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Add timing of collision phases.

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PiperOrigin-RevId: 572273621
Change-Id: Ib9440a996a05e42e00dcf4f1ce487a12f65e999b
This commit is contained in:
Alessio Quaglino
2023-10-10 09:25:30 -07:00
committed by Copybara-Service
parent 7cd6b3db73
commit 8af09eb70d
7 changed files with 50 additions and 7 deletions
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unity/Runtime/Bindings/MjBindings.cs
+7 -1
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@@ -137,7 +137,10 @@ public enum mjtTimer : int{
mjTIMER_POS_COLLISION = 10,
mjTIMER_POS_MAKE = 11,
mjTIMER_POS_PROJECT = 12,
mjNTIMER = 13,
mjTIMER_COL_BROAD = 13,
mjTIMER_COL_MID = 14,
mjTIMER_COL_NARROW = 15,
mjNTIMER = 16,
}
public enum mjtDisableBit : int{
mjDSBL_CONSTRAINT = 1,
@@ -738,6 +741,9 @@ public unsafe struct mjData_ {
public mjTimerStat_ timer10;
public mjTimerStat_ timer11;
public mjTimerStat_ timer12;
public mjTimerStat_ timer13;
public mjTimerStat_ timer14;
public mjTimerStat_ timer15;
public mjSolverStat_ solver0;
public mjSolverStat_ solver1;
public mjSolverStat_ solver2;