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Remove sdflib plugin and move interpolation to engine_collision_sdf.

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Before:
```
 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
```

After:
```
 Simulation time      : 1.41 s
 Steps per second     : 7093
 Realtime factor      : 14.19 x
 Time per step        : 141.0 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: 781087896
Change-Id: Iaf69dccc5e95af5bac862344683c74f962162186
This commit is contained in:
Alessio Quaglino
2025-07-09 09:28:15 -07:00
committed by Copybara-Service
parent 96118da08b
commit cef02fabea
9 changed files with 189 additions and 374 deletions
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model/plugin/sdf/cow.xml
+3 -14
View File
@@ -8,19 +8,12 @@
<config key="radius2" value="0.05"/>
</instance>
</plugin>
<plugin plugin="mujoco.sdf.sdflib">
<instance name="sdf">
<config key="aabb" value="0"/>
</instance>
</plugin>
</extension>
<asset>
<texture name="texspot" type="2d" file="spot.png"/>
<material name="matspot" texture="texspot"/>
<mesh name="spot" file="asset/spot.obj">
<plugin instance="sdf"/>
</mesh>
<mesh name="spot" file="asset/spot.obj"/>
<mesh name="torus">
<plugin instance="torus"/>
</mesh>
@@ -48,15 +41,11 @@
</geom>
</body>
<body euler="90 0 0" pos="0 0 .7">
<geom type="sdf" name="cow1" mesh="spot" material="matspot">
<plugin instance="sdf"/>
</geom>
<geom type="sdf" name="cow1" mesh="spot" material="matspot"/>
</body>
<body pos="0.05 .25 2.2">
<freejoint/>
<geom type="sdf" name="cow2" mesh="spot" material="matspot">
<plugin instance="sdf"/>
</geom>
<geom type="sdf" name="cow2" mesh="spot" material="matspot"/>
</body>
<light name="left" pos="0 0 1"/>
<light name="right" pos="1 0 1"/>