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

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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
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src/engine/engine_util_sparse.h
+2 -2
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@@ -96,13 +96,13 @@ MJAPI void mju_sqrMatTDSparse(mjtNum* res, const mjtNum* mat, const mjtNum* matT
const int* colind, const int* rowsuper,
const int* rownnzT, const int* rowadrT,
const int* colindT, const int* rowsuperT,
mjData* d);
mjData* d, int flg_upper);
// precount res_rownnz and precompute res_rowadr for mju_sqrMatTDSparse
MJAPI void mju_sqrMatTDSparseInit(int* res_rownnz, int* res_rowadr, int nr,
const int* rownnz, const int* rowadr, const int* colind,
const int* rownnzT, const int* rowadrT, const int* colindT,
const int* rowsuperT, mjData* d);
const int* rowsuperT, mjData* d, int flg_upper);
// precompute res_rowadr for mju_sqrMatTDSparse using uncompressed memory
MJAPI void mju_sqrMatTDUncompressedInit(int* res_rowadr, int nc);