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Speed improvement with no AVX. 40% on Linux Intel Xeon and 60% on ARM Mac.

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PiperOrigin-RevId: 488360660
Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
This commit is contained in:
Alessio Quaglino
2022-11-14 07:30:51 -08:00
committed by Copybara-Service
parent ae29a22d55
commit 7b0fbc63f8
7 changed files with 310 additions and 8 deletions
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doc/changelog.rst
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@@ -43,8 +43,13 @@ General
- Improved particle :ref:`composite<body-composite>` type, which now permits a user-specified geometry and multiple
joints. See the two new examples:
`particle_free.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free.xml>`_ and
`particle_free2d.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free2d.xml>`_
- Better mj_solveLD performance. This gives an improvement of 14% on a Intel Skylake Xeon with 36 cores.
`particle_free2d.xml <https://github.com/deepmind/mujoco/tree/main/model/composite/particle_free2d.xml>`_.
- Performance improvements for non-AVX configurations:
- 14% faster ``mj_solveLD`` using `restrict <https://en.wikipedia.org/wiki/Restrict>`_. See `engine_core_smooth_benchmark_test
<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_core_smooth_benchmark_test.cc>`_.
- 50% faster ``mju_dotSparse`` using manual loop unroll. See `engine_util_sparse_benchmark_test
<https://github.com/deepmind/mujoco/tree/main/test/benchmark/engine_util_sparse_benchmark_test.cc>`_.
Version 2.3.0 (October 18, 2022)
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