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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_support.c
+5 -5
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@@ -1058,14 +1058,14 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
// non-simple: add off-diagonals
if (!m->dof_simplenum[i]) {
int adr = d->M_rowadr[i];
res[i] += mju_dotSparse(qLD+adr, vec, d->M_rownnz[i] - 1, d->M_colind+adr);
int adr = m->M_rowadr[i];
res[i] += mju_dotSparse(qLD+adr, vec, m->M_rownnz[i] - 1, m->M_colind+adr);
}
}
// res *= sqrt(D)
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;
res[i] *= mju_sqrt(qLD[diag]);
}
}
@@ -1084,7 +1084,7 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
int* buf_ind = mjSTACKALLOC(d, nv, int);
mju_addToMatSparse(dst, rownnz, rowadr, colind, nv,
d->M, d->M_rownnz, d->M_rowadr, d->M_colind,
d->M, m->M_rownnz, m->M_rowadr, m->M_colind,
buf_val, buf_ind);
mj_freeStack(d);
@@ -1092,7 +1092,7 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
// dense
else {
mju_addToSymSparse(dst, d->M, nv, d->M_rownnz, d->M_rowadr, d->M_colind, /*flg_upper=*/ 1);
mju_addToSymSparse(dst, d->M, nv, m->M_rownnz, m->M_rowadr, m->M_colind, /*flg_upper=*/ 1);
}
}