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Add midphase and broadphase statistics to mjData.

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PiperOrigin-RevId: 521387641
Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
This commit is contained in:
Alessio Quaglino
2023-04-03 00:59:18 -07:00
committed by Copybara-Service
parent c29f32657c
commit 5f132af625
8 changed files with 96 additions and 25 deletions
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include/mujoco/mjxmacro.h
+18 -14
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@@ -590,20 +590,24 @@
// scalar fields of mjData
#define MJDATA_SCALAR \
X( int, nstack ) \
X( int, nbuffer ) \
X( int, pstack ) \
X( int, maxuse_stack ) \
X( int, maxuse_con ) \
X( int, maxuse_efc ) \
X( int, solver_iter ) \
X( int, solver_nnz ) \
X( int, ne ) \
X( int, nf ) \
X( int, nefc ) \
X( int, ncon ) \
X( mjtNum, time )
#define MJDATA_SCALAR \
X( int, nstack ) \
X( int, nbuffer ) \
X( int, pstack ) \
X( int, maxuse_stack ) \
X( int, maxuse_con ) \
X( int, maxuse_efc ) \
X( int, solver_iter ) \
X( int, solver_nnz ) \
X( int, nbodypair_broad ) \
X( int, nbodypair_narrow ) \
X( int, ngeompair_mid ) \
X( int, ngeompair_narrow ) \
X( int, ne ) \
X( int, nf ) \
X( int, nefc ) \
X( int, ncon ) \
X( mjtNum, time )
// vector fields of mjData