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Use CSR matrices for dof-dof index mappings

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PiperOrigin-RevId: 795895311
Change-Id: I1000e0ee98906ef35990e73236e85d6354487b82
This commit is contained in:
Yuval Tassa
2025-08-16 13:05:45 -07:00
committed by Copybara-Service
parent c0096b51a4
commit 6b41fbe72a
11 changed files with 54 additions and 102 deletions
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src/user/user_model.cc
+9 -8
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@@ -4876,29 +4876,30 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// sparsity structures
{
std::vector<int> remaining(m->nv);
std::vector<int> scratch(m->nv);
std::vector<int> count(m->nbody);
std::vector<int> M(m->nM);
std::vector<int> D(m->nD);
// make D
mj_makeDofDofSparse(m->nv, m->nC, m->nD, m->nM, m->dof_parentid, m->dof_simplenum,
m->D_rownnz, m->D_rowadr, m->D_diag, m->D_colind,
/*reduced=*/0, /*upper=*/1, remaining.data());
/*reduced=*/0, /*upper=*/1, scratch.data());
// make B
mj_makeBSparse(m->nv, m->nbody, m->nB, m->body_dofnum, m->body_parentid,
m->body_dofadr, m->B_rownnz, m->B_rowadr, m->B_colind, count.data());
// make C
// make M
mj_makeDofDofSparse(m->nv, m->nC, m->nD, m->nM, m->dof_parentid, m->dof_simplenum,
m->M_rownnz, m->M_rowadr, NULL, m->M_colind,
/*reduced=*/1, /*upper=*/0, remaining.data());
/*reduced=*/1, /*upper=*/0, scratch.data());
// make index mappings: mapM2D, mapD2M, mapM2M
mj_makeDofDofMaps(m->nv, m->nM, m->nC, m->nD, m->dof_Madr, m->dof_simplenum, m->dof_parentid,
m->D_rownnz, m->D_rowadr, m->D_colind, m->M_rownnz, m->M_rowadr,
m->mapM2D, m->mapD2M, m->mapM2M, remaining.data(), M.data(), D.data());
mj_makeDofDofMaps(m->nv, m->nM, m->nC, m->nD,
m->dof_Madr, m->dof_simplenum, m->dof_parentid,
m->D_rownnz, m->D_rowadr, m->D_colind,
m->M_rownnz, m->M_rowadr, m->M_colind,
m->mapM2D, m->mapD2M, m->mapM2M, M.data(), scratch.data());
}
// create data