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Rename C sparse structure to M in mjdata, improve docstrings.

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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
This commit is contained in:
Yuval Tassa
2025-05-14 05:25:11 -07:00
committed by Copybara-Service
parent 4ba04586ae
commit dd28b887d4
21 changed files with 128 additions and 128 deletions
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src/engine/engine_forward.c
+6 -6
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@@ -869,18 +869,18 @@ void mj_EulerSkip(const mjModel* m, mjData* d, int skipfactor) {
// qH = M + h*diag(B)
mju_copy(d->qH, d->M, nC);
for (int i=0; i < nv; i++) {
d->qH[d->C_rowadr[i] + d->C_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
d->qH[d->M_rowadr[i] + d->M_rownnz[i] - 1] += m->opt.timestep * m->dof_damping[i];
}
// factorize in-place
mj_factorI(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, 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->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
}
// advance state and time
@@ -1053,16 +1053,16 @@ void mj_implicitSkip(const mjModel* m, mjData* d, int skipfactor) {
mju_addScl(MhB, d->qM, MhB, -m->opt.timestep, nM);
// gather qH <- MhB (legacy to CSR)
mju_gather(d->qH, MhB, d->mapM2C, nC);
mju_gather(d->qH, MhB, d->mapM2M, nC);
// factorize in-place
mj_factorI(d->qH, d->qHDiagInv, nv, d->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
mj_factorI(d->qH, d->qHDiagInv, nv, d->M_rownnz, d->M_rowadr, m->dof_simplenum, 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->C_rownnz, d->C_rowadr, m->dof_simplenum, d->C_colind);
d->M_rownnz, d->M_rowadr, m->dof_simplenum, d->M_colind);
} else {
mjERROR("integrator must be implicit or implicitfast");