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Speed up sparse supernode detection by combining it with transposition.

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PiperOrigin-RevId: 760673008
Change-Id: I6d66580e675fd86e5b974859383f93f87482ca16
This commit is contained in:
Yuval Tassa
2025-05-19 10:13:20 -07:00
committed by Copybara-Service
parent ced630181d
commit 45fc15b844
6 changed files with 115 additions and 36 deletions
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src/engine/engine_core_constraint.c
+2 -6
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@@ -1996,7 +1996,7 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
if (mj_isSparse(m)) {
// transpose
mju_transposeSparse(d->efc_JT, d->efc_J, d->nefc, m->nv,
d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind,
d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind, d->efc_JT_rowsuper,
d->efc_J_rownnz, d->efc_J_rowadr, d->efc_J_colind);
@@ -2010,10 +2010,6 @@ void mj_makeConstraint(const mjModel* m, mjData* d) {
__msan_allocated_memory(d->efc_J_rowsuper, d->nefc);
#endif // MEMORY_SANITIZER
#endif // mjUSEAVX
// supernodes of JT
mju_superSparse(m->nv, d->efc_JT_rowsuper,
d->efc_JT_rownnz, d->efc_JT_rowadr, d->efc_JT_colind);
}
// compute diagApprox
@@ -2182,7 +2178,7 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
int* BT_colind = mjSTACKALLOC(d, nB, int);
mjtNum* BT = mjSTACKALLOC(d, nB, mjtNum);
mju_transposeSparse(BT, B, nefc, nv,
BT_rownnz, BT_rowadr, BT_colind,
BT_rownnz, BT_rowadr, BT_colind, NULL,
B_rownnz, B_rowadr, B_colind);
// allocate AR row nonzeros and addresses on arena