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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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src/engine/engine_collision_driver.c
+3 -27
View File
@@ -291,12 +291,9 @@ void mj_collision(const mjModel* m, mjData* d) {
unsigned int last_signature = -1;
TM_END(mjTIMER_COL_BROAD);
// midphase collision detector
// narrowphase and midphase collision detector
TM_RESTART;
// save current narrowphase duration
mjtNum tmNarrow = d->timer[mjTIMER_COL_NARROW].duration;
// process bodyflex pairs returned by broadphase, merge with predefined geom pairs
int pairadr = 0;
for (int i=0; i < nbfpair; i++) {
@@ -471,14 +468,8 @@ void mj_collision(const mjModel* m, mjData* d) {
}
}
// end midphase timer
TM_END(mjTIMER_COL_MID);
// subtract nested narrowphase timing from midphase timer
d->timer[mjTIMER_COL_MID].duration -= (d->timer[mjTIMER_COL_NARROW].duration - tmNarrow);
// increment narrowphase counter
d->timer[mjTIMER_COL_NARROW].number++;
// end narrowphase and midphase timer
TM_END(mjTIMER_COL_NARROW);
mj_freeStack(d);
TM_END1(mjTIMER_POS_COLLISION);
@@ -1444,8 +1435,6 @@ static void mj_makeCapsule(const mjModel* m, mjData* d, int f, const int vid[2],
// test two geoms for collision, apply filters, add to contact list
void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
TM_START;
int num, type1, type2, condim;
mjtNum margin, gap, friction[5], solref[mjNREF], solimp[mjNIMP];
mjtNum solreffriction[mjNREF] = {0};
@@ -1635,9 +1624,6 @@ void mj_collideGeoms(const mjModel* m, mjData* d, int g1, int g2) {
// move arena pointer back to the end of the contact array
resetArena(d);
// add duration without incrementing counter
TM_ADD(mjTIMER_COL_NARROW);
}
@@ -1850,8 +1836,6 @@ void mj_collideFlexSAP(const mjModel* m, mjData* d, int f) {
// test a geom and an elem for collision, add to contact list
void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
TM_START;
mjtNum margin = mj_assignMargin(m, mju_max(m->geom_margin[g], m->flex_margin[f]));
int dim = m->flex_dim[f], type = m->geom_type[g];
int num;
@@ -1965,17 +1949,12 @@ void mj_collideGeomElem(const mjModel* m, mjData* d, int g, int f, int e) {
// move arena pointer back to the end of the contact array
resetArena(d);
// add duration without incrementing counter
TM_ADD(mjTIMER_COL_NARROW);
}
// test two elems for collision, add to contact list
void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2) {
TM_START;
mjtNum margin = mj_assignMargin(m, mju_max(m->flex_margin[f1], m->flex_margin[f2]));
int dim1 = m->flex_dim[f1], dim2 = m->flex_dim[f2];
int num;
@@ -2070,9 +2049,6 @@ void mj_collideElems(const mjModel* m, mjData* d, int f1, int e1, int f2, int e2
// move arena pointer back to the end of the contact array
resetArena(d);
// add duration without incrementing counter
TM_ADD(mjTIMER_COL_NARROW);
}
src/engine/engine_support.c
-1
View File
@@ -89,7 +89,6 @@ const char* mjTIMERSTRING[mjNTIMER]= {
"pos_make",
"pos_project",
"col_broadphase",
"col_midphase",
"col_narrowphase"
};