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Add mju_gather and mju_scatter, private engine functions.

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PiperOrigin-RevId: 750245294
Change-Id: I3a14ccdd55a324d3fe206e388fb2a513772f5f5e
This commit is contained in:
Yuval Tassa
2025-04-22 10:32:42 -07:00
committed by Copybara-Service
parent 99490163df
commit c2ac0d724e
11 changed files with 58 additions and 55 deletions
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src/engine/engine_core_smooth.c
+4 -4
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@@ -1646,11 +1646,11 @@ void mj_factorI_legacy(const mjModel* m, mjData* d, const mjtNum* M, mjtNum* qLD
// sparse L'*D*L factorizaton of the inertia matrix M, assumed spd
void mj_factorM(const mjModel* m, mjData* d) {
TM_START;
int nM = m->nM;
for (int i=0; i < nM; i++) {
d->qLD[i] = d->qM[d->mapM2M[i]];
}
// gather LD <- M (legacy to CSR) and factorize in-place
mju_gather(d->qLD, d->qM, d->mapM2M, m->nM);
mj_factorI(d->qLD, d->qLDiagInv, m->nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
TM_ADD(mjTIMER_POS_INERTIA);
}