Improve island discovery performance

PiperOrigin-RevId: 557444755 Change-Id: I22a2093b563e8e144de9534917955ac403fa5599
2023-08-16 04:54:53 -07:00
parent ac3ac0d28f
commit 6245edae28
3 changed files with 110 additions and 219 deletions
@@ -24,11 +24,6 @@ extern "C" {
 #endif


-//-------------------------- utility functions -----------------------------------------------------
-
-// construct sparse matrix from non-unique, unsorted edge array, return number of nonzeros
-MJAPI int mj_edge2Sparse(int* rownnz, int* rowadr, int* colind, int* edge, int ne, int nr);
-
 // find disjoint subgraphs ("islands") given sparse symmetric adjacency matrix
 MJAPI int mj_floodFill(int* island, int nr, const int* rownnz, const int* rowadr, const int* colind,
                       int* scratch);