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

Add Flex component.

Browse Source 
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
This commit is contained in:
Alessio Quaglino
2023-10-12 10:15:46 +01:00
committed by Saran Tunyasuvunakool
parent 649a474788
commit 5a70ad08ab
82 changed files with 9658 additions and 1581 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sample/testspeed.cc
-16
View File
@@ -32,8 +32,6 @@ mjData* d[maxthread];
// per-thread statistics
double accuracy_broad[maxthread];
double accuracy_mid[maxthread];
int contacts[maxthread];
int constraints[maxthread];
double simtime[maxthread];
@@ -87,8 +85,6 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
// clear statistics
contacts[id] = 0;
constraints[id] = 0;
accuracy_broad[id] = 0;
accuracy_mid[id] = 0;
// run and time
double start = gettm();
@@ -102,16 +98,6 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
// accumulate statistics
contacts[id] += d[id]->ncon;
constraints[id] += d[id]->nefc;
if (d[id]->nbodypair_broad) {
accuracy_broad[id] += (100.0*d[id]->nbodypair_narrow)/d[id]->nbodypair_broad;
} else {
accuracy_broad[id] += 100;
}
if (d[id]->ngeompair_mid) {
accuracy_mid[id] += (100.0*d[id]->nbodypair_narrow)/d[id]->ngeompair_mid;
} else {
accuracy_mid[id] += 100;
}
}
simtime[id] = 1e-6 * (gettm() - start);
}
@@ -241,8 +227,6 @@ int main(int argc, char** argv) {
std::printf(" Steps per second : %.0f\n", nstep/simtime[0]);
std::printf(" Realtime factor : %.2f x\n", nstep*m->opt.timestep/simtime[0]);
std::printf(" Time per step : %.1f %ss\n\n", 1e6*simtime[0]/nstep, mu_str);
std::printf(" Broadphase accuracy : %.2f%%\n", accuracy_broad[0]/nstep);
std::printf(" Midphase accuracy : %.2f%%\n", accuracy_mid[0]/nstep);
std::printf(" Contacts per step : %.2f\n", static_cast<float>(contacts[0])/nstep);
std::printf(" Constraints per step : %.2f\n", static_cast<float>(constraints[0])/nstep);
std::printf(" Degrees of freedom : %d\n\n", m->nv);