Refactor constraint island representation.

Required for constraint solver islanding.

Replace linked lists with `island_{dof,efc}_{num,adr,ind}`, corresponding to the standard `{rownnz,rowadr,colind}` sparse matrix representation. By effectively defining two sparse matrix structures of dimensions `nisland x nv` and `nisland x nefc`, respectively, this representation is more conducive to reuse of existing sparse matrix utility functions, while being cache-friendlier by making sequential indices adjacent in memory.

PiperOrigin-RevId: 559704957
Change-Id: I919362cbef0d5fe5acc4aa2bb4ffb17eee8223a2

This commit is contained in:

Yuval Tassa

2023-08-24 03:48:10 -07:00

committed by

Copybara-Service

parent b92a9d599c

commit 1dad5993f0

11 changed files with 248 additions and 188 deletions

									
										include/mujoco/mjvisualize.h
									
		+1
		
												View File
												
				@@ -588,6 +588,7 @@ struct mjvSceneState_ {

				    mjtByte* bvh_active;

				    int* island_dofadr;

				    int* island_dofind;

				    int* dof_island;

				    int* efc_island;

				    int* tendon_efcadr;