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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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src/engine/engine_io.h
+29 -10
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@@ -53,16 +53,16 @@ void mj_defaultStatistic(mjStatistic* stat);
// allocate mjModel
void mj_makeModel(mjModel** dest,
int nq, int nv, int nu, int na, int nbody, int nbvh, int nbvhstatic, int nbvhdynamic, int noct,
int njnt, int ngeom, int nsite, int ncam, int nlight, int nflex, int nflexnode, int nflexvert,
int nflexedge, int nflexelem, int nflexelemdata, int nflexelemedge, int nflexshelldata,
int nflexevpair, int nflextexcoord, int nmesh, int nmeshvert, int nmeshnormal,
int nmeshtexcoord, int nmeshface, int nmeshgraph, int nmeshpoly, int nmeshpolyvert,
int nmeshpolymap, int nskin, int nskinvert, int nskintexvert, int nskinface, int nskinbone,
int nskinbonevert, int nhfield, int nhfielddata, int ntex, int ntexdata, int nmat, int npair,
int nexclude, int neq, int ntendon, int nwrap, int nsensor, int nnumeric, int nnumericdata, int ntext,
int ntextdata, int ntuple, int ntupledata, int nkey, int nmocap, int nplugin, int npluginattr,
int nuser_body, int nuser_jnt, int nuser_geom, int nuser_site, int nuser_cam, int nuser_tendon,
int nuser_actuator, int nuser_sensor, int nnames, int npaths);
int njnt, int nM, int nB, int nC, int nD, int ngeom, int nsite, int ncam, int nlight, int nflex,
int nflexnode, int nflexvert, int nflexedge, int nflexelem, int nflexelemdata,
int nflexelemedge, int nflexshelldata, int nflexevpair, int nflextexcoord, int nmesh,
int nmeshvert, int nmeshnormal, int nmeshtexcoord, int nmeshface, int nmeshgraph, int nmeshpoly,
int nmeshpolyvert, int nmeshpolymap, int nskin, int nskinvert, int nskintexvert, int nskinface,
int nskinbone, int nskinbonevert, int nhfield, int nhfielddata, int ntex, int ntexdata,
int nmat, int npair, int nexclude, int neq, int ntendon, int nwrap, int nsensor, int nnumeric,
int nnumericdata, int ntext, int ntextdata, int ntuple, int ntupledata, int nkey, int nmocap,
int nplugin, int npluginattr, int nuser_body, int nuser_jnt, int nuser_geom, int nuser_site,
int nuser_cam, int nuser_tendon, int nuser_actuator, int nuser_sensor, int nnames, int npaths);
// copy mjModel; allocate new if dest is NULL
MJAPI mjModel* mj_copyModel(mjModel* dest, const mjModel* src);
@@ -85,6 +85,25 @@ MJAPI int mj_sizeModel(const mjModel* m);
// validate reference fields in a model; return null if valid, error message otherwise
MJAPI const char* mj_validateReferences(const mjModel* m);
// construct sparse representation of dof-dof matrix
MJAPI void mj_makeDofDofSparse(int nv, int nC, int nD, int nM,
const int* dof_parentid, const int* dof_simplenum,
int* rownnz, int* rowadr, int* diag, int* colind,
int reduced, int upper, int* remaining);
// construct sparse representation of body-dof matrix
MJAPI void mj_makeBSparse(int nv, int nbody, int nB,
const int* body_dofnum, const int* body_parentid, const int* body_dofadr,
int* B_rownnz, int* B_rowadr, int* B_colind,
int* count);
// construct index mappings between M <-> D, M (legacy) -> M (CSR)
MJAPI void mj_makeDofDofMaps(int nv, int nM, int nC, int nD,
const int* dof_Madr, const int* dof_simplenum, const int* dof_parentid,
const int* D_rownnz, const int* D_rowadr, const int* D_colind,
const int* M_rownnz, const int* M_rowadr,
int* mapM2D, int* mapD2M, int* mapM2M,
int* remaining, int* M, int* D);
//------------------------------- mjData -----------------------------------------------------------