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Modify mjSORT to remove some unnecessary copies.

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PiperOrigin-RevId: 781573097
Change-Id: I60148bc88fb64ea6dfee9390efb3fd161ad3f1d8
This commit is contained in:
Yuval Tassa
2025-07-10 09:50:44 -07:00
committed by Copybara-Service
parent 365cac49f8
commit 58c95219dc
1 changed files with 14 additions and 13 deletions
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src/engine/engine_sort.h
+14 -13
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@@ -32,22 +32,18 @@
} }
// sub-macro that merges two sub-sorted arrays [start, ..., mid), [mid, ..., end) together // sub-macro that merges two sub-sorted arrays [start, ..., mid), [mid, ..., end) together
#define _mjMERGE(type, arr, buf, start, mid, end, cmp, context) \ #define _mjMERGE(type, src, dest, start, mid, end, cmp, context) \
{ \ { \
int len1 = mid - start, len2 = end - mid; \ int i = start, j = mid, k = start; \
type* left = buf, *right = buf + len1; \ while (i < mid && j < end) { \
for (int i = 0; i < len1; i++) left[i] = arr[start + i]; \ if (cmp(src + i, src + j, context) <= 0) { \
for (int i = 0; i < len2; i++) right[i] = arr[mid + i]; \ dest[k++] = src[i++]; \
int i = 0, j = 0, k = start; \
while (i < len1 && j < len2) { \
if (cmp(left + i, right + j, context) <= 0) { \
arr[k++] = left[i++]; \
} else { \ } else { \
arr[k++] = right[j++]; \ dest[k++] = src[j++]; \
} \ } \
} \ } \
while (i < len1) arr[k++] = left[i++]; \ if (i < mid) memcpy(dest + k, src + i, (mid - i) * sizeof(type)); \
while (j < len2) arr[k++] = right[j++]; \ else if (j < end) memcpy(dest + k, src + j, (end - j) * sizeof(type)); \
} }
// defines an inline stable sorting function via tiled merge sorting (timsort) // defines an inline stable sorting function via tiled merge sorting (timsort)
@@ -60,15 +56,20 @@
int end = (start + _mjRUNSIZE < n) ? start + _mjRUNSIZE : n; \ int end = (start + _mjRUNSIZE < n) ? start + _mjRUNSIZE : n; \
_mjINSERTION_SORT(type, arr, start, end, cmp, context); \ _mjINSERTION_SORT(type, arr, start, end, cmp, context); \
} \ } \
type* src = arr, *dest = buf, *tmp; \
for (int len = _mjRUNSIZE; len < n; len *= 2) { \ for (int len = _mjRUNSIZE; len < n; len *= 2) { \
for (int start = 0; start < n; start += 2*len) { \ for (int start = 0; start < n; start += 2*len) { \
int mid = start + len; \ int mid = start + len; \
int end = (start + 2*len < n) ? start + 2*len : n; \ int end = (start + 2*len < n) ? start + 2*len : n; \
if (mid < end) { \ if (mid < end) { \
_mjMERGE(type, arr, buf, start, mid, end, cmp, context); \ _mjMERGE(type, src, dest, start, mid, end, cmp, context); \
} else { \
memcpy(dest + start, src + start, (end - start) * sizeof(type)); \
} \ } \
} \ } \
tmp = src; src = dest; dest = tmp; \
} \ } \
if (src != arr) memcpy(arr, src, n * sizeof(type)); \
} }
#endif // MUJOCO_SRC_ENGINE_ENGINE_SORT_H_ #endif // MUJOCO_SRC_ENGINE_ENGINE_SORT_H_