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Remove mjData.C_diag, no longer required as C is now lower triangular.

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PiperOrigin-RevId: 712514204
Change-Id: I8293f65ebc09c6a8fed76b0e59d2e2a667e01a43
This commit is contained in:
Yuval Tassa
2025-01-06 06:57:19 -08:00
committed by Copybara-Service
parent ac11e5faa6
commit b5df2c10bf
9 changed files with 13 additions and 26 deletions
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doc/includes/references.h
-1
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@@ -313,7 +313,6 @@ struct mjData_ {
int* B_colind; // body-dof: column indices of non-zeros (nB x 1)
int* C_rownnz; // reduced dof-dof: non-zeros in each row (nv x 1)
int* C_rowadr; // reduced dof-dof: address of each row in C_colind (nv x 1)
int* C_diag; // reduced dof-dof: index of diagonal element (nv x 1)
int* C_colind; // reduced dof-dof: column indices of non-zeros (nC x 1)
int* mapM2C; // index mapping from M to C (nC x 1)
int* D_rownnz; // dof-dof: non-zeros in each row (nv x 1)
include/mujoco/mjdata.h
-1
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@@ -341,7 +341,6 @@ struct mjData_ {
int* B_colind; // body-dof: column indices of non-zeros (nB x 1)
int* C_rownnz; // reduced dof-dof: non-zeros in each row (nv x 1)
int* C_rowadr; // reduced dof-dof: address of each row in C_colind (nv x 1)
int* C_diag; // reduced dof-dof: index of diagonal element (nv x 1)
int* C_colind; // reduced dof-dof: column indices of non-zeros (nC x 1)
int* mapM2C; // index mapping from M to C (nC x 1)
int* D_rownnz; // dof-dof: non-zeros in each row (nv x 1)
include/mujoco/mjxmacro.h
-1
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@@ -654,7 +654,6 @@
X ( int, B_colind, nB, 1 ) \
X ( int, C_rownnz, nv, 1 ) \
X ( int, C_rowadr, nv, 1 ) \
X ( int, C_diag, nv, 1 ) \
X ( int, C_colind, nC, 1 ) \
X ( int, mapM2C, nC, 1 ) \
X ( int, D_rownnz, nv, 1 ) \
introspect/structs.py
-8
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@@ -5388,14 +5388,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='reduced dof-dof: address of each row in C_colind (nv x 1)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='C_diag',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='reduced dof-dof: index of diagonal element',
array_extent=('nv',),
),
StructFieldDecl(
name='C_colind',
type=PointerType(
mjx/mujoco/mjx/_src/io.py
-1
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@@ -332,7 +332,6 @@ def make_data(
'B_colind': (m.nB, jp.int32),
'C_rownnz': (m.nv, jp.int32),
'C_rowadr': (m.nv, jp.int32),
'C_diag': (m.nv, jp.int32),
'C_colind': (m.nC, jp.int32),
'mapM2C': (m.nC, jp.int32),
'D_rownnz': (m.nv, jp.int32),
mjx/mujoco/mjx/_src/types.py
-2
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@@ -1296,7 +1296,6 @@ class Data(PyTreeNode):
B_colind: body-dof: column indices of non-zeros (nB,)
C_rownnz: reduced dof-dof: non-zeros in each row (nv,)
C_rowadr: reduced dof-dof: address of each row in C_colind (nv,)
C_diag: reduced dof-dof: index of diagonal element (nv,)
C_colind: reduced dof-dof: column indices of non-zeros (nC,)
mapM2C: index mapping from M to C (nC,)
D_rownnz: dof-dof: non-zeros in each row (nv,)
@@ -1426,7 +1425,6 @@ class Data(PyTreeNode):
B_colind: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
C_rownnz: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
C_rowadr: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
C_diag: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
C_colind: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
mapM2C: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
D_rownnz: jax.Array = _restricted_to('mujoco') # pylint:disable=invalid-name
src/engine/engine_io.c
+12 -10
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@@ -994,16 +994,18 @@ static void makeDofDofSparse(const mjModel* m, mjData* d,
}
// find diagonal indices
for (int i = 0; i < nv; i++) {
int adr = rowadr[i];
int j = 0;
while (colind[adr + j] < i && j < rownnz[i]) {
j++;
if (diag) {
for (int i = 0; i < nv; i++) {
int adr = rowadr[i];
int j = 0;
while (colind[adr + j] < i && j < rownnz[i]) {
j++;
}
if (colind[adr + j] != i) {
mjERROR("diagonal index not found");
}
diag[i] = j;
}
if (colind[adr + j] != i) {
mjERROR("diagonal index not found");
}
diag[i] = j;
}
mj_freeStack(d);
@@ -1963,7 +1965,7 @@ static void _resetData(const mjModel* m, mjData* d, unsigned char debug_value) {
checkDBSparse(m, d);
// make C
makeDofDofSparse(m, d, d->C_rownnz, d->C_rowadr, d->C_diag, d->C_colind, /*reduced=*/1);
makeDofDofSparse(m, d, d->C_rownnz, d->C_rowadr, NULL, d->C_colind, /*reduced=*/1);
makeDofDofmap(m, d);
}
src/engine/engine_print.c
+1 -1
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@@ -1135,7 +1135,7 @@ void mj_printFormattedData(const mjModel* m, mjData* d, const char* filename,
fprintf(fp, "\n\n");
// C sparse structure
mj_printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, d->C_diag, d->C_rownnz,
mj_printSparsity("C: reduced dof-dof matrix", m->nv, m->nv, d->C_rowadr, NULL, d->C_rownnz,
NULL, d->C_colind, fp);
fprintf(fp, NAME_FORMAT, "C_rownnz");
unity/Runtime/Bindings/MjBindings.cs
-1
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@@ -4939,7 +4939,6 @@ public unsafe struct mjData_ {
public int* B_colind;
public int* C_rownnz;
public int* C_rowadr;
public int* C_diag;
public int* C_colind;
public int* mapM2C;
public int* D_rownnz;