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Add mjENBL_DIAGEXACT for exact constraint diagonal. Fixes #2472

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PiperOrigin-RevId: 916932908
Change-Id: Id23ac39b5cd996afc52990719a4e07c0cc7de600
This commit is contained in:
Yuval Tassa
2026-05-17 16:47:20 -07:00
committed by Copybara-Service
parent 66d764a116
commit 71d1014e70
21 changed files with 234 additions and 57 deletions
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doc/changelog.rst
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@@ -7,6 +7,12 @@ Upcoming version (not yet released)
General
^^^^^^^
- Added ``mjData.efc_Y``, the whitened constraint Jacobian :math:`Y = J M^{-1/2}`, allocated in the arena when
dual solvers (PGS or NoSlip) are used or when :ref:`diagexact<option-flag-diagexact>` is enabled.
- Added the :ref:`diagexact<option-flag-diagexact>` enable flag, which computes the exact diagonal of the
constraint-space inertia matrix at the current configuration, replacing the default compile-time approximation.
This improves solver quality for models with anisotropic inertias or complex kinematic coupling. See
:ref:`Exact diagonal <soExactDiag>` for details.
- The pseudo-random constraint visitation order in the :ref:`PGS solver<soAlgorithms>`, introduced in the previous
release, now uses a fixed seed. The previous implementation seeded with ``mjData.time``, which introduced subtle yet
undesirable time dependence.