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

PiperOrigin-RevId: 493324356 Change-Id: I5f71dc1a8ae40c18864ea80f00a5f86ff952f72c
2022-12-06 09:13:50 -08:00
parent 7f459ab8ca
commit 2d304d65e5
3 changed files with 151 additions and 15 deletions
@@ -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