chenlin/Mujoco_WASM
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Fix type-related issues in dependent code. Remove hardcoded mjUSEDOUBLE. Add mjUSESINGLE compiler flag.

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This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.

PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
This commit is contained in:
Yuval Tassa
2024-06-19 10:51:17 -07:00
committed by Copybara-Service
parent 7bd7065e0e
commit 3f3b39bbb1
14 changed files with 62 additions and 44 deletions
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sample/testspeed.cc
+12 -10
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@@ -34,18 +34,17 @@ mjData* d[maxthread];
// per-thread statistics
int contacts[maxthread];
int constraints[maxthread];
double simtime[maxthread];
mjtNum simtime[maxthread];
// timer
std::chrono::steady_clock::time_point tm_start;
mjtNum gettm(void) {
std::chrono::duration<double, std::micro> elapsed;
elapsed = std::chrono::steady_clock::now() - tm_start;
using std::chrono::steady_clock;
using Microseconds = std::chrono::duration<double, std::micro>;
static steady_clock::time_point tm_start = steady_clock::now();
auto elapsed = Microseconds(steady_clock::now() - tm_start);
return elapsed.count();
}
// deallocate and print message
int finish(const char* msg = NULL, mjModel* m = NULL) {
// deallocate model
@@ -87,7 +86,7 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
constraints[id] = 0;
// run and time
double start = gettm();
mjtNum start = gettm();
for (int i=0; i < nstep; i++) {
// inject pseudo-random control noise
mju_copy(d[id]->ctrl, ctrl + i*m->nu, m->nu);
@@ -126,7 +125,7 @@ int main(int argc, char** argv) {
// read arguments
int nstep = 10000, nthread = 0, npoolthread = 0;
// inject small noise by default, to avoid fixed contact state
mjtNum ctrlnoise = 0.01;
double ctrlnoise = 0.01;
if (argc > 2 && (std::sscanf(argv[2], "%d", &nstep) != 1 || nstep <= 0)) {
return finish("Invalid nstep argument");
}
@@ -149,7 +148,7 @@ int main(int argc, char** argv) {
// get filename, determine file type
std::string filename(argv[1]);
bool binary = (filename.find(".mjb") != std::string::npos);
bool binary = (filename.find(".mjb") != std::string::npos); // NOLINT
// load model
char error[1000] = "Could not load binary model";
@@ -191,8 +190,11 @@ int main(int argc, char** argv) {
nstep,
nthread > 1 ? " per thread" : "",
m->opt.timestep);
if (sizeof(mjtNum) == 4) {
std::printf(", using single-precision");
}
if (npoolthread > 1) {
std::printf(", using %d threads for engine-internal threadpool", npoolthread);
std::printf(", using %d threads", npoolthread);
}
std::printf("...\n\n");