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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_island.c
+3 -3
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@@ -536,12 +536,12 @@ void mj_island(const mjModel* m, mjData* d) {
}
// local CSR copy of qM
mjtNum* qM = mjSTACKALLOC(d, m->nM, mjtNum);
mju_gather(qM, d->qM, d->mapM2M, m->nM);
mjtNum* qM = mjSTACKALLOC(d, m->nC, mjtNum);
mju_gather(qM, d->qM, d->mapM2C, m->nC);
// inertia: block-diagonalize both iLD <- qLD and iM <- qM
mju_blockDiagSparse(d->iLD, d->iM_rownnz, d->iM_rowadr, d->iM_colind,
d->qLD, d->M_rownnz, d->M_rowadr, d->M_colind,
d->qLD, d->C_rownnz, d->C_rowadr, d->C_colind,
nidof, nisland,
d->map_idof2dof, d->map_dof2idof,
d->island_idofadr, d->island_idofadr,