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

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjxmacro.h
+18 -5
View File
@@ -77,6 +77,10 @@
X( nbvhdynamic ) \
X( noct ) \
X( njnt ) \
X( nM ) \
X( nB ) \
X( nC ) \
X( nD ) \
X( ngeom ) \
X( nsite ) \
X( ncam ) \
@@ -138,10 +142,6 @@
X( nnames ) \
X( npaths ) \
X( nnames_map ) \
X( nM ) \
X( nB ) \
X( nC ) \
X( nD ) \
X( nJmom ) \
X( ntree ) \
X( ngravcomp ) \
@@ -597,6 +597,19 @@
X ( char, names, nnames, 1 ) \
X ( int, names_map, nnames_map, 1 ) \
X ( char, paths, npaths, 1 ) \
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \
X ( int, B_colind, nB, 1 ) \
X ( int, M_rownnz, nv, 1 ) \
X ( int, M_rowadr, nv, 1 ) \
X ( int, M_colind, nC, 1 ) \
X ( int, mapM2M, nC, 1 ) \
X ( int, D_rownnz, nv, 1 ) \
X ( int, D_rowadr, nv, 1 ) \
X ( int, D_diag, nv, 1 ) \
X ( int, D_colind, nD, 1 ) \
X ( int, mapM2D, nD, 1 ) \
X ( int, mapD2M, nM, 1 )
//-------------------------------- mjData ----------------------------------------------------------
@@ -722,7 +735,7 @@
X( mjContact, contact, MJ_D(ncon), 1 )
// array fields of mjData that are used in the primal problem
#define MJDATA_ARENA_POINTERS_SOLVER \
#define MJDATA_ARENA_POINTERS_SOLVER \
X ( int, efc_type, MJ_D(nefc), 1 ) \
X ( int, efc_id, MJ_D(nefc), 1 ) \
XNV( int, efc_J_rownnz, MJ_D(nefc), 1 ) \