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Convert qLD to CSR format.

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PiperOrigin-RevId: 723955038
Change-Id: I30c3dc7f59739e89ae5fff8841432bc74717ec1b
This commit is contained in:
Yuval Tassa
2025-02-06 08:58:45 -08:00
committed by Copybara-Service
parent cb1696eb34
commit c27d3758c2
22 changed files with 151 additions and 153 deletions
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include/mujoco/mjdata.h
+2 -2
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@@ -300,7 +300,7 @@ struct mjData_ {
mjtNum* qM; // total inertia (sparse) (nM x 1)
// computed by mj_fwdPosition/mj_factorM
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nM x 1)
mjtNum* qLD; // L'*D*L factorization of M (sparse) (nC x 1)
mjtNum* qLDiagInv; // 1/diag(D) (nv x 1)
// computed by mj_collisionTree
@@ -333,7 +333,7 @@ struct mjData_ {
mjtNum* subtree_angmom; // angular momentum about subtree com (nbody x 3)
// computed by mj_Euler or mj_implicit
mjtNum* qH; // L'*D*L factorization of modified M (nM x 1)
mjtNum* qH; // L'*D*L factorization of modified M (nC x 1)
mjtNum* qHDiagInv; // 1/diag(D) of modified M (nv x 1)
// computed by mj_resetData
include/mujoco/mjxmacro.h
+2 -2
View File
@@ -637,7 +637,7 @@
X ( mjtNum, actuator_moment, nJmom, 1 ) \
X ( mjtNum, crb, nbody, 10 ) \
X ( mjtNum, qM, nM, 1 ) \
X ( mjtNum, qLD, nM, 1 ) \
X ( mjtNum, qLD, nC, 1 ) \
X ( mjtNum, qLDiagInv, nv, 1 ) \
XMJV( mjtNum, bvh_aabb_dyn, nbvhdynamic, 6 ) \
XMJV( mjtByte, bvh_active, nbvh, 1 ) \
@@ -654,7 +654,7 @@
X ( mjtNum, qfrc_passive, nv, 1 ) \
X ( mjtNum, subtree_linvel, nbody, 3 ) \
X ( mjtNum, subtree_angmom, nbody, 3 ) \
X ( mjtNum, qH, nM, 1 ) \
X ( mjtNum, qH, nC, 1 ) \
X ( mjtNum, qHDiagInv, nv, 1 ) \
X ( int, B_rownnz, nbody, 1 ) \
X ( int, B_rowadr, nbody, 1 ) \