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Improve island discovery performance

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PiperOrigin-RevId: 557444755
Change-Id: I22a2093b563e8e144de9534917955ac403fa5599
This commit is contained in:
Yuval Tassa
2023-08-16 04:54:53 -07:00
committed by Copybara-Service
parent ac3ac0d28f
commit 6245edae28
3 changed files with 110 additions and 219 deletions
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test/engine/engine_island_test.cc
-57
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@@ -29,69 +29,12 @@ namespace mujoco {
namespace {
using ::testing::ElementsAre;
using ::testing::ElementsAreArray;
using IslandTest = MujocoTest;
std::vector<int> AsVector(const int* array, int n) {
return std::vector<int>(array, array + n);
}
TEST_F(IslandTest, EdgeToSparse2) {
// unsorted edges, with duplication
constexpr int ne = 4;
constexpr int nr = 5;
int edge[2*ne] = {
3, 4,
1, 1,
3, 4,
1, 1
};
int rownnz[nr];
int rowadr[nr];
int colind[ne];
int nnz = mj_edge2Sparse(rownnz, rowadr, colind, edge, ne, nr);
constexpr int expected_nnz = 2;
EXPECT_EQ(nnz, expected_nnz);
EXPECT_THAT(rownnz, ElementsAre(0, 1, 0, 1, 0));
EXPECT_THAT(rowadr, ElementsAre(0, 0, 1, 1, 2));
int expected_colind[expected_nnz] = {1, 4};
EXPECT_THAT(expected_colind, ElementsAreArray(colind, expected_nnz));
}
TEST_F(IslandTest, EdgeToSparse3) {
// unsorted edges, with duplication
constexpr int ne = 3;
constexpr int nr = 1;
int edge[2*ne] = {
0, 0,
0, 0,
0, 0
};
int rownnz[nr];
int rowadr[nr];
int colind[ne];
int nnz = mj_edge2Sparse(rownnz, rowadr, colind, edge, ne, nr);
constexpr int expected_nnz = 1;
EXPECT_EQ(nnz, expected_nnz);
EXPECT_THAT(rownnz, ElementsAre(1));
EXPECT_THAT(rowadr, ElementsAre(0));
int expected_colind[expected_nnz] = {0};
EXPECT_THAT(expected_colind, ElementsAreArray(colind, expected_nnz));
}
TEST_F(IslandTest, FloodFillSingleton) {
// adjacency matrix for the graph 0 1 2
// U U