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Improve AABB bounds in makeAAMM.

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MODEL           BEFORE(ns)   AFTER(ns)
boxmesh.xml     874645       744822
box.xml         808226       786226
ellipsoid.xml   1477609      1436058
mixed.xml       1492063      1404848

PiperOrigin-RevId: 900626282
Change-Id: I3df5a6cd8a4cb2e3b9ded1b40a5310a4c14ec624
This commit is contained in:
Kyle Bayes
2026-04-16 03:24:28 -07:00
committed by Copybara-Service
parent 5a0809efaf
commit 56e98cc16c
3 changed files with 43 additions and 16 deletions
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src/engine/engine_inline.h
+15
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@@ -189,6 +189,21 @@ void mji_mulMatTMat3(mjtNum* restrict res, const mjtNum mat1[9], const mjtNum ma
}
// transpose 3x3 matrix
static inline
void mji_transpose3(mjtNum* restrict res, const mjtNum mat[9]) {
res[0] = mat[0];
res[1] = mat[3];
res[2] = mat[6];
res[3] = mat[1];
res[4] = mat[4];
res[5] = mat[7];
res[6] = mat[2];
res[7] = mat[5];
res[8] = mat[8];
}
//------------------------------ 4D vector and matrix-vector operations ----------------------------
// res = vec