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
@@ -82,7 +82,7 @@ void mju_factorLUSparse(mjtNum *LU, int n, int* scratch,

 // solve mat*res=vec given LU factorization of mat
 void mju_solveLUSparse(mjtNum *res, const mjtNum *LU, const mjtNum* vec, int n,
-                       const int *rownnz, const int *rowadr, const int *colind);
+                       const int *rownnz, const int *rowadr, const int* diag, const int *colind);

 // eigenvalue decomposition of symmetric 3x3 matrix
 MJAPI int mju_eig3(mjtNum eigval[3], mjtNum eigvec[9], mjtNum quat[4], const mjtNum mat[9]);