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Put sparsity structures in mjModel, don't use them yet.

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PiperOrigin-RevId: 795032051
Change-Id: I75c69e881980ff9c308acf00bb3a65f4b2ef12f5
This commit is contained in:
Yuval Tassa
2025-08-14 07:36:59 -07:00
committed by Copybara-Service
parent f077fd00a9
commit 7eb13777f8
9 changed files with 404 additions and 178 deletions
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doc/includes/references.h
+19 -4
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@@ -979,6 +979,10 @@ struct mjModel_ {
int nbvhdynamic; // number of dynamic bounding volumes (aabb stored in mjData)
int noct; // number of total octree cells in all meshes
int njnt; // number of joints
int nM; // number of non-zeros in sparse inertia matrix
int nB; // number of non-zeros in sparse body-dof matrix
int nC; // number of non-zeros in sparse reduced dof-dof matrix
int nD; // number of non-zeros in sparse dof-dof matrix
int ngeom; // number of geoms
int nsite; // number of sites
int ncam; // number of cameras
@@ -1042,10 +1046,6 @@ struct mjModel_ {
// sizes set after mjModel construction
int nnames_map; // number of slots in the names hash map
int nM; // number of non-zeros in sparse inertia matrix
int nB; // number of non-zeros in sparse body-dof matrix
int nC; // number of non-zeros in sparse reduced dof-dof matrix
int nD; // number of non-zeros in sparse dof-dof matrix
int nJmom; // number of non-zeros in sparse actuator_moment matrix
int ntree; // number of kinematic trees under world body
int ngravcomp; // number of bodies with nonzero gravcomp
@@ -1547,6 +1547,21 @@ struct mjModel_ {
// paths
char* paths; // paths to assets, 0-terminated (npaths x 1)
// sparse structures
int* B_rownnz; // body-dof: non-zeros in each row (nbody x 1)
int* B_rowadr; // body-dof: row addresses (nbody x 1)
int* B_colind; // body-dof: column indices (nB x 1)
int* M_rownnz; // reduced inertia: non-zeros in each row (nv x 1)
int* M_rowadr; // reduced inertia: row addresses (nv x 1)
int* M_colind; // reduced inertia: column indices (nC x 1)
int* mapM2M; // index mapping from qM to M (nC x 1)
int* D_rownnz; // full inertia: non-zeros in each row (nv x 1)
int* D_rowadr; // full inertia: row addresses (nv x 1)
int* D_diag; // full inertia: index of diagonal element (nv x 1)
int* D_colind; // full inertia: column indices (nD x 1)
int* mapM2D; // index mapping from qM to D (nD x 1)
int* mapD2M; // index mapping from D to qM (nM x 1)
// compilation signature
uint64_t signature; // also held by the mjSpec that compiled this model
};