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Add internal utility for zeroing int vectors.

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Remove unnecessary branches in related functions.

PiperOrigin-RevId: 562768873
Change-Id: I3964a7a953d95bcd4e29137a7b590be5ffa6e311
This commit is contained in:
Yuval Tassa
2023-09-05 07:13:37 -07:00
committed by Copybara-Service
parent f976d6d228
commit d5292976de
10 changed files with 30 additions and 31 deletions
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src/engine/engine_core_constraint.c
+5 -6
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@@ -16,7 +16,6 @@
#include <stdio.h>
#include <stddef.h>
#include <string.h>
#include <mujoco/mjdata.h>
#include <mujoco/mjmacro.h>
@@ -252,7 +251,7 @@ int mj_addConstraint(const mjModel* m, mjData* d,
// copy if not empty
if (NV) {
memcpy(ind + adr[nefc+i], chain, sizeof(int)*NV);
mju_copyInt(ind + adr[nefc+i], chain, NV);
mju_copy(J + adr[nefc+i], jac + i*NV, NV);
}
}
@@ -644,11 +643,11 @@ void mj_instantiateEquality(const mjModel* m, mjData* d) {
// add first or second chain
if (j == 0) {
NV = d->ten_J_rownnz[id[j]];
memcpy(chain, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV*sizeof(int));
mju_copyInt(chain, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV);
mju_copy(jac[j], d->ten_J+d->ten_J_rowadr[id[j]], NV);
} else {
NV2 = d->ten_J_rownnz[id[j]];
memcpy(chain2, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV2*sizeof(int));
mju_copyInt(chain2, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV2);
mju_copy(jac[j], d->ten_J+d->ten_J_rowadr[id[j]], NV2);
}
} else {
@@ -1530,10 +1529,10 @@ static inline int mj_ne(const mjModel* m, mjData* d, int* nnz) {
} else {
if (!j) {
NV = d->ten_J_rownnz[id[j]];
memcpy(chain, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV*sizeof(int));
mju_copyInt(chain, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV);
} else {
NV2 = d->ten_J_rownnz[id[j]];
memcpy(chain2, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV2*sizeof(int));
mju_copyInt(chain2, d->ten_J_colind+d->ten_J_rowadr[id[j]], NV2);
}
}
}