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_smooth.h
+1 -4
View File
@@ -71,15 +71,12 @@ MJAPI void mj_solveLD_legacy(const mjModel* m, mjtNum* x, int n,
// in-place sparse backsubstitution: x = inv(L'*D*L)*x
// handle n vectors at once
MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLDs, const mjtNum* qLDiagInv, int nv, int n,
MJAPI void mj_solveLD(mjtNum* x, const mjtNum* qLD, const mjtNum* qLDiagInv, int nv, int n,
const int* rownnz, const int* rowadr, const int* diagnum, const int* colind);
// sparse backsubstitution: x = inv(L'*D*L)*y, use factorization in d
MJAPI void mj_solveM(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y, int n);
// sparse backsubstitution for one island: x = inv(L'*D*L)*x, use factorization in d
MJAPI void mj_solveM_island(const mjModel* m, const mjData* d, mjtNum* x, int island);
// half of sparse backsubstitution: x = sqrt(inv(D))*inv(L')*y
MJAPI void mj_solveM2(const mjModel* m, mjData* d, mjtNum* x, const mjtNum* y,
const mjtNum* sqrtInvD, int n);