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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src/user/user_model.cc
+5
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@@ -2997,6 +2997,11 @@ void mjCModel::CopyObjects(mjModel* m) {
memcpy(m->oct_aabb + 6*oct_adr, pme->octree().Nodes().data(), 6*n_oct*sizeof(mjtNum));
memcpy(m->oct_child + 8*oct_adr, pme->octree().Child().data(), 8*n_oct*sizeof(int));
memcpy(m->oct_depth + oct_adr, pme->octree().Level().data(), n_oct*sizeof(int));
if (!pme->octree().Coeff().empty()) {
memcpy(m->oct_coeff + 8*oct_adr, pme->octree().Coeff().data(), 8*n_oct*sizeof(mjtNum));
} else {
mjuu_zerovec(m->oct_coeff + 8*oct_adr, 8*n_oct);
}
}
// advance counters