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Add nodes variable set #438

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@Levi-Armstrong Levi-Armstrong commented Jan 7, 2025 •
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Replaces #401

Benchmarking (Before Change)

Example Contact Manager First Solve (s) Remaining Solve Avg. (s) Count
FreespaceOMPLExample BulletDiscreteBVHManager 0.040960 0.024555 99
FreespaceOMPLExample BulletDiscreteSimpleManager 0.026005 0.023682 99
BasicCartesianExample BulletDiscreteBVHManager 0.058498 0.024594 99
BasicCartesianExample BulletDiscreteSimpleManager 0.027819 0.020204 99
BasicCartesianExample(Ifopt) BulletDiscreteBVHManager 0.066228 0.027674 99
BasicCartesianExample(Ifopt) BulletDiscreteSimpleManager 0.064870 0.023049 99
GlassUprightExample BulletDiscreteBVHManager 0.010753 0.009092 99
GlassUprightExample BulletDiscreteSimpleManager 0.009465 0.008770 99
GlassUprightExample(Ifopt) BulletDiscreteBVHManager 0.068425 0.067227 99
GlassUprightExample(Ifopt) BulletDiscreteSimpleManager 0.100040 0.064554 99
PuzzlePieceExample BulletDiscreteBVHManager 9.016303 9.107914 9
PuzzlePieceExample BulletDiscreteSimpleManager 9.332574 9.238653 9
PuzzlePieceExample(Ifopt) BulletDiscreteBVHManager 18.635099 19.111550 9
PuzzlePieceExample(Ifopt) BulletDiscreteSimpleManager 17.486745 17.433574 9
PuzzlePieceAuxillaryAxesExample BulletDiscreteBVHManager 15.307886 14.822793 9
PuzzlePieceAuxillaryAxesExample BulletDiscreteSimpleManager 14.887778 14.888927 9
PuzzlePieceAuxillaryAxesExample(Ifopt) BulletDiscreteBVHManager 25.082011 25.068656 9
PuzzlePieceAuxillaryAxesExample(Ifopt) BulletDiscreteSimpleManager 27.021384 27.338398 9

After Change:

Example Contact Manager First Solve (s) Remaining Solve Avg. (s) Count
FreespaceOMPLExample BulletDiscreteBVHManager 0.048739 0.026378 99
FreespaceOMPLExample BulletDiscreteSimpleManager 0.026232 0.024063 99
BasicCartesianExample BulletDiscreteBVHManager 0.063885 0.024202 99
BasicCartesianExample BulletDiscreteSimpleManager 0.058234 0.019819 99
BasicCartesianExample(Ifopt) BulletDiscreteBVHManager 0.029517 0.026882 99
BasicCartesianExample(Ifopt) BulletDiscreteSimpleManager 0.022619 0.022333 99
GlassUprightExample BulletDiscreteBVHManager 0.010878 0.008970 99
GlassUprightExample BulletDiscreteSimpleManager 0.012711 0.008699 99
GlassUprightExample(Ifopt) BulletDiscreteBVHManager 0.067301 0.066406 99
GlassUprightExample(Ifopt) BulletDiscreteSimpleManager 0.066014 0.064234 99
PuzzlePieceExample BulletDiscreteBVHManager 8.879751 8.610072 9
PuzzlePieceExample BulletDiscreteSimpleManager 10.500842 9.618673 9
PuzzlePieceExample(Ifopt) BulletDiscreteBVHManager 19.056342 18.082662 9
PuzzlePieceExample(Ifopt) BulletDiscreteSimpleManager 15.494704 15.724237 9
PuzzlePieceAuxillaryAxesExample BulletDiscreteBVHManager 14.702381 14.436466 9
PuzzlePieceAuxillaryAxesExample BulletDiscreteSimpleManager 14.559735 15.329134 9
PuzzlePieceAuxillaryAxesExample(Ifopt) BulletDiscreteBVHManager 25.186723 27.887063 9
PuzzlePieceAuxillaryAxesExample(Ifopt) BulletDiscreteSimpleManager 25.833278 28.225780 9

@Levi-Armstrong Levi-Armstrong force-pushed the feature/node-variable-set branch from 71b2da4 to 39a9da6 Compare January 7, 2025 23:22
@Levi-Armstrong Levi-Armstrong force-pushed the feature/node-variable-set branch from 39a9da6 to bf4a31c Compare December 2, 2025 20:47
@Levi-Armstrong Levi-Armstrong force-pushed the feature/node-variable-set branch from bf4a31c to 87b06be Compare December 3, 2025 21:51
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