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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/user/user_model.cc
+29 -6
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@@ -2932,12 +2932,10 @@ void mjCModel::CopyTree(mjModel* m) {
}
}
if (nM_post != nM) throw mjCError(0, "nM mismatch: pre %d, post %d", nullptr, nM, nM_post);
m->nM = nM_post;
// recompute nD, validate
int nD_post = 2 * m->nM - nv;
if (nD_post != nD) throw mjCError(0, "nD mismatch: pre %d, post %d", nullptr, nD, nD_post);
m->nD = nD_post;
// bodies_[]->subtreedofs already computed in ComputeSparseSizes
@@ -2954,7 +2952,6 @@ void mjCModel::CopyTree(mjModel* m) {
}
}
if (nB_post != nB) throw mjCError(0, "nB mismatch: pre %d, post %d", nullptr, nB, nB_post);
m->nB = nB_post;
}
// copy plugin data
@@ -3799,7 +3796,6 @@ void mjCModel::FinalizeSimple(mjModel* m) {
}
int nC_post = nOD + nv;
if (nC_post != nC) throw mjCError(0, "nC mismatch: pre %d, post %d", nullptr, nC, nC_post);
m->nC = nC_post;
}
@@ -4774,8 +4770,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
// create low-level model
mj_makeModel(&m,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, noct, njnt, ngeom, nsite,
ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
nq, nv, nu, na, nbody, nbvh, nbvhstatic, nbvhdynamic, noct, njnt, nM, nB, nC, nD,
ngeom, nsite, ncam, nlight, nflex, nflexnode, nflexvert, nflexedge, nflexelem,
nflexelemdata, nflexelemedge, nflexshelldata, nflexevpair, nflextexcoord,
nmesh, nmeshvert, nmeshnormal, nmeshtexcoord, nmeshface, nmeshgraph, nmeshpoly,
nmeshpolyvert, nmeshpolymap, nskin, nskinvert, nskintexvert, nskinface, nskinbone,
@@ -4852,6 +4848,33 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
m->narena = kMegabyte * (nstack_mb + residual_mb);
}
// sparsity structures
{
std::vector<int> remaining(m->nv);
std::vector<int> count(m->nbody);
std::vector<int> M(m->nM);
std::vector<int> D(m->nD);
// make D
mj_makeDofDofSparse(m->nv, m->nC, m->nD, m->nM, m->dof_parentid, m->dof_simplenum,
m->D_rownnz, m->D_rowadr, m->D_diag, m->D_colind,
/*reduced=*/0, /*upper=*/1, remaining.data());
// make B
mj_makeBSparse(m->nv, m->nbody, m->nB, m->body_dofnum, m->body_parentid,
m->body_dofadr, m->B_rownnz, m->B_rowadr, m->B_colind, count.data());
// make C
mj_makeDofDofSparse(m->nv, m->nC, m->nD, m->nM, m->dof_parentid, m->dof_simplenum,
m->M_rownnz, m->M_rowadr, NULL, m->M_colind,
/*reduced=*/1, /*upper=*/0, remaining.data());
// make index mappings: mapM2D, mapD2M, mapM2M
mj_makeDofDofMaps(m->nv, m->nM, m->nC, m->nD, m->dof_Madr, m->dof_simplenum, m->dof_parentid,
m->D_rownnz, m->D_rowadr, m->D_colind, m->M_rownnz, m->M_rowadr,
m->mapM2D, m->mapD2M, m->mapM2M, remaining.data(), M.data(), D.data());
}
// create data
int disableflags = m->opt.disableflags;
m->opt.disableflags |= mjDSBL_CONTACT;