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Move mju_combineSparseCount into engine_util_sparse.

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PiperOrigin-RevId: 561025741
Change-Id: I0bdc48554928fc4545a38a8cea3bdeb593bd7ecd
This commit is contained in:
Kyle Bayes
2023-08-29 07:40:06 -07:00
committed by Copybara-Service
parent df1b3515c7
commit ea5e00cad8
6 changed files with 104 additions and 106 deletions
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src/engine/engine_core_constraint.c
-27
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@@ -1351,33 +1351,6 @@ void mj_makeImpedance(const mjModel* m, mjData* d) {
//------------------------------------- constraint counting ----------------------------------------
// count the number of non-zeros in the sum of two sparse vectors
int mju_combineSparseCount(int a_nnz, int b_nnz, const int* a_ind, const int* b_ind) {
int a = 0, b = 0, c_nnz = 0;
// count c_nnz: nonzero indices common to both a and b
while (a < a_nnz && b < b_nnz) {
// common index, increment everything
if (a_ind[a] == b_ind[b]) {
c_nnz++;
a++;
b++;
}
// update smallest index
else if (a_ind[a] < b_ind[b]) {
a++;
} else {
b++;
}
}
// union minus the intersection
return a_nnz + b_nnz - c_nnz;
}
// count the non-zero columns in the Jacobian difference of two bodies
static int mj_jacDifPairCount(const mjModel* m, int* chain,
int b1, int b2, int issparse) {