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Replace custom sort of sparse fixed tendons with mju_combineSparse.

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PiperOrigin-RevId: 720219887
Change-Id: I0491b3cb8987c119c3864fc0b5c38ca303d8f7f0
This commit is contained in:
Yuval Tassa
2025-01-27 10:23:59 -08:00
committed by Copybara-Service
parent d21f624264
commit 9605990648
2 changed files with 55 additions and 23 deletions
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src/engine/engine_core_smooth.c
+5 -23
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@@ -665,7 +665,7 @@ void mj_tendon(const mjModel* m, mjData* d) {
rowadr[i] = (i > 0 ? rowadr[i-1] + rownnz[i-1] : 0);
}
// process joint tendon
// process fixed tendon
if (m->wrap_type[adr] == mjWRAP_JOINT) {
// process all defined joints
for (int j=0; j < tendon_num; j++) {
@@ -677,9 +677,10 @@ void mj_tendon(const mjModel* m, mjData* d) {
// add to moment
if (issparse) {
J[rowadr[i] + rownnz[i]] = m->wrap_prm[adr+j];
colind[rowadr[i] + rownnz[i]] = m->jnt_dofadr[k];
rownnz[i]++;
rownnz[i] = mju_combineSparse(J+rowadr[i], &m->wrap_prm[adr+j], 1, 1,
rownnz[i], 1,
colind+rowadr[i], &m->jnt_dofadr[k],
sparse_buf, buf_ind);
}
// add to moment: dense
@@ -688,25 +689,6 @@ void mj_tendon(const mjModel* m, mjData* d) {
}
}
// sort on colind if sparse: custom insertion sort
if (issparse) {
int x, *list = colind+rowadr[i], nnz = rownnz[i];
mjtNum y, *listy = J+rowadr[i];
for (int k=1; k < nnz; k++) {
x = list[k];
y = listy[k];
int j = k-1;
while (j >= 0 && list[j] > x) {
list[j+1] = list[j];
listy[j+1] = listy[j];
j--;
}
list[j+1] = x;
listy[j+1] = y;
}
}
continue;
}