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Add compiler timing diagnostics to mjsCompiler, printed by compile.cc

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For example, `compile mujoco_menagerie/robotis_op3/scene.xml` now outputs

```
Compile 1 (cold cache):
  total:      317.2 ms
  assets:     284.8 ms (wall clock)
    load:     616.1 ms
    hull:      26.4 ms
    poly:     137.8 ms
    inert:    177.8 ms
    bvh:      568.2 ms
    octr:       1.6 ms
    tex:       25.3 ms
  other:       32.4 ms

Compile 2 (warm cache):
  total:       79.9 ms
  assets:      54.5 ms (wall clock)
    load:     888.5 ms
    hull:       0.0 ms
    poly:       0.0 ms
    inert:      0.0 ms
    bvh:        0.0 ms
    octr:       0.0 ms
    tex:       21.4 ms
  other:       25.3 ms
```

PiperOrigin-RevId: 917850214
Change-Id: Iaec86230bec0faf2e47820e20cbff61de5b2621e
This commit is contained in:
Yuval Tassa
2026-05-19 08:27:35 -07:00
committed by Copybara-Service
parent f712eed4ce
commit bdf00966f9
23 changed files with 309 additions and 43 deletions
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include/mujoco/mujoco.h
+3
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@@ -1005,6 +1005,9 @@ MJAPI void mju_writeLog(const char* type, const char* msg);
// Get compiler error message from spec.
MJAPI const char* mjs_getError(mjSpec* s);
// Get compiler timing diagnostics from spec, returns pointer to array of size mjNCTIMER.
MJAPI const double* mjs_getTimer(mjSpec* s);
// Return 1 if compiler error is a warning.
MJAPI int mjs_isWarning(mjSpec* s);