Use diagonal index to speed up mju_solveLUSparse.

PiperOrigin-RevId: 704303282 Change-Id: I72c3fbcd31a5564fc792b73efe9d12a151b4d60f
2024-12-09 08:52:31 -08:00
parent bd1d94c282
commit 537fc2ff45
3 changed files with 14 additions and 24 deletions
@@ -967,7 +967,7 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
    }

    // solve for qacc: (qM - dt*qDeriv) * qacc = qfrc
-    mju_solveLUSparse(qacc, d->qLU, qfrc, nv, d->D_rownnz, d->D_rowadr, d->D_colind);
+    mju_solveLUSparse(qacc, d->qLU, qfrc, nv, d->D_rownnz, d->D_rowadr, d->D_diag, d->D_colind);
  }

  // IMPLICITFAST