chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Represent only the lower triangle in Newton solver's reduced dof-dof matrix.

Browse Source 
PiperOrigin-RevId: 712488529
Change-Id: Iad91c72654376539791d7856765a0d0ac9088251
This commit is contained in:
Yuval Tassa
2025-01-06 04:58:06 -08:00
committed by Copybara-Service
parent ee6f4837f3
commit 7eb8231fda
11 changed files with 112 additions and 76 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_constraint.c
+2 -2
View File
@@ -2176,12 +2176,12 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
// AR = JM2 * JM2'
mju_sqrMatTDSparseInit(d->efc_AR_rownnz, d->efc_AR_rowadr, nefc, rownnzT,
rowadrT, colindT, rownnz, rowadr, colind, rowsuper, d);
rowadrT, colindT, rownnz, rowadr, colind, rowsuper, d, /*flg_upper=*/1);
mju_sqrMatTDSparse(d->efc_AR, JM2T, JM2, NULL, nv, nefc,
d->efc_AR_rownnz, d->efc_AR_rowadr, d->efc_AR_colind,
rownnzT, rowadrT, colindT, NULL,
rownnz, rowadr, colind, rowsuper, d);
rownnz, rowadr, colind, rowsuper, d, /*flg_upper=*/1);
// add R to diagonal of AR
for (int i=0; i < nefc; i++) {