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Add private function mj_makeM.

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PiperOrigin-RevId: 757689756
Change-Id: Ie8bb49d9f18a95da2e3fd8622e30f9266a1ced98
This commit is contained in:
Yuval Tassa
2025-05-12 03:51:31 -07:00
committed by Copybara-Service
parent 9accc7ae51
commit 85dd78d6f3
5 changed files with 22 additions and 15 deletions
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src/engine/engine_forward.c
+9 -8
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@@ -114,16 +114,15 @@ typedef struct mjFwdPositionArgs_ mjFwdPositionArgs;
// wrapper for mj_crb and mj_factorM
void* mj_inertialThreaded(void* args) {
mjFwdPositionArgs* forward_args = (mjFwdPositionArgs*) args;
mj_crb(forward_args->m, forward_args->d); // timed internally (POS_INERTIA)
mj_tendonArmature(forward_args->m, forward_args->d); // timed internally (POS_INERTIA)
mj_factorM(forward_args->m, forward_args->d); // timed internally (POS_INERTIA)
mj_makeM(forward_args->m, forward_args->d);
mj_factorM(forward_args->m, forward_args->d);
return NULL;
}
// wrapper for mj_collision
void* mj_collisionThreaded(void* args) {
mjFwdPositionArgs* forward_args = (mjFwdPositionArgs*) args;
mj_collision(forward_args->m, forward_args->d); // timed internally (POS_COLLISION)
mj_collision(forward_args->m, forward_args->d);
return NULL;
}
@@ -143,10 +142,12 @@ void mj_fwdPosition(const mjModel* m, mjData* d) {
// no threadpool: inertia and collision on main thread
if (!d->threadpool) {
mj_crb(m, d); // timed internally (POS_INERTIA)
mj_tendonArmature(m, d); // timed internally (POS_INERTIA)
mj_factorM(m, d); // timed internally (POS_INERTIA)
mj_collision(m, d); // timed internally (POS_COLLISION)
// inertia, timed internally (POS_INERTIA)
mj_makeM(m, d);
mj_factorM(m, d);
// collision, timed internally (POS_COLLISION)
mj_collision(m, d);
}
// have threadpool: inertia and collision on separate threads