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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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src/engine/engine_print.c
+29 -17
View File
@@ -1392,27 +1392,30 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_DOFNUM");
fprintf(fp, NAME_FORMAT, "ISLAND_NV");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_dofnum[i]);
fprintf(fp, " %d", d->island_nv[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_DOFADR");
fprintf(fp, NAME_FORMAT, "ISLAND_IDOFADR");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_dofadr[i]);
fprintf(fp, " %d", d->island_idofadr[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_DOFIND");
fprintf(fp, NAME_FORMAT, "MAP_IDOF2DOF");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->island_dofind[i]);
}
fprintf(fp, "\n\n");
int dof = d->map_idof2dof[i];
if (i > 0) {
int dofprev = d->map_idof2dof[i-1];
fprintf(fp, NAME_FORMAT, "DOF_ISLANDIND");
for (int i = 0; i < m->nv; i++) {
fprintf(fp, " %d", d->dof_islandind[i]);
// print '|' at island boundaries
if (d->dof_island[dof] != d->dof_island[dofprev]) {
fprintf(fp, " |");
}
}
fprintf(fp, " %d", dof);
}
fprintf(fp, "\n\n");
@@ -1422,21 +1425,30 @@ void mj_printFormattedData(const mjModel* m, const mjData* d, const char* filena
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_EFCNUM");
fprintf(fp, NAME_FORMAT, "ISLAND_NEFC");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_efcnum[i]);
fprintf(fp, " %d", d->island_nefc[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_EFCADR");
fprintf(fp, NAME_FORMAT, "ISLAND_IEFCADR");
for (int i = 0; i < d->nisland; i++) {
fprintf(fp, " %d", d->island_efcadr[i]);
fprintf(fp, " %d", d->island_iefcadr[i]);
}
fprintf(fp, "\n\n");
fprintf(fp, NAME_FORMAT, "ISLAND_EFCIND");
fprintf(fp, NAME_FORMAT, "MAP_IEFC2EFC");
for (int i = 0; i < d->nefc; i++) {
fprintf(fp, " %d", d->island_efcind[i]);
int efc = d->map_iefc2efc[i];
if (i > 0) {
int efcprev = d->map_iefc2efc[i-1];
// print '|' at island boundaries
if (d->efc_island[efc] != d->efc_island[efcprev]) {
fprintf(fp, " |");
}
}
fprintf(fp, " %d", efc);
}
fprintf(fp, "\n\n");
}