Add timing of collision phases.

PiperOrigin-RevId: 572273621 Change-Id: Ib9440a996a05e42e00dcf4f1ce487a12f65e999b
2023-10-10 09:25:30 -07:00
parent 7cd6b3db73
commit 8af09eb70d
7 changed files with 50 additions and 7 deletions
@@ -85,6 +85,11 @@ typedef enum mjtTimer_ {     // internal timers
  mjTIMER_POS_MAKE,          // make constraints
  mjTIMER_POS_PROJECT,       // project constraints

+  // breakdown of mj_collision
+  mjTIMER_COL_BROAD,         // broadphase
+  mjTIMER_COL_MID,           // midphase
+  mjTIMER_COL_NARROW,        // narrowphase
+
  mjNTIMER                   // number of timers
 } mjtTimer;