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Move island-specific sparse matrices from arena to stack.

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PiperOrigin-RevId: 923850345
Change-Id: I9683d7554b15b7cd8c45a8dce7814640aa266452
This commit is contained in:
Yuval Tassa
2026-05-30 03:07:31 -07:00
committed by Copybara-Service
parent 5d782a2bb8
commit 96bf8aea81
11 changed files with 122 additions and 402 deletions
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python/mujoco/introspect/structs.py
-88
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@@ -6541,54 +6541,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='unconstrained acceleration',
array_extent=('nidof',),
),
StructFieldDecl(
name='iM_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='inertia: non-zeros in each row',
array_extent=('nidof',),
),
StructFieldDecl(
name='iM_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='inertia: address of each row in iM_colind',
array_extent=('nidof',),
),
StructFieldDecl(
name='iM_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='inertia: column indices of non-zeros',
array_extent=('nC',),
),
StructFieldDecl(
name='iM',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='total inertia (sparse)',
array_extent=('nC',),
),
StructFieldDecl(
name='iLD',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc="L'*D*L factorization of M (sparse)",
array_extent=('nC',),
),
StructFieldDecl(
name='iLDiagInv',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='1/diag(D)',
array_extent=('nidof',),
),
StructFieldDecl(
name='iacc',
type=PointerType(
@@ -6669,46 +6621,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='id of object of specified type',
array_extent=('nefc',),
),
StructFieldDecl(
name='iefc_J_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in constraint Jacobian row',
array_extent=('nefc',),
),
StructFieldDecl(
name='iefc_J_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array',
array_extent=('nefc',),
),
StructFieldDecl(
name='iefc_J_rowsuper',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of subsequent rows in supernode',
array_extent=('nefc',),
),
StructFieldDecl(
name='iefc_J_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in constraint Jacobian',
array_extent=('nJ',),
),
StructFieldDecl(
name='iefc_J',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint Jacobian',
array_extent=('nJ',),
),
StructFieldDecl(
name='iefc_frictionloss',
type=PointerType(