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Remove unused code related to legacy island implementation.

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Also fix a docstring.

PiperOrigin-RevId: 757939564
Change-Id: I3a970fd38c63886d34cd23b1fb45617a9ce5c147
This commit is contained in:
Yuval Tassa
2025-05-12 15:38:15 -07:00
committed by Copybara-Service
parent 8a7c42c747
commit 755564a348
14 changed files with 67 additions and 138 deletions
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doc/includes/references.h
+1 -1
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@@ -388,7 +388,7 @@ struct mjData_ {
int* island_idofadr; // island start address in idof vector (nisland x 1)
int* island_dofadr; // island start address in dof vector (nisland x 1)
int* map_dof2idof; // map from dof to idof (nv x 1)
int* map_idof2dof; // map from idof to dof; idof >= ni: unconstrained (nv x 1)
int* map_idof2dof; // map from idof to dof; >= nidof: unconstrained (nv x 1)
// computed by mj_island (dofs sorted by island)
mjtNum* ifrc_smooth; // net unconstrained force (nidof x 1)
include/mujoco/mjdata.h
+1 -1
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@@ -416,7 +416,7 @@ struct mjData_ {
int* island_idofadr; // island start address in idof vector (nisland x 1)
int* island_dofadr; // island start address in dof vector (nisland x 1)
int* map_dof2idof; // map from dof to idof (nv x 1)
int* map_idof2dof; // map from idof to dof; idof >= ni: unconstrained (nv x 1)
int* map_idof2dof; // map from idof to dof; >= nidof: unconstrained (nv x 1)
// computed by mj_island (dofs sorted by island)
mjtNum* ifrc_smooth; // net unconstrained force (nidof x 1)
python/mujoco/introspect/structs.py
+1 -1
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@@ -5981,7 +5981,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='map from idof to dof; idof >= ni: unconstrained',
doc='map from idof to dof; >= nidof: unconstrained',
array_extent=('nv',),
),
StructFieldDecl(
src/engine/engine_core_constraint.c
+2 -2
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@@ -2286,7 +2286,7 @@ void mj_referenceConstraint(const mjModel* m, mjData* d) {
//---------------------------- update constraint state ---------------------------------------------
// compute efc_state, efc_force
// optional: cost(qacc) = shat(jar); cone Hessians
// optional: cost(qacc) = s_hat(jar); cone Hessians
void mj_constraintUpdate_impl(int ne, int nf, int nefc,
const mjtNum* D, const mjtNum* R, const mjtNum* floss,
const mjtNum* jar, const int* type, const int* id,
@@ -2485,7 +2485,7 @@ void mj_constraintUpdate_impl(int ne, int nf, int nefc,
// compute efc_state, efc_force, qfrc_constraint
// optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
// optional: cost(qacc) = s_hat(jar) where jar = Jac*qacc-aref; cone Hessians
void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian) {
mj_constraintUpdate_impl(d->ne, d->nf, d->nefc, d->efc_D, d->efc_R, d->efc_frictionloss,
src/engine/engine_core_constraint.h
+2 -2
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@@ -97,7 +97,7 @@ MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
// compute efc_state, efc_force
// optional: cost(qacc) = shat(jar); cone Hessians
// optional: cost(qacc) = s_hat(jar); cone Hessians
MJAPI void mj_constraintUpdate_impl(int ne, int nf, int nefc,
const mjtNum* D, const mjtNum* R, const mjtNum* floss,
const mjtNum* jar, const int* type, const int* id,
@@ -105,7 +105,7 @@ MJAPI void mj_constraintUpdate_impl(int ne, int nf, int nefc,
int flg_coneHessian);
// compute efc_state, efc_force, qfrc_constraint
// optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
// optional: cost(qacc) = s_hat(jar) where jar = Jac*qacc-aref; cone Hessians
MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian);
src/engine/engine_core_smooth.c
+2 -2
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@@ -1875,13 +1875,13 @@ void mj_solveLD(mjtNum* restrict x, const mjtNum* qLD, const mjtNum* qLDiagInv,
// one vector
if (n == 1) {
x[i] -= mju_dotSparse(qLD+adr, x, d, colind+adr, /*flg_unc1=*/0);
x[i] -= mju_dotSparse(qLD+adr, x, d, colind+adr);
}
// multiple vectors
else {
for (int offset=0; offset < n*nv; offset+=nv) {
x[i+offset] -= mju_dotSparse(qLD+adr, x+offset, d, colind+adr, /*flg_unc1=*/0);
x[i+offset] -= mju_dotSparse(qLD+adr, x+offset, d, colind+adr);
}
}
}
src/engine/engine_solver.c
+1 -2
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@@ -187,8 +187,7 @@ static void residual(const mjModel* m, const mjData* d, mjtNum* res, int i, int
res[j] = d->efc_b[i+j] + mju_dotSparse(d->efc_AR + d->efc_AR_rowadr[i+j],
d->efc_force,
d->efc_AR_rownnz[i+j],
d->efc_AR_colind + d->efc_AR_rowadr[i+j],
/*flg_unc1=*/0);
d->efc_AR_colind + d->efc_AR_rowadr[i+j]);
}
}
src/engine/engine_support.c
+1 -1
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@@ -1048,7 +1048,7 @@ 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, /*flg_unc1=*/0);
res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr);
}
}
src/engine/engine_util_solve.c
+3 -3
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@@ -275,7 +275,7 @@ void mju_cholSolveSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int
// x(i) -= sum_j L(i,j)*x(j), j=0:i-1
if (nnz > 1) {
res[i] -= mju_dotSparse(mat+adr, res, nnz-1, colind+adr, /*flg_unc1=*/0);
res[i] -= mju_dotSparse(mat+adr, res, nnz-1, colind+adr);
// modulo AVX, the above line does
// for (int j=0; j<nnz-1; j++)
// res[i] -= mat[adr+j]*res[colind[adr+j]];
@@ -710,7 +710,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
int nnz = rownnz[i] - d1;
if (nnz > 0) {
int adr = rowadr[i] + d1;
res[i] -= mju_dotSparse(LU+adr, res, nnz, colind+adr, /*flg_unc1=*/0);
res[i] -= mju_dotSparse(LU+adr, res, nnz, colind+adr);
}
}
@@ -720,7 +720,7 @@ void mju_solveLUSparse(mjtNum* res, const mjtNum* LU, const mjtNum* vec, int n,
int d = diag[i];
int adr = rowadr[i];
if (d > 0) {
res[i] -= mju_dotSparse(LU+adr, res, d, colind+adr, /*flg_unc1=*/0);
res[i] -= mju_dotSparse(LU+adr, res, d, colind+adr);
}
// divide by diagonal element of L
src/engine/engine_util_sparse.c
+4 -10
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@@ -60,9 +60,8 @@ void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,
// dot-product, both vectors are sparse
// flg_unc2: is vec2 memory layout uncompressed
mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1, int nnz2,
const int* ind2, int flg_unc2) {
mjtNum mju_dotSparse2(const mjtNum* vec1, const int* ind1, int nnz1,
const mjtNum* vec2, const int* ind2, int nnz2) {
int i1 = 0, i2 = 0;
mjtNum res = 0;
@@ -77,12 +76,7 @@ mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const in
// match: accumulate result, advance both
if (adr1 == adr2) {
if (flg_unc2) {
res += vec1[i1++] * vec2[adr2];
i2++;
} else {
res += vec1[i1++] * vec2[i2++];
}
res += vec1[i1++] * vec2[i2++];
}
// otherwise advance smaller
@@ -161,7 +155,7 @@ void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
#else
// regular sparse dot-product
for (int r=0; r < nr; r++) {
res[r] = mju_dotSparse(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
res[r] = mju_dotSparse(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
}
#endif // mjUSEAVX
}
src/engine/engine_util_sparse.h
+13 -30
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@@ -28,9 +28,9 @@ extern "C" {
//------------------------------ sparse operations -------------------------------------------------
// dot-product, both vectors are sparse, vec2 can be uncompressed
MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
int nnz2, const int* ind2, int flg_unc2);
// dot-product, both vectors are sparse
MJAPI mjtNum mju_dotSparse2(const mjtNum* vec1, const int* ind1, int nnz1,
const mjtNum* vec2, const int* ind2, int nnz2);
// convert matrix from dense to sparse
// nnz is size of res and colind, return 1 if too small, 0 otherwise
@@ -128,12 +128,10 @@ MJAPI void mju_blockDiagSparse(
// ------------------------------ inlined functions ------------------------------------------------
// dot-product, first vector is sparse
// flg_unc1: is vec1 memory layout uncompressed
static inline
mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
int flg_unc1) {
mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1) {
#ifdef mjUSEAVX
return mju_dotSparse_avx(vec1, vec2, nnz1, ind1, flg_unc1);
return mju_dotSparse_avx(vec1, vec2, nnz1, ind1);
#else
int i = 0;
mjtNum res = 0;
@@ -143,33 +141,18 @@ mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int
mjtNum res2 = 0;
mjtNum res3 = 0;
if (flg_unc1) {
for (; i <= n_4; i+=4) {
res0 += vec1[ind1[i+0]] * vec2[ind1[i+0]];
res1 += vec1[ind1[i+1]] * vec2[ind1[i+1]];
res2 += vec1[ind1[i+2]] * vec2[ind1[i+2]];
res3 += vec1[ind1[i+3]] * vec2[ind1[i+3]];
}
} else {
for (; i <= n_4; i+=4) {
res0 += vec1[i+0] * vec2[ind1[i+0]];
res1 += vec1[i+1] * vec2[ind1[i+1]];
res2 += vec1[i+2] * vec2[ind1[i+2]];
res3 += vec1[i+3] * vec2[ind1[i+3]];
}
for (; i <= n_4; i+=4) {
res0 += vec1[i+0] * vec2[ind1[i+0]];
res1 += vec1[i+1] * vec2[ind1[i+1]];
res2 += vec1[i+2] * vec2[ind1[i+2]];
res3 += vec1[i+3] * vec2[ind1[i+3]];
}
res = (res0 + res2) + (res1 + res3);
// scalar part
if (flg_unc1) {
for (; i < nnz1; i++) {
res += vec1[ind1[i]] * vec2[ind1[i]];
}
} else {
for (; i < nnz1; i++) {
res += vec1[i] * vec2[ind1[i]];
}
for (; i < nnz1; i++) {
res += vec1[i] * vec2[ind1[i]];
}
return res;
src/engine/engine_util_sparse_avx.h
+18 -47
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@@ -30,10 +30,8 @@
//------------------------------ sparse operations using avx ---------------------------------------
// dot-product, first vector is sparse
// flg_unc1: is vec1 memory layout uncompressed
static inline
mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
int flg_unc1) {
mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1) {
int i = 0;
mjtNum res = 0;
int nnz1_4 = nnz1 - 4;
@@ -48,43 +46,22 @@ mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const
vec2[ind1[2]],
vec2[ind1[1]],
vec2[ind1[0]]);
if (flg_unc1) {
val1 = _mm256_set_pd(vec1[ind1[3]],
vec1[ind1[2]],
vec1[ind1[1]],
vec1[ind1[0]]);
} else {
val1 = _mm256_loadu_pd(vec1);
}
val1 = _mm256_loadu_pd(vec1);
sum = _mm256_mul_pd(val1, val2);
i = 4;
// parallel computation
if (flg_unc1) {
while (i<=nnz1_4) {
val1 = _mm256_set_pd(vec1[ind1[i+3]],
vec1[ind1[i+2]],
vec1[ind1[i+1]],
vec1[ind1[i+0]]);
val2 = _mm256_set_pd(vec2[ind1[i+3]],
vec2[ind1[i+2]],
vec2[ind1[i+1]],
vec2[ind1[i+0]]);
prod = _mm256_mul_pd(val1, val2);
sum = _mm256_add_pd(sum, prod);
i += 4;
}
} else {
while (i<=nnz1_4) {
val1 = _mm256_loadu_pd(vec1+i);
val2 = _mm256_set_pd(vec2[ind1[i+3]],
vec2[ind1[i+2]],
vec2[ind1[i+1]],
vec2[ind1[i+0]]);
prod = _mm256_mul_pd(val1, val2);
sum = _mm256_add_pd(sum, prod);
i += 4;
}
while (i<=nnz1_4) {
val1 = _mm256_loadu_pd(vec1+i);
val2 = _mm256_set_pd(vec2[ind1[i+3]],
vec2[ind1[i+2]],
vec2[ind1[i+1]],
vec2[ind1[i+0]]);
prod = _mm256_mul_pd(val1, val2);
sum = _mm256_add_pd(sum, prod);
i += 4;
}
// reduce
@@ -96,14 +73,8 @@ mjtNum mju_dotSparse_avx(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const
}
// scalar part
if (flg_unc1) {
for (; i < nnz1; i++) {
res += vec1[ind1[i]] * vec2[ind1[i]];
}
} else {
for (; i < nnz1; i++) {
res += vec1[i] * vec2[ind1[i]];
}
for (; i < nnz1; i++) {
res += vec1[i] * vec2[ind1[i]];
}
return res;
@@ -209,7 +180,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
if (!rowsuper) {
// regular sparse dot-product
for (int r=0; r<nr; r++) {
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
}
return;
@@ -232,7 +203,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
// handle remaining rows
while (rs>0) {
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
r++;
rs--;
@@ -243,7 +214,7 @@ void mju_mulMatVecSparse_avx(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
}
else {
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r], /*flg_unc1=*/0);
res[r] = mju_dotSparse_avx(mat+rowadr[r], vec, rownnz[r], colind+rowadr[r]);
}
}
}
test/engine/engine_core_constraint_test.cc
+4 -1
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@@ -32,6 +32,7 @@ namespace mujoco {
namespace {
using ::testing::DoubleNear;
using ::testing::NotNull;
using ::testing::Pointwise;
using CoreConstraintTest = MujocoTest;
@@ -291,7 +292,9 @@ static const char* const kIlslandEfcPath =
// validate mj_constraintUpdate_impl
TEST_F(CoreConstraintTest, ConstraintUpdateImpl) {
const std::string xml_path = GetTestDataFilePath(kIlslandEfcPath);
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, nullptr, 0);
char err[1024];
mjModel* model = mj_loadXML(xml_path.c_str(), 0, err, 1024);
ASSERT_THAT(model, NotNull()) << err;
mjData* d1 = mj_makeData(model);
mjData* d2 = mj_makeData(model);
test/engine/engine_util_sparse_test.cc
+14 -35
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@@ -54,57 +54,36 @@ using EngineUtilSparseTest = MujocoTest;
TEST_F(EngineUtilSparseTest, MjuDot) {
mjtNum a[] = {2, 3, 4, 5, 6, 7, 8};
mjtNum u[] = {2, 1, 3, 1, 1, 4, 1, 1, 1, 5, 1, 1, 1, 6, 1, 1, 7, 1, 8};
mjtNum b[] = {8, 1, 7, 1, 1, 6, 1, 1, 1, 5, 1, 1, 1, 4, 1, 1, 3, 1, 2};
int i[] = {0, 2, 5, 9, 13, 16, 18};
// test various vector lengths as mju_dotSparse adds numbers in groups of four
// a is compressed
int flg_unc1 = 0;
EXPECT_EQ(mju_dotSparse(a, b, 0, i, flg_unc1), 0);
EXPECT_EQ(mju_dotSparse(a, b, 1, i, flg_unc1), 2*8);
EXPECT_EQ(mju_dotSparse(a, b, 2, i, flg_unc1), 2*8 + 3*7);
EXPECT_EQ(mju_dotSparse(a, b, 3, i, flg_unc1), 2*8 + 3*7 + 4*6);
EXPECT_EQ(mju_dotSparse(a, b, 4, i, flg_unc1), 2*8 + 3*7 + 4*6 + 5*5);
EXPECT_EQ(mju_dotSparse(a, b, 5, i, flg_unc1), 2*8 + 3*7 + 4*6 + 5*5 + 6*4);
EXPECT_EQ(mju_dotSparse(a, b, 6, i, flg_unc1),
EXPECT_EQ(mju_dotSparse(a, b, 0, i), 0);
EXPECT_EQ(mju_dotSparse(a, b, 1, i), 2*8);
EXPECT_EQ(mju_dotSparse(a, b, 2, i), 2*8 + 3*7);
EXPECT_EQ(mju_dotSparse(a, b, 3, i), 2*8 + 3*7 + 4*6);
EXPECT_EQ(mju_dotSparse(a, b, 4, i), 2*8 + 3*7 + 4*6 + 5*5);
EXPECT_EQ(mju_dotSparse(a, b, 5, i), 2*8 + 3*7 + 4*6 + 5*5 + 6*4);
EXPECT_EQ(mju_dotSparse(a, b, 6, i),
2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3);
EXPECT_EQ(mju_dotSparse(a, b, 7, i, flg_unc1),
2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3 + 8*2);
// u is compressed
flg_unc1 = 1;
EXPECT_EQ(mju_dotSparse(u, b, 0, i, flg_unc1), 0);
EXPECT_EQ(mju_dotSparse(u, b, 1, i, flg_unc1), 2*8);
EXPECT_EQ(mju_dotSparse(u, b, 2, i, flg_unc1), 2*8 + 3*7);
EXPECT_EQ(mju_dotSparse(u, b, 3, i, flg_unc1), 2*8 + 3*7 + 4*6);
EXPECT_EQ(mju_dotSparse(u, b, 4, i, flg_unc1), 2*8 + 3*7 + 4*6 + 5*5);
EXPECT_EQ(mju_dotSparse(u, b, 5, i, flg_unc1), 2*8 + 3*7 + 4*6 + 5*5 + 6*4);
EXPECT_EQ(mju_dotSparse(u, b, 6, i, flg_unc1),
2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3);
EXPECT_EQ(mju_dotSparse(u, b, 7, i, flg_unc1),
EXPECT_EQ(mju_dotSparse(a, b, 7, i),
2*8 + 3*7 + 4*6 + 5*5 + 6*4 + 7*3 + 8*2);
}
TEST_F(EngineUtilSparseTest, MjuDot2) {
constexpr int annz = 6;
constexpr int bnnz = 5;
int ia[annz] = {0, 2, 5, 6, 7};
// values
mjtNum a[annz] = {2, 3, 4, 5, 6};
int ib[bnnz] = { 1, 2, 3, 5, 7};
mjtNum b[bnnz] = { 8, 7, 6, 5, 4};
mjtNum u[] = {1, 8, 7, 6, 1, 5, 1, 4};
// test various vector lengths as mju_dotSparse adds numbers in groups of four
// indices
int ia[annz] = {0, 2, 5, 6, 7};
int ib[bnnz] = { 1, 2, 3, 5, 7};
// a is compressed
int flg_unc2 = 0;
EXPECT_EQ(mju_dotSparse2(a, b, annz, ia, bnnz, ib, flg_unc2), 3*7+4*5+6*4);
// u is uncompressed
flg_unc2 = 1;
EXPECT_EQ(mju_dotSparse2(a, u, annz, ia, bnnz, ib, flg_unc2), 3*7+4*5+6*4);
EXPECT_EQ(mju_dotSparse2(a, ia, annz, b, ib, bnnz), 3 * 7 + 4 * 5 + 6 * 4);
}
TEST_F(EngineUtilSparseTest, CombineSparseCount) {