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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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src/engine/engine_core_smooth.c
+6 -7
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@@ -1653,9 +1653,8 @@ void mj_factorM(const mjModel* m, mjData* d) {
TM_START;
// gather LD <- M (legacy to CSR) and factorize in-place
mju_gather(d->qLD, d->qM, d->mapM2M, m->nM);
mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
mju_gather(d->qLD, d->qM, d->mapM2C, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
TM_ADD(mjTIMER_POS_INERTIA);
}
@@ -1897,7 +1896,7 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
mju_copy(x, y, n*m->nv);
}
mj_solveLD(x, d->qLD, d->qLDiagInv, m->nv, n,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
@@ -1908,9 +1907,9 @@ void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
int nv = m->nv;
// local copies of key variables
const int* rownnz = d->M_rownnz;
const int* rowadr = d->M_rowadr;
const int* colind = d->M_colind;
const int* rownnz = d->C_rownnz;
const int* rowadr = d->C_rowadr;
const int* colind = d->C_colind;
const int* diagnum = m->dof_simplenum;
const mjtNum* qLD = d->qLD;