chenlin/Mujoco_WASM
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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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plugin/sdf/register.cc
-2
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@@ -17,7 +17,6 @@
#include "gear.h"
#include "nut.h"
#include "torus.h"
#include "sdflib.h"
namespace mujoco::plugin::sdf {
@@ -27,7 +26,6 @@ mjPLUGIN_LIB_INIT {
Gear::RegisterPlugin();
Nut::RegisterPlugin();
Torus::RegisterPlugin();
SdfLib::RegisterPlugin();
}
} // namespace mujoco::plugin::sdf