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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_smooth.c
+15 -26
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@@ -1465,7 +1465,11 @@ void mj_factorI(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD, mjtNu
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
void mj_factorM(const mjModel* m, mjData* d) {
TM_START;
mj_factorI(m, d, d->qM, d->qLD, d->qLDiagInv);
int nC = m->nC;
for (int i=0; i < nC; i++) {
d->qLD[i] = d->qM[d->mapM2C[i]];
}
mj_factorIs(d->qLD, d->qLDiagInv, m->nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
TM_ADD(mjTIMER_POS_INERTIA);
}
@@ -1709,18 +1713,20 @@ void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n) {
if (x != y) {
mju_copy(x, y, n*m->nv);
}
mj_solveLD(m, x, n, d->qLD, d->qLDiagInv);
mj_solveLDs(x, d->qLD, d->qLDiagInv, m->nv, n,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
}
// in-place sparse backsubstitution for one island: x = inv(L'*D*L)*x
// L is in lower triangle of qLD; D is on diagonal of qLD
void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int island) {
void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* restrict x, int island) {
// if no islands, call mj_solveLD
const mjtNum* qLD = d->qLD;
const mjtNum* qLDiagInv = d->qLDiagInv;
if (island < 0) {
mj_solveLD(m, x, 1, qLD, qLDiagInv);
mj_solveLDs(x, qLD, qLDiagInv, m->nv, 1,
d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
return;
}
@@ -1730,14 +1736,6 @@ void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int islan
const int* colind = d->C_colind;
const int* diagnum = m->dof_simplenum;
// temporary: make local CSR version of qLD
int nC = m->nC;
mj_markStack(d);
mjtNum* qLDs = mjSTACKALLOC(d, nC, mjtNum);
for (int i=0; i < nC; i++) {
qLDs[i] = d->qLD[d->mapM2C[i]];
}
// local constants: island specific
int ndof = d->island_dofnum[island];
const int* dofind = d->island_dofind + d->island_dofadr[island];
@@ -1751,7 +1749,7 @@ void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int islan
int start = rowadr[i];
int end = start + rownnz[i] - 1;
for (int adr=end-1; adr >= start; adr--) {
x[islandind[colind[adr]]] -= qLDs[adr] * x_k;
x[islandind[colind[adr]]] -= qLD[adr] * x_k;
}
}
}
@@ -1773,11 +1771,9 @@ void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int islan
int start = rowadr[i];
int end = start + rownnz[i] - 1;
for (int adr=end-1; adr >= start; adr--) {
x[k] -= x[islandind[colind[adr]]] * qLDs[adr];
x[k] -= x[islandind[colind[adr]]] * qLD[adr];
}
}
mj_freeStack(d);
}
@@ -1785,23 +1781,18 @@ void mj_solveM_island(const mjModel* m, mjData* d, mjtNum* restrict x, int islan
// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y
void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
const mjtNum* sqrtInvD, int n) {
int nv = m->nv;
// local copies of key variables
int nv = m->nv, nC = m->nC;
const int* rownnz = d->C_rownnz;
const int* rowadr = d->C_rowadr;
const int* colind = d->C_colind;
const int* diagnum = m->dof_simplenum;
const mjtNum* qLD = d->qLD;
// x = y
mju_copy(x, y, n * nv);
// temporary: make local CSR version of qLD
mj_markStack(d);
mjtNum* qLD = mjSTACKALLOC(d, nC, mjtNum);
for (int i=0; i < nC; i++) {
qLD[i] = d->qLD[d->mapM2C[i]];
}
// x <- L^-T x
for (int i=nv-1; i > 0; i--) {
// skip diagonal rows
@@ -1831,8 +1822,6 @@ void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
x[i+offset] *= invD_i;
}
}
mj_freeStack(d);
}