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Speed improvements in mj_solveLD (14% on Intel Skylake Xeon 36 cores).

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PiperOrigin-RevId: 486960670
Change-Id: I8fce96427158ec36069dea893500059e93bd40db
This commit is contained in:
Alessio Quaglino
2022-11-08 08:38:04 -08:00
committed by Copybara-Service
parent 9ffde761e8
commit 9fc9823a8c
9 changed files with 228 additions and 54 deletions
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src/engine/engine_forward.c
+2 -1
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@@ -576,7 +576,8 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
// solve
mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
mj_solveLD(m, qacc, qfrc, 1, d->qH, d->qHDiagInv);
mju_copy(qacc, qfrc, m->nv);
mj_solveLD(m, qacc, 1, d->qH, d->qHDiagInv);
}
// advance state and time