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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_inverse.c
+3 -3
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@@ -116,14 +116,14 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
mjd_smooth_vel(m, d, /* flg_bias = */ 1);
// gather qLU <- qM (lower to full)
mju_gather(d->qLU, d->qM, d->mapM2D, nD);
mju_gather(d->qLU, d->qM, m->mapM2D, nD);
// set qLU = qM - dt*qDeriv
mju_addToScl(d->qLU, d->qDeriv, -m->opt.timestep, m->nD);
// set qfrc = qLU * qacc
mju_mulMatVecSparse(qfrc, d->qLU, qacc, nv,
d->D_rownnz, d->D_rowadr, d->D_colind, /*rowsuper=*/NULL);
m->D_rownnz, m->D_rowadr, m->D_colind, /*rowsuper=*/NULL);
break;
case mjINT_IMPLICITFAST:
@@ -137,7 +137,7 @@ static void mj_discreteAcc(const mjModel* m, mjData* d) {
// set M = M - dt*qDeriv (reduced to M nonzeros)
mjtNum* qDerivReduced = mjSTACKALLOC(d, m->nM, mjtNum);
for (int i=0; i < nM; i++) {
qDerivReduced[i] = d->qDeriv[d->mapD2M[i]];
qDerivReduced[i] = d->qDeriv[m->mapD2M[i]];
}
mju_addToScl(d->qM, qDerivReduced, -m->opt.timestep, m->nM);