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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_avx.h
+18 -47
View File
@@ -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]);
}
}
}