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Remove mjData.qLDiagSqrtInv, add corresponding argument to mj_solveM2.

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- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).

PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
This commit is contained in:
Yuval Tassa
2024-12-30 15:23:41 -08:00
committed by Copybara-Service
parent ec322641b7
commit 69c9ac074a
19 changed files with 53 additions and 44 deletions
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include/mujoco/mujoco.h
+2 -1
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@@ -365,7 +365,8 @@ MJAPI void mj_factorM(const mjModel* m, mjData* d);
MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
// Half of linear solve: x = sqrt(inv(D))*inv(L')*y
MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
const mjtNum* sqrtInvD, int n);
// Compute cvel, cdof_dot.
MJAPI void mj_comVel(const mjModel* m, mjData* d);