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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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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