diff options
Diffstat (limited to 'src/dynamics/joint/multibody_joint/multibody.rs')
| -rw-r--r-- | src/dynamics/joint/multibody_joint/multibody.rs | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/dynamics/joint/multibody_joint/multibody.rs b/src/dynamics/joint/multibody_joint/multibody.rs index f05ce75..cb25624 100644 --- a/src/dynamics/joint/multibody_joint/multibody.rs +++ b/src/dynamics/joint/multibody_joint/multibody.rs @@ -489,6 +489,7 @@ impl Multibody { } /// Computes the constant terms of the dynamics. + #[profiling::function] pub(crate) fn update_dynamics(&mut self, dt: Real, bodies: &mut RigidBodySet) { /* * Compute velocities. @@ -1094,6 +1095,7 @@ impl Multibody { /// is the sum of the current position of `self` and this `displacement`. // TODO: this shares a lot of code with `forward_kinematics` and `update_body_jacobians`, except // that we are only traversing a single kinematic chain. Could this be refactored? + #[profiling::function] pub fn forward_kinematics_single_branch( &self, bodies: &RigidBodySet, |