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Implement sleeping in engine

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PiperOrigin-RevId: 829361787
Change-Id: I6f64d8e25c4248cf32c18cd94d37ff5def78946e
This commit is contained in:
Yuval Tassa
2025-11-07 03:32:03 -08:00
committed by Copybara-Service
parent 1e0226d360
commit 769f37b653
55 changed files with 3602 additions and 677 deletions
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src/engine/engine_util_blas.h
+25 -4
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@@ -141,12 +141,18 @@ MJAPI mjtNum mju_normalize4(mjtNum vec[4]);
// res = 0
MJAPI void mju_zero(mjtNum* res, int n);
// res = 0, at given indices
void mju_zeroInd(mjtNum* res, int n, const int* ind);
// res = val
MJAPI void mju_fill(mjtNum* res, mjtNum val, int n);
// res = vec
MJAPI void mju_copy(mjtNum* res, const mjtNum* vec, int n);
// res = vec, at given indices
void mju_copyInd(mjtNum* res, const mjtNum* vec, const int* ind, int n);
// sum(vec)
MJAPI mjtNum mju_sum(const mjtNum* vec, int n);
@@ -159,18 +165,30 @@ MJAPI void mju_scl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
// res = vec1 + vec2
MJAPI void mju_add(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
// res = vec1 + vec2, at given indices
void mju_addInd(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, const int* ind, int n);
// res = vec1 - vec2
MJAPI void mju_sub(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, int n);
// res = vec1 - vec2, at selected indices
void mju_subInd(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, const int* ind, int n);
// res += vec
MJAPI void mju_addTo(mjtNum* res, const mjtNum* vec, int n);
// res += vec, at selected indices
void mju_addToInd(mjtNum* res, const mjtNum* vec, const int* ind, int n);
// res -= vec
MJAPI void mju_subFrom(mjtNum* res, const mjtNum* vec, int n);
// res += vec*scl
MJAPI void mju_addToScl(mjtNum* res, const mjtNum* vec, mjtNum scl, int n);
// res += vec*scl, at given indices
void mju_addToSclInd(mjtNum* res, const mjtNum* vec, const int* ind, mjtNum scl, int n);
// res = vec1 + vec2*scl
MJAPI void mju_addScl(mjtNum* res, const mjtNum* vec1, const mjtNum* vec2, mjtNum scl, int n);
@@ -183,16 +201,16 @@ MJAPI mjtNum mju_norm(const mjtNum* res, int n);
// vector dot-product
MJAPI mjtNum mju_dot(const mjtNum* vec1, const mjtNum* vec2, int n);
// vector dot-product, at given indices
mjtNum mju_dotInd(const mjtNum* vec1, const mjtNum* vec2, const int* ind, int n);
//------------------------------ matrix-vector operations ------------------------------------------
// multiply matrix and vector
MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int nr, int nc);
MJAPI void mju_mulMatVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
// multiply transposed matrix and vector
MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int nr, int nc);
MJAPI void mju_mulMatTVec(mjtNum* res, const mjtNum* mat, const mjtNum* vec, int nr, int nc);
// multiply square matrix with vectors on both sides: return vec1'*mat*vec2
MJAPI mjtNum mju_mulVecMatVec(const mjtNum* vec1, const mjtNum* mat, const mjtNum* vec2, int n);
@@ -209,6 +227,9 @@ MJAPI void mju_symmetrize(mjtNum* res, const mjtNum* mat, int n);
// identity matrix
MJAPI void mju_eye(mjtNum* mat, int n);
// copy selected rows: res[ind, :] = mat[ind, :]
void mju_copyRows(mjtNum* res, const mjtNum* mat, const int* ind, int n, int nc);
//------------------------------ matrix-matrix operations ------------------------------------------
// multiply matrices