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Move square root of Delassus matrix from stack to arena

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PiperOrigin-RevId: 916852244
Change-Id: I4379553f808d0b238a1421606f806ea2d0a33d7c
This commit is contained in:
Yuval Tassa
2026-05-17 11:21:07 -07:00
committed by Copybara-Service
parent 2345663efb
commit 04042d8bf3
11 changed files with 294 additions and 188 deletions
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src/engine/engine_print.c
+7 -4
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@@ -1192,7 +1192,7 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
// BVHs
fprintf(fp, "BVH:\n");
fprintf(fp, " %-8s%-8s%-8s%-10s%-s\n","id", "depth", "nodeid", "child[0]" ,"child[1]");
fprintf(fp, " %-8s%-8s%-8s%-10s%-s\n", "id", "depth", "nodeid", "child[0]", "child[1]");
for (int i=0; i < m->nbvh; i++) {
fprintf(fp, " %-8d%-8d% -8d% -10d% -d\n",
i, m->bvh_depth[i], m->bvh_nodeid[i], m->bvh_child[2*i], m->bvh_child[2*i+1]);
@@ -1204,7 +1204,6 @@ void mj_printFormattedModel(const mjModel* m, const char* filename, const char*
}
}
// print mjModel to text file
void mj_printModel(const mjModel* m, const char* filename) {
mj_printFormattedModel(m, filename, FLOAT_FORMAT);
@@ -1545,7 +1544,6 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
mjtNum force[6] = {0};
mj_contactForce(m, d, i, force);
printVector(" force ", force, 6, fp, float_format);
}
if (d->ncon) fprintf(fp, "\n");
@@ -1568,6 +1566,11 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
d->efc_J_rowadr, d->efc_J_colind, fp, float_format);
mj_printSparsity("J: constraint Jacobian", d->nefc, m->nv, d->efc_J_rowadr, NULL,
d->efc_J_rownnz, d->efc_J_rowsuper, d->efc_J_colind, fp);
if (d->nY) {
mj_printSparsity("EFC_Y: inverse constraint inertia square root", d->nefc, m->nv,
d->efc_Y_rowadr, NULL, d->efc_Y_rownnz, d->efc_J_rowsuper,
d->efc_Y_colind, fp);
}
if (d->nisland) {
mj_printBlockSparsity("IEFC_J: block-diagonalized constraint Jacobian (nnzs are island ids)",
d->nefc, d->nidof, d->nisland,
@@ -1582,7 +1585,7 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
printArray2dInt("EFC_AR_ROWADR", d->nefc, 1, d->efc_AR_rowadr, fp);
printSparse("EFC_AR", d->efc_AR, d->nefc, d->efc_AR_rownnz,
d->efc_AR_rowadr, d->efc_AR_colind, fp, float_format);
mj_printSparsity("efc_AR: inverse constraint inertia", d->nefc, d->nefc, d->efc_AR_rowadr,
mj_printSparsity("EFC_AR: inverse constraint inertia", d->nefc, d->nefc, d->efc_AR_rowadr,
NULL, d->efc_AR_rownnz, NULL, d->efc_AR_colind, fp);
}
}