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Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.

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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
This commit is contained in:
Yuval Tassa
2025-05-13 10:19:22 -07:00
committed by Copybara-Service
parent 436b5a8e1f
commit 627fffdef9
18 changed files with 99 additions and 101 deletions
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include/mujoco/mjdata.h
+5 -5
View File
@@ -300,7 +300,7 @@ struct mjData_ {
mjtNum* qM; // total inertia (sparse) (nM x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree
@@ -333,7 +333,7 @@ struct mjData_ {
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData
@@ -424,9 +424,9 @@ struct mjData_ {
int* iM_rownnz; // inertia: non-zeros in each row (nidof x 1)
int* iM_rowadr; // inertia: address of each row in iM_colind (nidof x 1)
int* iM_diagnum; // inertia: num of consecutive diagonal elements (nidof x 1)
int* iM_colind; // inertia: column indices of non-zeros (nM x 1)
mjtNum* iM; // total inertia (sparse) (nM x 1)
mjtNum* iLD; // L'*D*L factorization of M (sparse) (nM x 1)
int* iM_colind; // inertia: column indices of non-zeros (nC x 1)
mjtNum* iM; // total inertia (sparse) (nC x 1)
mjtNum* iLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* iLDiagInv; // 1/diag(D) (nidof x 1)
mjtNum* iacc; // acceleration (nidof x 1)
include/mujoco/mjxmacro.h
+5 -5
View File
@@ -653,7 +653,7 @@
X ( mjtNum, actuator_moment, nJmom, 1 ) \
X ( mjtNum, crb, nbody, 10 ) \
X ( mjtNum, qM, nM, 1 ) \
X ( mjtNum, qLD, nM, 1 ) \
X ( mjtNum, qLD, nC, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
XMJV( mjtByte, bvh_active, nbvh, 1 ) \
@@ -670,7 +670,7 @@
X ( mjtNum, qfrc_passive, nv, 1 ) \
X ( mjtNum, subtree_linvel, nbody, 3 ) \
X ( mjtNum, subtree_angmom, nbody, 3 ) \
X ( mjtNum, qH, nM, 1 ) \
X ( mjtNum, qH, nC, 1 ) \
X ( mjtNum, qHDiagInv, nv, 1 ) \
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \
@@ -758,9 +758,9 @@
X( int, iM_rownnz, MJ_D(nidof), 1 ) \
X( int, iM_rowadr, MJ_D(nidof), 1 ) \
X( int, iM_diagnum, MJ_D(nidof), 1 ) \
X( int, iM_colind, MJ_M(nM), 1 ) \
X( mjtNum, iM, MJ_M(nM), 1 ) \
X( mjtNum, iLD, MJ_M(nM), 1 ) \
X( int, iM_colind, MJ_M(nC), 1 ) \
X( mjtNum, iM, MJ_M(nC), 1 ) \
X( mjtNum, iLD, MJ_M(nC), 1 ) \
X( mjtNum, iLDiagInv, MJ_D(nidof), 1 ) \
X( mjtNum, iacc, MJ_D(nidof), 1 ) \
X( int, efc_island, MJ_D(nefc), 1 ) \