Add midphase and broadphase statistics to mjData.

PiperOrigin-RevId: 521387641 Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
2023-04-03 00:59:18 -07:00
parent c29f32657c
commit 5f132af625
8 changed files with 96 additions and 25 deletions
@@ -1587,6 +1587,10 @@ public unsafe struct mjData_ {
  public int solver_iter;
  public int solver_nnz;
  public fixed double solver_fwdinv[2];
+  public int nbodypair_broad;
+  public int nbodypair_narrow;
+  public int ngeompair_mid;
+  public int ngeompair_narrow;
  public int ne;
  public int nf;
  public int nefc;