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

Precompute rotated stiffness matrix before CG in implicit flex integrator.

Browse Source 
This gives a 3x speedup in implicitfast.

Also cleanup old code that was used in the dense factorization of the stiffness matrix before we switched to CG.

PiperOrigin-RevId: 915900315
Change-Id: Id6973c4bfd7d371a43ec6db982703969b23a3550
This commit is contained in:
Alessio Quaglino
2026-05-15 02:57:18 -07:00
committed by Copybara-Service
parent 85bf2b9660
commit 7ca1bc6a56
5 changed files with 104 additions and 107 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/engine/engine_derivative_test.cc
+1 -1
View File
@@ -1485,7 +1485,7 @@ static void mulKD_dense(mjModel* m, mjData* d, mjtNum* H_dense,
mju_zero(e_i.data(), nv);
mju_zero(col.data(), nv);
e_i[i] = 1.0;
mjd_flexInterp_mul(m, d, col.data(), e_i.data(), h * h, h);
mjd_flexInterp_mul(m, d, col.data(), e_i.data(), h * h, h, NULL);
// col = +(h^2 + h*damp)*K*e_i, negate to match addH convention (H -= K)
for (int j = 0; j < nv; j++) {
H_dense[j * nv + i] = -col[j];