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Rework sparse addM function to support compressed sparse matrices.

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Note:

- M is still a nv x nv uncompressed sparse matrix.
- NNZ precounting still needs to be implemented using the combineSparseCount helper function.

PiperOrigin-RevId: 554452710
Change-Id: I14adf58fc3acd4ed82d864d7c2e9e96ee6b0377d
This commit is contained in:
Kyle Bayes
2023-08-07 06:06:33 -07:00
committed by Copybara-Service
parent 6d7b49ccf5
commit 2d7d5319f7
4 changed files with 93 additions and 104 deletions
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src/engine/engine_support.h
+7 -2
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@@ -116,9 +116,14 @@ MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum
MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
int* rownnz, int* rowadr, int* colind);
// add inertia matrix to sparse uncompressed destination matrix
// create inertia matrix M (uncompressed)
MJAPI void mj_createMSparse(const mjModel* m, mjData* d, mjtNum* M,
int* M_rownnz, int* M_rowadr, int* M_colind);
// add inertia matrix to sparse destination matrix
MJAPI void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
int* rownnz, int* rowadr, int* colind);
int* rownnz, int* rowadr, int* colind, mjtNum* M,
int* M_rownnz, int* M_rowadr, int* M_colind);
// add inertia matrix to dense destination matrix
MJAPI void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst);