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Remove dead functions.

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PiperOrigin-RevId: 758663369
Change-Id: I2de0d9802eb73c3541ef17e46182608b08a3793e
This commit is contained in:
Yuval Tassa
2025-05-14 06:54:36 -07:00
committed by Copybara-Service
parent dd28b887d4
commit b0c36c6b33
2 changed files with 7 additions and 62 deletions
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src/engine/engine_support.c
+7 -54
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@@ -1065,70 +1065,23 @@ void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec)
// destination can be sparse or dense when all int* are NULL
void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
int* rownnz, int* rowadr, int* colind) {
int nv = m->nv;
// sparse
if (rownnz && rowadr && colind) {
int nC = m->nC;
mj_markStack(d);
mjtNum* buf_val = mjSTACKALLOC(d, nv, mjtNum);
int* buf_ind = mjSTACKALLOC(d, nv, int);
// gather C <- qM (legacy to CSR)
mjtNum* C = mjSTACKALLOC(d, nC, mjtNum);
mju_gather(C, d->qM, d->mapM2M, nC);
mju_addToMatSparse(dst, rownnz, rowadr, colind, nv,
d->M, d->M_rownnz, d->M_rowadr, d->M_colind,
buf_val, buf_ind);
// add to dst
mj_addMSparse(m, d, dst, rownnz, rowadr, colind, C, d->M_rownnz, d->M_rowadr, d->M_colind);
mj_freeStack(d);
}
// dense
else {
mj_addMDense(m, d, dst);
}
}
// add inertia matrix to sparse destination matrix
void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
int* rownnz, int* rowadr, int* colind, const mjtNum* M,
const int* M_rownnz, const int* M_rowadr, const int* M_colind) {
int nv = m->nv;
mj_markStack(d);
mjtNum* buf_val = mjSTACKALLOC(d, nv, mjtNum);
int* buf_ind = mjSTACKALLOC(d, nv, int);
mju_addToMatSparse(dst, rownnz, rowadr, colind, nv,
M, M_rownnz, M_rowadr, M_colind,
buf_val, buf_ind);
mj_freeStack(d);
}
// add inertia matrix to dense destination matrix
void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst) {
int nv = m->nv;
for (int i = 0; i < nv; i++) {
int adr = m->dof_Madr[i];
int j = i;
while (j >= 0) {
// add
dst[i*nv+j] += d->qM[adr];
if (j < i) {
dst[j*nv+i] += d->qM[adr];
}
// only diagonal if simplenum
if (m->dof_simplenum[i]) {
break;
}
// advance
j = m->dof_parentid[j];
adr++;
}
mju_addToSymSparse(dst, d->M, nv, d->M_rownnz, d->M_rowadr, d->M_colind, /*flg_upper=*/ 1);
}
}
src/engine/engine_support.h
-8
View File
@@ -135,14 +135,6 @@ MJAPI void mj_mulM2(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum
MJAPI void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
int* rownnz, int* rowadr, int* colind);
// add inertia matrix to sparse destination matrix
MJAPI void mj_addMSparse(const mjModel* m, mjData* d, mjtNum* dst,
int* rownnz, int* rowadr, int* colind, const mjtNum* M,
const int* M_rownnz, const int* M_rowadr, const int* M_colind);
// add inertia matrix to dense destination matrix
MJAPI void mj_addMDense(const mjModel* m, mjData* d, mjtNum* dst);
//-------------------------- perturbations ---------------------------------------------------------