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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_smooth.c
+11 -11
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@@ -1472,9 +1472,9 @@ void mj_transmission(const mjModel* m, mjData* d) {
// add tendon armature to M
void mj_tendonArmature(const mjModel* m, mjData* d) {
int nv = m->nv, ntendon = m->ntendon, issparse = mj_isSparse(m);
const int* M_rownnz = d->M_rownnz;
const int* M_rowadr = d->M_rowadr;
const int* M_colind = d->M_colind;
const int* M_rownnz = m->M_rownnz;
const int* M_rowadr = m->M_rowadr;
const int* M_colind = m->M_colind;
for (int k=0; k < ntendon; k++) {
mjtNum armature = m->tendon_armature[k];
@@ -1555,7 +1555,7 @@ void mj_crb(const mjModel* m, mjData* d) {
if (m->dof_simplenum[i]) {
int n = i + m->dof_simplenum[i];
for (; i < n; i++) {
d->M[d->M_rowadr[i]] = m->dof_M0[i];
d->M[m->M_rowadr[i]] = m->dof_M0[i];
}
// finish or else fall through with next row
@@ -1565,7 +1565,7 @@ void mj_crb(const mjModel* m, mjData* d) {
}
// init M(i,i) with armature inertia
int Madr_ij = d->M_rowadr[i] + d->M_rownnz[i] - 1;
int Madr_ij = m->M_rowadr[i] + m->M_rownnz[i] - 1;
d->M[Madr_ij] = m->dof_armature[i];
// precompute buf = crb_body_i * cdof_i
@@ -1585,7 +1585,7 @@ void mj_makeM(const mjModel* m, mjData* d) {
TM_START;
mj_crb(m, d);
mj_tendonArmature(m, d);
mju_scatter(d->qM, d->M, d->mapM2M, m->nC);
mju_scatter(d->qM, d->M, m->mapM2M, m->nC);
TM_END(mjTIMER_POS_INERTIA);
}
@@ -1659,7 +1659,7 @@ void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD
void mj_factorM(const mjModel* m, mjData* d) {
TM_START;
mju_copy(d->qLD, d->M, m->nC);
mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->M_rownnz, d->M_rowadr, d->M_colind);
mj_factorI(d->qLD, d->qLDiagInv, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind);
TM_ADD(mjTIMER_POS_INERTIA);
}
@@ -1893,7 +1893,7 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
mju_copy(x, y, n*m->nv);
}
mj_solveLD(x, d->qLD, d->qLDiagInv, m->nv, n,
d->M_rownnz, d->M_rowadr, d->M_colind);
m->M_rownnz, m->M_rowadr, m->M_colind);
}
@@ -1904,9 +1904,9 @@ void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
int nv = m->nv;
// local copies of key variables
const int* rownnz = d->M_rownnz;
const int* rowadr = d->M_rowadr;
const int* colind = d->M_colind;
const int* rownnz = m->M_rownnz;
const int* rowadr = m->M_rowadr;
const int* colind = m->M_colind;
const int* diagnum = m->dof_simplenum;
const mjtNum* qLD = d->qLD;