chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove meaningless const qualifier for scalar arguments in sparse function signatures.

Browse Source 
PiperOrigin-RevId: 679568516
Change-Id: I910626cd9555966c3b0a9ffba4064d263b2c16e1
This commit is contained in:
Yuval Tassa
2024-09-27 06:36:13 -07:00
committed by Copybara-Service
parent 6a6e10d779
commit 176345b4e1
3 changed files with 15 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_sparse_avx.h
+6 -6
View File
@@ -32,8 +32,8 @@
// dot-product, first vector is sparse
// flg_unc1: is vec1 memory layout uncompressed
static inline
mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2,
const int nnz1, const int* ind1, int flg_unc1) {
mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
int flg_unc1) {
int i = 0;
mjtNum res = 0;
int nnz1_4 = nnz1 - 4;
@@ -115,7 +115,7 @@ mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2,
static inline
void mju_dotSparseX3_avx(mjtNum* res0, mjtNum* res1, mjtNum* res2, const mjtNum* vec10,
const mjtNum* vec11, const mjtNum* vec12, const mjtNum* vec2,
const int nnz1, const int* ind1) {
int nnz1, const int* ind1) {
int i = 0;
// clear result
@@ -209,7 +209,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
if (!rowsuper) {
// regular sparse dot-product
for (int r=0; r<nr; r++) {
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc2=*/0);
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
}
return;
@@ -232,7 +232,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
// handle remaining rows
while (rs>0) {
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc2=*/0);
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
r++;
rs--;
@@ -243,7 +243,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
}
else {
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc2=*/0);
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
}
}
}