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
The following dependencies are disabled with a cmake patch file. - Enoki - OpenMP - Assimp - FCPW PiperOrigin-RevId: 565352386 Change-Id: Icff9de68408e0afa2032bb83b24491fc4e41d181
Alessio Quaglino