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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_support.c
+4 -6
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@@ -1130,14 +1130,12 @@ void mj_addM(const mjModel* m, mjData* d, mjtNum* dst,
int nC = m->nC;
mj_markStack(d);
// create reduced sparse inertia matrix C
// gather C <- qM (legacy to CSR)
mjtNum* C = mjSTACKALLOC(d, nC, mjtNum);
for (int i=0; i < nC; i++) {
C[i] = d->qM[d->mapM2C[i]];
}
mju_gather(C, d->qM, d->mapM2C, nC);
mj_addMSparse(m, d, dst, rownnz, rowadr, colind, C,
d->C_rownnz, d->C_rowadr, d->C_colind);
// add to dst
mj_addMSparse(m, d, dst, rownnz, rowadr, colind, C, d->C_rownnz, d->C_rowadr, d->C_colind);
mj_freeStack(d);
}