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Inline mju_dotSparse in engine_util_sparse.h

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PiperOrigin-RevId: 709577108
Change-Id: I76547122b5780bec76a12384effcb66315f84e13
This commit is contained in:
Yuval Tassa
2024-12-25 08:08:49 -08:00
committed by Copybara-Service
parent ea98c57921
commit a8a9607712
2 changed files with 52 additions and 53 deletions
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src/engine/engine_util_sparse.c
-49
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@@ -27,55 +27,6 @@
//------------------------------ sparse operations -------------------------------------------------
// dot-product, first vector is sparse
// flg_unc1: is vec1 memory layout uncompressed
mjtNum mju_dotSparse(const mjtNum* vec1, const mjtNum* vec2, int nnz1, const int* ind1,
int flg_unc1) {
#ifdef mjUSEAVX
return mju_dotSparse_avx(vec1, vec2, nnz1, ind1, flg_unc1);
#else
int i = 0;
mjtNum res = 0;
int n_4 = nnz1 - 4;
mjtNum res0 = 0;
mjtNum res1 = 0;
mjtNum res2 = 0;
mjtNum res3 = 0;
if (flg_unc1) {
for (; i <= n_4; i+=4) {
res0 += vec1[ind1[i+0]] * vec2[ind1[i+0]];
res1 += vec1[ind1[i+1]] * vec2[ind1[i+1]];
res2 += vec1[ind1[i+2]] * vec2[ind1[i+2]];
res3 += vec1[ind1[i+3]] * vec2[ind1[i+3]];
}
} else {
for (; i <= n_4; i+=4) {
res0 += vec1[i+0] * vec2[ind1[i+0]];
res1 += vec1[i+1] * vec2[ind1[i+1]];
res2 += vec1[i+2] * vec2[ind1[i+2]];
res3 += vec1[i+3] * vec2[ind1[i+3]];
}
}
res = (res0 + res2) + (res1 + res3);
// scalar part
if (flg_unc1) {
for (; i < nnz1; i++) {
res += vec1[ind1[i]] * vec2[ind1[i]];
}
} else {
for (; i < nnz1; i++) {
res += vec1[i] * vec2[ind1[i]];
}
}
return res;
#endif // mjUSEAVX
}
// dot-productX3, first vector is sparse; supernode of size 3
void mju_dotSparseX3(mjtNum* res0, mjtNum* res1, mjtNum* res2,