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Reduce internal names hash map from factor of 1 to 0.5.

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PiperOrigin-RevId: 499762072
Change-Id: Id4ea606b5c534c55665485c9f71412523164d2ed
This commit is contained in:
Kyle Bayes
2023-01-05 01:28:23 -08:00
committed by Copybara-Service
parent 928eb7a067
commit 0c463366a0
4 changed files with 57 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_io.c
+5 -3
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@@ -438,9 +438,11 @@ mjModel* mj_makeModel(int nq, int nv, int nu, int na, int nbody, int njnt,
m->nuser_actuator = nuser_actuator; m->nuser_actuator = nuser_actuator;
m->nuser_sensor = nuser_sensor; m->nuser_sensor = nuser_sensor;
m->nnames = nnames; m->nnames = nnames;
m->nnames_map = nbody + njnt + ngeom + nsite + ncam + nlight + nmesh + nskin m->nnames_map = mjLOAD_MULTIPLE
+ nhfield + ntex + nmat + npair + nexclude + neq + ntendon * (nbody + njnt + ngeom + nsite + ncam + nlight + nmesh
+ nu + nsensor + nnumeric + ntext + ntuple + nkey + nplugin; + nskin + nhfield + ntex + nmat + npair + nexclude + neq
+ ntendon + nu + nsensor + nnumeric + ntext + ntuple
+ nkey + nplugin);
#define X(name) \ #define X(name) \
if ((m->name) < 0) { \ if ((m->name) < 0) { \
src/engine/engine_io.h
+3
View File
@@ -23,6 +23,9 @@
extern "C" { extern "C" {
#endif #endif
// internal hash map size factor (2 corresponds to a load factor of 0.5)
#define mjLOAD_MULTIPLE 2
//------------------------------- initialization --------------------------------------------------- //------------------------------- initialization ---------------------------------------------------
// Set default options for length range computation. // Set default options for length range computation.
src/engine/engine_support.c
+25 -25
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@@ -443,13 +443,13 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
switch (type) { switch (type) {
case mjOBJ_BODY: case mjOBJ_BODY:
case mjOBJ_XBODY: case mjOBJ_XBODY:
*mapadr -= m->nbody; *mapadr -= mjLOAD_MULTIPLE*m->nbody;
*padr = m->name_bodyadr; *padr = m->name_bodyadr;
num = m->nbody; num = m->nbody;
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_JOINT: case mjOBJ_JOINT:
*mapadr -= m->njnt; *mapadr -= mjLOAD_MULTIPLE*m->njnt;
if (num < 0) { if (num < 0) {
*padr = m->name_jntadr; *padr = m->name_jntadr;
num = m->njnt; num = m->njnt;
@@ -457,7 +457,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_GEOM: case mjOBJ_GEOM:
*mapadr -= m->ngeom; *mapadr -= mjLOAD_MULTIPLE*m->ngeom;
if (num < 0) { if (num < 0) {
*padr = m->name_geomadr; *padr = m->name_geomadr;
num = m->ngeom; num = m->ngeom;
@@ -465,7 +465,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_SITE: case mjOBJ_SITE:
*mapadr -= m->nsite; *mapadr -= mjLOAD_MULTIPLE*m->nsite;
if (num < 0) { if (num < 0) {
*padr = m->name_siteadr; *padr = m->name_siteadr;
num = m->nsite; num = m->nsite;
@@ -473,7 +473,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_CAMERA: case mjOBJ_CAMERA:
*mapadr -= m->ncam; *mapadr -= mjLOAD_MULTIPLE*m->ncam;
if (num < 0) { if (num < 0) {
*padr = m->name_camadr; *padr = m->name_camadr;
num = m->ncam; num = m->ncam;
@@ -481,7 +481,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_LIGHT: case mjOBJ_LIGHT:
*mapadr -= m->nlight; *mapadr -= mjLOAD_MULTIPLE*m->nlight;
if (num < 0) { if (num < 0) {
*padr = m->name_lightadr; *padr = m->name_lightadr;
num = m->nlight; num = m->nlight;
@@ -489,7 +489,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_MESH: case mjOBJ_MESH:
*mapadr -= m->nmesh; *mapadr -= mjLOAD_MULTIPLE*m->nmesh;
if (num < 0) { if (num < 0) {
*padr = m->name_meshadr; *padr = m->name_meshadr;
num = m->nmesh; num = m->nmesh;
@@ -497,7 +497,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_SKIN: case mjOBJ_SKIN:
*mapadr -= m->nskin; *mapadr -= mjLOAD_MULTIPLE*m->nskin;
if (num < 0) { if (num < 0) {
*padr = m->name_skinadr; *padr = m->name_skinadr;
num = m->nskin; num = m->nskin;
@@ -505,7 +505,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_HFIELD: case mjOBJ_HFIELD:
*mapadr -= m->nhfield; *mapadr -= mjLOAD_MULTIPLE*m->nhfield;
if (num < 0) { if (num < 0) {
*padr = m->name_hfieldadr; *padr = m->name_hfieldadr;
num = m->nhfield; num = m->nhfield;
@@ -513,7 +513,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_TEXTURE: case mjOBJ_TEXTURE:
*mapadr -= m->ntex; *mapadr -= mjLOAD_MULTIPLE*m->ntex;
if (num < 0) { if (num < 0) {
*padr = m->name_texadr; *padr = m->name_texadr;
num = m->ntex; num = m->ntex;
@@ -521,7 +521,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_MATERIAL: case mjOBJ_MATERIAL:
*mapadr -= m->nmat; *mapadr -= mjLOAD_MULTIPLE*m->nmat;
if (num < 0) { if (num < 0) {
*padr = m->name_matadr; *padr = m->name_matadr;
num = m->nmat; num = m->nmat;
@@ -529,7 +529,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_PAIR: case mjOBJ_PAIR:
*mapadr -= m->npair; *mapadr -= mjLOAD_MULTIPLE*m->npair;
if (num < 0) { if (num < 0) {
*padr = m->name_pairadr; *padr = m->name_pairadr;
num = m->npair; num = m->npair;
@@ -537,7 +537,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_EXCLUDE: case mjOBJ_EXCLUDE:
*mapadr -= m->nexclude; *mapadr -= mjLOAD_MULTIPLE*m->nexclude;
if (num < 0) { if (num < 0) {
*padr = m->name_excludeadr; *padr = m->name_excludeadr;
num = m->nexclude; num = m->nexclude;
@@ -545,7 +545,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_EQUALITY: case mjOBJ_EQUALITY:
*mapadr -= m->neq; *mapadr -= mjLOAD_MULTIPLE*m->neq;
if (num < 0) { if (num < 0) {
*padr = m->name_eqadr; *padr = m->name_eqadr;
num = m->neq; num = m->neq;
@@ -553,7 +553,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_TENDON: case mjOBJ_TENDON:
*mapadr -= m->ntendon; *mapadr -= mjLOAD_MULTIPLE*m->ntendon;
if (num < 0) { if (num < 0) {
*padr = m->name_tendonadr; *padr = m->name_tendonadr;
num = m->ntendon; num = m->ntendon;
@@ -561,7 +561,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_ACTUATOR: case mjOBJ_ACTUATOR:
*mapadr -= m->nu; *mapadr -= mjLOAD_MULTIPLE*m->nu;
if (num < 0) { if (num < 0) {
*padr = m->name_actuatoradr; *padr = m->name_actuatoradr;
num = m->nu; num = m->nu;
@@ -569,7 +569,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_SENSOR: case mjOBJ_SENSOR:
*mapadr -= m->nsensor; *mapadr -= mjLOAD_MULTIPLE*m->nsensor;
if (num < 0) { if (num < 0) {
*padr = m->name_sensoradr; *padr = m->name_sensoradr;
num = m->nsensor; num = m->nsensor;
@@ -577,7 +577,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_NUMERIC: case mjOBJ_NUMERIC:
*mapadr -= m->nnumeric; *mapadr -= mjLOAD_MULTIPLE*m->nnumeric;
if (num < 0) { if (num < 0) {
*padr = m->name_numericadr; *padr = m->name_numericadr;
num = m->nnumeric; num = m->nnumeric;
@@ -585,7 +585,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_TEXT: case mjOBJ_TEXT:
*mapadr -= m->ntext; *mapadr -= mjLOAD_MULTIPLE*m->ntext;
if (num < 0) { if (num < 0) {
*padr = m->name_textadr; *padr = m->name_textadr;
num = m->ntext; num = m->ntext;
@@ -593,7 +593,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_TUPLE: case mjOBJ_TUPLE:
*mapadr -= m->ntuple; *mapadr -= mjLOAD_MULTIPLE*m->ntuple;
if (num < 0) { if (num < 0) {
*padr = m->name_tupleadr; *padr = m->name_tupleadr;
num = m->ntuple; num = m->ntuple;
@@ -601,7 +601,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_KEY: case mjOBJ_KEY:
*mapadr -= m->nkey; *mapadr -= mjLOAD_MULTIPLE*m->nkey;
if (num < 0) { if (num < 0) {
*padr = m->name_keyadr; *padr = m->name_keyadr;
num = m->nkey; num = m->nkey;
@@ -609,7 +609,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
mjFALLTHROUGH; mjFALLTHROUGH;
case mjOBJ_PLUGIN: case mjOBJ_PLUGIN:
*mapadr -= m->nplugin; *mapadr -= mjLOAD_MULTIPLE*m->nplugin;
if (num < 0) { if (num < 0) {
*padr = m->name_pluginadr; *padr = m->name_pluginadr;
num = m->nplugin; num = m->nplugin;
@@ -622,6 +622,7 @@ static int _getnumadr(const mjModel* m, mjtObj type, int** padr, int* mapadr) {
num = 0; num = 0;
} }
} }
return num; return num;
} }
@@ -642,11 +643,10 @@ int mj_name2id(const mjModel* m, int type, const char* name) {
int* adr = 0; int* adr = 0;
// get number of objects and name addresses // get number of objects and name addresses
int num = _getnumadr(m, type, &adr, &mapadr); int num = mjLOAD_MULTIPLE*_getnumadr(m, type, &adr, &mapadr);
// search // search
if (num) { if (num) { // look up at hash address
// look up at hash address
uint64_t hash = mj_hashdjb2(name, num); uint64_t hash = mj_hashdjb2(name, num);
uint64_t i = hash; uint64_t i = hash;
src/user/user_model.cc
+24 -23
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@@ -1203,16 +1203,17 @@ void mjCModel::LengthRange(mjModel* m, mjData* data) {
template <class T> template <class T>
static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int* map) { static int namelist(vector<T*>& list, int adr, int* name_adr, char* names, int* map) {
// compute hash map addresses // compute hash map addresses
int map_size = mjLOAD_MULTIPLE*list.size();
for (unsigned int i=0; i<list.size(); i++) { for (unsigned int i=0; i<list.size(); i++) {
// ignore empty strings // ignore empty strings
if (list[i]->name.empty()) { if (list[i]->name.empty()) {
continue; continue;
} }
uint64_t j = mj_hashdjb2(list[i]->name.c_str(), list.size()); uint64_t j = mj_hashdjb2(list[i]->name.c_str(), map_size);
// find first empty slot using linear probing // find first empty slot using linear probing
for (; map[j]!=-1; j=(j+1) % list.size()) {} for (; map[j]!=-1; j=(j+1) % map_size) {}
map[j] = i; map[j] = i;
} }
@@ -1242,67 +1243,67 @@ void mjCModel::CopyNames(mjModel* m) {
// process all lists // process all lists
adr = namelist(bodies, adr, m->name_bodyadr, m->names, map_adr); adr = namelist(bodies, adr, m->name_bodyadr, m->names, map_adr);
map_adr += bodies.size(); map_adr += mjLOAD_MULTIPLE*bodies.size();
adr = namelist(joints, adr, m->name_jntadr, m->names, map_adr); adr = namelist(joints, adr, m->name_jntadr, m->names, map_adr);
map_adr += joints.size(); map_adr += mjLOAD_MULTIPLE*joints.size();
adr = namelist(geoms, adr, m->name_geomadr, m->names, map_adr); adr = namelist(geoms, adr, m->name_geomadr, m->names, map_adr);
map_adr += geoms.size(); map_adr += mjLOAD_MULTIPLE*geoms.size();
adr = namelist(sites, adr, m->name_siteadr, m->names, map_adr); adr = namelist(sites, adr, m->name_siteadr, m->names, map_adr);
map_adr += sites.size(); map_adr += mjLOAD_MULTIPLE*sites.size();
adr = namelist(cameras, adr, m->name_camadr, m->names, map_adr); adr = namelist(cameras, adr, m->name_camadr, m->names, map_adr);
map_adr += cameras.size(); map_adr += mjLOAD_MULTIPLE*cameras.size();
adr = namelist(lights, adr, m->name_lightadr, m->names, map_adr); adr = namelist(lights, adr, m->name_lightadr, m->names, map_adr);
map_adr += lights.size(); map_adr += mjLOAD_MULTIPLE*lights.size();
adr = namelist(meshes, adr, m->name_meshadr, m->names, map_adr); adr = namelist(meshes, adr, m->name_meshadr, m->names, map_adr);
map_adr += meshes.size(); map_adr += mjLOAD_MULTIPLE*meshes.size();
adr = namelist(skins, adr, m->name_skinadr, m->names, map_adr); adr = namelist(skins, adr, m->name_skinadr, m->names, map_adr);
map_adr += skins.size(); map_adr += mjLOAD_MULTIPLE*skins.size();
adr = namelist(hfields, adr, m->name_hfieldadr, m->names, map_adr); adr = namelist(hfields, adr, m->name_hfieldadr, m->names, map_adr);
map_adr += hfields.size(); map_adr += mjLOAD_MULTIPLE*hfields.size();
adr = namelist(textures, adr, m->name_texadr, m->names, map_adr); adr = namelist(textures, adr, m->name_texadr, m->names, map_adr);
map_adr += textures.size(); map_adr += mjLOAD_MULTIPLE*textures.size();
adr = namelist(materials, adr, m->name_matadr, m->names, map_adr); adr = namelist(materials, adr, m->name_matadr, m->names, map_adr);
map_adr += materials.size(); map_adr += mjLOAD_MULTIPLE*materials.size();
adr = namelist(pairs, adr, m->name_pairadr, m->names, map_adr); adr = namelist(pairs, adr, m->name_pairadr, m->names, map_adr);
map_adr += pairs.size(); map_adr += mjLOAD_MULTIPLE*pairs.size();
adr = namelist(excludes, adr, m->name_excludeadr, m->names, map_adr); adr = namelist(excludes, adr, m->name_excludeadr, m->names, map_adr);
map_adr += excludes.size(); map_adr += mjLOAD_MULTIPLE*excludes.size();
adr = namelist(equalities, adr, m->name_eqadr, m->names, map_adr); adr = namelist(equalities, adr, m->name_eqadr, m->names, map_adr);
map_adr += equalities.size(); map_adr += mjLOAD_MULTIPLE*equalities.size();
adr = namelist(tendons, adr, m->name_tendonadr, m->names, map_adr); adr = namelist(tendons, adr, m->name_tendonadr, m->names, map_adr);
map_adr += tendons.size(); map_adr += mjLOAD_MULTIPLE*tendons.size();
adr = namelist(actuators, adr, m->name_actuatoradr, m->names, map_adr); adr = namelist(actuators, adr, m->name_actuatoradr, m->names, map_adr);
map_adr += actuators.size(); map_adr += mjLOAD_MULTIPLE*actuators.size();
adr = namelist(sensors, adr, m->name_sensoradr, m->names, map_adr); adr = namelist(sensors, adr, m->name_sensoradr, m->names, map_adr);
map_adr += sensors.size(); map_adr += mjLOAD_MULTIPLE*sensors.size();
adr = namelist(numerics, adr, m->name_numericadr, m->names, map_adr); adr = namelist(numerics, adr, m->name_numericadr, m->names, map_adr);
map_adr += numerics.size(); map_adr += mjLOAD_MULTIPLE*numerics.size();
adr = namelist(texts, adr, m->name_textadr, m->names, map_adr); adr = namelist(texts, adr, m->name_textadr, m->names, map_adr);
map_adr += texts.size(); map_adr += mjLOAD_MULTIPLE*texts.size();
adr = namelist(tuples, adr, m->name_tupleadr, m->names, map_adr); adr = namelist(tuples, adr, m->name_tupleadr, m->names, map_adr);
map_adr += tuples.size(); map_adr += mjLOAD_MULTIPLE*tuples.size();
adr = namelist(keys, adr, m->name_keyadr, m->names, map_adr); adr = namelist(keys, adr, m->name_keyadr, m->names, map_adr);
map_adr += keys.size(); map_adr += mjLOAD_MULTIPLE*keys.size();
adr = namelist(plugins, adr, m->name_pluginadr, m->names, map_adr); adr = namelist(plugins, adr, m->name_pluginadr, m->names, map_adr);