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Add reduced sparse dof-dof matrix structures to mjData.

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PiperOrigin-RevId: 670919263
Change-Id: I3592de802ae84648d97230115c2e9c3437424968
This commit is contained in:
Yuval Tassa
2024-09-04 04:22:43 -07:00
committed by Copybara-Service
parent 42eb669e4e
commit 3437361bfb
14 changed files with 265 additions and 201 deletions
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include/mujoco/mjdata.h
+10 -6
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@@ -334,14 +334,18 @@ struct mjData_ {
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData
int* D_rownnz; // non-zeros in each row (nv x 1)
int* D_rowadr; // address of each row in D_colind (nv x 1)
int* D_colind; // column indices of non-zeros (nD x 1)
int* B_rownnz; // body-dof: non-zeros in each row (nbody x 1)
int* B_rowadr; // body-dof: address of each row in B_colind (nbody x 1)
int* B_colind; // body-dof: column indices of non-zeros (nB x 1)
int* C_rownnz; // reduced dof-dof: non-zeros in each row (nv x 1)
int* C_rowadr; // reduced dof-dof: address of each row in C_colind (nv x 1)
int* C_colind; // reduced dof-dof: column indices of non-zeros (nC x 1)
int* mapM2C; // index mapping from M to C (nC x 1)
int* D_rownnz; // dof-dof: non-zeros in each row (nv x 1)
int* D_rowadr; // dof-dof: address of each row in D_colind (nv x 1)
int* D_colind; // dof-dof: column indices of non-zeros (nD x 1)
int* mapM2D; // index mapping from M to D (nD x 1)
int* mapD2M; // index mapping from D to M (nM x 1)
int* B_rownnz; // non-zeros in each row (nbody x 1)
int* B_rowadr; // address of each row in B_colind (nbody x 1)
int* B_colind; // column indices of non-zeros (nB x 1)
// computed by mj_implicit/mj_derivative
mjtNum* qDeriv; // d (passive + actuator - bias) / d qvel (nD x 1)
include/mujoco/mjmodel.h
+2 -1
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@@ -659,8 +659,9 @@ struct mjModel_ {
// sizes set after mjModel construction (only affect mjData)
int nM; // number of non-zeros in sparse inertia matrix
int nD; // number of non-zeros in sparse dof-dof matrix
int nB; // number of non-zeros in sparse body-dof matrix
int nC; // number of non-zeros in sparse reduced dof-dof matrix
int nD; // number of non-zeros in sparse dof-dof matrix
int ntree; // number of kinematic trees under world body
int ngravcomp; // number of bodies with nonzero gravcomp
int nemax; // number of potential equality-constraint rows
include/mujoco/mjxmacro.h
+9 -4
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@@ -133,8 +133,9 @@
XMJV( npaths ) \
X ( nnames_map ) \
X ( nM ) \
X ( nD ) \
X ( nB ) \
X ( nC ) \
X ( nD ) \
X ( nemax ) \
X ( njmax ) \
X ( nconmax ) \
@@ -640,14 +641,18 @@
X ( mjtNum, subtree_angmom, nbody, 3 ) \
X ( mjtNum, qH, nM, 1 ) \
X ( mjtNum, qHDiagInv, nv, 1 ) \
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \
X ( int, B_colind, nB, 1 ) \
X ( int, C_rownnz, nv, 1 ) \
X ( int, C_rowadr, nv, 1 ) \
X ( int, C_colind, nC, 1 ) \
X ( int, mapM2C, nC, 1 ) \
X ( int, D_rownnz, nv, 1 ) \
X ( int, D_rowadr, nv, 1 ) \
X ( int, D_colind, nD, 1 ) \
X ( int, mapM2D, nD, 1 ) \
X ( int, mapD2M, nM, 1 ) \
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \
X ( int, B_colind, nB, 1 ) \
X ( mjtNum, qDeriv, nD, 1 ) \
X ( mjtNum, qLU, nD, 1 ) \
X ( mjtNum, actuator_force, nu, 1 ) \