Add parsing benchmark simulating many textures.

PiperOrigin-RevId: 857883857
Change-Id: Ia428ff8aeba4fbaae67a6337d0856cd2b19af2e6

test/benchmark/parse_benchmark_test.cc

@@ -22,6 +22,7 @@
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 #include <absl/base/attributes.h>
+#include <absl/strings/str_format.h>
 #include <mujoco/mjmodel.h>
 #include <mujoco/mujoco.h>
 #include "test/fixture.h"
@@ -93,6 +94,37 @@ void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseHumanoid100(benchmark::State& state) {
 }
 BENCHMARK(BM_ParseHumanoid100);
 
+void BM_CompileManyTextures(benchmark::State& state) {
+  MujocoErrorTestGuard guard;  // Fail test if there are any mujoco errors
+  std::string texture_path =
+      GetTestDataFilePath("benchmark/testdata/noise.png");
+
+  // Create a model with many textures
+  std::string xml = "<mujoco>\n";
+  xml += "  <asset>\n";
+  for (int i = 0; i < state.range(0); ++i) {
+    xml += absl::StrFormat("    <texture name='tex%d' type='2d' file='%s'/>\n",
+                           i, texture_path);
+  }
+  xml += "  </asset>\n";
+  xml += "  <worldbody>\n";
+  xml += "    <geom size='1'/>\n";
+  xml += "  </worldbody>\n";
+  xml += "</mujoco>\n";
+
+  // Disable cache to simulate many textures without needing separate
+  // testdata files.
+  mj_setCacheCapacity(mj_getCache(), 0);
+
+  for (auto s : state) {
+    char error[1024];
+    mjModel* model = LoadModelFromString(xml, error, sizeof(error));
+    mj_deleteModel(model);
+  }
+}
+
+BENCHMARK(BM_CompileManyTextures)->Range(10, 100);
+
 }  // namespace
 
 void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_ParseCacheHits(benchmark::State& state) {