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Refactor mju_combineSparse to eliminate temporary buffers.

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Combine sparse vectors in-place by first counting total `nnz` and then working backwards from the end. This removes the need for temporary buffers in `mju_combineSparse` and its callers and speeds up the function by ~10%.

PiperOrigin-RevId: 902530210
Change-Id: I4f48c327103552ab968d3915399c6067367bec9f
This commit is contained in:
Yuval Tassa
2026-04-20 03:09:31 -07:00
committed by Copybara-Service
parent 3230cf99f9
commit e6d77650f7
8 changed files with 57 additions and 86 deletions
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test/benchmark/engine_util_sparse_benchmark_test.cc
+3 -5
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@@ -99,8 +99,7 @@ int ABSL_ATTRIBUTE_NOINLINE combineSparse_baseline(mjtNum* dst,
mjtNum a, mjtNum b,
int dst_nnz, int src_nnz,
int* dst_ind,
const int* src_ind,
mjtNum* buf, int* buf_ind) {
const int* src_ind) {
// check for identical pattern
if (compare_baseline(dst_ind, src_ind, dst_nnz)) {
// combine mjtNum data directly
@@ -116,8 +115,7 @@ int ABSL_ATTRIBUTE_NOINLINE combineSparse_new(mjtNum* dst,
mjtNum a, mjtNum b,
int dst_nnz, int src_nnz,
int* dst_ind,
const int* src_ind,
mjtNum* buf, int* buf_ind) {
const int* src_ind) {
// check for identical pattern
if (compare_memcmp(dst_ind, src_ind, dst_nnz)) {
// combine mjtNum data directly
@@ -372,7 +370,7 @@ static void BM_combineSparse(benchmark::State& state, CombineFuncPtr func) {
// in order to trigger all if's in combineSparse
func(H+rowadr[c], H+rowadr[r], 1, -H[adr+i],
rownnz[c], rownnz[c],
colind+rowadr[c], colind+rowadr[c], NULL, NULL);
colind+rowadr[c], colind+rowadr[c]);
}
}
}