS_COLLISION
if (i == mjTIMER_POS_COLLISION) {
for (int j : {mjTIMER_COL_BROAD, mjTIMER_COL_MID, mjTIMER_COL_NARROW}) {
for (int j : {mjTIMER_COL_BROAD, mjTIMER_COL_NARROW}) {
int number = d[0]->timer[j].number;
mjtNum jstep = number ? d[0]->timer[j].duration/number : 0.0;
mjtNum percent = number ? 100*jstep/tstep : 0.0;