chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Store index of diagonal element for C and D in mjData.

Browse Source 
PiperOrigin-RevId: 704287869
Change-Id: I15d1faa0b5c3ff54721f692ec6329726456ec318
This commit is contained in:
Yuval Tassa
2024-12-09 08:00:29 -08:00
committed by Copybara-Service
parent b8344c191f
commit 3a14ada308
10 changed files with 67 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjdata.h
+2
View File
@@ -342,10 +342,12 @@ struct mjData_ {
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_diag; // reduced dof-dof: index of diagonal element (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_diag; // dof-dof: index of diagonal element (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)
include/mujoco/mjxmacro.h
+2
View File
@@ -655,10 +655,12 @@
X ( int, B_colind, nB, 1 ) \
X ( int, C_rownnz, nv, 1 ) \
X ( int, C_rowadr, nv, 1 ) \
X ( int, C_diag, 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_diag, nv, 1 ) \
X ( int, D_colind, nD, 1 ) \
X ( int, mapM2D, nD, 1 ) \
X ( int, mapD2M, nM, 1 ) \