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Revert unvalidated island topology cache

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Signed-off-by: teerthsharma <teerths57@gmail.com>
This commit is contained in:
teerthsharma
2026-07-11 19:13:30 +05:30
committed by teerthsharma
parent bc32db7f25
commit ba2782140f
5 changed files with 2 additions and 319 deletions
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test/engine/engine_island_test.cc
-63
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@@ -295,69 +295,6 @@ TEST_F(IslandTest, ProductionFlexEqualityRescansRows) {
EXPECT_THAT(AsVector(data->map_iefc2efc, data->nefc), ElementsAre(0, 1));
}
TEST_F(IslandTest, EqualityTopologyCacheInvalidatesExactly) {
static constexpr char xml[] = R"(
<mujoco>
<option jacobian="sparse"><flag contact="disable" gravity="disable"/></option>
<worldbody>
<body name="b0"><joint type="slide"/><geom size=".1"/></body>
<body name="b1"><joint type="slide"/><geom size=".1"/></body>
<body name="b2"><joint type="slide"/><geom size=".1"/></body>
</worldbody>
<equality>
<connect body1="b0" body2="b1" anchor="0 0 0"/>
<connect body1="b1" body2="b2" anchor="0 0 0"/>
</equality>
</mujoco>
)";
char error[1024] = {};
MjModelPtr model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model.get(), NotNull()) << error;
MjDataPtr data = MakeData(model);
auto expect_all_connected = [&] {
EXPECT_EQ(data->nisland, 1);
EXPECT_EQ(data->nidof, 3);
EXPECT_EQ(data->nefc, 6);
EXPECT_THAT(AsVector(data->tree_island, model->ntree),
ElementsAre(0, 0, 0));
EXPECT_THAT(AsVector(data->dof_island, model->nv), ElementsAre(0, 0, 0));
EXPECT_THAT(AsVector(data->efc_island, data->nefc),
ElementsAre(0, 0, 0, 0, 0, 0));
};
// Identical topology is stable across repeated evaluation and ordinary reset.
mj_fwdPosition(model.get(), data.get());
expect_all_connected();
mj_fwdPosition(model.get(), data.get());
expect_all_connected();
// Copying a warm cache produces independent data with the same result.
MjDataPtr copy(mj_copyData(nullptr, model.get(), data.get()));
ASSERT_THAT(copy.get(), NotNull());
mj_fwdPosition(model.get(), copy.get());
EXPECT_THAT(AsVector(copy->tree_island, model->ntree),
ElementsAre(0, 0, 0));
mj_resetData(model.get(), data.get());
mj_fwdPosition(model.get(), data.get());
expect_all_connected();
// Equality activation changes invalidate the cached partition.
data->eq_active[1] = 0;
mj_fwdPosition(model.get(), data.get());
EXPECT_EQ(data->nisland, 1);
EXPECT_EQ(data->nidof, 2);
EXPECT_EQ(data->nefc, 3);
EXPECT_THAT(AsVector(data->tree_island, model->ntree), ElementsAre(0, 0, -1));
EXPECT_THAT(AsVector(data->dof_island, model->nv), ElementsAre(0, 0, -1));
EXPECT_THAT(AsVector(data->efc_island, data->nefc), ElementsAre(0, 0, 0));
// The earlier copy remains independent after the source topology changes.
mj_fwdPosition(model.get(), copy.get());
EXPECT_THAT(AsVector(copy->tree_island, model->ntree), ElementsAre(0, 0, 0));
}
TEST_F(IslandTest, BoundedArenaSupports1024Trees) {
constexpr int kTreeCount = 1024;
constexpr size_t kArenaBytes = 2 * 1024 * 1024;