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Add mjData.nA the number of non-zeros in the constraint inverse inertia matrix.

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PiperOrigin-RevId: 714076988
Change-Id: I4c323a6e81dfb23f7972b662719bbcb688bacf4a
This commit is contained in:
Yuval Tassa
2025-01-10 09:22:58 -08:00
committed by Copybara-Service
parent ca6162e6d0
commit 2409a6e537
9 changed files with 23 additions and 9 deletions
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doc/includes/references.h
+3 -2
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@@ -170,6 +170,7 @@ struct mjData_ {
int nl; // number of limit constraints
int nefc; // number of constraints
int nJ; // number of non-zeros in constraint Jacobian
int nA; // number of non-zeros in constraint inverse inertia matrix
int nisland; // number of detected constraint islands
// global properties
@@ -391,8 +392,8 @@ struct mjData_ {
// computed by mj_projectConstraint (PGS solver)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
int* efc_AR_colind; // column indices in sparse AR (nA x 1)
mjtNum* efc_AR; // J*inv(M)*J' + R (nA x 1)
//-------------------- arena-allocated: POSITION, VELOCITY dependent
include/mujoco/mjdata.h
+3 -2
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@@ -198,6 +198,7 @@ struct mjData_ {
int nl; // number of limit constraints
int nefc; // number of constraints
int nJ; // number of non-zeros in constraint Jacobian
int nA; // number of non-zeros in constraint inverse inertia matrix
int nisland; // number of detected constraint islands
// global properties
@@ -419,8 +420,8 @@ struct mjData_ {
// computed by mj_projectConstraint (PGS solver)
int* efc_AR_rownnz; // number of non-zeros in AR (nefc x 1)
int* efc_AR_rowadr; // row start address in colind array (nefc x 1)
int* efc_AR_colind; // column indices in sparse AR (nefc x nefc)
mjtNum* efc_AR; // J*inv(M)*J' + R (nefc x nefc)
int* efc_AR_colind; // column indices in sparse AR (nA x 1)
mjtNum* efc_AR; // J*inv(M)*J' + R (nA x 1)
//-------------------- arena-allocated: POSITION, VELOCITY dependent
include/mujoco/mjxmacro.h
+3 -2
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@@ -715,8 +715,8 @@
#define MJDATA_ARENA_POINTERS_DUAL \
X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
X( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
X( int, efc_AR_colind, MJ_D(nefc), MJ_D(nefc) ) \
X( mjtNum, efc_AR, MJ_D(nefc), MJ_D(nefc) )
X( int, efc_AR_colind, MJ_D(nA), 1 ) \
X( mjtNum, efc_AR, MJ_D(nA), 1 )
// array fields of mjData that are used for constraint islands
#define MJDATA_ARENA_POINTERS_ISLAND \
@@ -757,6 +757,7 @@
X( int, nl ) \
X( int, nefc ) \
X( int, nJ ) \
X( int, nA ) \
X( int, nisland ) \
X( mjtNum, time ) \
X( uintptr_t, threadpool )
introspect/structs.py
+7 -2
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@@ -4701,6 +4701,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=ValueType(name='int'),
doc='number of non-zeros in constraint Jacobian',
),
StructFieldDecl(
name='nA',
type=ValueType(name='int'),
doc='number of non-zeros in constraint inverse inertia matrix',
),
StructFieldDecl(
name='nisland',
type=ValueType(name='int'),
@@ -5797,7 +5802,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='int'),
),
doc='column indices in sparse AR',
array_extent=('nefc', 'nefc'),
array_extent=('nA',),
),
StructFieldDecl(
name='efc_AR',
@@ -5805,7 +5810,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'),
),
doc="J*inv(M)*J' + R",
array_extent=('nefc', 'nefc'),
array_extent=('nA',),
),
StructFieldDecl(
name='efc_vel',
python/mujoco/structs.cc
+2
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@@ -748,6 +748,7 @@ void MjDataWrapper::Serialize(std::ostream& output) const {
X(ne);
X(nf);
X(nJ);
X(nA);
X(nefc);
X(nisland);
X(time);
@@ -825,6 +826,7 @@ MjDataWrapper MjDataWrapper::Deserialize(std::istream& input) {
X(ne);
X(nf);
X(nJ);
X(nA);
X(nefc);
X(nisland);
X(time);
src/engine/engine_core_constraint.c
+2 -1
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@@ -1943,7 +1943,7 @@ static int mj_nc(const mjModel* m, mjData* d, int* nnz) {
// driver: call all functions above
void mj_makeConstraint(const mjModel* m, mjData* d) {
// clear sizes
d->ne = d->nf = d->nl = d->nefc = d->nJ = 0;
d->ne = d->nf = d->nl = d->nefc = d->nJ = d->nA = 0;
// disabled or Jacobian not allocated: return
if (mjDISABLED(mjDSBL_CONSTRAINT)) {
@@ -1960,6 +1960,7 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
d->nJ = nefc_allocated * m->nv;
}
d->nefc = nefc_allocated;
d->nA = d->nefc * d->nefc;
// allocate efc arrays on arena
if (!arenaAllocEfc(m, d)) {
src/engine/engine_io.c
+1
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@@ -1893,6 +1893,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
d->nl = 0;
d->nefc = 0;
d->nJ = 0;
d->nA = 0;
d->nisland = 0;
// clear global properties
test/engine/engine_io_test.cc
+1
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@@ -157,6 +157,7 @@ TEST_F(EngineIoTest, ResetVariableSizes) {
EXPECT_EQ(data->nf, 0);
EXPECT_EQ(data->nefc, 0);
EXPECT_EQ(data->nJ, 0);
EXPECT_EQ(data->nA, 0);
EXPECT_EQ(data->ncon, 0);
mj_deleteData(data);
unity/Runtime/Bindings/MjBindings.cs
+1
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@@ -4852,6 +4852,7 @@ public unsafe struct mjData_ {
public int nl;
public int nefc;
public int nJ;
public int nA;
public int nisland;
public double time;
public fixed double energy[2];