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Refactor islands to be memory contiguous.

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PiperOrigin-RevId: 755803476
Change-Id: I41972b07e0d5ef5d0117c94f565b93367b87458b
This commit is contained in:
Yuval Tassa
2025-05-07 05:05:34 -07:00
committed by Copybara-Service
parent 449de73430
commit ecb769fc3a
30 changed files with 1742 additions and 1116 deletions
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include/mujoco/mjxmacro.h
+49 -15
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@@ -739,23 +739,56 @@
X( int, efc_state, MJ_D(nefc), 1 )
// array fields of mjData that are used in the dual problem
#define MJDATA_ARENA_POINTERS_DUAL \
X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
X( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
X( int, efc_AR_colind, MJ_D(nA), 1 ) \
X( mjtNum, efc_AR, MJ_D(nA), 1 )
#define MJDATA_ARENA_POINTERS_DUAL \
X( int, efc_AR_rownnz, MJ_D(nefc), 1 ) \
X( int, efc_AR_rowadr, MJ_D(nefc), 1 ) \
X( int, efc_AR_colind, MJ_D(nA), 1 ) \
X( mjtNum, efc_AR, MJ_D(nA), 1 )
// array fields of mjData that are used for constraint islands
#define MJDATA_ARENA_POINTERS_ISLAND \
X( int, dof_island, MJ_M(nv), 1 ) \
X( int, island_dofnum, MJ_D(nisland), 1 ) \
X( int, island_dofadr, MJ_D(nisland), 1 ) \
X( int, island_dofind, MJ_M(nv), 1 ) \
X( int, dof_islandind, MJ_M(nv), 1 ) \
X( int, efc_island, MJ_D(nefc), 1 ) \
X( int, island_efcnum, MJ_D(nisland), 1 ) \
X( int, island_efcadr, MJ_D(nisland), 1 ) \
X( int, island_efcind, MJ_D(nefc), 1 )
#define MJDATA_ARENA_POINTERS_ISLAND \
X( int, dof_island, MJ_M(nv), 1 ) \
X( int, island_nv, MJ_D(nisland), 1 ) \
X( int, island_idofadr, MJ_D(nisland), 1 ) \
X( int, island_dofadr, MJ_D(nisland), 1 ) \
X( int, map_dof2idof, MJ_M(nv), 1 ) \
X( int, map_idof2dof, MJ_M(nv), 1 ) \
X( mjtNum, ifrc_smooth, MJ_D(nidof), 1 ) \
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(nM), 1 ) \
X( mjtNum, iM, MJ_M(nM), 1 ) \
X( mjtNum, iLD, MJ_M(nM), 1 ) \
X( mjtNum, iLDiagInv, MJ_D(nidof), 1 ) \
X( mjtNum, iacc, MJ_D(nidof), 1 ) \
X( int, efc_island, MJ_D(nefc), 1 ) \
X( int, island_ne, MJ_D(nisland), 1 ) \
X( int, island_nf, MJ_D(nisland), 1 ) \
X( int, island_nefc, MJ_D(nisland), 1 ) \
X( int, island_iefcadr, MJ_D(nisland), 1 ) \
X( int, map_efc2iefc, MJ_D(nefc), 1 ) \
X( int, map_iefc2efc, MJ_D(nefc), 1 ) \
X( int, iefc_type, MJ_D(nefc), 1 ) \
X( int, iefc_id, MJ_D(nefc), 1 ) \
X( int, iefc_J_rownnz, MJ_D(nefc), 1 ) \
X( int, iefc_J_rowadr, MJ_D(nefc), 1 ) \
X( int, iefc_J_rowsuper, MJ_D(nefc), 1 ) \
X( int, iefc_J_colind, MJ_D(nJ), 1 ) \
X( int, iefc_JT_rownnz, MJ_D(nidof), 1 ) \
X( int, iefc_JT_rowadr, MJ_D(nidof), 1 ) \
X( int, iefc_JT_rowsuper, MJ_D(nidof), 1 ) \
X( int, iefc_JT_colind, MJ_D(nJ), 1 ) \
X( mjtNum, iefc_J, MJ_D(nJ), 1 ) \
X( mjtNum, iefc_JT, MJ_D(nJ), 1 ) \
X( mjtNum, iefc_frictionloss, MJ_D(nefc), 1 ) \
X( mjtNum, iefc_D, MJ_D(nefc), 1 ) \
X( mjtNum, iefc_R, MJ_D(nefc), 1 ) \
X( mjtNum, iefc_aref, MJ_D(nefc), 1 ) \
X( int, iefc_state, MJ_D(nefc), 1 ) \
X( mjtNum, iefc_force, MJ_D(nefc), 1 ) \
X( mjtNum, ifrc_constraint, MJ_D(nidof), 1 )
// array fields of mjData that live in d->arena
#define MJDATA_ARENA_POINTERS \
@@ -785,6 +818,7 @@
X( int, nJ ) \
X( int, nA ) \
X( int, nisland ) \
X( int, nidof ) \
X( mjtNum, time ) \
X( uintptr_t, threadpool )