chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Refactor islands to be memory contiguous.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_core_constraint.h
+10 -10
View File
@@ -24,6 +24,7 @@
extern "C" {
#endif
//-------------------------- Jacobian-related ------------------------------------------------------
// determine type of friction cone
@@ -38,16 +39,9 @@ MJAPI int mj_isDual(const mjModel* m);
// multiply Jacobian by vector
MJAPI void mj_mulJacVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// multiply Jacobian by vector, for one island
MJAPI void mj_mulJacVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
int island, int flg_resunc, int flg_vecunc);
// multiply JacobianT by vector
MJAPI void mj_mulJacTVec(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec);
// multiply JacobianT by vector, for one island
MJAPI void mj_mulJacTVec_island(const mjModel* m, const mjData* d, mjtNum* res, const mjtNum* vec,
int island, int flg_resunc, int flg_vecunc);
//-------------------------- utility functions -----------------------------------------------------
@@ -90,6 +84,7 @@ void mj_diagApprox(const mjModel* m, mjData* d);
// compute efc_R, efc_D, efc_KDIP, adjust diagApprox
void mj_makeImpedance(const mjModel* m, mjData* d);
//---------------------------- top-level API for constraint construction ---------------------------
// main driver: call all functions above
@@ -101,14 +96,19 @@ MJAPI void mj_projectConstraint(const mjModel* m, mjData* d);
// compute efc_vel, efc_aref
MJAPI void mj_referenceConstraint(const mjModel* m, mjData* d);
// compute efc_state, efc_force
// optional: cost(qacc) = shat(jar); cone Hessians
MJAPI void mj_constraintUpdate_impl(int ne, int nf, int nefc,
const mjtNum* D, const mjtNum* R, const mjtNum* floss,
const mjtNum* jar, const int* type, const int* id,
mjContact* contact, int* state, mjtNum* force, mjtNum cost[1],
int flg_coneHessian);
// compute efc_state, efc_force, qfrc_constraint
// optional: cost(qacc) = shat(jar) where jar = Jac*qacc-aref; cone Hessians
MJAPI void mj_constraintUpdate(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian);
// compute efc_state, efc_force, qfrc_constraint for one island
MJAPI void mj_constraintUpdate_island(const mjModel* m, mjData* d, const mjtNum* jar,
mjtNum cost[1], int flg_coneHessian, int island);
#ifdef __cplusplus
}