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

Implement sleeping in engine

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_util_sparse.c
+19
View File
@@ -142,6 +142,25 @@ void mju_sparse2dense(mjtNum* res, const mjtNum* mat, int nr, int nc,
}
// res[row, :] = mat[row, :]
void mju_copySparse(mjtNum* res, const mjtNum* mat, const int* rownnz, const int* rowadr,
const int* row, int nrow) {
for (int i=0; i < nrow; i++) {
int r = row[i];
mju_copy(res + rowadr[r], mat + rowadr[r], rownnz[r]);
}
}
// res[row, :] = 0
void mju_zeroSparse(mjtNum* res, const int* rownnz, const int* rowadr, const int* row, int nrow) {
for (int i=0; i < nrow; i++) {
int r = row[i];
mju_zero(res + rowadr[r], rownnz[r]);
}
}
// multiply sparse matrix and dense vector: res = mat * vec.
void mju_mulMatVecSparse(mjtNum* res, const mjtNum* mat, const mjtNum* vec,
int nr, const int* rownnz, const int* rowadr,