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Skip shared dofs for contact constraints

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PiperOrigin-RevId: 884455239
Change-Id: I7ee36a13c28be88e12380b4790f150ad62f268c1
This commit is contained in:
Taylor Howell
2026-03-16 08:36:14 -07:00
committed by Copybara-Service
parent eca5758bf9
commit bb38a34869
8 changed files with 154 additions and 79 deletions
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src/engine/engine_derivative.c
+5 -3
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@@ -980,7 +980,8 @@ static void mjd_flexInterp_kernel(const mjModel* m, mjData* d, mjtFlexOp op,
int chain_nnz = mj_bodyChain(m, bodyid[i], chain_colind);
// compute sparse Jacobian for this node (3 rows)
mj_jacSparse(m, d, blk_jac, NULL, xpos+3*i, bodyid[i], chain_nnz, chain_colind);
mj_jacSparse(m, d, blk_jac, NULL, xpos+3*i, bodyid[i], chain_nnz, chain_colind,
/*flg_skipcommon=*/0);
// copy to sparse structure
for (int r=0; r<3; r++) {
@@ -1488,7 +1489,8 @@ void mjd_ellipsoidFluid(const mjModel* m, mjData* d, int bodyid) {
// get geom global Jacobian: rotation then translation
if (mj_isSparse(m)) {
mj_jacSparse(m, d, J+3*nnz, J, d->geom_xpos+3*geomid, m->geom_bodyid[geomid], nnz, colind);
mj_jacSparse(m, d, J+3*nnz, J, d->geom_xpos+3*geomid, m->geom_bodyid[geomid], nnz, colind,
/*flg_skipcommon=*/0);
} else {
mj_jacGeom(m, d, J+3*nv, J, geomid);
}
@@ -1574,7 +1576,7 @@ void mjd_inertiaBoxFluid(const mjModel* m, mjData* d, int i) {
nnz = mj_bodyChain(m, i, colind);
// get sparse jacBodyCom
mj_jacSparse(m, d, J+3*nnz, J, d->xipos+3*i, i, nnz, colind);
mj_jacSparse(m, d, J+3*nnz, J, d->xipos+3*i, i, nnz, colind, /*flg_skipcommon=*/0);
// prepare rownnz, rowadr, colind for all 6 rows
rownnz[0] = nnz;