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Remove use of diagnum in solver

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PiperOrigin-RevId: 759021147
Change-Id: I9e5c85b6542380780fc487781398f406ddaad51b
This commit is contained in:
Yuval Tassa
2025-05-15 00:38:33 -07:00
committed by Copybara-Service
parent dc4968506b
commit e8c566bee1
7 changed files with 0 additions and 34 deletions
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doc/includes/references.h
-1
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@@ -392,7 +392,6 @@ struct mjData_ {
mjtNum* iacc_smooth; // unconstrained acceleration (nidof x 1)
int* iM_rownnz; // inertia: non-zeros in each row (nidof x 1)
int* iM_rowadr; // inertia: address of each row in iM_colind (nidof x 1)
int* iM_diagnum; // inertia: num of consecutive diagonal elements (nidof x 1)
int* iM_colind; // inertia: column indices of non-zeros (nC x 1)
mjtNum* iM; // total inertia (sparse) (nC x 1)
mjtNum* iLD; // L'*D*L factorization of M (sparse) (nC x 1)
include/mujoco/mjdata.h
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@@ -420,7 +420,6 @@ struct mjData_ {
mjtNum* iacc_smooth; // unconstrained acceleration (nidof x 1)
int* iM_rownnz; // inertia: non-zeros in each row (nidof x 1)
int* iM_rowadr; // inertia: address of each row in iM_colind (nidof x 1)
int* iM_diagnum; // inertia: num of consecutive diagonal elements (nidof x 1)
int* iM_colind; // inertia: column indices of non-zeros (nC x 1)
mjtNum* iM; // total inertia (sparse) (nC x 1)
mjtNum* iLD; // L'*D*L factorization of M (sparse) (nC x 1)
include/mujoco/mjxmacro.h
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@@ -758,7 +758,6 @@
X( mjtNum, iacc_smooth, MJ_D(nidof), 1 ) \
X( int, iM_rownnz, MJ_D(nidof), 1 ) \
X( int, iM_rowadr, MJ_D(nidof), 1 ) \
X( int, iM_diagnum, MJ_D(nidof), 1 ) \
X( int, iM_colind, MJ_M(nC), 1 ) \
X( mjtNum, iM, MJ_M(nC), 1 ) \
X( mjtNum, iLD, MJ_M(nC), 1 ) \
python/mujoco/introspect/structs.py
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@@ -6024,14 +6024,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='inertia: address of each row in iM_colind',
array_extent=('nidof',),
),
StructFieldDecl(
name='iM_diagnum',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='inertia: num of consecutive diagonal elements',
array_extent=('nidof',),
),
StructFieldDecl(
name='iM_colind',
type=PointerType(
src/engine/engine_island.c
-19
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@@ -544,25 +544,6 @@ void mj_island(const mjModel* m, mjData* d) {
d->iM, d->M);
mju_gather(d->iLDiagInv, d->qLDiagInv, d->map_idof2dof, nidof);
// compute iM_diagnum (dof_simplenum per island)
int count = 0;
int dof_next = d->map_idof2dof[nidof-1];
for (int i=nidof-1; i >= 0; i--) {
// check if island boundary was crossed
int dof = d->map_idof2dof[i];
int island_boundary = (d->dof_island[dof] != d->dof_island[dof_next]);
dof_next = dof;
// accumulate and set simple dof (diagonal row) counter
if (m->dof_simplenum[dof] && !island_boundary) {
count++; // increment counter
} else {
count = 0; // reset
}
d->iM_diagnum[i] = count;
}
// ------------------------------------- constraints ---------------------------------------------
src/engine/engine_solver.c
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@@ -786,7 +786,6 @@ struct _mjCGContext {
// inertia
const int* M_rownnz;
const int* M_rowadr;
const int* M_diagnum;
const int* M_colind;
const mjtNum* M;
const mjtNum* qLD;
@@ -888,7 +887,6 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
// inertia
ctx->M_rownnz = d->M_rownnz;
ctx->M_rowadr = d->M_rowadr;
ctx->M_diagnum = m->dof_simplenum;
ctx->M_colind = d->M_colind;
ctx->M = d->M;
ctx->qLD = d->qLD;
@@ -937,7 +935,6 @@ static void CGpointers(const mjModel* m, const mjData* d, mjCGContext* ctx, int
// inertia
ctx->M_rownnz = d->iM_rownnz + idofadr;
ctx->M_rowadr = d->iM_rowadr + idofadr;
ctx->M_diagnum = d->iM_diagnum + idofadr;
ctx->M_colind = d->iM_colind;
ctx->M = d->iM;
ctx->qLD = d->iLD;
unity/Runtime/Bindings/MjBindings.cs
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@@ -5004,7 +5004,6 @@ public unsafe struct mjData_ {
public double* iacc_smooth;
public int* iM_rownnz;
public int* iM_rowadr;
public int* iM_diagnum;
public int* iM_colind;
public double* iM;
public double* iLD;