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Refactor constraint island representation.

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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
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src/engine/engine_print.c
+28 -16
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@@ -1054,27 +1054,27 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
printArray("CFRC_EXT", m->nbody, 6, d->cfrc_ext, fp, float_format);
if (d->nisland) {
fprintf(fp, NAME_FORMAT, "ISLAND_DOFADR");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_dofadr[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_EFCADR");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_efcadr[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "DOF_ISLAND");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->dof_island[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "DOF_ISLANDNEXT");
fprintf(fp, NAME_FORMAT, "ISLAND_DOFNUM");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_dofnum[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_DOFADR");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_dofadr[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_DOFIND");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->dof_islandnext[i]);
fprintf(fp, " %d", d->island_dofind[i]);
}
fprintf(fp, "\n\n");
@@ -1084,9 +1084,21 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "EFC_ISLANDNEXT");
fprintf(fp, NAME_FORMAT, "ISLAND_EFCNUM");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_efcnum[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_EFCADR");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_efcadr[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_EFCIND");
for (int i = 0; i < d->nefc; i++) {
fprintf(fp, " %d", d->efc_islandnext[i]);
fprintf(fp, " %d", d->island_efcind[i]);
}
fprintf(fp, "\n\n");
}