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Remove collision pruning statistics from simulate info panel.

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PiperOrigin-RevId: 554452244
Change-Id: I4f9f1d5e38d4b4bc37b5a2f0980b352db04a73c6
This commit is contained in:
Yuval Tassa
2023-08-07 06:04:22 -07:00
committed by Copybara-Service
parent 574ae6ab91
commit 6d7b49ccf5
1 changed files with 2 additions and 5 deletions
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simulate/simulate.cc
+2 -5
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@@ -512,14 +512,11 @@ void UpdateInfoText(mj::Simulate* sim, const mjModel* m, const mjData* d,
}
// prepare info text
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::strcpy_arr(title, "Time\nSize\nCPU\nSolver \nFPS\nMemory");
mju::sprintf_arr(content,
"%-9.3f\n%d (%d con)\nb: %d%% m: %d%%\n%.3f\n%.1f (%d it)\n%s\n%.2g of %s",
"%-9.3f\n%d (%d con)\n%.3f\n%.1f (%d it)\n%s\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),