Alessio Quaglino
b81f1db8af
Temporary changes to the octree: - Changed frame from mesh to geom Before change (tolerance 1e-3): ``` Simulation time : 2.34 s Steps per second : 4275 Realtime factor : 8.55 x Time per step : 233.9 µs Newton iters / step : 2.26 Contacts / step : 3.69 Constraints / step : 14.76 Degrees of freedom : 12 Dynamic memory usage : 0.7% of 14M ``` After change (6 octree levels): ``` Simulation time : 2.24 s Steps per second : 4472 Realtime factor : 8.94 x Time per step : 223.6 µs Newton iters / step : 2.47 Contacts / step : 3.37 Constraints / step : 13.49 Degrees of freedom : 12 Dynamic memory usage : 0.2% of 14M ``` PiperOrigin-RevId: 781019754 Change-Id: Ib15581244dfe9e571e1c6c2cac4a101cf3d8ba3d
54 lines
1.4 KiB
CMake
54 lines
1.4 KiB
CMake
# Copyright 2022 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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set(MUJOCO_SDF_INCLUDE ${CMAKE_CURRENT_SOURCE_DIR}/../..
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${CMAKE_CURRENT_SOURCE_DIR}/../../src
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)
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set(MUJOCO_SDF_SRCS
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sdf.cc
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sdf.h
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bolt.cc
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bolt.h
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bowl.cc
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bowl.h
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gear.cc
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gear.h
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register.cc
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nut.cc
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nut.h
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sdflib.cc
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sdflib.h
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torus.cc
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torus.h
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)
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add_library(sdf_plugin SHARED)
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target_sources(sdf_plugin PRIVATE ${MUJOCO_SDF_SRCS})
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target_include_directories(sdf_plugin PRIVATE ${MUJOCO_SDF_INCLUDE})
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target_link_libraries(sdf_plugin PRIVATE mujoco)
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target_compile_options(
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sdf_plugin
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PRIVATE ${AVX_COMPILE_OPTIONS}
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${MUJOCO_MACOS_COMPILE_OPTIONS}
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${EXTRA_COMPILE_OPTIONS}
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${MUJOCO_CXX_FLAGS}
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)
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target_link_options(
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sdf_plugin
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PRIVATE
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${MUJOCO_MACOS_LINK_OPTIONS}
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${EXTRA_LINK_OPTIONS}
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)
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