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Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.

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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
This commit is contained in:
Yuval Tassa
2025-03-04 17:33:48 -08:00
committed by Copybara-Service
parent 51f6aa8b43
commit 0f563ecf31
20 changed files with 95 additions and 98 deletions
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test/engine/engine_derivative_test.cc
+2 -2
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@@ -436,7 +436,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
Ac[nv*nv + i*nv + i] = -m->dof_damping[i];
}
mj_solveLD(Ac, d->qH, d->qHDiagInv, nv, 2*nv,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
// A = [dt*Ac; Ac]
mju_transpose(A, Ac, 2*nv, nv);
@@ -464,7 +464,7 @@ static void LinearSystem(const mjModel* m, mjData* d, mjtNum* A, mjtNum* B) {
mju_sparse2dense(Bc, d->actuator_moment, nu, nv, d->moment_rownnz,
d->moment_rowadr, d->moment_colind);
mj_solveLD(Bc, d->qH, d->qHDiagInv, nv, nu,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
mju_transpose(BcT, Bc, nu, nv);
mju_scl(B, BcT, dt*dt, nu*nv);
mju_scl(B+nu*nv, BcT, dt, nu*nv);