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Further simplification to mj_crb

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PiperOrigin-RevId: 818241421
Change-Id: I67dd2a60f415eb17b41f5ee553939118ab124123
This commit is contained in:
Yuval Tassa
2025-10-12 01:42:45 -07:00
committed by Copybara-Service
parent 12f0e3df9a
commit a7fe06c717
1 changed files with 5 additions and 11 deletions
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src/engine/engine_core_smooth.c
+5 -11
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@@ -1546,21 +1546,15 @@ void mj_crb(const mjModel* m, mjData* d) {
// dense forward pass over dofs // dense forward pass over dofs
for (int i=0; i < nv; i++) { for (int i=0; i < nv; i++) {
// process block of diagonals (simple bodies) // simple dof: fixed diagonal inertia
int adr = rowadr[i];
if (dof_simplenum[i]) { if (dof_simplenum[i]) {
int n = i + dof_simplenum[i]; M[adr] = dof_M0[i];
for (; i < n; i++) { continue;
M[rowadr[i]] = dof_M0[i];
}
// finish or else fall through with next row
if (i == nv) {
break;
}
} }
// init M(i,i) with armature inertia // init M(i,i) with armature inertia
int Madr_ij = rowadr[i] + rownnz[i] - 1; int Madr_ij = adr + rownnz[i] - 1;
M[Madr_ij] = dof_armature[i]; M[Madr_ij] = dof_armature[i];
// precompute buf = crb_body_i * cdof_i // precompute buf = crb_body_i * cdof_i