chenlin/Mujoco_WASM
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Move SDF precomputation to the mujoco compiler.

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Before:
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

After:
```
 Simulation time      : 1.71 s
 Steps per second     : 5854
 Realtime factor      : 11.71 x
 Time per step        : 170.8 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
This commit is contained in:
Alessio Quaglino
2025-07-09 08:56:20 -07:00
committed by Copybara-Service
parent a3d251f552
commit 96118da08b
10 changed files with 45 additions and 32 deletions
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include/mujoco/mjmodel.h
+1
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@@ -771,6 +771,7 @@ struct mjModel_ {
int* oct_depth; // depth in the octree (noct x 1)
int* oct_child; // children of octree node (noct x 8)
mjtNum* oct_aabb; // octree node bounding box (center, size) (noct x 6)
mjtNum* oct_coeff; // octree interpolation coefficients (noct x 8)
// joints
int* jnt_type; // type of joint (mjtJoint) (njnt x 1)
include/mujoco/mjxmacro.h
+1
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@@ -220,6 +220,7 @@
X ( int, oct_depth, noct, 1 ) \
X ( int, oct_child, noct, 8 ) \
X ( mjtNum, oct_aabb, noct, 6 ) \
X ( mjtNum, oct_coeff, noct, 8 ) \
X ( int, jnt_type, njnt, 1 ) \
X ( int, jnt_qposadr, njnt, 1 ) \
X ( int, jnt_dofadr, njnt, 1 ) \