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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_vis_visualize.c
+4 -3
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@@ -133,7 +133,7 @@ static void addContactGeom(const mjModel* m, mjData* d, const mjtByte* flags,
// override standard colors if visualizing islands
if (vopt->flags[mjVIS_ISLAND] && d->nisland && efc_adr >= 0) {
// set color using island's first dof
islandColor(thisgeom->rgba, d->island_dofadr[d->efc_island[efc_adr]]);
islandColor(thisgeom->rgba, d->island_dofind[d->island_dofadr[d->efc_island[efc_adr]]]);
}
// otherwise regular colors (different for included and excluded contacts)
@@ -1182,7 +1182,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
int island = d->dof_island[m->body_dofadr[weld_id]];
if (island > -1) {
// color using island's first dof
islandColor(rgba_island, d->island_dofadr[island]);
islandColor(rgba_island, d->island_dofind[d->island_dofadr[island]]);
}
}
}
@@ -1583,7 +1583,8 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
rgba = rgba_island;
if (d->tendon_efcadr[i] != -1) {
// set color using island's first dof
islandColor(rgba_island, d->island_dofadr[d->efc_island[d->tendon_efcadr[i]]]);
int island = d->efc_island[d->tendon_efcadr[i]];
islandColor(rgba_island, d->island_dofind[d->island_dofadr[island]]);
}
}
setMaterial(m, thisgeom, tendon_matid, rgba, vopt->flags);