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Use banded solver for implicit flex integration.

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The flex interpolation stiffness matrix within the implicit/implicitfast solvers is now built and factorized in a banded format instead of a dense one. This involves:
-   Calculating the bandwidth based on the sparsity of the mass/damping matrix and the connectivity within flex cells.
-   Allocating and populating a banded matrix `H`.
-   Using `mju_cholFactorBand` and `mju_cholSolveBand` for factorization and solving.
This change improves performance for flexes with many DOFs but local coupling.

PiperOrigin-RevId: 901297952
Change-Id: I3efe06353d1903ea65ab30dc49685cede228bb68
This commit is contained in:
Alessio Quaglino
2026-04-17 07:59:34 -07:00
committed by Copybara-Service
parent 6c7ed66781
commit b16383dfaf
13 changed files with 239 additions and 33 deletions
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src/engine/engine_derivative.h
+1 -1
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@@ -49,7 +49,7 @@ MJAPI void mjd_flexInterp_mulKD(const mjModel* m, mjData* d, mjtNum* res, const
// assemble flex stiffness matrix H_flex: H += h*h*K + h*D
// H is a dense matrix of size ndof x ndof, dof_indices maps local rows/cols to global DOFs
MJAPI void mjd_flexInterp_addH(const mjModel* m, mjData* d, mjtNum* H, const int* dof_indices, int ndof, mjtNum h);
MJAPI void mjd_flexInterp_addH(const mjModel* m, mjData* d, mjtNum* H, const int* dof_indices, int ndof, int nband, mjtNum h);
#ifdef __cplusplus