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Delete sparsity structures from mjData, use the ones in mjModel

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PiperOrigin-RevId: 795067950
Change-Id: If4f52e40ac49f7c6986b33ef9c8b534199dfd21a
This commit is contained in:
Yuval Tassa
2025-08-14 09:11:47 -07:00
committed by Copybara-Service
parent 7eb13777f8
commit 977f94e9df
25 changed files with 120 additions and 349 deletions
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src/engine/engine_core_constraint.c
+6 -6
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@@ -2037,7 +2037,7 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
// inverse square root of D from inertia LDL decomposition
mjtNum* sqrtInvD = mjSTACKALLOC(d, nv, mjtNum);
for (int i=0; i < nv; i++) {
int diag = d->M_rowadr[i] + d->M_rownnz[i] - 1;
int diag = m->M_rowadr[i] + m->M_rownnz[i] - 1;
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
}
@@ -2074,10 +2074,10 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
}
// traverse row j of C, marking new unique nonzeros
int nnzC = d->M_rownnz[j];
int adrC = d->M_rowadr[j];
int nnzC = m->M_rownnz[j];
int adrC = m->M_rowadr[j];
for (int k=0; k < nnzC; k++) {
int c = d->M_colind[adrC + k];
int c = m->M_colind[adrC + k];
if (marker[c] != r) {
marker[c] = r;
nnz++;
@@ -2157,10 +2157,10 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
continue;
}
int j = B_colind[i];
int adrC = d->M_rowadr[j];
int adrC = m->M_rowadr[j];
mju_addToSclSparseInc(B + adrB, d->qLD + adrC,
nnzB, B_colind + adrB,
d->M_rownnz[j]-1, d->M_colind + adrC, -b);
m->M_rownnz[j]-1, m->M_colind + adrC, -b);
}
// B(r,:) <- sqrt(inv(D)) * B(r,:)