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Address review: blank line, and use the inlined mji_ 3x3 helpers

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Per review on #3437: add the missing blank line above the new comment
block, and use the internal inlined mji_mulMat{,T}{Vec,Mat}3 helpers
rather than the public mju_ ones, matching fe9dc584. Six call sites in
the two stretch paths; pre-existing mju_ calls elsewhere in the file are
left alone.
This commit is contained in:
Alessio
2026-07-28 09:09:38 +01:00
parent 55b43414dd
commit a6743d8e0d
1 changed files with 7 additions and 6 deletions
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src/engine/engine_derivative.c
+7 -6
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@@ -1455,16 +1455,17 @@ void mjd_flexStretch_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum*
int v0 = vert[edge[e][0]], v1 = vert[edge[e][1]];
int b0 = bodyid[v0], b1 = bodyid[v1];
g[e] = 0;
// the vertex bodies' slide dofs are expressed in their own (possibly rotated) frame while
// the stiffness is built from world-space edge vectors, so the operator must be sandwiched
// with R (dof -> world) and R^T (world -> dof); mj_flexPassiveStretch applies the same R^T
// to its world-space force. R = I for the common case of an unrotated parent body.
mjtNum w0[3] = {0}, w1[3] = {0};
if (m->body_dofnum[b0]) {
mju_mulMatVec3(w0, d->xmat + 9*b0, vec + m->body_dofadr[b0]);
mji_mulMatVec3(w0, d->xmat + 9*b0, vec + m->body_dofadr[b0]);
}
if (m->body_dofnum[b1]) {
mju_mulMatVec3(w1, d->xmat + 9*b1, vec + m->body_dofadr[b1]);
mji_mulMatVec3(w1, d->xmat + 9*b1, vec + m->body_dofadr[b1]);
}
for (int x = 0; x < 3; x++) {
dvec[e][x] = xpos[3*v0+x] - xpos[3*v1+x];
@@ -1496,13 +1497,13 @@ void mjd_flexStretch_mul(const mjModel* m, mjData* d, mjtNum* res, const mjtNum*
rw[x] = coef*dvec[e][x];
}
if (m->body_dofnum[b0]) { // world -> dof frame
mju_mulMatTVec3(rl, d->xmat + 9*b0, rw);
mji_mulMatTVec3(rl, d->xmat + 9*b0, rw);
for (int x = 0; x < 3; x++) {
res[m->body_dofadr[b0]+x] += rl[x];
}
}
if (m->body_dofnum[b1]) {
mju_mulMatTVec3(rl, d->xmat + 9*b1, rw);
mji_mulMatTVec3(rl, d->xmat + 9*b1, rw);
for (int x = 0; x < 3; x++) {
res[m->body_dofadr[b1]+x] -= rl[x];
}
@@ -1970,8 +1971,8 @@ int mjd_flexStiff_assemble(const mjModel* m, mjData* d, int* rownnz, int* rowadr
int bi = m->flex_vertbodyid[m->flex_vertadr[f] + vert[i]];
int bj = m->flex_vertbodyid[m->flex_vertadr[f] + vert[j]];
mjtNum tmp[9], blkd[9];
mju_mulMatMat3(tmp, blk, d->xmat + 9*bj); // tmp = blk * R_bj
mju_mulMatTMat3(blkd, d->xmat + 9*bi, tmp); // blkd = R_bi^T * tmp
mji_mulMatMat3(tmp, blk, d->xmat + 9*bj); // tmp = blk * R_bj
mji_mulMatTMat3(blkd, d->xmat + 9*bi, tmp); // blkd = R_bi^T * tmp
int pos;
FLEXSTIFF_BLOCK(si, sj, pos);
for (int k = 0; k < 3; k++) {