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Merge pull request #3439 from smallquail:flex-metric-blocks

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PiperOrigin-RevId: 957063540
Change-Id: I86e7b2ec92c7b2acd1f1f7140e3b8a7578c48dbf
This commit is contained in:
Copybara-Service
2026-07-31 08:07:22 -07:00
parent f1f52a92b8 55d13aec5f
commit de26b05861
18 changed files with 4932 additions and 488 deletions
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include/mujoco/mjdata.h
+5 -8
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@@ -136,10 +136,10 @@ typedef struct mjData_ {
int nl; // number of limit constraints
int nefc; // number of constraints
int nJ; // number of non-zeros in constraint Jacobian
int efm_active; // implicit effective metric M+K: 0 inactive, 1 active, 2 active + preconditioner exact
int efm_active; // implicit effective metric M+K is active (see mjd_effBuild)
int nefmK; // number of non-zeros in effective-stiffness CSR
int nefmdof; // number of rows in effective-metric factor
int nefmL; // number of non-zeros in the effective-metric factor
int nefmdof; // number of 3x3 blocks in the effective-metric preconditioner
int nefmL; // size of the effective-metric block storage (9*nefmdof)
int nY; // number of non-zeros in constraint inverse inertia square root
int nA; // number of non-zeros in constraint inverse inertia matrix
int nisland; // number of detected constraint islands
@@ -406,11 +406,8 @@ typedef struct mjData_ {
int* efm_K_rowadr; // effective-stiffness CSR row addresses (nv x 1)
int* efm_K_colind; // effective-stiffness CSR column indices (nefmK x 1)
mjtNum* efm_K_val; // effective-stiffness CSR values (nefmK x 1)
int* efm_dofid; // factor row -> dof address (nefmdof x 1)
int* efm_L_rownnz; // factor row nonzeros (nefmdof x 1)
int* efm_L_rowadr; // factor row addresses (nefmdof x 1)
int* efm_L_colind; // factor column indices (nefmL x 1)
mjtNum* efm_L; // Cholesky factor of diag(M)+K, covered dofs (nefmL x 1)
int* efm_dofid; // block k -> dof address of its vertex triple (nefmdof x 1)
mjtNum* efm_L; // factored 3x3 diagonal blocks of M+K (nefmL x 1)
//-------------------- arena-allocated: POSITION, VELOCITY, CONTROL/ACCELERATION dependent
include/mujoco/mjxmacro.h
-3
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@@ -1015,9 +1015,6 @@
X ( int, efm_K_colind, MJ_D(nefmK), 1 ) \
X ( mjtNum, efm_K_val, MJ_D(nefmK), 1 ) \
X ( int, efm_dofid, MJ_D(nefmdof), 1 ) \
X ( int, efm_L_rownnz, MJ_D(nefmdof), 1 ) \
X ( int, efm_L_rowadr, MJ_D(nefmdof), 1 ) \
X ( int, efm_L_colind, MJ_D(nefmL), 1 ) \
X ( mjtNum, efm_L, MJ_D(nefmL), 1 )