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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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src/engine/engine_core_constraint.c
+3 -9
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@@ -2131,7 +2131,8 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
// inverse square root of D from inertia LDL decomposition
mjtNum* sqrtInvD = mjSTACKALLOC(d, nv, mjtNum);
for (int i=0; i < nv; i++) {
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[m->dof_Madr[i]]);
int diag = d->C_rowadr[i] + d->C_rownnz[i] - 1;
sqrtInvD[i] = 1 / mju_sqrt(d->qLD[diag]);
}
// sparse
@@ -2238,13 +2239,6 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
// === in-place sparse back-substitution: B <- B * M^-1/2
// make qLD
int nC = m->nC;
mjtNum* qLD = mjSTACKALLOC(d, nC, mjtNum);
for (int i=0; i < nC; i++) {
qLD[i] = d->qLD[d->mapM2C[i]];
}
// sparse backsubM2 (half of LD back-substitution)
for (int r=0; r < nefc; r++) {
int nnzB = B_rownnz[r];
@@ -2258,7 +2252,7 @@ void mj_projectConstraint(const mjModel* m, mjData* d) {
}
int j = B_colind[i];
int adrC = d->C_rowadr[j];
mju_addToSclSparseInc(B + adrB, qLD + adrC,
mju_addToSclSparseInc(B + adrB, d->qLD + adrC,
nnzB, B_colind + adrB,
d->C_rownnz[j]-1, d->C_colind + adrC, -b);
}