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Remove unnecessary diagnum argument in mj_solveLD and mj_factorI

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PiperOrigin-RevId: 758669364
Change-Id: Icfefc4a7a1e7d28da373725358ccf9d5f589f689
This commit is contained in:
Yuval Tassa
2025-05-14 07:12:19 -07:00
committed by Copybara-Service
parent b0c36c6b33
commit d8bebdc675
9 changed files with 33 additions and 38 deletions
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src/engine/engine_forward.c
+4 -4
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@@ -873,14 +873,14 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
}
// factorize in-place
mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, d->M_colind);
}
// solve
mju_add(qfrc, d->qfrc_smooth, d->qfrc_constraint, nv);
mju_copy(qacc, qfrc, m->nv);
mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
}
// advance state and time
@@ -1056,13 +1056,13 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
mju_gather(d->qH, MhB, d->mapM2M, nC);
// factorize in-place
mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, d->M_colind);
}
// solve for qacc: (qM - dt*qDeriv) * qacc = qfrc
mju_copy(qacc, qfrc, nv);
mj_solveLD(qacc, d->qH, d->qHDiagInv, nv, 1,
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
d->M_rownnz, d->M_rowadr, d->M_colind);
} else {
mjERROR("integrator must be implicit or implicitfast");