Sparse ten_J and ten_J_colind

PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3

src/engine/engine_io.c

@@ -224,7 +224,7 @@ void mj_makeModel(mjModel** dest,
   // CHECK SIZE PARAMETERS
   {
     // dummy variables for MJMODEL_SIZES set after mjModel construction
-    int nnames_map=0, nJmom=0, ngravcomp=0, nemax=0, njmax=0, nconmax=0;
+    int nnames_map = 0, nJmom = 0, nJten = 0, ngravcomp = 0, nemax = 0, njmax = 0, nconmax=0;
     int nuserdata=0, nsensordata=0, npluginstate=0, nhistory=0, narena=0, nbuffer=0;
 
     // sizes must be non-negative and fit in int, except for the byte arrays texdata and textdata
@@ -240,10 +240,10 @@ void mj_makeModel(mjModel** dest,
         return;                                                                       \
       }
     MJMODEL_SIZES
-    #undef X
+#undef X
 
     // suppress unused variable warnings
-    (void)nnames_map; (void)nJmom; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
+    (void)nnames_map; (void)nJmom; (void)nJten; (void)ngravcomp; (void)nemax; (void)njmax; (void)nconmax;
     (void)nuserdata; (void)nsensordata; (void)npluginstate; (void)nhistory; (void)narena;
     (void)nbuffer;
   }
@@ -964,9 +964,6 @@ void mj_makeDofDofMaps(int nv, int nM, int nC, int nD,
 static void mj_setPtrData(const mjModel* m, mjData* d) {
   char* ptr = (char*)d->buffer;
 
-  // prepare symbols needed by xmacro
-  MJDATA_POINTERS_PREAMBLE(m);
-
   // assign pointers with padding
 #define X(type, name, nr, nc)                             \
   d->name = (type*)(ptr + SKIP((intptr_t)ptr));           \
@@ -1047,9 +1044,6 @@ void mj_makeRawData(mjData** dest, const mjModel* m) {
     mjERROR("could not allocate mjData");
   }
 
-  // prepare symbols needed by xmacro
-  MJDATA_POINTERS_PREAMBLE(m);
-
   // compute buffer size
   d->nbuffer = 0;
   d->buffer = d->arena = NULL;
@@ -1160,7 +1154,6 @@ mjData* mj_copyDataVisual(mjData* dest, const mjModel* m, const mjData* src, int
 
   // copy buffer
   {
-    MJDATA_POINTERS_PREAMBLE(m)
     if (flg_all) {
       #define X(type, name, nr, nc)  \
         memcpy((char*)dest->name, (const char*)src->name, sizeof(type)*(m->nr)*nc);
@@ -1346,7 +1339,6 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
 #ifdef ADDRESS_SANITIZER
   {
     #define X(type, name, nr, nc) memset(d->name, (int)debug_value, sizeof(type)*(m->nr)*(nc));
-    MJDATA_POINTERS_PREAMBLE(m)
     MJDATA_POINTERS
     #undef X
   }

src/experimental/platform/helpers.cc

@@ -100,7 +100,6 @@ void SaveToWebp(int width, int height, const std::byte* data,
 
 const void* GetValue(const mjModel* model, const mjData* data,
                      const char* field, int index) {
-  MJDATA_POINTERS_PREAMBLE(model);
 #define X(TYPE, NAME, NR, NC)                                        \
   if (!std::strcmp(#NAME, field) && !std::strcmp(#TYPE, "mjtNum")) { \
     if (index >= 0 && index < model->NR * NC) {                      \

src/user/user_model.cc

@@ -3226,7 +3226,16 @@ int mjCModel::CountNJmom(const mjModel* m) {
   return count;
 }
 
+// compute non-zeros in ten_J matrix
+int mjCModel::CountNJten(const mjModel* m) {
+  int nv = m->nv;
+  int ntendon = m->ntendon;
 
+  // conservative upper bound: each tendon can have at most nv non-zeros
+  // TODO(taylorhowell): compute tighter bound
+  int count = ntendon * nv;
+  return count;
+}
 
 // copy objects outside kinematic tree
 void mjCModel::CopyObjects(mjModel* m) {
@@ -5037,6 +5046,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // compute non-zeros in actuator_moment
   m->nJmom = nJmom = CountNJmom(m);
 
+  // compute non-zeros in ten_J
+  m->nJten = nJten = CountNJten(m);
+
   // scale mass
   if (compiler.settotalmass > 0) {
     mj_setTotalmass(m, compiler.settotalmass);

src/user/user_model.h

@@ -130,6 +130,7 @@ class mjCModel_ : public mjsElement {
   mjtSize nC;              // number of non-zeros in reduced sparse dof-dof matrix
   mjtSize nD;              // number of non-zeros in sparse dof-dof matrix
   mjtSize nJmom;           // number of non-zeros in sparse actuator_moment matrix
+  mjtSize nJten;           // number of non-zeros in sparse ten_J matrix
 
   // statistics, as computed by mj_setConst
   double meaninertia_auto;  // mean diagonal inertia, as computed by mj_setConst
@@ -368,6 +369,7 @@ class mjCModel : public mjCModel_, private mjSpec {
   void FinalizeSimple(mjModel* m);      // finalize simple bodies/dofs including tendon information
   void CopyPlugins(mjModel*);           // copy plugin data
   int CountNJmom(const mjModel* m);     // compute number of non-zeros in actuator_moment matrix
+  int CountNJten(const mjModel* m);     // compute number of non-zeros in ten_J matrix
 
   // remove plugins that are not referenced by any object
   void RemovePlugins();