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Stop over-allocating memory in Newton solver.

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PiperOrigin-RevId: 684797464
Change-Id: I3389416cb69a8564b5119f6e3944b579893ea511
This commit is contained in:
Yuval Tassa
2024-10-11 05:08:27 -07:00
committed by Copybara-Service
parent 9aca4bccac
commit 2dd518734f
8 changed files with 220 additions and 99 deletions
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doc/changelog.rst
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@@ -8,9 +8,13 @@ Upcoming version (not yet released)
General
^^^^^^^
- The Newton solver no longer requires ``nv*nv`` memory allocation, allowing for much larger models. See e.g.,
`100_humanoids.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/100_humanoids.xml>`__.
Two quadratic-memory allocations still remain to be fully sparsified: ``mjData.actuator_moment`` and the matrices used
by the PGS solver.
- Removed the :at:`solid` and :at:`membrane` plugins and moved the associated computations into the engine. See `3D
example model <https://github.com/google-deepmind/mujoco/blob/main/model/flex/floppy.xml>`__ and `2D example model
<https://github.com/google-deepmind/mujoco/blob/main/src/model/trampoline.xml>`__ for examples of flex objects
<https://github.com/google-deepmind/mujoco/blob/main/model/flex/trampoline.xml>`__ for examples of flex objects
that previously required these plugins.
- Replaced the function ``mjs_setActivePlugins`` with :ref:`mjs_activatePlugin`.