chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Remove unused code related to legacy island implementation.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_sparse.h
+13 -30
View File
@@ -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;