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Remove contact pruning with box-box collisions in nativeccd and add benchmarks.

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PiperOrigin-RevId: 744732382
Change-Id: I2e20b646c541ee99888f1e964302d1b4363b2dc4
This commit is contained in:
Kyle Bayes
2025-04-07 08:32:58 -07:00
committed by Copybara-Service
parent d7027fb1c0
commit 606f00f802
5 changed files with 48 additions and 31 deletions
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test/benchmark/CMakeLists.txt
+1 -1
View File
@@ -16,7 +16,7 @@
mujoco_test(
ccd_benchmark_test
MAIN_TARGET benchmark::benchmark_main
ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers
ADDITIONAL_LINK_LIBRARIES benchmark::benchmark absl::core_headers ccd
)
mujoco_test(
test/benchmark/ccd_benchmark_test.cc
+12 -1
View File
@@ -24,6 +24,9 @@
#include <mujoco/mujoco.h>
#include "test/fixture.h"
#include "src/engine/engine_collision_convex.h"
#include "src/engine/engine_collision_primitive.h"
namespace mujoco {
namespace {
@@ -116,11 +119,19 @@ void ABSL_ATTRIBUTE_NO_TAIL_CALL
BENCHMARK(BM_BoxMesh_LibCCD);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_BoxBox(benchmark::State& state) {
static TestHarness harness(kBoxBoxPath, "box.xml (BoxBox)");
static TestHarness harness(kBoxBoxPath, "box.xml (BoxBox)", mjDSBL_NATIVECCD);
harness.RunBenchmark(state);
}
BENCHMARK(BM_BoxBox);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_BoxBox_NativeCCD(benchmark::State& state) {
mjCOLLISIONFUNC[mjGEOM_BOX][mjGEOM_BOX] = mjc_Convex;
static TestHarness harness(kBoxBoxPath, "box.xml (NativeCCD)");
harness.RunBenchmark(state);
mjCOLLISIONFUNC[mjGEOM_BOX][mjGEOM_BOX] = mjc_BoxBox;
}
BENCHMARK(BM_BoxBox_NativeCCD);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_Ellipsoid_NativeCCD(benchmark::State& state) {
static TestHarness harness(kEllipsoidPath, "ellipsoid.xml (nativeccd)");