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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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src/engine/engine_io.c
+7 -1
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@@ -1272,7 +1272,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
d->maxuse_con = 0;
d->maxuse_efc = 0;
// clear diagnostics
// clear solver diagnostics
memset(d->warning, 0, mjNWARNING*sizeof(mjWarningStat));
memset(d->timer, 0, mjNTIMER*sizeof(mjTimerStat));
memset(d->solver, 0, mjNSOLVER*sizeof(mjSolverStat));
@@ -1280,6 +1280,12 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
d->solver_nnz = 0;
mju_zero(d->solver_fwdinv, 2);
// clear collision diagnostics
d->nbodypair_broad = 0;
d->nbodypair_narrow = 0;
d->ngeompair_mid = 0;
d->ngeompair_narrow = 0;
// clear variable sizes
d->ne = 0;
d->nf = 0;