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Sparse ten_J and ten_J_colind

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PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3
This commit is contained in:
Taylor Howell
2026-02-13 06:55:42 -08:00
committed by Copybara-Service
parent 277f469239
commit 5903d4826f
21 changed files with 118 additions and 43 deletions
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include/mujoco/mjdata.h
+2 -2
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@@ -325,8 +325,8 @@ struct mjData_ {
int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
int* ten_J_colind; // column indices in sparse Jacobian (nJten x 1)
mjtNum* ten_J; // tendon Jacobian (nJten x 1)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap x 2)
mjtNum* wrap_xpos; // Cartesian 3D points in all paths (nwrap x 6)
include/mujoco/mjmodel.h
+1
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@@ -754,6 +754,7 @@ struct mjModel_ {
// sizes set after mjModel construction
mjtSize nnames_map; // number of slots in the names hash map
mjtSize nJmom; // number of non-zeros in sparse actuator_moment matrix
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
mjtSize ngravcomp; // number of bodies with nonzero gravcomp
mjtSize nemax; // number of potential equality-constraint rows
mjtSize njmax; // number of available rows in constraint Jacobian (legacy)
include/mujoco/mjxmacro.h
+3 -7
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@@ -240,6 +240,7 @@
X( npaths ) \
X( nnames_map ) \
X( nJmom ) \
X( nJten ) \
X( ngravcomp ) \
X( nemax ) \
X( njmax ) \
@@ -798,11 +799,6 @@
//-------------------------------- mjData ----------------------------------------------------------
// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
#define MJDATA_POINTERS_PREAMBLE( m ) \
int nv = m->nv;
// pointer fields of mjData
// XNV means that the field is not required to construct mjvScene
// (by default we define XNV to be the same as X)
@@ -855,8 +851,8 @@
X ( int, ten_wrapnum, ntendon, 1 ) \
X ( int, ten_J_rownnz, ntendon, 1 ) \
X ( int, ten_J_rowadr, ntendon, 1 ) \
X ( int, ten_J_colind, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
X ( int, ten_J_colind, nJten, 1 ) \
X ( mjtNum, ten_J, nJten, 1 ) \
X ( mjtNum, ten_length, ntendon, 1 ) \
X ( int, wrap_obj, nwrap, 2 ) \
X ( mjtNum, wrap_xpos, nwrap, 6 ) \