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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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simulate/simulate.cc
+5 -2
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@@ -471,11 +471,14 @@ void infotext(mj::Simulate* sim,
solerr = mju_log10(mju_max(mjMINVAL, solerr));
// prepare info text
mju::strcpy_arr(title, "Time\nSize\nCPU\nSolver \nFPS\nMemory");
mju::strcpy_arr(title, "Time\nSize\nPruning\nCPU\nSolver \nFPS\nMemory");
int broad_pruning = d->nbodypair_broad ? (100.0*d->nbodypair_narrow)/d->nbodypair_broad : 0;
int mid_pruning = d->ngeompair_mid ? (100.0*d->nbodypair_narrow)/d->ngeompair_mid : 0;
mju::sprintf_arr(content,
"%-9.3f\n%d (%d con)\n%.3f\n%.1f (%d it)\n%.0f\n%.2g of %s",
"%-9.3f\n%d (%d con)\nb: %d%% m: %d%%\n%.3f\n%.1f (%d it)\n%.0f\n%.2g of %s",
d->time,
d->nefc, d->ncon,
broad_pruning, mid_pruning,
sim->run ?
d->timer[mjTIMER_STEP].duration / mjMAX(1, d->timer[mjTIMER_STEP].number) :
d->timer[mjTIMER_FORWARD].duration / mjMAX(1, d->timer[mjTIMER_FORWARD].number),