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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)