chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Use memcmp for mju_compare if no AVX. 15% faster on Humanoid.

Browse Source 
PiperOrigin-RevId: 493324356
Change-Id: I5f71dc1a8ae40c18864ea80f00a5f86ff952f72c
This commit is contained in:
Alessio Quaglino
2022-12-06 09:13:50 -08:00
committed by Copybara-Service
parent 7f459ab8ca
commit 2d304d65e5
3 changed files with 151 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_sparse.c
+1 -7
View File
@@ -397,13 +397,7 @@ static int mju_compare(const int* vec1, const int* vec2, int n) {
#endif
// scalar part
for (; i<n; i++) {
if (vec1[i]!=vec2[i]) {
return 0;
}
}
return 1;
return !memcmp(vec1+i, vec2+i, (n-i)*sizeof(int));
}
// combine two sparse vectors: dst = a*dst + b*src, return nnz of result
src/engine/engine_util_sparse.h
+8 -8
View File
@@ -70,14 +70,14 @@ void mju_superSparse(int nr, int* rowsuper,
const int* rownnz, const int* rowadr, const int* colind);
// compute sparse M'*diag*M (diag=NULL: compute M'*M), res has uncompressed layout
void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
const mjtNum* diag, int nr, int nc,
int* res_rownnz, int* res_rowadr, int* res_colind,
const int* rownnz, const int* rowadr,
const int* colind, const int* rowsuper,
const int* rownnzT, const int* rowadrT,
const int* colindT, const int* rowsuperT,
mjData* d);
MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT,
const mjtNum* diag, int nr, int nc,
int* res_rownnz, int* res_rowadr, int* res_colind,
const int* rownnz, const int* rowadr,
const int* colind, const int* rowsuper,
const int* rownnzT, const int* rowadrT,
const int* colindT, const int* rowsuperT,
mjData* d);
#ifdef __cplusplus