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Remove mj_jacDifPairCount by incorporating the counting into mj_jacDifPair

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PiperOrigin-RevId: 884366070
Change-Id: I7490ca205a315bc661414e32c91ad1ec753a8fe7
This commit is contained in:
Yuval Tassa
2026-03-16 04:44:06 -07:00
committed by Copybara-Service
parent 50dfc255b8
commit 55f5ac0a1d
2 changed files with 11 additions and 21 deletions
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src/engine/engine_core_constraint.c
+6 -21
View File
@@ -1927,24 +1927,6 @@ void mj_makeImpedance(const mjModel* m, mjData* d) {
//------------------------------------- constraint counting ----------------------------------------
// count the non-zero columns in the Jacobian difference of two bodies
static int mj_jacDifPairCount(const mjModel* m, int* chain,
int b1, int b2, int issparse) {
if (!m->nv) {
return 0;
}
if (issparse) {
if (m->body_simple[b1] && m->body_simple[b2]) {
return mj_mergeChainSimple(m, chain, b1, b2);
}
return mj_mergeChain(m, chain, b1, b2, 0);
}
return m->nv;
}
// count the non-zero columns of the Jacobian returned by mj_jacSum
static int mj_jacSumCount(const mjModel* m, mjData* d, int* chain,
int n, const int* body) {
@@ -2042,7 +2024,8 @@ static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
id[1] = m->site_bodyid[id[1]];
}
NV = mj_jacDifPairCount(m, chain, id[1], id[0], issparse);
NV = mj_jacDifPair(m, NULL, chain, id[1], id[0], NULL, NULL,
NULL, NULL, NULL, NULL, NULL, NULL, issparse);
break;
case mjEQ_WELD:
@@ -2057,7 +2040,8 @@ static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
id[1] = m->site_bodyid[id[1]];
}
NV = mj_jacDifPairCount(m, chain, id[1], id[0], issparse);
NV = mj_jacDifPair(m, NULL, chain, id[1], id[0], NULL, NULL,
NULL, NULL, NULL, NULL, NULL, NULL, issparse);
break;
case mjEQ_JOINT:
@@ -2111,7 +2095,8 @@ static int mj_ne(const mjModel* m, mjData* d, int* nnz) {
if (nnz) {
int b1 = m->flex_vertbodyid[m->flex_vertadr[id[0]] + m->flex_edge[2*e]];
int b2 = m->flex_vertbodyid[m->flex_vertadr[id[0]] + m->flex_edge[2*e+1]];
NV += mj_jacDifPairCount(m, chain, b1, b2, issparse);
NV += mj_jacDifPair(m, NULL, chain, b1, b2, NULL, NULL,
NULL, NULL, NULL, NULL, NULL, NULL, issparse);
}
}
break;
src/engine/engine_core_util.c
+5
View File
@@ -456,6 +456,11 @@ int mj_jacDifPair(const mjModel* m, const mjData* d, int* chain,
return 0;
}
// count-only mode
if (!jacdifp && !jacdifr && !jac1p && !jac1r) {
return NV;
}
// sparse case
if (issparse) {
// simple: fast processing