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Return the total non-zeros from mju_sqrMatTDSparseCount.

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PiperOrigin-RevId: 772414653
Change-Id: Ic1cac868af0034196f33d08b2456be77c72cbd50
This commit is contained in:
Yuval Tassa
2025-06-17 04:26:10 -07:00
committed by Copybara-Service
parent ea949f1cee
commit 998769a995
4 changed files with 22 additions and 24 deletions
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src/engine/engine_core_constraint.c
+3 -6
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@@ -2193,12 +2193,9 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
}
// pre-count A nonzeros (compute AR_rownnz, AR_rowadr)
mju_sqrMatTDSparseCount(d->efc_AR_rownnz, d->efc_AR_rowadr, nefc,
BT_rownnz, BT_rowadr, BT_colind,
B_rownnz, B_rowadr, B_colind, B_rowsuper, d, /*flg_upper=*/1);
// nA = total number of nonzeros in A
d->nA = d->efc_AR_rownnz[nefc - 1] + d->efc_AR_rowadr[nefc - 1];
d->nA = mju_sqrMatTDSparseCount(d->efc_AR_rownnz, d->efc_AR_rowadr, nefc,
BT_rownnz, BT_rowadr, BT_colind,
B_rownnz, B_rowadr, B_colind, B_rowsuper, d, /*flg_upper=*/1);
// allocate A values and column indices on arena
d->efc_AR = mj_arenaAllocByte(d, sizeof(mjtNum) * d->nA, _Alignof(mjtNum));