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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_support.c
+3 -3
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@@ -1047,14 +1047,14 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
// non-simple: add off-diagonals
if (!m->dof_simplenum[i]) {
int adr = d->M_rowadr[i];
res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr);
int adr = d->C_rowadr[i];
res[i] += mju_dotSparse(qLD+adr, vec, d->C_rownnz[i] - 1, d->C_colind+adr);
}
}
// res *= sqrt(D)
for (int i=0; i < nv; i++) {
int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
res[i] *= mju_sqrt(qLD[diag]);
}
}