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Fix timing plots issue in simulate.

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Before this change timing plots would report zeros if the render thread was faster than the physics thread, making them unreadable when slowdown was used.

PiperOrigin-RevId: 557432042
Change-Id: Ie9a18fb84cab788d11dfbede4e3052f24441b4c4
This commit is contained in:
Yuval Tassa
2023-08-16 04:02:59 -07:00
committed by Copybara-Service
parent 8ea690ed70
commit ac3ac0d28f
1 changed files with 23 additions and 21 deletions
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simulate/simulate.cc
+4 -2
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@@ -326,7 +326,8 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
total = d->timer[mjTIMER_FORWARD].duration; total = d->timer[mjTIMER_FORWARD].duration;
number = d->timer[mjTIMER_FORWARD].number; number = d->timer[mjTIMER_FORWARD].number;
} }
number = mjMAX(1, number);
if (number) { // skip update if no measurements
float tdata[5] = { float tdata[5] = {
static_cast<float>(total/number), static_cast<float>(total/number),
static_cast<float>(d->timer[mjTIMER_POS_COLLISION].duration/number), static_cast<float>(d->timer[mjTIMER_POS_COLLISION].duration/number),
@@ -349,6 +350,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
sim->figtimer.linepnt[n] = pnt; sim->figtimer.linepnt[n] = pnt;
sim->figtimer.linedata[n][1] = tdata[n]; sim->figtimer.linedata[n][1] = tdata[n];
} }
}
// get sizes: nv, nbody, nefc, sqrt(nnz), ncont, iter // get sizes: nv, nbody, nefc, sqrt(nnz), ncont, iter
float sdata[6] = { float sdata[6] = {
@@ -361,7 +363,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
}; };
// update figsize // update figsize
pnt = mjMIN(201, sim->figsize.linepnt[0]+1); int pnt = mjMIN(201, sim->figsize.linepnt[0]+1);
for (int n=0; n<6; n++) { for (int n=0; n<6; n++) {
// shift data // shift data
for (int i=pnt-1; i>0; i--) { for (int i=pnt-1; i>0; i--) {