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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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wasm/codegen/generated/bindings.cc
-44
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@@ -6981,24 +6981,6 @@ struct MjData {
emscripten::val iacc_smooth() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->iacc_smooth));
}
emscripten::val iM_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->iM_rownnz));
}
emscripten::val iM_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->iM_rowadr));
}
emscripten::val iM_colind() const {
return emscripten::val(emscripten::typed_memory_view(model->nC, ptr_->iM_colind));
}
emscripten::val iM() const {
return emscripten::val(emscripten::typed_memory_view(model->nC, ptr_->iM));
}
emscripten::val iLD() const {
return emscripten::val(emscripten::typed_memory_view(model->nC, ptr_->iLD));
}
emscripten::val iLDiagInv() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->iLDiagInv));
}
emscripten::val iacc() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nidof, ptr_->iacc));
}
@@ -7029,21 +7011,6 @@ struct MjData {
emscripten::val iefc_id() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_id));
}
emscripten::val iefc_J_rownnz() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_J_rownnz));
}
emscripten::val iefc_J_rowadr() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_J_rowadr));
}
emscripten::val iefc_J_rowsuper() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_J_rowsuper));
}
emscripten::val iefc_J_colind() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJ, ptr_->iefc_J_colind));
}
emscripten::val iefc_J() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nJ, ptr_->iefc_J));
}
emscripten::val iefc_frictionloss() const {
return emscripten::val(emscripten::typed_memory_view(ptr_->nefc, ptr_->iefc_frictionloss));
}
@@ -11694,20 +11661,9 @@ EMSCRIPTEN_BINDINGS(mujoco_bindings) {
.property("geom_xmat", &MjData::geom_xmat)
.property("geom_xpos", &MjData::geom_xpos)
.property("history", &MjData::history)
.property("iLD", &MjData::iLD)
.property("iLDiagInv", &MjData::iLDiagInv)
.property("iM", &MjData::iM)
.property("iM_colind", &MjData::iM_colind)
.property("iM_rowadr", &MjData::iM_rowadr)
.property("iM_rownnz", &MjData::iM_rownnz)
.property("iacc", &MjData::iacc)
.property("iacc_smooth", &MjData::iacc_smooth)
.property("iefc_D", &MjData::iefc_D)
.property("iefc_J", &MjData::iefc_J)
.property("iefc_J_colind", &MjData::iefc_J_colind)
.property("iefc_J_rowadr", &MjData::iefc_J_rowadr)
.property("iefc_J_rownnz", &MjData::iefc_J_rownnz)
.property("iefc_J_rowsuper", &MjData::iefc_J_rowsuper)
.property("iefc_R", &MjData::iefc_R)
.property("iefc_aref", &MjData::iefc_aref)
.property("iefc_force", &MjData::iefc_force)