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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_print.c
+7 -32
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@@ -1155,51 +1155,26 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
d->moment_rowadr, d->moment_colind, fp, float_format);
printArray("CRB", m->nbody, 10, d->crb, fp, float_format);
printInertia("QM", d->qM, m, fp, float_format);
printSparse("M", d->M, m->nv, d->M_rownnz,
d->M_rowadr, d->M_colind, fp, float_format);
printSparse("QLD", d->qLD, m->nv, d->M_rownnz,
d->M_rowadr, d->M_colind, fp, float_format);
printSparse("M", d->M, m->nv, m->M_rownnz,
m->M_rowadr, m->M_colind, fp, float_format);
printSparse("QLD", d->qLD, m->nv, m->M_rownnz,
m->M_rowadr, m->M_colind, fp, float_format);
printArray("QLDIAGINV", m->nv, 1, d->qLDiagInv, fp, float_format);
if (!mju_isZero(d->qHDiagInv, m->nv)) {
printSparse("QH", d->qH, m->nv, d->M_rownnz, d->M_rowadr, d->M_colind, fp, float_format);
printSparse("QH", d->qH, m->nv, m->M_rownnz, m->M_rowadr, m->M_colind, fp, float_format);
printArray("QHDIAGINV", m->nv, 1, d->qHDiagInv, fp, float_format);
}
// B sparse structure
mj_printSparsity("B: body-dof matrix", m->nbody, m->nv, d->B_rowadr, NULL, d->B_rownnz, NULL,
d->B_colind, fp);
printArrayInt("B_ROWNNZ", 1, m->nbody, d->B_rownnz, fp);
printArrayInt("B_ROWADR", 1, m->nbody, d->B_rowadr, fp);
printArrayInt("B_COLIND", 1, m->nB, d->B_colind, fp);
// M sparse structure
mj_printSparsity("M: reduced inertia matrix", m->nv, m->nv, d->M_rowadr, NULL, d->M_rownnz,
NULL, d->M_colind, fp);
printArrayInt("M_ROWNNZ", 1, m->nv, d->M_rownnz, fp);
printArrayInt("M_ROWADR", 1, m->nv, d->M_rowadr, fp);
printArrayInt("M_COLIND", 1, m->nC, d->M_colind, fp);
printArrayInt("MAPM2M", 1, m->nC, d->mapM2M, fp);
// D sparse structure
mj_printSparsity("D: dof-dof matrix", m->nv, m->nv,
d->D_rowadr, d->D_diag, d->D_rownnz, NULL, d->D_colind, fp);
printArrayInt("D_ROWNNZ", 1, m->nv, d->D_rownnz, fp);
printArrayInt("D_ROWADR", 1, m->nv, d->D_rowadr, fp);
printArrayInt("D_COLIND", 1, m->nD, d->D_colind, fp);
printArrayInt("MAPM2D", 1, m->nD, d->mapM2D, fp);
printArrayInt("MAPD2M", 1, m->nM, d->mapD2M, fp);
// print qDeriv
if (!mju_isZero(d->qDeriv, m->nD)) {
printSparse("QDERIV", d->qDeriv, m->nv, d->D_rownnz, d->D_rowadr, d->D_colind,
printSparse("QDERIV", d->qDeriv, m->nv, m->D_rownnz, m->D_rowadr, m->D_colind,
fp, float_format);
}
// print qLU
if (!mju_isZero(d->qLU, m->nD)) {
printSparse("QLU", d->qLU, m->nv, d->D_rownnz, d->D_rowadr, d->D_colind, fp, float_format);
printSparse("QLU", d->qLU, m->nv, m->D_rownnz, m->D_rowadr, m->D_colind, fp, float_format);
}
// contact