Yuval Tassa
18d9f1abb0
- Fixed bug in timing of kinematics, was under-reported. - Moved timing of inertia and collision into respective functions, in preparation for multi-threading. - Detailed profiling in `testspeed` is always on, removed command-line flag. - Improved `testspeed` self-documentation. PiperOrigin-RevId: 571989548 Change-Id: If0e3cc17f6f3511b98fc36339f406a19968a9361
53 lines
1.9 KiB
C
53 lines
1.9 KiB
C
// Copyright 2021 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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// http://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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#ifndef MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
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#define MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
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#include <stdint.h>
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#include <mujoco/mjmacro.h>
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#include "engine/engine_callback.h" // IWYU pragma: export
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//-------------------------------- utility macros --------------------------------------------------
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// thread local macro
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#ifdef _MSC_VER
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#define mjTHREADLOCAL __declspec(thread)
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#else
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#define mjTHREADLOCAL _Thread_local
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#endif
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//-------------------------- timer macros ----------------------------------------------------------
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#define TM_START mjtNum _tm = (mjcb_time ? mjcb_time() : 0);
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#define TM_RESTART _tm = (mjcb_time ? mjcb_time() : 0);
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#define TM_END(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm); d->timer[i].number++;}
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#define TM_ADD(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm);}
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#define TM_START1 mjtNum _tm1 = (mjcb_time ? mjcb_time() : 0);
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#define TM_END1(i) {d->timer[i].duration += ((mjcb_time ? mjcb_time() : 0) - _tm1); d->timer[i].number++;}
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//-------------------------- compiler builtin ------------------------------------------------------
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#ifndef __has_builtin
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#define __has_builtin(x) 0
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#endif
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//-------------------------- pointer arithmetic ----------------------------------------------------
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#define PTRDIFF(x, y) ((char*)(x) - (char*)(y))
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#endif // MUJOCO_SRC_ENGINE_ENGINE_MACRO_H_
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