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

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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
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src/engine/engine_util_sparse.h
+8 -8
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@@ -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