Move SDF precomputation to the mujoco compiler.

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
2025-07-09 08:56:20 -07:00
parent a3d251f552
commit 96118da08b
10 changed files with 45 additions and 32 deletions
@@ -5364,6 +5364,7 @@ public unsafe struct mjModel_ {
  public int* oct_depth;
  public int* oct_child;
  public double* oct_aabb;
+  public double* oct_coeff;
  public int* jnt_type;
  public int* jnt_qposadr;
  public int* jnt_dofadr;