chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 4 Packages Projects Releases Wiki Activity

Implement sleeping in engine

Browse Source 
PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
This commit is contained in:
Yuval Tassa
2025-11-07 03:32:03 -08:00
committed by Copybara-Service
parent 1e0226d360
commit 769f37b653
55 changed files with 3602 additions and 677 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/studio/app.cc
+7 -2
View File
@@ -641,10 +641,14 @@ void App::UpdateProfilerData() {
sqrt_nnz = mju_sqrt(sqrt_nnz);
dim_dof_.erase(dim_dof_.begin());
dim_dof_.push_back(Model()->nv);
int nv = (Model()->opt.enableflags & mjENBL_SLEEP) ? Data()->nv_awake
: Model()->nv;
dim_dof_.push_back(nv);
dim_body_.erase(dim_body_.begin());
dim_body_.push_back(Model()->nbody);
int nbody = (Model()->opt.enableflags & mjENBL_SLEEP) ? Data()->nbody_awake
: Model()->nbody;
dim_body_.push_back(nbody);
dim_constraint_.erase(dim_constraint_.begin());
dim_constraint_.push_back(Data()->nefc);
@@ -1719,6 +1723,7 @@ void App::PhysicsGui() {
ImGui_Input("Noslip Tol", &opt.noslip_tolerance, {0, 1, 0.01, 0.1, w});
ImGui_Input("CCD Iter", &opt.ccd_iterations, {0, 1000, 1, 100, w});
ImGui_Input("CCD Tol", &opt.ccd_tolerance, {0, 1, 0.01, 0.1, w});
ImGui_Input("Sleep Tol", &opt.sleep_tolerance, {0, 1, 0.01, 0.1, w});
ImGui_Input("SDF Iter", &opt.sdf_iterations, {1, 20, 1, 10, w});
ImGui_Input("SDF Init", &opt.sdf_initpoints, {1, 100, 1, 10, w});
ImGui::TreePop();