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micro-optimization to mju_mulMatTVecSparse

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PiperOrigin-RevId: 691431137
Change-Id: I95f94ff38ae911194b21aa220af35c7374af9739
This commit is contained in:
Yuval Tassa
2024-10-30 08:38:12 -07:00
committed by Copybara-Service
parent 32df8a515a
commit 70d944b458
1 changed files with 6 additions and 3 deletions
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src/engine/engine_util_sparse.c
+6 -3
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@@ -224,13 +224,16 @@ void mju_mulMatTVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
mju_zero(res, nc); mju_zero(res, nc);
for (int i=0; i < nr; i++) { for (int i=0; i < nr; i++) {
mjtNum scl = vec[i];
// skip if 0
if (!scl) continue;
// add row scaled by the corresponding vector element
int nnz = rownnz[i]; int nnz = rownnz[i];
int adr = rowadr[i]; int adr = rowadr[i];
const int* ind = colind + adr; const int* ind = colind + adr;
const mjtNum* row = mat + adr; const mjtNum* row = mat + adr;
mjtNum scl = vec[i];
// add row scaled by the corresponding vector element
for (int j=0; j < nnz; j++) { for (int j=0; j < nnz; j++) {
res[ind[j]] += row[j] * scl; res[ind[j]] += row[j] * scl;
} }