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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_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
}