chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Set nativeccd as default.

Browse Source 
PiperOrigin-RevId: 731343200
Change-Id: I315779017b676f3d118e0d38ee53a515272f50b8
This commit is contained in:
Kyle Bayes
2025-02-26 09:14:19 -08:00
committed by Copybara-Service
parent 4f691eeae4
commit ed16f2daf2
21 changed files with 232 additions and 157 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/benchmark/ccd_benchmark_test.cc
+11 -11
View File
@@ -42,11 +42,11 @@ static const char kMixedPath[] =
class TestHarness {
public:
TestHarness(const char* xml_path, std::string label, int enable_flags = 0) {
TestHarness(const char* xml_path, std::string label, int disable_flags = 0) {
// Fail test if there are any mujoco errors
MujocoErrorTestGuard guard;
model_ = LoadModelFromPath(xml_path);
model_->opt.enableflags |= enable_flags;
model_->opt.disableflags |= disable_flags;
data_ = mj_makeData(model_);
for (int i=0; i < kNumWarmupSteps; i++) {
mj_step(model_, data_);
@@ -100,43 +100,43 @@ class TestHarness {
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_BoxMesh_NativeCCD(benchmark::State& state) {
static TestHarness harness(kBoxMeshPath, "boxmesh.xml (nativeccd)",
mjENBL_NATIVECCD);
static TestHarness harness(kBoxMeshPath, "boxmesh.xml (nativeccd)");
harness.RunBenchmark(state);
}
BENCHMARK(BM_BoxMesh_NativeCCD);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_BoxMesh_LibCCD(benchmark::State& state) {
static TestHarness harness(kBoxMeshPath, "boxmesh.xml (libccd)");
static TestHarness harness(kBoxMeshPath, "boxmesh.xml (libccd)",
mjDSBL_NATIVECCD);
harness.RunBenchmark(state);
}
BENCHMARK(BM_BoxMesh_LibCCD);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_Ellipsoid_NativeCCD(benchmark::State& state) {
static TestHarness harness(kEllipsoidPath, "ellipsoid.xml (nativeccd)",
mjENBL_NATIVECCD);
static TestHarness harness(kEllipsoidPath, "ellipsoid.xml (nativeccd)");
harness.RunBenchmark(state);
}
BENCHMARK(BM_Ellipsoid_NativeCCD);
void ABSL_ATTRIBUTE_NO_TAIL_CALL
BM_Ellipsoid_LibCCD(benchmark::State& state) {
static TestHarness harness(kEllipsoidPath, "ellipsoid.xml (libccd)");
static TestHarness harness(kEllipsoidPath, "ellipsoid.xml (libccd)",
mjDSBL_NATIVECCD);
harness.RunBenchmark(state);
}
BENCHMARK(BM_Ellipsoid_LibCCD);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_Mixed_NativeCCD(benchmark::State& state) {
static TestHarness harness(kMixedPath, "mixed.xml (nativeccd)",
mjENBL_NATIVECCD);
static TestHarness harness(kMixedPath, "mixed.xml (nativeccd)");
harness.RunBenchmark(state);
}
BENCHMARK(BM_Mixed_NativeCCD);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_Mixed_LibCCD(benchmark::State& state) {
static TestHarness harness(kMixedPath, "mixed.xml (libccd)");
static TestHarness harness(kMixedPath, "mixed.xml (libccd)",
mjDSBL_NATIVECCD);
harness.RunBenchmark(state);
}
BENCHMARK(BM_Mixed_LibCCD);