dojo-sim / Dojo.jl

A differentiable physics engine for robotics
MIT License
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Memory allocations #81

Open janbruedigam opened 1 year ago

janbruedigam commented 1 year ago

Functions related to contact handling are allocating a lot of memory. Could be tracked down and reduced for improved speed. The following code could be used for profiling (https://docs.julialang.org/en/v1/manual/profile/#Line-by-Line-Allocation-Tracking):

using Dojo
using DojoEnvironments

mechanism = get_mechanism(:block) 
storage = simulate!(mechanism, 1, record=true)