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Remove unused argument in mju_sqrMatTDSparseInit

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PiperOrigin-RevId: 682375566
Change-Id: If05f5d15a2f8925eee9dd0ebc5d485164d90d787
This commit is contained in:
Yuval Tassa
2024-10-04 10:44:39 -07:00
committed by Copybara-Service
parent 7e9481fbeb
commit 3f3fe92860
4 changed files with 65 additions and 70 deletions
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src/engine/engine_util_sparse.c
+9 -12
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@@ -637,18 +637,16 @@ void mju_superSparse(int nr, int* rowsuper,
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
int nr, int nc, const int* rownnz,
const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT,
const int* colindT, const int* rowsuperT,
mjData* d) {
void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnz, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* colindT,
const int* rowsuperT, mjData* d) {
mj_markStack(d);
int* chain = mj_stackAllocInt(d, 2*nc);
int* chain = mj_stackAllocInt(d, 2*nr);
int nchain = 0;
int* res_colind = NULL;
for (int r=0; r < nc; r++) {
for (int r=0; r < nr; r++) {
// supernode; copy everything to next row
if (rowsuperT && r > 0 && rowsuperT[r-1] > 0) {
res_rownnz[r] = res_rownnz[r - 1];
@@ -664,7 +662,7 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
res_rownnz[r]++;
}
} else {
int inew = 0, iold = nc;
int inew = 0, iold = nr;
nchain = 0;
for (int i=0; i < rownnzT[r]; i++) {
@@ -679,8 +677,7 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
int end = rowadr[c] + rownnz[c];
for (int adr1=rowadr[c]; adr1 < end; adr1++) {
int col_mat = colind[adr1];
while (adr < nchain && chain[iold + adr] < col_mat &&
chain[iold + adr] <= r) {
while (adr < nchain && chain[iold + adr] < col_mat && chain[iold + adr] <= r) {
chain[inew + nnewchain++] = chain[iold + adr++];
}
@@ -720,7 +717,7 @@ void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr,
}
res_rowadr[0] = 0;
for (int r = 1; r < nc; r++) {
for (int r = 1; r < nr; r++) {
res_rowadr[r] = res_rowadr[r-1] + res_rownnz[r-1];
}