Remove solver_nisland field from mjData.

PiperOrigin-RevId: 750527660
Change-Id: I6b34944c92483ea2abc774df75efd868255a2bac

doc/includes/references.h

@@ -154,7 +154,6 @@ struct mjData_ {
 
   // solver statistics
   mjSolverStat  solver[mjNISLAND*mjNSOLVER];  // solver statistics per island, per iteration
-  int           solver_nisland;               // number of islands processed by solver
   int           solver_niter[mjNISLAND];      // number of solver iterations, per island
   int           solver_nnz[mjNISLAND];        // number of nonzeros in Hessian or efc_AR, per island
   mjtNum        solver_fwdinv[2];             // forward-inverse comparison: qfrc, efc

include/mujoco/mjdata.h

@@ -182,7 +182,6 @@ struct mjData_ {
 
   // solver statistics
   mjSolverStat  solver[mjNISLAND*mjNSOLVER];  // solver statistics per island, per iteration
-  int           solver_nisland;               // number of islands processed by solver
   int           solver_niter[mjNISLAND];      // number of solver iterations, per island
   int           solver_nnz[mjNISLAND];        // number of nonzeros in Hessian or efc_AR, per island
   mjtNum        solver_fwdinv[2];             // forward-inverse comparison: qfrc, efc

include/mujoco/mjxmacro.h

@@ -777,7 +777,6 @@
     X( size_t,    maxuse_arena       ) \
     X( int,       maxuse_con         ) \
     X( int,       maxuse_efc         ) \
-    X( int,       solver_nisland     ) \
     X( int,       ncon               ) \
     X( int,       ne                 ) \
     X( int,       nf                 ) \

python/mujoco/introspect/structs.py

@@ -4816,11 +4816,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                  ),
                  doc='solver statistics per island, per iteration',
              ),
-             StructFieldDecl(
-                 name='solver_nisland',
-                 type=ValueType(name='int'),
-                 doc='number of islands processed by solver',
-             ),
              StructFieldDecl(
                  name='solver_niter',
                  type=ArrayType(

sample/testspeed.cc

@@ -97,7 +97,7 @@ void simulate(int id, int nstep, mjtNum* ctrl) {
     // accumulate statistics
     contacts[id] += d[id]->ncon;
     constraints[id] += d[id]->nefc;
-    int nisland = d[id]->solver_nisland;
+    int nisland = mjMAX(1, mjMIN(d[id]->nisland, mjNISLAND));
     if (nisland == 1 || nisland == 0) {
       iterations[id] += d[id]->solver_niter[0];
     } else {

simulate/simulate.cc

@@ -298,7 +298,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
   memset(sim->figcost.linepnt, 0, mjMAXLINE*sizeof(int));
 
   // number of islands that have diagnostics
-  int nisland = mjMIN(d->solver_nisland, mjNISLAND);
+  int nisland = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
 
   // iterate over islands
   for (int k=0; k < nisland; k++) {
@@ -413,7 +413,7 @@ void UpdateProfiler(mj::Simulate* sim, const mjModel* m, const mjData* d) {
     static_cast<float>(d->nefc),
     static_cast<float>(sqrt_nnz),
     static_cast<float>(d->ncon),
-    static_cast<float>(solver_niter)
+    static_cast<float>(solver_niter) / nisland
   };
 
   // update figsize
@@ -582,7 +582,7 @@ void UpdateInfoText(mj::Simulate* sim, const mjModel* m, const mjData* d,
   char tmp[20];
 
   // number of islands with statistics
-  int nisland = mjMIN(d->solver_nisland, mjNISLAND);
+  int nisland = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
 
   // compute solver error (maximum over islands)
   mjtNum solerr = 0;

src/engine/engine_forward.c

@@ -730,7 +730,6 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
       // solve using threads
       mj_solCG_island_multithreaded(m, d);
     }
-    d->solver_nisland = nisland;
   }
 
   // run solver over all constraints
@@ -751,9 +750,6 @@ void mj_fwdConstraint(const mjModel* m, mjData* d) {
     default:
       mjERROR("unknown solver type %d", m->opt.solver);
     }
-
-    // one (monolithic) island
-    d->solver_nisland = 1;
   }
 
   // save result for next step warmstart

src/engine/engine_io.c

@@ -1904,7 +1904,6 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
   memset(d->warning, 0, mjNWARNING*sizeof(mjWarningStat));
   memset(d->timer, 0, mjNTIMER*sizeof(mjTimerStat));
   memset(d->solver, 0, mjNSOLVER*mjNISLAND*sizeof(mjSolverStat));
-  d->solver_nisland = 0;
   mju_zeroInt(d->solver_niter, mjNISLAND);
   mju_zeroInt(d->solver_nnz, mjNISLAND);
   mju_zero(d->solver_fwdinv, 2);

src/engine/engine_print.c

@@ -1008,9 +1008,8 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
   // SOLVER STAT
   if (d->nefc) {
     fprintf(fp, "SOLVER STAT\n");
-    fprintf(fp, "  solver_nisland = %d\n", d->solver_nisland);
     printVector("  solver_fwdinv = ", d->solver_fwdinv, 2, fp, float_format);
-    int nisland_stat = mjMIN(d->solver_nisland, mjNISLAND);
+    int nisland_stat = mjMAX(1, mjMIN(d->nisland, mjNISLAND));
     for (int island=0; island < nisland_stat; island++) {
       int niter_stat = mjMIN(mjNSOLVER, d->solver_niter[island]);
       if (niter_stat) {

unity/Runtime/Bindings/MjBindings.cs

@@ -4826,7 +4826,6 @@ public unsafe struct mjData_ {
   public mjSolverStat_ solver3997;
   public mjSolverStat_ solver3998;
   public mjSolverStat_ solver3999;
-  public int solver_nisland;
   public fixed int solver_niter[20];
   public fixed int solver_nnz[20];
   public fixed double solver_fwdinv[2];