Add constraint island discovery
PiperOrigin-RevId: 557067599 Change-Id: Ic41e1d0efef02b7a79142518afe49cf9d4e74725
This commit is contained in:
Yuval Tassa
committed by
Copybara-Service
Copybara-Service
parent
e4dddea42a
commit
3e034e38b2
+43
-29
@@ -61,7 +61,7 @@
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//-------------------------------- mjModel ---------------------------------------------------------
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// int fields of mjModel
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#define MJMODEL_INTS \
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#define MJMODEL_INTS \
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X ( nq ) \
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X ( nv ) \
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XMJV( nu ) \
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@@ -122,6 +122,7 @@
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X ( nemax ) \
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X ( njmax ) \
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X ( nconmax ) \
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X ( ntree ) \
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X ( nstack ) \
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X ( nuserdata ) \
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XMJV( nsensordata ) \
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@@ -153,7 +154,7 @@
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// pointer fields of mjModel
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// XMJV means that the field is required to construct mjvScene
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// (by default we define XMJV to be the same as X)
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#define MJMODEL_POINTERS \
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#define MJMODEL_POINTERS \
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X ( mjtNum, qpos0, nq, 1 ) \
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X ( mjtNum, qpos_spring, nq, 1 ) \
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XMJV( int, body_parentid, nbody, 1 ) \
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@@ -164,6 +165,7 @@
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XMJV( int, body_jntadr, nbody, 1 ) \
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X ( int, body_dofnum, nbody, 1 ) \
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X ( int, body_dofadr, nbody, 1 ) \
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X ( int, body_treeid, nbody, 1 ) \
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XMJV( int, body_geomnum, nbody, 1 ) \
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XMJV( int, body_geomadr, nbody, 1 ) \
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X ( mjtByte, body_simple, nbody, 1 ) \
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@@ -204,6 +206,7 @@
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X ( int, dof_bodyid, nv, 1 ) \
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X ( int, dof_jntid, nv, 1 ) \
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X ( int, dof_parentid, nv, 1 ) \
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X ( int, dof_treeid, nv, 1 ) \
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X ( int, dof_Madr, nv, 1 ) \
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X ( int, dof_simplenum, nv, 1 ) \
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X ( mjtNum, dof_solref, nv, mjNREF ) \
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@@ -555,35 +558,35 @@
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#define MJ_D(n) n
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// array of contacts
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#define MJDATA_ARENA_POINTERS_CONTACT \
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#define MJDATA_ARENA_POINTERS_CONTACT \
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X( mjContact, contact, MJ_D(ncon), 1 )
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// array fields of mjData that are used in the primal problem
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#define MJDATA_ARENA_POINTERS_PRIMAL \
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X(int, efc_type, MJ_D(nefc), 1) \
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X(int, efc_id, MJ_D(nefc), 1) \
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X(int, efc_J_rownnz, MJ_D(nefc), 1) \
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X(int, efc_J_rowadr, MJ_D(nefc), 1) \
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X(int, efc_J_rowsuper, MJ_D(nefc), 1) \
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X(int, efc_J_colind, MJ_D(nnzJ), 1) \
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X(int, efc_JT_rownnz, MJ_M(nv), 1) \
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X(int, efc_JT_rowadr, MJ_M(nv), 1) \
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X(int, efc_JT_rowsuper, MJ_M(nv), 1) \
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X(int, efc_JT_colind, MJ_D(nnzJ), 1) \
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X(mjtNum, efc_J, MJ_D(nnzJ), 1) \
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X(mjtNum, efc_JT, MJ_D(nnzJ), 1) \
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X(mjtNum, efc_pos, MJ_D(nefc), 1) \
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X(mjtNum, efc_margin, MJ_D(nefc), 1) \
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X(mjtNum, efc_frictionloss, MJ_D(nefc), 1) \
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X(mjtNum, efc_diagApprox, MJ_D(nefc), 1) \
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X(mjtNum, efc_KBIP, MJ_D(nefc), 4) \
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X(mjtNum, efc_D, MJ_D(nefc), 1) \
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X(mjtNum, efc_R, MJ_D(nefc), 1) \
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X(mjtNum, efc_vel, MJ_D(nefc), 1) \
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X(mjtNum, efc_aref, MJ_D(nefc), 1) \
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X(mjtNum, efc_b, MJ_D(nefc), 1) \
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X(mjtNum, efc_force, MJ_D(nefc), 1) \
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X(int, efc_state, MJ_D(nefc), 1)
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#define MJDATA_ARENA_POINTERS_PRIMAL \
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X( int, efc_type, MJ_D(nefc), 1) \
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X( int, efc_id, MJ_D(nefc), 1) \
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X( int, efc_J_rownnz, MJ_D(nefc), 1) \
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X( int, efc_J_rowadr, MJ_D(nefc), 1) \
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X( int, efc_J_rowsuper, MJ_D(nefc), 1) \
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X( int, efc_J_colind, MJ_D(nnzJ), 1) \
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X( int, efc_JT_rownnz, MJ_M(nv), 1) \
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X( int, efc_JT_rowadr, MJ_M(nv), 1) \
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X( int, efc_JT_rowsuper, MJ_M(nv), 1) \
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X( int, efc_JT_colind, MJ_D(nnzJ), 1) \
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X( mjtNum, efc_J, MJ_D(nnzJ), 1) \
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X( mjtNum, efc_JT, MJ_D(nnzJ), 1) \
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X( mjtNum, efc_pos, MJ_D(nefc), 1) \
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X( mjtNum, efc_margin, MJ_D(nefc), 1) \
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X( mjtNum, efc_frictionloss, MJ_D(nefc), 1) \
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X( mjtNum, efc_diagApprox, MJ_D(nefc), 1) \
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X( mjtNum, efc_KBIP, MJ_D(nefc), 4) \
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X( mjtNum, efc_D, MJ_D(nefc), 1) \
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X( mjtNum, efc_R, MJ_D(nefc), 1) \
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X( mjtNum, efc_vel, MJ_D(nefc), 1) \
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X( mjtNum, efc_aref, MJ_D(nefc), 1) \
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X( mjtNum, efc_b, MJ_D(nefc), 1) \
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X( mjtNum, efc_force, MJ_D(nefc), 1) \
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X( int, efc_state, MJ_D(nefc), 1)
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// array fields of mjData that are used in the dual problem
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#define MJDATA_ARENA_POINTERS_DUAL \
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@@ -592,11 +595,21 @@
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X( int, efc_AR_colind, MJ_D(nefc), MJ_D(nefc) ) \
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X( mjtNum, efc_AR, MJ_D(nefc), MJ_D(nefc) )
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// array fields of mjData that are used for constraint islands
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#define MJDATA_ARENA_POINTERS_ISLAND \
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X( int, island_dofadr, MJ_D(nisland), 1 ) \
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X( int, island_efcadr, MJ_D(nisland), 1 ) \
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X( int, dof_island, MJ_M(nv), 1 ) \
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X( int, dof_islandnext, MJ_M(nv), 1 ) \
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X( int, efc_island, MJ_D(nefc), 1 ) \
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X( int, efc_islandnext, MJ_D(nefc), 1 )
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// array fields of mjData that live in d->arena
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#define MJDATA_ARENA_POINTERS \
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MJDATA_ARENA_POINTERS_CONTACT \
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MJDATA_ARENA_POINTERS_PRIMAL \
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MJDATA_ARENA_POINTERS_DUAL
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MJDATA_ARENA_POINTERS_DUAL \
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MJDATA_ARENA_POINTERS_ISLAND
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// scalar fields of mjData
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@@ -621,6 +634,7 @@
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X( int, nefc ) \
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X( int, nnzJ ) \
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X( int, ncon ) \
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X( int, nisland ) \
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X( mjtNum, time )
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