Precount number of non-zeros for constraint Jacobian sparse matrix.

PiperOrigin-RevId: 512947632 Change-Id: I9605e81b4e51fbc90854c13153e4fee38ad48fb9
2023-02-28 08:57:01 -08:00
parent 90b5dd14ca
commit 50bebcb4ee
15 changed files with 521 additions and 165 deletions
@@ -12,6 +12,12 @@ General
 - Corrected the spelling of the ``inteval`` attribute to ``interval`` in the ``mjLROpt`` struct.
 - Mesh texture and normal mappings are now 3-per-triangle rather than 1-per-vertex. Mesh vertices are no longer
  duplicated in order to circumvent this limitation as they previously were.
+- The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix memory allocation.
+  For instance, the constraint Jacobian matrix from the `humanoid100.xml
+  <https://github.com/deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`_ model, which previously required
+  ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
+
+

 Python bindings
 ^^^^^^^^^^^^^^^