[FEATURE] Add performance mode (Genesis-Embodied-AI#1330)

* add perofrmance mode

* change how performance mode is applied

* move back into args

* add info about perofrmance mode

* update comment

---------

Co-authored-by: Alexis DUBURCQ <alexis.duburcq@gmail.com>
Co-authored-by: YilingQiao <49262224+YilingQiao@users.noreply.github.com>

Author: 3 people

genesis/__init__.py

@@ -50,6 +50,7 @@ def init(
     backend=None,
     theme="dark",
     logger_verbose_time=False,
+    performance_mode: bool = False,  # True: compilation up to 6x slower (GJK), but runs ~1-5% faster
 ):
     # Consider Genesis as initialized right away
     global _initialized
@@ -172,6 +173,12 @@ def init(
         torch.backends.cudnn.benchmark = False
         logger.info("Beware running Genesis in debug mode dramatically reduces runtime speed.")
 
+    if not performance_mode:
+        logger.info(
+            "Consider setting 'performance_mode=True' in production to maximise runtime speed, if significantly "
+            "increasing compilation time is not a concern."
+        )
+
     if seed is not None:
         global SEED
         SEED = seed
@@ -197,6 +204,7 @@ def init(
             force_scalarize_matrix=True,
             # Turning off 'advanced_optimization' is causing issues on MacOS
             advanced_optimization=True,
+            cfg_optimization=performance_mode,
             fast_math=not debug,
             default_ip=ti_int,
             default_fp=ti_float,